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Thick-Common
Commit 5d83800f authored by 潘栩锋's avatar 潘栩锋 🚴
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自动 调整速度，记录 TimeGridAdv

parent 52fa4a1a
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Showing with 749 additions and 390 deletions
Project.FLY.FlyADBase/FlyADBase/FlyAD7.cs
View file @ 5d83800f
......@@ -47,8 +47,8 @@ namespace FlyADBase
bNeedGet = true;
dt = DateTime.Now;
}
public bool NeedGet(DateTime now,TimeSpan delay)
public bool NeedGet(DateTime now, TimeSpan delay)
{
if (bNeedGet)
{
......@@ -74,7 +74,7 @@ namespace FlyADBase
/// </summary>
const int ReConnectTGridMaxCnt = 3;
int last_position = int.MinValue;
......@@ -92,7 +92,7 @@ namespace FlyADBase
//3秒内收不到1个timegrid ，就会重连
PollModule.Current.Poll_Config(PollModule.POLL_CONFIG.ADD,
() =>
......@@ -209,7 +209,7 @@ namespace FlyADBase
(e.PropertyName == "HVelocity2"))
{
FObjBase.PollModule.Current.Poll_JustOnce(
delegate()
delegate ()
{
//TODO,不应该直接修改Velocity，SVelocity。。。。。。
//所以下面也不可能存在！！！
......@@ -220,7 +220,7 @@ namespace FlyADBase
(e.PropertyName == "JogVelocity"))
{
FObjBase.PollModule.Current.Poll_JustOnce(
delegate()
delegate ()
{
CurrObjSys.SetValueEx(conn, FLYAD7_OBJ_INTERFACE.SYS_DATA_INTERFACE.ID,
ID, FLYAD7_OBJ_INTERFACE.SYS_DATA_INTERFACE.SET_ZERO_POS,
......@@ -237,14 +237,14 @@ namespace FlyADBase
(e.PropertyName == "Ratio02"))
{
FObjBase.PollModule.Current.Poll_JustOnce(
delegate()
delegate ()
{
SetSysParam(PosOfGrid, MotorType, Ratio01, Ratio02);
}, this, MARKNO_SET_SYSPARAM);
}
else if (e.PropertyName == "Pos1LCShift")
{
CurrObjSys.CallFunctionEx(
conn,
FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
......@@ -370,7 +370,7 @@ namespace FlyADBase
if (IsConnected)
{
ConnectCnt++;
Init();
}
else
......@@ -410,8 +410,8 @@ namespace FlyADBase
break;
Position2 = pack.pos2;
if(!IsCalSpeed)
if (!IsCalSpeed)
Speed2 = pack.speed2;
}
break;
......@@ -596,6 +596,11 @@ namespace FlyADBase
}
}
TSysTick mSysTick = new TSysTick();
private int pos1_version { get; set; } = 2;
private int io_version { get; set; } = 2;
private int timegrid_version { get; set; } = 2;
private int grid_version { get; set; } = 2;
public override void PushInfo(IFConn from, uint srcid, ushort infoid, byte[] infodata)
{
bShieldSetValueEx = true;
......@@ -605,16 +610,17 @@ namespace FlyADBase
{
FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushPos1_2 pack = new FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushPos1_2();
int version;
if (!pack.TryParse_version(infodata,out version))
if (!pack.TryParse_version(infodata, out version))
break;
Version = version;
if(version == 1)
pos1_version = version;
if (version == 1)
{
Position = pack.pos1;
if (!IsCalSpeed)
Speed = pack.speed1;
}
else if(version == 2)
else if (version == 2)
{
Position = pack.pos1;
if (!IsCalSpeed)
......@@ -629,9 +635,8 @@ namespace FlyADBase
{
FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushPos2_2 pack = new FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushPos2_2();
int version;
if (!pack.TryParse_version(infodata,out version))
if (!pack.TryParse_version(infodata, out version))
break;
Version = version;
Position2 = pack.pos2;
if (!IsCalSpeed)
Speed2 = pack.speed2;
......@@ -651,8 +656,8 @@ namespace FlyADBase
int version;
if (!pack.TryParse_version(infodata, out version))
break;
Version = version;
if (version == 1)
io_version = version;
if (version == 1)
{
UInt16 inchange = (UInt16)(IStatus ^ pack.istatus);
IStatus = pack.istatus;
