/// <summary>
/// 相对运动 Trigger
/// </summary>
/// <param name="AxisNo">映射到实际的轴</param>
/// <param name="Acc">加速度</param>
/// <param name="Speed">速度</param>
/// <param name="Distance">相对距离</param>
/// <returns></returns>
public bool MoveRel(int AxisNo, double Acc, double Speed, double Distance, EnumTriggerType TriggerType, double Interval)
{
lock (ComportLock)
{
try
{
if (AxisNo > 12 || AxisNo < 1)
{
return(false);
}
SetMoveAcc(AxisNo, Acc); //设置加速度
int distancePuse = Convert.ToInt32(Distance * AxisStateList[AxisNo - 1].GainFactor);
CommandMoveTrigger.TriggerType = TriggerType == EnumTriggerType.ADC ? Enumcmd.HOST_CMD_MOVE_T_ADC : Enumcmd.HOST_CMD_MOVE_T_OUT;
CommandMoveTrigger.AxisNo = (byte)AxisNo;
CommandMoveTrigger.Distance = distancePuse;
CommandMoveTrigger.SpeedPercent = (byte)Speed;
CommandMoveTrigger.TriggerInterval = (UInt16)(Interval * AxisStateList[AxisNo - 1].GainFactor);
byte[] cmd = CommandMoveTrigger.ToBytes();
this.ExcuteCmd(cmd);
CheckAxisState(Enumcmd.HOST_CMD_MOVE, AxisNo);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
}
/// <summary>
/// 绝对运动,Trigger
/// </summary>
/// <param name="AxisNo">映射到实际的轴号</param>
/// <param name="Acc">绝对运动加速度</param>
/// <param name="Speed">速度</param>
/// <param name="Pos">绝对位置</param>
/// <returns></returns>
public bool MoveAbs(int AxisNo, double Acc, double Speed, double Pos, EnumTriggerType TriggerType, double Interval)
{
try
{
if (AxisNo > 12 || AxisNo < 1)
{
return(false);
}
double RelPos = 0;
if (GetMcsuState(AxisNo, out AxisArgs axisArgs))
{
if (axisArgs != null)
{
lock (axisArgs.AxisLock)
{
if (axisArgs.ErrorCode == 0 || axisArgs.ErrorCode == 0x83 || axisArgs.ErrorCode == 0x84)
{
RelPos = Pos - axisArgs.CurAbsPos / axisArgs.Unit.Factor;
}
}
}
}
else
{
return(false);
}
return(MoveRel(AxisNo, Acc, Speed, RelPos, TriggerType, Interval));
//return WaitLongChenck(AxisNo);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 绝对运动,Trigger
/// </summary>
/// <param name="AxisNo">映射到实际的轴号</param>
/// <param name="Acc">绝对运动加速度</param>
/// <param name="Speed">速度</param>
/// <param name="Pos">绝对位置</param>
/// <returns></returns>
public bool MoveAbs(int AxisNo, double Acc, double Speed, double Pos, EnumTriggerType TriggerType, UInt16 Interval)
{
if (AxisNo > MAX_AXIS - MIN_AXIS || AxisNo < 0)
{
return(false);
}
int axisIndex = AxisNo + 1;
return(_controller.MoveAbs(axisIndex, Acc, Speed, Pos, TriggerType, Interval));
}
public static TriggerTemplate Create(EnumTriggerType iTriggerType)
{
TriggerTemplate trigTemplate = new TriggerTemplate(iTriggerType);
string configOption = GetTriggerConfiguration(iTriggerType);
var trigTemplateFile = ConfigurationManager.AppSettings["TriggerTemplateXML"];
var doc = XDocument.Load(trigTemplateFile);
trigTemplate.TriggerScriptDirective = (string)doc.Descendants("TriggerScriptDirective")
.Descendants("TriggerScript")
.First()
.Attribute("directive");
var listOfConfiguration = doc.Descendants(configOption);
trigTemplate.TriggerCreateSyntax = (string)listOfConfiguration.Descendants("TriggerCreateSyntax")
.First()
.Attribute("syntax");
trigTemplate.TriggerBodySyntax = (string)listOfConfiguration.Descendants("TriggerBodySyntax")
.First()
.Attribute("syntax");
trigTemplate.TriggerBodyCondition = (string)listOfConfiguration.Descendants("TriggerBodyCondition")
.First()
.Attribute("syntax");
trigTemplate.InsertHistorytable = (string)listOfConfiguration.Descendants("Historytable")
.First()
.Attribute("flag")
;
trigTemplate.HistoryTableInsert = (string)listOfConfiguration.Descendants("Historytable")
.First()
.Attribute("syntax")
;
trigTemplate.HistoryTablequalifier = (string)listOfConfiguration.Descendants("Historytable")
.First()
.Attribute("qualifier")
;
return(trigTemplate);
}
/// <summary>
/// 相对运动 Trigger
/// </summary>
/// <param name="AxisNo">映射到实际的轴</param>
