273 lines
9.4 KiB
C#
273 lines
9.4 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Drawing.Drawing2D;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Security.Policy;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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using Advantech.Motion;
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using Automation.BDaq;
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using Newtonsoft.Json.Linq;
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using OpenCvSharp;
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namespace AssistClient.Device
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{
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public class IOCardDev : IDisposable
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{
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private Automation.BDaq.InstantDiCtrl instantDiCtrl1;
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private Automation.BDaq.InstantDoCtrl instantDoCtrl;
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public string DeviceNum { get; private set; }
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/// <summary>
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/// 读取输入端口数量
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/// </summary>
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public int DIPortCount { get; private set; }
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/// <summary>
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/// 写入输出端口数量
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/// </summary>
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public int DOPortCount { get; private set; }
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/// <summary>
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/// 读取到的输入值
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/// </summary>
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public byte[] DIData { get; private set; }
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public byte[] DOData { get; private set; }
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/// <summary>
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/// Log输出
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/// </summary>
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public Action<WarningEnum, string> WarningEvent;
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public Action<int, byte> INEvent;
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public Action<int, byte> OUTEvent;
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/// <summary>
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/// 是否打开设备成功
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/// </summary>
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public bool IsInit { get; private set; } = false;
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private System.Timers.Timer timer = new System.Timers.Timer();
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//频闪使用
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private System.Timers.Timer timerStrobe = new System.Timers.Timer();
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private List<string> strobeList = new List<string>();
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public IOCardDev()
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{
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}
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public bool start(string deviceNum="")
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{
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try
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{
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instantDiCtrl1 = new Automation.BDaq.InstantDiCtrl();
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instantDoCtrl = new Automation.BDaq.InstantDoCtrl();
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strobeList=new List<string>();
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if (deviceNum != "")
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{
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instantDiCtrl1.SelectedDevice = new Automation.BDaq.DeviceInformation(deviceNum);
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instantDoCtrl.SelectedDevice = new DeviceInformation(deviceNum);
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}
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//根据加载的文件设置设备的所有配置
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string cfgPath = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\IOCard_1703.xml";
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if (File.Exists(cfgPath))
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{
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var result = instantDiCtrl1.LoadProfile(cfgPath);//Loads a profile to initialize the device.
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var result2 = instantDoCtrl.LoadProfile(cfgPath);//Loads a profile to initialize the device.
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if (BioFailed(result) && BioFailed(result2))
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throw new Exception("CardIO Load Config Failed With Error Code: [" + result.ToString() + "]");
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}
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DeviceNum = instantDiCtrl1.SelectedDevice.Description;
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DIPortCount = instantDiCtrl1.Features.PortCount;
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DIData = new byte[DIPortCount];
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DOPortCount = instantDoCtrl.Features.PortCount;
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DOData = new byte[DOPortCount];
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loadDOData();
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IsInit = true;
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timer.Elapsed += Timer_Elapsed;
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timer.Interval = 100;
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timer.Start();
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timerStrobe.Elapsed += timerStrobe_Elapsed;
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timerStrobe.Interval = 500;
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timerStrobe.Start();
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return true;
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}
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catch (Exception ex)
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{
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WarningEvent?.Invoke(WarningEnum.High, ex.Message);
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return false;
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}
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}
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public void stop()
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{
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if (!IsInit) return;
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IsInit = false;
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strobeList.Clear();//闪烁状态清空
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timer.Stop();
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timerStrobe.Stop();
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//instantDiCtrl1.Cleanup();
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instantDiCtrl1.Dispose();
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//instantDoCtrl.Cleanup();
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instantDoCtrl.Dispose();
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}
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private void loadDOData(int portIndex=-1)
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{
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for (int i = 0; i < DOPortCount; ++i)
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{
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if (i == portIndex || portIndex < 0)
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{
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byte data;
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var reuslt = instantDoCtrl.Read(i, out data);
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if (reuslt != Automation.BDaq.ErrorCode.Success)
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throw new Exception("加载CardIO输出状态失败！");
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if (DOData[i] != data)
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{
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DOData[i] = data;
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//Config.HeightDevIOState = compareIOHeightDev();
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//WarningEvent(WarningEnum.Normal, "厚度气缸状态:" + Config.HeightDevIOState.ToString());
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OUTEvent?.Invoke(i, DOData[i]);
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}
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}
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}
