public override object CreateInstance(ITypeDescriptorContext context, IDictionary propertyValues)
{
IOInput io = new IOInput();
io.CardNo = (CardNo)propertyValues["CardNo"];
io.AxisNo = (int)propertyValues["AxisNo"];
io.InputNo = (InputNo)propertyValues["InputNo"];
return(io);
}
public override object ConvertTo(ITypeDescriptorContext context, CultureInfo culture, object value, Type destinationType)
{
//将对象转换为字符串
if ((destinationType == typeof(string)) && value != null && value != null)
{
return(((IOInput)value).ToString());
}
//生成设计时的构造器代码
if (destinationType == typeof(InstanceDescriptor) && value != null)
{
IOInput p = (IOInput)value;
ConstructorInfo ctor = typeof(IOInput).GetConstructor(new Type[] { typeof(CardNo), typeof(int), typeof(InputNo) });
return(new InstanceDescriptor(ctor, new object[] { p.CardNo, p.AxisNo, p.InputNo }));
}
return(base.ConvertTo(context, culture, value, destinationType));
}
public short GoHome(int timeout, HostarSpeed goLimit, HostarSpeed goHome, IOInput limit, bool Wait = true)
{
return(this.GoHomeWithInput(timeout, this.HomeMode, this.HomeDirection, goLimit, goHome, limit));
}
private short GoHomeWithInput(int timeout, HomeMode homeMode, bool direction, HostarSpeed goLimit, HostarSpeed goHome, IOInput limit)
{
short rtn = 0;
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
this.StopAxis();
this.GetAxisSts();
#region 到轴的极限位置
if (!limit.GetIO())
{
rtn = this.Jog(goLimit, !direction); // 到极限
while (!limit.GetIO())
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
}
this.StopAxis();
#endregion
Thread.Sleep(200);
#region 开始回原点
stopwatch.Reset();
stopwatch.Start();
var homeSpeed = goHome.GetActSpeed(this.AxisRatio);
rtn += this.AxisGoHome(homeMode, direction, homeSpeed.StartSpeed, homeSpeed.MaxSpeed, homeSpeed.AccTime, homeSpeed.DecTime);
Thread.Sleep(200);
this.GetAxisSts();
while (this.bAxisIsHoming || this.bAxisIsRunning)
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
this.StopAxis();
this.ClearAxisSts();
this.ZeroAxis();
stopwatch.Stop();
return(rtn);
#endregion
}