/// <param name="Acc">加速度</param>
/// <param name="Speed">速度</param>
/// <param name="Distance">相对距离</param>
/// <returns></returns>
public bool MoveRel(int AxisNo, double Acc, double Speed, double Distance, EnumTriggerType TriggerType, UInt16 Interval)
{
if (AxisNo > MAX_AXIS - MIN_AXIS || AxisNo < 0)
{
return(false);
}
int axisIndex = AxisNo + 1;
if (!IsPosValid(AxisNo, Distance))
{
throw new Exception($"Axis{AxisNo} can't reach the specified location");
}
return(_controller.MoveRel(axisIndex, Acc, Speed, Distance, TriggerType, Interval));
}
private static string GetTriggerConfiguration(EnumTriggerType iTriggerType)
{
string configOption;
switch (iTriggerType)
{
case EnumTriggerType.RowBeforeInsert:
configOption = "RowBeforeInsert";
break;
case EnumTriggerType.RowAfterInsert:
configOption = "RowAfterInsert";
break;
case EnumTriggerType.RowBeforeUpdate:
configOption = "RowBeforeUpdate";
break;
case EnumTriggerType.RowAfterUpdate:
configOption = "RowAfterUpdate";
break;
case EnumTriggerType.RowBeforeDelete:
configOption = "RowBeforeDelete";
break;
case EnumTriggerType.RowAfterDelete:
configOption = "RowAfterDelete";
break;
case EnumTriggerType.StatementBeforeInsert:
configOption = "StatementBeforeInsert";
break;
case EnumTriggerType.StatementAfterInsert:
configOption = "StatementAfterInsert";
break;
case EnumTriggerType.StatementBeforeUpdate:
configOption = "StatementBeforeUpdate";
break;
case EnumTriggerType.StatementAfterUpdate:
configOption = "StatementAfterUpdate";
break;
case EnumTriggerType.StatementBeforeDelete:
configOption = "StatementBeforeDelete";
break;
case EnumTriggerType.StatementAfterDelete:
configOption = "StatementAfterDelete";
break;
default:
configOption = "Invalid";
break;
}
return(configOption);
}
public TriggerTemplate(EnumTriggerType iTriggerType)
{
TriggerType = iTriggerType;
}
/// <summary>
/// MoveRel With trigger
/// </summary>
/// <param name="AxisNo"></param>
/// <param name="Acc"></param>
/// <param name="Speed"></param>
/// <param name="Distance"></param>
/// <param name="TriggerType">目前只支持一种Trig，就是ADCTrigger</param>
/// <param name="Interval"></param>
/// <returns></returns>
public async Task <bool> MoveRel(int AxisNo, double Acc, double Speed, double Distance, EnumTriggerType TriggerType, double Interval)
{
if (!IsAxisInRange(AxisNo))
{
return(false);
}
int axisIndex = AxisNo + 1;
if (!IsPosValid(AxisNo, Distance))
{
throw new Exception($"Axis{AxisNo} can't reach the specified location");
}
if (Enum.IsDefined(typeof(M12.Definitions.UnitID), axisIndex))
{
int StepsInt = (int)(Distance * AxisArgsList[AxisNo].GainFactor);
byte SpeedInt = (byte)Speed;
UInt16 IntervalUInt = (UInt16)(Interval * AxisArgsList[AxisNo].GainFactor);
try
{
_controller.MoveTriggerADC((M12.Definitions.UnitID)axisIndex, StepsInt, SpeedInt, IntervalUInt);
}
catch
{
return(false);
}
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 绝对运动,Trigger
/// </summary>
/// <param name="AxisNo">映射到实际的轴号</param>
/// <param name="Acc">绝对运动加速度</param>
/// <param name="Speed">速度</param>
/// <param name="Pos">绝对位置</param>
/// <returns></returns>
public async Task <bool> MoveAbs(int AxisNo, double Acc, double Speed, double Pos, EnumTriggerType TriggerType, UInt16 Interval)
{
return(await Task.Run(() =>
{
if (!IsAxisInRange(AxisNo))
{
return false;
}
int axisIndex = AxisNo + 1;
if (Enum.IsDefined(typeof(M12.Definitions.UnitID), axisIndex))
{
var state = _controller.GetUnitState((M12.Definitions.UnitID)axisIndex);
int CurPos = state.AbsPosition;
int TargetPos = (int)(AxisArgsList[AxisNo].GainFactor *Pos);
int StepsInt = TargetPos - CurPos;
UInt16 IntervalPause = (UInt16)(Interval *AxisArgsList[AxisNo].GainFactor);
try
{
_controller.MoveTriggerADC((M12.Definitions.UnitID)(axisIndex), StepsInt, (byte)Speed, IntervalPause);
}
catch
{
return false;
}
}
return true;
}));
}
