/// <summary>
/// IO输出
/// </summary>
/// <param name="io">IO类对象</param>
/// <param name="ioValue">输出状态</param>
/// <returns></returns>
public static short GetOutputIoBit(IOParameter io, short ioValue)
{
short shrResult = 0;
bool bioValue = false;
if (io == null)
{
return(shrFail);
}
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)io.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)io.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
shrResult = Base_.SR_GetOutputBit(io.CardNum, io.IOBit, out bioValue);
if (shrResult != shrSuccess)
{
shrResult = -1;
return(shrResult);
}
if (bioValue)
{
shrResult = 1;
}
else
{
shrResult = 0;
}
return(shrResult);
}
public static void ReadAllIo(object o)
{
while (true)
{
int CardIndex = 0;
int axisIndex = 0;
for (MotionCardManufacturer i = 0; i < MotionCardManufacturer.MotionCardManufacturer_max; i++)
{
NewCtrlCardBase Base = NewCtrlCardV0.tag_NewCtrlCardBase[(int)i];
short j = 0;
short n = 0;
short mInIo = 0;
if (Base == null || tag_CardHave[(int)i] == 0)
{
continue;
}
while (j < NewCtrlCardV0.tag_CardCount[(int)i])
{
ulong pLimitNValue = 0;
ulong pLimitPValue = 0;
ulong pOrgValue = 0;
ulong pCardAxisAlarmValue = 0;
ulong pOnAxisEnableValue = 0;
ulong pCardInIO = 0;
ulong pCardOutIO = 0;
ulong one = 1;
mInIo = 0;
while (mInIo < 64)
{
bool bInio = true;
bool bOutio = true;
Base.SR_GetInputBit(j, mInIo, out bInio);
Base.SR_GetOutputBit(j, mInIo, out bOutio);
if (bInio == true)
{
pCardInIO = pCardInIO + (ulong)(one << mInIo);
}
else
{
}
if (bOutio == true)
{
pCardOutIO = pCardOutIO + (ulong)(one << mInIo);
}
mInIo++;
}
n = 1;
while (n <= NewCtrlCardV0.tag_CardAxisCount[(int)i])
{
bool LimitNvar = true;
bool LimitPvar = true;
bool LimitOrgvar = true;
bool bCardAxisAlarmValue = true;
bool bOnAxisEnableValue = true;
double bOnAxisEncPosChange = 0;
double bOnAxisPrfPosChange = 0;
Base.SR_GetLimitNInput(j, n, out LimitNvar);
Base.SR_GetLimitPInput(j, n, out LimitPvar);
Base.SR_GetOriginInput(j, n, out LimitOrgvar);
Base.SR_GetAlarmInput(j, n, out bCardAxisAlarmValue);
// Base.SR_GetServoEnable(j, n, out bOnAxisEnableValue);
//Base.SR_GetEncPos(j, n, ref bOnAxisEncPosChange);
//Base.SR_GetPrfPos(j, n, ref bOnAxisPrfPosChange);
if (LimitNvar == true)
{
pLimitNValue = pLimitNValue + (ulong)(one << n);
}
if (LimitPvar == true)
{
pLimitPValue = pLimitPValue + (ulong)(one << n);
}
if (LimitOrgvar == true)
{
pOrgValue = pOrgValue + (ulong)(one << n);
}
if (bCardAxisAlarmValue == true)
{
pCardAxisAlarmValue = pCardAxisAlarmValue + (ulong)(one << n);
}
if (bOnAxisEnableValue == true)
{
pOnAxisEnableValue = pOnAxisEnableValue + (ulong)(one << n);
}
Base.SR_GetEncPos(j, n, ref bOnAxisEncPosChange);
Base.SR_GetPrfPos(j, n, ref bOnAxisPrfPosChange);
if (tag_OnAxisEncPosChange[axisIndex] != bOnAxisEncPosChange || tag_IO_refresh > 0)
{
tag_OnAxisEncPosChange[axisIndex] = bOnAxisEncPosChange;
OnAxisEncPosChange((int)i, j, n, (int)bOnAxisEncPosChange);
}
if (tag_OnAxisPrfPosChange[axisIndex] != bOnAxisPrfPosChange || tag_IO_refresh > 0)
{
tag_OnAxisPrfPosChange[axisIndex] = bOnAxisPrfPosChange;
OnAxisPrfPosChange((int)i, j, n, (int)bOnAxisPrfPosChange);
}
axisIndex++;
n++;
}
if (tag_CardAxisLimitNIO[CardIndex] != pLimitNValue || tag_IO_refresh > 0)
{
tag_CardAxisLimitNIO[CardIndex] = pLimitNValue;
OnAxisLimitNChange((int)i, j, n, pLimitNValue);
}
if (tag_CardAxisLimitPIO[CardIndex] != pLimitPValue || tag_IO_refresh > 0)
{
tag_CardAxisLimitPIO[CardIndex] = pLimitPValue;
OnAxisLimitPChange((int)i, j, n, pLimitPValue);
}
if (tag_CardAxisOrgIO[CardIndex] != pOrgValue || tag_IO_refresh > 0)
{
tag_CardAxisOrgIO[CardIndex] = pOrgValue;
OnAxisHomeChange((int)i, j, n, pOrgValue);
}
if (tag_CardAxisAlarm[CardIndex] != pCardAxisAlarmValue || tag_IO_refresh > 0)
{
tag_CardAxisAlarm[CardIndex] = pCardAxisAlarmValue;
OnAxisAlarmChange((int)i, j, n, pCardAxisAlarmValue);
}
if (pCardInIO != tag_CardInIO[CardIndex] || tag_IO_refresh > 0)
{
tag_CardInIO[CardIndex] = pCardInIO;
OnInputIOChange((int)i, j, pCardInIO);
}
if (pCardOutIO != tag_CardInIO[CardIndex] || tag_IO_refresh > 0)
{
tag_CardOutIO[CardIndex] = pCardOutIO;
OnOutputIOChange((int)i, j, pCardOutIO);
}
if (tag_IO_refresh > 0)
{
tag_IO_refresh--;
}
CardIndex++;
j++;
}
//
}
Thread.Sleep(1);
}
}
