void Run()
{
//将当前线程绑定到指定的cpu核心上
GetCpu.SetThreadAffinityMask(GetCpu.GetCurrentThread(), new UIntPtr(0x4));
kzwbmlt12 = DateTime.Now;
string path = PathHelper.currentProductPath + @"\" + "spd" + ".txt";
DateTime t1;
int xjfwi;
spd = Card.maxspeed;
int preSignal = 0, signal = 0;
PCI408.PCI408_counter_config(0, 3);
PCI408.PCI408_set_encoder(0, 0);
int fwjs1 = 0, fwjs2 = 0; sdkz3 = 100000;
long cuowu = PCI408.PCI408_compare_set_filter_Extern(Card.cardNo, 100000);
PCI408.PCI408_config_latch_mode(Card.cardNo, Card.zhouhao);
sdkzt1 = DateTime.Now; sdkzt2 = DateTime.Now; sdkzt4 = DateTime.Now; sdkzt3 = DateTime.Now;
long jcqbz;
for (int xjh = 0; xjh < PosArray.Count(); xjh++)
{
PCI408.PCI408_compare_clear_points_Extern(0, (ushort)(xjh + 1));
PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(xjh + 1), 1, Card.zhouhao, IOs[xjh]);
PCI408.PCI408_compare_set_pulsetimes_Extern(0, (ushort)(xjh + 1), 20);
}
PCI408.PCI408_reset_latch_flag(Card.cardNo);
long s5;
currentPos = (int)PCI408.PCI408_get_encoder(Card.cardNo);
int[] sigci = new int[5], psigci = new int[5];
for (int sigfi = 0; sigfi < 5; sigfi++)
{
sigci[sigfi] = 0;
psigci[sigfi] = 0;
}
//？
int zdwy = 40000;
while (isStart)
{
try
{
// for (xjfwi = 1; xjfwi < cameraCount + 1; xjfwi++)
//{
// xjfws[xjfwi].t2 = DateTime.Now;
// //if (xjfws[xjfwi].tsc() > 200000 && copos[xjfwi].pos.Count() > 0)
// //if (xjfws[xjfwi].tsc() > 200000)
// // {
// // //copos[0].pos.Clear();
// // //copos[1].pos.Clear();
// // //copos[2].pos.Clear();
// // //copos[3].pos.Clear();
// // //copos[4].pos.Clear();
// // //copos[5].pos.Clear();
// // //copos[6].pos.Clear();
// // nutqueue.Clear();
// // xjfws.Initialize();
// // copos.Initialize();
// // timers.Initialize();
// // xjfws = new xjfw[7];
// // //for (xjfwi = 0; xjfwi < 5; xjfwi++)
// // //{
// // // xjfws[xjfwi] = new xjfw();
// // // xjfws[xjfwi].ID = xjfwi;
// // // xjfws[xjfwi].t1 = DateTime.Now;
// // // xjfws[xjfwi].t2 = DateTime.Now;
// // //}
// // copos = new coppos[7];
// // //for (int k = 0; k < 5; k++)
// // //{
// // // copos[k] = new coppos();
// // // copos[k].ID = k;
// // // //copos[k].onwrite = false;
// // //}
// // timers = new MyTimer[7];
// // //for (int i = 0; i < timers.Length; i++)
// // //{
// // // timers[i] = new MyTimer();
// // // timers[i].ID = i;
// // // //timers[i].OnTimerEvent += new MyTimer.OnTimerEventHandler(OnTimer);
// // //}
// // //Thread.Sleep(1000);
// // }
//}
// t1 = DateTime.Now;
currentPos = (int)PCI408.PCI408_get_encoder(Card.zhouhao);
for (int sr = 0; sr < cameraCount; sr++)
{
sigci[sr] = PCI408.PCI408_read_inbit(Card.cardNo, (ushort)xjzsr[sr]);
if (sigci[sr] == 0 && psigci[sr] == 1)
{
int length1 = dpdl[sr].Count(), jr = 200, jr1 = 5000;
for (int listi = 0; listi < length1; listi++)
{
int ssg = Math.Abs(dpdl[sr][listi] + PosArray[sr] - currentPos);
if (ssg < jr1)
{
jr1 = ssg;
jr = listi;
}
}
if (jr != 200 && jr1 < 5000)
{
copos[sr].pos.Add(dpdl[sr][jr]);
// Console.WriteLine("trun " + DateTime.Now.ToString("mm-ss-fff"));
dpdl[sr].RemoveAt(jr);
}
}
psigci[sr] = sigci[sr];
}
for (int sr1 = 0; sr1 < cameraCount; sr1++)
{
int length2 = dpdl[sr1].Count();
for (int listi1 = 0; listi1 < length2; listi1++)
{
if (Math.Abs(currentPos - dpdl[sr1][listi1]) > zdwy)
{
dpdl[sr1].RemoveAt(listi1);
}
}
}
jcqbz = PCI408.PCI408_get_latch_flag(Card.cardNo); //读取锁存器状态
if ((jcqbz & 0xf00) > 0)
{
PCI408.PCI408_reset_latch_flag(Card.cardNo);
signal = PCI408.PCI408_get_latch_value(Card.zhouhao);
}
if (fwjs1 - fwjs2 > 4000)
{
fwjs1 = fwjs2;
for (int sr = 0; sr < cameraCount; sr++)
{