......@@ -669,13 +674,13 @@ namespace FlyADBase
Position,
Position2));
}
else if(version == 2)
else if (version == 2)
{
IStatus = pack.istatus;
OStatus = pack.ostatus;
DateTime dt = mSysTick.ToDateTime(pack.systick);
Now = dt;
IStatusChangedEvent?.Invoke(
this,
new IStatusChangedEventArgs(
......@@ -684,7 +689,7 @@ namespace FlyADBase
pack.inChange,
pack.pos1,
pack.pos2));
}
advPushIo(pack.pos1);
} break;
......@@ -702,7 +707,7 @@ namespace FlyADBase
{
break;
}
Version = version;
timegrid_version = version;
DateTime dt;
int[] data;
......@@ -743,7 +748,6 @@ namespace FlyADBase
FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushStatus_2 pack = new FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushStatus_2();
if (!pack.TryParse_version(infodata, out version))
break;
Version = version;
if (version == 1)
{
DriveOrder = pack.order;
......@@ -752,7 +756,7 @@ namespace FlyADBase
else if (version == 2)
{
DriveOrder = pack.order;
DriveStatus = pack.status;
Marker = pack.marker;
DateTime dt = mSysTick.ToDateTime(pack.systick);
......@@ -763,9 +767,9 @@ namespace FlyADBase
{
int version;
var pack = new FLYAD7_OBJ_INTERFACE.PUSH_DATA_INTERFACE.Pack_PushGrid_2();
if (!pack.TryParse_version(infodata,out version))
if (!pack.TryParse_version(infodata, out version))
break;
grid_version = version;
DateTime dt;
int marker;
if (version == 1)
......@@ -850,7 +854,7 @@ namespace FlyADBase
}
}
if (sysinfo_wait.NeedGet(now,TimeSpan.FromSeconds(1)))
if (sysinfo_wait.NeedGet(now, TimeSpan.FromSeconds(1)))
{
CurrObjSys.GetValueEx(
conn,
......@@ -874,7 +878,7 @@ namespace FlyADBase
// }
//}
//else
if(driveman_wait.NeedGet(now, TimeSpan.FromSeconds(3)))//每3秒检查一次
if (driveman_wait.NeedGet(now, TimeSpan.FromSeconds(3)))//每3秒检查一次
{
driveman_wait.Clear();
if (Position == last_position)//当前正在running，但脉冲在3秒内都没变化，问AD卡，现在什么情况。
......@@ -890,7 +894,7 @@ namespace FlyADBase
}
}
#region INotifyPropertyChanged 成员
protected void NotifyPropertyChanged(string propertyName)
......@@ -937,7 +941,17 @@ namespace FlyADBase
/// <summary>
/// AD盒版本号 版本1 没有systick;版本2 有systick;
/// </summary>
public int Version { get; private set; } = 2;
public int Version
{
get {
if (pos1_version == 2
&& timegrid_version == 2
&& grid_version == 2)
return 2;
else
return 1;
}
}
/// <summary>
/// 脉冲
......
Project.FLY.FlyADBase/Flyad7_WPF/AutoGetGridAdv.cs 0 → 100644
View file @ 5d83800f
using FlyADBase;
using GalaSoft.MvvmLight.Command;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Threading;
namespace Flyad7_WPF
{
[JsonObject(MemberSerialization.OptIn)]
public class AutoGetGridAdv:INotifyPropertyChanged
{
FlyAD7 flyad;
public bool IsError { get; set; }
public string ErrMsg { get; set; }
public string ProgressMsg { get; set; }
public bool IsRunning { get; private set; }
[JsonProperty]
public int FB_Pos1 { get; set; } = 1000;
[JsonProperty]
public int FB_Pos2 { get; set; } = 3000;
[JsonProperty]
public int StartV { get; set; } = 100;
[JsonProperty]
public int StepV { get; set; } = 100;
[JsonProperty]
public int EndV { get; set; } = 2000;
public RelayCommand StartCmd { get; private set; }
public RelayCommand StopCmd { get; private set; }
List<IEnumerable<GridAdvUnit>> gridAdvUnits = new List<IEnumerable<GridAdvUnit>>();
public AutoGetGridAdv()
{
StartCmd = new RelayCommand(Start);
StopCmd = new RelayCommand(Stop);
Load();
}
public void Init(FlyAD7 flyad)
{
this.PropertyChanged += AutoSave;
this.flyad = flyad;
}
CancellationTokenSource cancellationTokenSource;
public async void Start()
{
if (IsRunning)
