/// <summary>
/// 单例初始化
/// </summary>
/// <param name="cardType">运动控制板卡类型</param>
/// <param name="nMaxAxisNum">最大轴数,最大8</param>
/// <param name="nCardNum">卡号</param>
/// <returns></returns>
public static CMotionWorkChristmas GetInstance(short cardType, short nMaxAxisNum, short nCardNum)
{
CMotionWorkChristmas cMotionWorkChristmas = null;
//判断形参是否正确
var nRtn = CheckFormatPara(cardType, nCardNum);
//返回为负，说明形参错误
if (nRtn < 0)
{
return(null);
}
//返回为零，说明现有链表有需要卡号对象
if (nRtn == 0)
{
switch (cardType)
{
case 0: //固高
cMotionWorkChristmas = s_listMotionWorkingGts[nCardNum];
break;
case 1: //灵猴
cMotionWorkChristmas = s_listMotionWorkingLh[nCardNum];
break;
}
}
//返回为正，说明现有链表没有需要卡号对象，需要先实例化
if (nRtn > 0)
{
lock (s_lock)
{
switch (cardType)
{
case 0: //固高
s_motionBase = new CGtMotion(nMaxAxisNum, m_c_DI_NUM, m_c_DO_NUM);
s_listMotionWorkingGts.Add(new CMotionWorkChristmas(s_motionBase, nCardNum));
cMotionWorkChristmas = s_listMotionWorkingGts[nCardNum];
break;
case 1: //灵猴
break;
}
}
}
return(cMotionWorkChristmas);
}
protected CMotionWorkBase(CMotionBase cMotionBase, short nCardNo)
{
m_oMotionBase = cMotionBase;
m_sCardNo = nCardNo;
}
private CMotionWorkChristmas(CMotionBase obj, short nCardNo)
: base(obj, nCardNo)
{
m_maxAxisNum = obj.m_maxAxisNum;
m_diNum = obj.m_diNum;
m_doNum = obj.m_doNum;
m_oLockOfScanDiBit = new object();
m_oLockOfSetDoBit = new object();
m_dsAxisResolution = new double[m_maxAxisNum];
m_bFlagOfScanEnd = false;
m_bsUniversalIn = new bool[m_c_DI_NUM];
m_bsUniversalOut = new bool[m_c_DI_NUM];
//m_bInit = false;
m_nsDiStatus = new[] { 0, 0, 0, 0, 0 };
m_bsAxisPosLmt = new bool[m_maxAxisNum];
m_bsAxisNegLmt = new bool[m_maxAxisNum];
m_bsAxisAlarm = new bool[m_maxAxisNum];
m_bsAxisHome = new bool[m_maxAxisNum];
m_dsAxisStatus = new int[m_maxAxisNum];
m_bsServoAlarm = new bool[m_maxAxisNum];
m_bsMotionError = new bool[m_maxAxisNum];
m_bsPosLimit = new bool[m_maxAxisNum];
m_bsNegLimit = new bool[m_maxAxisNum];
m_bsAxisStop = new bool[m_maxAxisNum];
m_bsSmoothStop = new bool[m_maxAxisNum];
m_bsMotionSts = new bool[m_maxAxisNum];
m_bsServoOn = new bool[m_maxAxisNum];
m_dsAxisPos = new double[m_maxAxisNum];
for (var i = 0; i < m_diNum; i++)
{
m_bsUniversalIn[i] = true;
}
for (var i = 0; i < m_doNum; i++)
{
m_bsUniversalOut[i] = true;
}
for (var i = 0; i < m_maxAxisNum; i++)
{
m_dsAxisResolution[i] = 0;
m_bsAxisPosLmt[i] = true;
m_bsAxisNegLmt[i] = true;
m_bsAxisAlarm[i] = true;
m_bsAxisHome[i] = true;
m_dsAxisStatus[i] = 0;
m_bsServoAlarm[i] = true;
m_bsMotionError[i] = true;
m_bsPosLimit[i] = true;
m_bsNegLimit[i] = true;
m_bsAxisStop[i] = true;
m_bsSmoothStop[i] = true;
m_bsMotionSts[i] = true;
m_bsServoOn[i] = true;
m_dsAxisPos[i] = 0.0;
}
}
