public void SetDO(int port, bool status)
{
var p = port;
if (p < 0)
{
return;
}
if (p < 16)
{
N.GT_SetDoBit(card, Api.MC_GPO, (short)(p + 1), status.ToInt16()).Verify();
return;
}
p -= 16;
if (p < 8)
{
N.GT_SetDoBit(card, Api.MC_ENABLE, (short)(p + 1), status.ToInt16()).Verify();
return;
}
p -= 8;
if (p < 8)
{
N.GT_SetDoBit(card, Api.MC_CLEAR, (short)(p + 1), status.ToInt16()).Verify();
return;
}
}
int GetRawStatus(int axis)
{
int s;
N.GT_GetSts(card, Axis.Of(axis), out s).Verify();
return(s);
}
public void Offset(int axis, double offset, double speed, double taccel_sec, double tdecel_sec)
{
int pos;
N.GT_GetPos(card, Axis.Of(axis), out pos).Verify();
Locate(axis, offset + pos, speed, taccel_sec, tdecel_sec);
}
public double GetPosition(int axis)
{
double pos;
N.GT_GetAxisPrfPos(card, Axis.Of(axis), out pos).Verify();
return(pos);
}
public bool GetDO(int port)
{
Func <short, int> getDO = ty =>
{
int s;
N.GT_GetDo(card, ty, out s).Verify();
return(s);
};
var p = port;
if (p < 0)
{
return(false);
}
if (p < 16)
{
return(CheckBit(getDO(Api.MC_GPO), p));
}
p -= 16;
if (p < 8)
{
return(CheckBit(getDO(Api.MC_ENABLE), p));
}
p -= 8;
if (p < 8)
{
return(CheckBit(getDO(Api.MC_CLEAR), p));
}
return(false);
}
public void Initialize()
{
var path = typeof(MotionController).Assembly.Location;
var dir = System.IO.Path.GetDirectoryName(path);
var cfg = System.IO.Path.Combine(dir, "gts.cfg");
if (System.IO.File.Exists(cfg))
{
N.GT_LoadConfig(card, cfg).Verify();
}
}
public bool GetDI(int port)
{
Func <short, int> getDI = ty =>
{
int s;
N.GT_GetDi(card, ty, out s).Verify();
return(s);
};
var p = port;
if (p < 0)
{
return(false);
}
if (p < 16)
{
return(CheckBit(getDI(Api.MC_GPI), p));
}
p -= 16;
if (p < 8)
{
return(CheckBit(getDI(Api.MC_LIMIT_POSITIVE), p));
}
p -= 8;
if (p < 8)
{
return(CheckBit(getDI(Api.MC_LIMIT_NEGATIVE), p));
}
p -= 8;
if (p < 8)
{
return(CheckBit(getDI(Api.MC_ALARM), p));
}
p -= 8;
if (p < 8)
{
return(CheckBit(getDI(Api.MC_HOME), p));
}
p -= 8;
if (p < 8)
{
return(CheckBit(getDI(Api.MC_ARRIVE), p));
}
return(false);
}
public IMotionController[] GetMotionControllers()
{
if (_motionControllers == null)
{
_motionControllers =
Enumerable.Range(0, 2)
.Select(Card.Of)
.Where(c => N.GT_Open(c) == 0)
.Select(c => (IMotionController) new MotionController(c))
.ToArray();
}
return(_motionControllers);
}
public void ToSpeed(int axis, double speed, double taccel_sec, double tdecel_sec)
{
var pls_ms = speed / 1000.0;
var acc_ms = speed / taccel_sec / (1000.0 * 1000.0);
var dec_ms = speed / tdecel_sec / (1000.0 * 1000.0);
var a = Axis.Of(axis);
N.GT_AxisOn(card, a).Verify();
N.GT_ClrSts(card, a, 1).Verify();
N.GT_PrfJog(card, a).Verify();
Api.TJogPrm param;
N.GT_GetJogPrm(card, a, out param).Verify();
param.acc = acc_ms;
param.dec = acc_ms;
N.GT_SetJogPrm(card, a, ref param).Verify();
N.GT_SetVel(card, a, pls_ms).Verify();
N.GT_Update(card, a.Mask).Verify();
}
void HomeAsync(int axis, double speed)
{
var a = Axis.Of(axis);
var pls_ms = speed / 1000.0;
var acc_ms = (speed * 10.0) / (1000.0 * 1000.0);
N.GT_ClrSts(card, a, 1).Verify();
N.GT_AxisOn(card, a).Verify();
N.GT_SetCaptureMode(card, a, Api.CAPTURE_HOME).Verify();
N.GT_ZeroPos(card, a, 1).Verify();
Offset(axis, -10000000, speed, 0.01, 0.01);
Task.Run(async() =>
{
try
{
short cap = 0;
int pos = 0;
do
{
N.GT_GetCaptureStatus(card, a, out cap, out pos).Verify();
if (cap != 0)
{
N.GT_SetPos(card, a, pos).Verify();
N.GT_Update(card, a.Mask).Verify();
break;
}
await Task.Delay(1);
} while (!IsStop(axis));
while (!IsStop(axis))
{
await Task.Delay(1);
}
return(cap != 0);
}
catch (Exception)
{
return(false);
}
});
}
public void Locate(int axis, double position, double speed, double taccel_sec, double tdecel_sec)
{
var pls_ms = speed / 1000.0;
var acc_ms = speed / taccel_sec / (1000.0 * 1000.0);
var dec_ms = speed / tdecel_sec / (1000.0 * 1000.0);
var a = Axis.Of(axis);
N.GT_ClrSts(card, a, 1).Verify();
N.GT_AxisOn(card, a).Verify();
N.GT_PrfTrap(card, a).Verify();
Api.TTrapPrm param;
N.GT_GetTrapPrm(card, a, out param).Verify();
param.velStart = 0;
param.acc = acc_ms;
param.dec = dec_ms;
N.GT_SetTrapPrm(card, a, ref param).Verify();
N.GT_SetPos(card, a, position.Round()).Verify();
N.GT_SetVel(card, a, pls_ms).Verify();
N.GT_Update(card, a.Mask).Verify();
}
public void Stop(int axis)
{
N.GT_Stop(card, Axis.Of(axis).Mask, 0).Verify();
}
public void ZeroPosition(int axis)
{
N.GT_ZeroPos(card, Axis.Of(axis), 1).Verify();
}