sigci[sr] = 0;
psigci[sr] = 0;
dpdl[sr].Clear();
copos[sr].pos.Clear();
}
for (int xjh = 0; xjh < PosArray.Count(); xjh++)
{
PCI408.PCI408_set_encoder(0, 0);
PCI408.PCI408_compare_clear_points_Extern(0, (ushort)(xjh + 1));
PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(xjh + 1), 1, Card.zhouhao, IOs[xjh]);
PCI408.PCI408_compare_set_pulsetimes_Extern(0, (ushort)(xjh + 1), 5);
}
for (int xjs = 0; xjs < cameraCount; xjs++)
{
jcqdls[xjs].clear();
//File.AppendAllText(path,signal.ToString()+" ", Encoding.Default);
}
PCI408.PCI408_reset_latch_flag(Card.cardNo);
preSignal = signal;
if (isStart)
{
nutqueue.Clear();
}
}
if (signal != preSignal)
{
kzwbmlt12 = DateTime.Now;
s5 = PCI408.PCI408_compare_get_points_remained_Extern(0, 1);
if (s5 > cameraCount + 3)
{
Nut nut = new Nut();
fwjs1 += 1;
nut.initialPos = signal;
nutqueue.Add(nut);
nut.cas = cameraCount;
pn.totalCount++;
speedTemp++;
ss = pn.totalCount;
for (int xjs = 0; xjs < cameraCount; xjs++)
{
PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(xjs + 1), 1, Card.zhouhao, 1);
PCI408.PCI408_compare_add_point_Extern(Card.cardNo, (ushort)(xjs + 1), PosArray[xjs] + (int)signal, 1, 9, IOs[xjs]);
// copos[nut.posNo + 1].pos.Add (nut.initialPos);
// copos[nut.posNo + 1].onwrite = true;
dpdl[xjs].Add(signal);
// Console.WriteLine("ss" + signal);
//File.AppendAllText(path,signal.ToString()+" ", Encoding.Default);
}
}
}
niuli();
for (int i = nutqueue.Count - 1; i > -1; i--)
{
Nut nutc = new Nut();
nutc = nutqueue[i];
//if (currentPos < nutc.initialPos)
//{
// nutqueue.Remove(nutc);
// break;
//}
if (currentPos - nutc.initialPos > PosArray[cameraCount] - 1000)
{
int a = nutc.getTheHole();
switch (a.ToString())
{
case "1":
//pn.mnum++;
//Console.WriteLine("cipin" + pn.mnum);
PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(cameraCount + 1), 1, Card.zhouhao, 1);
PCI408.PCI408_compare_set_pulsetimes_Extern(0, (ushort)(cameraCount + 1), 10);
PCI408.PCI408_compare_add_point_Extern(Card.cardNo, (ushort)(cameraCount + 1), PosArray[cameraCount] + (int)nutc.initialPos, 1, 9, IOs[cameraCount]);
break;
//case "3":
//pn.nnum++;
//Console.WriteLine("未识别" + pn.nnum);
//PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(cameraCount + 1), 1, Card.zhouhao, 1);
//PCI408.PCI408_compare_set_pulsetimes_Extern(0, (ushort)(cameraCount + 1), 20);
//PCI408.PCI408_compare_add_point_Extern(Card.cardNo, (ushort)(cameraCount + 1), PosArray[cameraCount] + (int)nutc.initialPos, 1, 9, IOs[cameraCount]);
//break;
case "2":
pn.goodNum++;
fwjs2 = fwjs1;
PCI408.PCI408_compare_config_Extern(Card.cardNo, (ushort)(cameraCount + 2), 1, Card.zhouhao, 1);
PCI408.PCI408_compare_set_pulsetimes_Extern(0, (ushort)(cameraCount + 2), 10);
PCI408.PCI408_compare_add_point_Extern(Card.cardNo, (ushort)(cameraCount + 2), PosArray[cameraCount + 1] + (int)nutc.initialPos, 1, 9, IOs[cameraCount + 1]);
break;
}
jcjg2 = nutc.jiance;
Thread ccjcjg = new Thread(cunchujiancejieguo);
ccjcjg.Start();
nutqueue.Remove(nutc);
pn.badNum = pn.totalCount - pn.goodNum;
}
}
preSignal = signal;
kongzhiwaibu();
sdkzt1 = DateTime.Now;
sdkzt4 = DateTime.Now;
if (Card.sjc(sdkzt3, sdkzt4) < sdkz3)
{
sdkz3 = Card.sjc(sdkzt3, sdkzt4);
}
sdkzt3 = DateTime.Now;
//if (Card.sjc(sdkzt2, sdkzt1) > 60000)
//{
// sdkzt2 = DateTime.Now;
// if (sdkz3 < 10)
// {
// spd = spd + 100;
// PCI408.PCI408_change_speed(Card.cardNo, spd);
// File.AppendAllText(path, spd.ToString() + " ", Encoding.Default);
// }
//}
}
catch (Exception e)
{
MyDebug.ShowMessage(e, "运动控制出错");
}
finally
{
//MyDebug.ShowMessage(nutqueue.Count.ToString());
}
}
}