return;
cancellationTokenSource = new CancellationTokenSource();
IsError = false;
IsRunning = true;
ProgressMsg = "准备动作，到达 开始位置";
await Task.Delay(1);
flyad.SetVelocity((UInt32)(StartV + EndV) / 2);
flyad.Runto(FB_Pos1);
if (!await Wait()) goto _end;
ProgressMsg = "正式开始";
await Task.Delay(1);
//正式开始
gridAdvUnits.Clear();
flyad.TimeGridAdvEvent += Flyad_TimeGridAdvEvent;
int v = StartV;
int cnt = (EndV - StartV) / StepV;
for(int j=0;j<cnt;j++)
{
flyad.SetVelocity((UInt32)v);
for (int i = 0; i < 2; i++)
{
ProgressMsg = $"{j*2+i}/{cnt*2} 以速度 {v}pps 来回扫描";
await Task.Delay(1);
flyad.Runto(FB_Pos2);
if (!await Wait()) goto _end;
flyad.Runto(FB_Pos1);
if (!await Wait()) goto _end;
}
v += StepV;
}
_end:
await Task.Delay(1000);//等1秒，等最后一个TimeGridAdvEvent收到
flyad.TimeGridAdvEvent -= Flyad_TimeGridAdvEvent;
//保存数据
string strDesktopPath = Environment.GetFolderPath(Environment.SpecialFolder.DesktopDirectory);
string path = System.IO.Path.Combine(strDesktopPath, $"autoGridAdv_{DateTime.Now.ToString("yyyyMMdd_HHmmss")}.json");
string json = Newtonsoft.Json.JsonConvert.SerializeObject(gridAdvUnits);
File.WriteAllText(path, json);
ProgressMsg = $"成功保存到 {path}";
gridAdvUnits.Clear();
IsRunning = false;
}
private void Flyad_TimeGridAdvEvent(object sender, TimeGridAdvEventArgs e)
{
gridAdvUnits.Add(e.Data);
}
async Task<bool> Wait()
{
while (true)
{
try
{
await Task.Delay(2000, cancellationTokenSource.Token);
}
catch
{
//被叫醒了
ErrMsg = "强制退出";
IsError = true;
await Task.Delay(1);
return false;
}
if (!flyad.IsConnected)
{
ErrMsg = "连接断开";
IsError = true;
await Task.Delay(1);
return false;
}
if (flyad.DriveStatus == DRIVE_MAN_STATUS.RUNNING)
{
continue;
}
else if (flyad.DriveStatus == DRIVE_MAN_STATUS.STOP)
{
return true;
}
else
{
ErrMsg = $"异常停止 flyad.DriveStatus={flyad.DriveStatus}";
IsError = true;
return false;
}
}
}
public void Stop()
{
if (!IsRunning)
return;
if (cancellationTokenSource == null)
return;
if (cancellationTokenSource.IsCancellationRequested)
return;
cancellationTokenSource.Cancel();
}
public event PropertyChangedEventHandler PropertyChanged;
private bool isIgnoreSave;
private async void AutoSave(object sender, PropertyChangedEventArgs e)
{
if (isIgnoreSave)
return;
if (this.GetType()
.GetProperty(e.PropertyName)
.GetCustomAttributes(typeof(JsonPropertyAttribute), false)
.Count() > 0)
{
isIgnoreSave = true;
await Task.Delay(5000);//Task.Yield();
Save();
isIgnoreSave = false;
}
}
void Save()
{
try
{
string json = Newtonsoft.Json.JsonConvert.SerializeObject(this);
File.WriteAllText("autoGridAdv.json", json);
}
catch (Exception e )
{
}
}
void Load()
{
try
{
string json = File.ReadAllText("autoGridAdv.json");
isIgnoreSave = true;
Newtonsoft.Json.JsonConvert.PopulateObject(json, this);
isIgnoreSave = false;
}
catch (Exception e)
{
}
}
}
}
Project.FLY.FlyADBase/Flyad7_WPF/DebugAppParam.cs
View file @ 5d83800f
......@@ -6,6 +6,7 @@ using System.ComponentModel;
using Misc;
using System.IO;
using Newtonsoft.Json;
using System.Threading.Tasks;
namespace Flyad7_WPF
{
......@@ -31,51 +32,70 @@ namespace Flyad7_WPF
public int FB_Pos2 { get; set; } = 3000;
public UInt32 Velocity { get; set; }
public UInt32 SVelocity { get; set; }
public UInt32 ATime { get; set; }
public UInt32 DTime { get; set; }
public UInt32 HVelocity1 { get; set; }
public UInt32 HVelocity2 { get; set; }
public UInt32 Velocity { get; set; } = 3000;
public UInt32 SVelocity { get; set; } = 100;
public UInt32 ATime { get; set; } = 300;
public UInt32 DTime { get; set; } = 300;
