From db61e8feafadef864c15daaf37b948a9aa4ac511 Mon Sep 17 00:00:00 2001
From: wyj <157651241@qq.com>
Date: Tue, 25 Jun 2024 13:08:43 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A1=B0=E5=87=8F=E5=99=A8=E5=88=9D=E5=A7=8B?=
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---
 .../LaiPuLaser/ThorlabsRotatoMotorCtrlMgr.cpp | 127 +++++++++++-------
 1 file changed, 76 insertions(+), 51 deletions(-)

diff --git a/LaiPuLaser/LaiPuLaser/ThorlabsRotatoMotorCtrlMgr.cpp b/LaiPuLaser/LaiPuLaser/ThorlabsRotatoMotorCtrlMgr.cpp
index f1bf53e..f4576de 100644
--- a/LaiPuLaser/LaiPuLaser/ThorlabsRotatoMotorCtrlMgr.cpp
+++ b/LaiPuLaser/LaiPuLaser/ThorlabsRotatoMotorCtrlMgr.cpp
@@ -40,55 +40,69 @@ void CRotatoDimmer::RotatoDimmerErrHandle(eAlarmType AlarmType,CString AddInfo,b
 //初始化设备
 bool CRotatoDimmer::InitK10CR1Dev()
 {
-      CLogInfo LogInfo;
-      LogInfo.m_ClassName = "CRotatoDimmer";
-      LogInfo.m_FuncName = "InitK10CR1Dev";
-      LogInfo.m_LogMsg = "Start";
-      gLogMgr->WriteLogInfo(LogInfo);
-      
-      m_bOpenDev = false;
-      //int--->char[]
-      sprintf_s(m_DevSerialNo, "%d", m_SerialNoVal);
-      if (TLI_BuildDeviceList() == 0)
-      {
-           // get device list size 
-           short n = TLI_GetDeviceListSize();
-           // get LTS serial numbers
-           char serialNos[100];
-           TLI_GetDeviceListByTypeExt(serialNos, 100, 55);
-           // output list of matching devices
-           {
-               char *searchContext = nullptr;
-               char *p = strtok_s(serialNos, ",", &searchContext);
-               while (p != nullptr)
-               {
-                     TLI_DeviceInfo deviceInfo;
-                     // get device info from device
-                     TLI_GetDeviceInfo(p, &deviceInfo);
-                     // get strings from device info structure
-                     char desc[65];
-                     strncpy_s(desc, deviceInfo.description, 64);
-                     desc[64] = '\0';
-                     char serialNo[9];
-                     strncpy_s(serialNo, deviceInfo.serialNo, 8);
-                     serialNo[8] = '\0';
-                     // output
-                     p = strtok_s(nullptr, ",", &searchContext);
-               }
-           }
-           if(ISC_Open(m_DevSerialNo) == 0)
-           {
-                 LogInfo.m_LogMsg = "Succ";
-                 gLogMgr->WriteLogInfo(LogInfo);
-                 return true;
-           }
-     }
-     //Alarm
-     eAlarmType AlarmType = _AlarmType_RotatoDimmer1_InitDevErr;
-     if(m_LaserDeviceType == _LaserDeviceType_MainLaser2)
-         AlarmType = _AlarmType_RotatoDimmer2_InitDevErr;
-     RotatoDimmerErrHandle(AlarmType,"Device Initialize Failed");
-     return false;
+	try
+	{
+		CLogInfo LogInfo;
+		LogInfo.m_ClassName = "CRotatoDimmer";
+		LogInfo.m_FuncName = "InitK10CR1Dev";
+		LogInfo.m_LogMsg = "Start";
+		gLogMgr->WriteLogInfo(LogInfo);
+
+		m_bOpenDev = false;
+		//int--->char[]
+		sprintf_s(m_DevSerialNo, "%d", m_SerialNoVal);
+		if (TLI_BuildDeviceList() == 0)
+		{
+			// get device list size 
+			short n = TLI_GetDeviceListSize();
+			// get LTS serial numbers
+			char serialNos[100];
+			TLI_GetDeviceListByTypeExt(serialNos, 100, 55);
+			// output list of matching devices
+			{
+				char *searchContext = nullptr;
+				char *p = strtok_s(serialNos, ",", &searchContext);
+				while (p != nullptr)
+				{
+					TLI_DeviceInfo deviceInfo;
+					// get device info from device
+					TLI_GetDeviceInfo(p, &deviceInfo);
+					// get strings from device info structure
+					char desc[65];
+					strncpy_s(desc, deviceInfo.description, 64);
+					desc[64] = '\0';
+					char serialNo[9];
+					strncpy_s(serialNo, deviceInfo.serialNo, 8);
+					serialNo[8] = '\0';
+					// output
+					p = strtok_s(nullptr, ",", &searchContext);
+				}
+			}
+			static  CCriticalSection sec;
+			CSingleLock slck(&sec, true);
+			if (ISC_Open(m_DevSerialNo) == 0)
+			{
+				LogInfo.m_LogMsg = "Succ";
+				gLogMgr->WriteLogInfo(LogInfo);
+				return true;
+			}
+		}				
+	}
+	catch (...)
+	{
+		//Alarm
+		eAlarmType AlarmType = _AlarmType_RotatoDimmer1_InitDevErr;
+		if (m_LaserDeviceType == _LaserDeviceType_MainLaser2)
+			AlarmType = _AlarmType_RotatoDimmer2_InitDevErr;
+		
+		COperateAlarmPar OperateAlarmPar;
+		OperateAlarmPar.m_OperateAlarmType = _OperateAlarmType_SetAlarmOn;
+		OperateAlarmPar.m_AlarmType = AlarmType;
+		OperateAlarmPar.m_AlarmAddInfo = "打开衰减器异常.";
+		OperateAlarmPar.m_bThowException = false;
+		gWarningMgr->OperateAlarmState(OperateAlarmPar);
+	}
+	return false;
 }
 //移动到原点
 void CRotatoDimmer::MoveHome()
@@ -196,6 +210,7 @@ void CRotatoDimmer::WaitMoveToAngVal(double AngVal)
      int CurDelay = 0;//当前的总延时
      double PerPos = ISC_GetPosition(m_DevSerialNo);//上一个位置
      int NoMoveTimes = 0;//没有移动的判断次数
+	 int MoveEndTimes = 0;//移动到位的判断次数
      bool bMoveErr = false;
      while(1)
      {
@@ -218,8 +233,15 @@ void CRotatoDimmer::WaitMoveToAngVal(double AngVal)
            m_CurAng = PosToAngVal(m_CurPos);
            if(IsTwoDbEqual(AngVal,m_CurAng,0.01))//执行完成
            {
-                break;
+			   MoveEndTimes++;
+
+			   if(MoveEndTimes>2)
+                  break;
            }
+		   else
+		   {
+			   MoveEndTimes = 0;
+		   }
            CurDelay += CheckDelay;
            if(CurDelay>WaitDelay)//检测超时
            {
@@ -569,7 +591,10 @@ void CThorlabsRotatoMotorCtrlMgr::SetLastRotatoDimmerAng(eLaserDeviceType LaserD
       LogInfo.m_LogMsg.Format(" Ang=%lf",Ang);
       LogInfo.m_LogMsg = gLaser->GetLaserDeviceName(LaserDeviceType) + LogInfo.m_LogMsg;
       gLogMgr->WriteLogInfo(LogInfo);
-      
+	  if (Ang < 0.00001)
+	  {
+		  return;
+	  }
       if(LaserDeviceType==_LaserDeviceType_MainLaser1)
           m_Laser1RotatoDimmerAng = Ang;
       else