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}
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/// <summary>
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/// 复位，全置0
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/// </summary>
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/// <returns></returns>
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public bool reset()
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{
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strobeList.Clear();//闪烁状态清空
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byte[] data=new byte[DOPortCount];
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for(int i = 0;i < data.Length; ++i)
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data[i]=0;
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var reuslt = instantDoCtrl.Write(0, data.Length, data);
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if (BioFailed(reuslt))
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return false;
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loadDOData();
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return true;
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}
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/// <summary>
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/// 闪烁状态会清空
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/// </summary>
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/// <param name="startPort"></param>
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/// <param name="data"></param>
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/// <returns></returns>
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public bool writeData(int startPort, byte[] data)
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{
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strobeList.Clear();//闪烁状态清空
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var reuslt = instantDoCtrl.Write(startPort, data.Length, data);
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if (BioFailed(reuslt))
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return false;
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loadDOData(data.Length == 1 ? startPort : -1);
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return true;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="portIndex"></param>
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/// <param name="bitIndex"></param>
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/// <param name="state"></param>
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/// <param name="isStrobe">频闪</param>
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/// <returns></returns>
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public bool writeBitState(int portIndex, int bitIndex, bool state, bool isStrobe = false)
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{
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//byte bit = (byte)(DOData[portIndex] & (byte)(0x01<<bitIndex));
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//if (bit > 0 && state) return true;
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//if (bit == 0 && !state) return true;
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//byte data = DOData[portIndex];
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//data &= (byte)(~(0x1 << bitIndex));
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//data |= (byte)((state ? 1 : 0) << bitIndex);
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//var reuslt = instantDoCtrl.Write(startPort, len, data);
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var reuslt = instantDoCtrl.WriteBit(portIndex, bitIndex, (byte)(state ? 1 : 0));// (byte)((state ? 1 : 0) << bitIndex));
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if (BioFailed(reuslt))
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return false;
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loadDOData(portIndex);
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string key = portIndex + "|" + bitIndex;
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if (state && isStrobe)
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strobeList.Add(key);
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else if(strobeList.Contains(key))
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strobeList.Remove(key);
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return true;
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}
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public bool getDIBitState(int portIndex, int bitIndex)
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{
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byte data = 0x01;
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data=(byte)(data << bitIndex);
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return (DIData[portIndex] & data) > 0;
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}
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public bool getDOBitState(int portIndex, int bitIndex)
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{
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byte data = 0x01;
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data = (byte)(data << bitIndex);
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return (DOData[portIndex] & data) > 0;
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}
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private bool strobeState = true;
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private void timerStrobe_Elapsed(object sender, ElapsedEventArgs e)
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{
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if (!IsInit) return;
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string[] key;
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for(int i = 0;i< strobeList.Count; i++)
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{
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key=strobeList[i].Split('|');
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instantDoCtrl.WriteBit(Convert.ToInt16(key[0]), Convert.ToInt16(key[1]), (byte)(strobeState ? 1 : 0));
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}
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strobeState =!strobeState;
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}
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private void Timer_Elapsed(object sender, ElapsedEventArgs e)
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{
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if (!IsInit) return;
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timer.Stop();
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//byte data = 0;//data is used to the API ReadBit.
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//int bit = 0;//bit is used to the API ReadBit.
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Automation.BDaq.ErrorCode result;
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int startPort = 0;
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byte[] datas = new byte[DIPortCount];
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do
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{
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result = instantDiCtrl1.Read(startPort, DIPortCount, datas);
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//errorCode = instantDiCtrl.ReadBit(startPort, bit, out data);
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if (BioFailed(result))
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{
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//throw new Exception();
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continue;
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}
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for (int i = 0; i < datas.Length; i++)
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{
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if (DIData[i] != datas[i])
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{
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DIData[i]= datas[i];
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INEvent?.Invoke(i, DIData[i]);
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}
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}
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Thread.Sleep(10);
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} while (IsInit);
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}
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private static bool BioFailed(Automation.BDaq.ErrorCode err)
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{
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return err < Automation.BDaq.ErrorCode.Success && err >= Automation.BDaq.ErrorCode.ErrorHandleNotValid;
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}
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public void Dispose()
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{
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stop();
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}
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}
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}
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