public UInt32 HVelocity1 { get; set; } = 1000;
public UInt32 HVelocity2 { get; set; } = 300;
public int PosLen;
public int ADLag { get; set; }
public int PosLen { get; set; } = 8900;
public int ADLag { get; set; } = 0;
#region INotifyPropertyChanged 成员
public event PropertyChangedEventHandler PropertyChanged;
#endregion
public DebugAppParam()
{
Load();
}
public void Init()
{
this.PropertyChanged += AutoSave;
}
private bool isIgnoreSave;
private async void AutoSave(object sender, PropertyChangedEventArgs e)
{
if (isIgnoreSave)
return;
if (this.GetType().GetProperty(e.PropertyName).GetCustomAttributes(typeof(JsonPropertyAttribute), false).Count() > 0)
{
isIgnoreSave = true;
await Task.Delay(5000);//Task.Yield();
Save();
isIgnoreSave = false;
}
}
public void Save()
{
Misc.SaveToXmlHepler.Save(file_path, this);
try
{
string json = JsonConvert.SerializeObject(this);
File.WriteAllText("param.json", json);
}
catch {
}
}
string file_path = "param.xml";
public void Load()
{
Misc.SaveToXmlHepler.Load(file_path, this);
try
{
string json = File.ReadAllText("param.json");
isIgnoreSave = true;
JsonConvert.PopulateObject(json, this);
isIgnoreSave = false;
}
catch {
}
}
}
public class DebugAppParamJsonDB
{
public string EPStr;
public bool HasTimeGrid;
public bool HasGrid;
public bool HasGridAdv;
public bool HasCRC;
public int FB_Pos1;
public int FB_Pos2;
}
}
Project.FLY.FlyADBase/Flyad7_WPF/Flyad7_WPF.csproj
View file @ 5d83800f
......@@ -72,12 +72,14 @@
<SubType>Designer</SubType>
</ApplicationDefinition>
<Compile Include="AutoForwBackw.cs" />
<Compile Include="AutoGetGridAdv.cs" />
<Compile Include="AutoSync.cs" />
<Compile Include="Converters\BinConverter.cs" />
<Compile Include="Converters\BytesConverter.cs" />
<Compile Include="Converters\IO2BinConverter.cs" />
<Compile Include="DebugAppParam.cs" />
<Compile Include="FlyADClientUI.cs" />
<Compile Include="GridAdvVm.cs" />
<Compile Include="Window1.xaml.cs">
<DependentUpon>Window1.xaml</DependentUpon>
</Compile>
......@@ -184,6 +186,9 @@
<IncludeAssets>runtime; build; native; contentfiles; analyzers</IncludeAssets>
<PrivateAssets>all</PrivateAssets>
</PackageReference>
<PackageReference Include="MvvmLightLibs">
<Version>5.4.1.1</Version>
</PackageReference>
<PackageReference Include="Newtonsoft.Json">
<Version>12.0.3</Version>
</PackageReference>
......
Project.FLY.FlyADBase/Flyad7_WPF/GridAdvVm.cs 0 → 100644
View file @ 5d83800f
This diff is collapsed.
Project.FLY.FlyADBase/Flyad7_WPF/MainWindow.xaml
View file @ 5d83800f
......@@ -25,7 +25,6 @@
</Style>
<Style TargetType="TextBlock" x:Key="TextBlockStyle_itemTitle">
<Setter Property="Width" Value="60" />
<Setter Property="Height" Value="23" />
<Setter Property="Margin" Value="3" />
</Style>
<Style TargetType="TextBox" x:Key="TextBoxStyle_itemContent">
......@@ -35,8 +34,8 @@
</Style>
<Style TargetType="Button" x:Key="ButtonStyle">
<Setter Property="Height" Value="30"/>
<Setter Property="Width" Value="80"/>
<Setter Property="Margin" Value="3"/>
<Setter Property="Padding" Value="20,3"/>
</Style>
</ResourceDictionary>
</Window.Resources>
......@@ -371,28 +370,84 @@
<RowDefinition Height="auto" />
<RowDefinition />
</Grid.RowDefinitions>
<StackPanel Name="stackpanel_graph_gridadv">
<StackPanel Orientation="Horizontal" >
<CheckBox Content="接收GridAdv" IsChecked="{Binding DataContext.HasGridAdv,ElementName=grid_param}" VerticalAlignment="Center" Margin="3" />
<Button Padding="20,5" Margin="3" Content="保存GridAdv" Click="btnSaveGridAdvClick" />
