public TaskUnit(string name, TaskGroup taskGroup)
{
strName = name;
m_taskGroup = taskGroup;
taskInfo = new WorldGeneralLib.TasInfo();
m_taskTime = new WorldGeneralLib.HiPerfTimer();
}
private void ScanThreadFunction()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
System.Threading.Thread.Sleep(1000);
while (true)
{
System.Threading.Thread.Sleep(50);
GetAllIOStatus();
}
}
private void ScanThreadFunction()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
System.Threading.Thread.Sleep(1000);
int iStep = 0;
while (true)
{
System.Threading.Thread.Sleep(1);
switch (iStep)
{
case 0:
{
timer.Start();
iStep = 10;
}
break;
case 10:
{
if (timer.TimeUp(1))
{
timer.Start();
for (int i = 0; i < 128; i++)
{
bBitInputStatus[i] = true;
}
iStep = 20;
}
}
break;
case 20:
{
if (timer.TimeUp(1))
{
for (int i = 0; i < 128; i++)
{
bBitInputStatus[i] = false;
}
iStep = 0;
}
}
break;
default:
break;
}
}
}
private void ScanThreadFunction()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
System.Threading.Thread.Sleep(1000);
while (true)
{
System.Threading.Thread.Sleep(10);
if (MainModule.FormMain.bClosing)
{
break;
}
GetAllMotionStatus();
GetAllIOStatus();
}
}
private void ScanThreadFunction()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
System.Threading.Thread.Sleep(1000);
Random rdm = new Random();
int iBit = rdm.Next(0, 127);
int iStep = 0;
while (true)
{
System.Threading.Thread.Sleep(10);
switch (iStep)
{
case 0:
{
timer.Start();
iBit = rdm.Next(0, 127);
iStep = 10;
}
break;
case 10:
{
if (timer.TimeUp(1))
{
timer.Start();
bBitStatus[iBit] = true;
iStep = 20;
}
}
break;
case 20:
{
if (timer.TimeUp(1))
{
bBitStatus[iBit] = false;
iStep = 0;
}
}
break;
default:
break;
}
}
}
public static void ScanThread()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
while (true)
{
timer.Start();
try
{
foreach (IControlDriver controlItem in controls)
{
controlItem.GetDriverStatus();
controlItem.FreshDriverStatus();
}
}
catch
{
}
System.Threading.Thread.Sleep(100);
}
}
public MainControl(string name, TaskGroup taskGroup) : base(name, taskGroup)
{
Socket_server.Instance().open();
Loaddate();
ctTimer = new WorldGeneralLib.HiPerfTimer();
}
private void ScanThreadFunction()
{
WorldGeneralLib.HiPerfTimer timer = new WorldGeneralLib.HiPerfTimer();
System.Threading.Thread.Sleep(1000);
Random rdm = new Random();
int iBit = rdm.Next(0, 63);
int iStep = 0;
int i = 0;
while (true)
{
System.Threading.Thread.Sleep(1);
#region Input 动态该更
switch (iStep)
{
case 0:
{
timer.Start();
iStep = 10;
}
break;
case 10:
{
if (timer.TimeUp(1))
{
timer.Start();
for (i = 0; i < 64; i++)
{
bBitInputStatus[i] = true;
}
iStep = 20;
}
}
break;
case 20:
{
if (timer.TimeUp(1))
{
for (i = 0; i < 64; i++)
{
bBitInputStatus[i] = false;
}
iStep = 0;
}
}
break;
default:
break;
}
#endregion
#region 运动执行
for (i = 0; i < 8; i++)
{
if (iMoveMode[i] == 1)
{
dCurrentPos[i] = dCurrentPos[i] + dCurrentVel[i];
}
if (iMoveMode[i] == 2 || iMoveMode[i] == 3)
{
iMoveMode[i] = 0;
dCurrentPos[i] = dTargetPos[i];
}
}
#endregion
}
}