<Button Padding="20,5" Margin="3" Content="读取GridAdv" Click="btnLoadGridAdvClick" />
</StackPanel>
<StackPanel Orientation="Horizontal">
<Button Padding="20,5" Margin="3" Content="计算滞后" Click="btnCalAdLagClick" />
<TextBlock Margin="10,0">
当前相关性=<Run Text="{Binding CurrR, StringFormat={}{0:F4}, Mode=OneWay}"/>
</TextBlock>
<StackPanel >
<GroupBox Name="gbTimeGridAdv" Header="TimeGridAdv操作" d:DataContext="{d:DesignInstance Type=local:GridAdvVm}">
<StackPanel>
<TextBlock Margin="10,0">
<StackPanel Orientation="Horizontal" >
<CheckBox Content="接收GridAdv" IsChecked="{Binding HasGridAdv }" VerticalAlignment="Center" Margin="3" />
<Button Style="{StaticResource ButtonStyle}" Content="保存" Command="{Binding SaveCmd}" />
<Button Style="{StaticResource ButtonStyle}" Content="读取" Command="{Binding LoadCmd}" />
</StackPanel>
<StackPanel Orientation="Horizontal">
<Button Style="{StaticResource ButtonStyle}" Content="计算滞后" Command="{Binding CalAdLagCmd}" />
<TextBlock Margin="10,0">
当前相关性=<Run Text="{Binding CurrR, StringFormat={}{0:F4}, Mode=OneWay}"/>
</TextBlock>
<StackPanel>
<TextBlock Margin="10,0">
计算进度 AdLag=<Run Text="{Binding ProgressOfAdLag, Mode=OneWay}"/> | R=<Run Text="{Binding ProgressOfR, StringFormat={}{0:F4}, Mode=OneWay}"/>
</TextBlock>
<TextBlock Margin="10,0">
</TextBlock>
<TextBlock Margin="10,0">
结果 AdLag=<Run Text="{Binding BestAdLag, Mode=OneWay}"/> | R=<Run Text="{Binding BestR, StringFormat={}{0:F4}, Mode=OneWay}"/>
</TextBlock>
</StackPanel>
</StackPanel>
</StackPanel>
</GroupBox>
<GroupBox x:Name="gbAutoGetGridAdv" Header="自动采集不同速度TimeGridAdv" d:DataContext="{d:DesignInstance Type=local:AutoGetGridAdv}" >
<StackPanel >
<StackPanel Orientation="Horizontal" >
<Button Style="{StaticResource ButtonStyle}" Content="开始" Command="{Binding StartCmd}" />
<Button Style="{StaticResource ButtonStyle}" Content="停止" Command="{Binding StopCmd}" />
<StackPanel Orientation="Horizontal">
<TextBox Style="{StaticResource TextBoxStyle_itemContent}" Text="{Binding FB_Pos1}" />
<TextBlock Text="&lt;----&gt;" VerticalAlignment="Center"/>
<TextBox Style="{StaticResource TextBoxStyle_itemContent}" Text="{Binding FB_Pos2}" />
</StackPanel>
</StackPanel>
<StackPanel Orientation="Horizontal">
<StackPanel Margin="2">
<TextBlock Style="{StaticResource TextBlockStyle_itemTitle}" Text="开始速度" />
<TextBox Style="{StaticResource TextBoxStyle_itemContent}" Text="{Binding StartV}" />
</StackPanel>
<StackPanel Margin="2">
<TextBlock Style="{StaticResource TextBlockStyle_itemTitle}" Text="结束速度" />
<TextBox Style="{StaticResource TextBoxStyle_itemContent}" Text="{Binding EndV}" />
</StackPanel>
<StackPanel Margin="2">
<TextBlock Style="{StaticResource TextBlockStyle_itemTitle}" Text="步进" />
<TextBox Style="{StaticResource TextBoxStyle_itemContent}" Text="{Binding StepV}" />
</StackPanel>
</StackPanel>
<StackPanel Orientation="Horizontal">
<TextBlock Margin="10,0">
运行中 =<Run Text="{Binding IsRunning, Mode=OneWay}"/>
</TextBlock>
<TextBlock Margin="10,0">
Error=<Run Text="{Binding ErrMsg,Mode=OneWay}" />
<TextBlock.Style>
<Style TargetType="TextBlock">
<Style.Triggers>
<DataTrigger Binding="{Binding IsError}" Value="False">
<Setter Property="Visibility" Value="Collapsed"/>
</DataTrigger>
</Style.Triggers>
</Style>
</TextBlock.Style>
</TextBlock>
</StackPanel>
<TextBlock Margin="10,0">
Progess=<Run Text="{Binding ProgressMsg,Mode=OneWay}"/>
</TextBlock>
</StackPanel>
</StackPanel>
</GroupBox>
</StackPanel>
<WindowsFormsHost Grid.Row="1">
......
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