Machine Interface Utility:VER1.0
This commit is contained in:
TAO Cheng
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// protocol for control SevenOcean's Machine
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//
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//////////////////////////////////////////////////////////////////////
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#ifndef AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#define AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#if _MSC_VER > 1000
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#pragma once
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#endif // _MSC_VER > 1000
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#include "..\Tools\UsbUtility\logger.h"
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#include "..\MicroVu\SsiStatus.h"
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#include "SMIDefs.h"
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//#include "IntegMotorInterface.h"
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#import "IntegMotorInterface.tlb"
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using namespace INTEGMOTORINTERFACELib;
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#define MAX_BUFF_SIZE 0x200
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#define THREAD_RUNNING_STATE 0
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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#define HBIT0 0X0001
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#define HBIT1 0X0002
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#define HBIT2 0X0004
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#define HBIT3 0X0008
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#define HBIT4 0X0010
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#define HBIT5 0X0020
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#define HBIT6 0X0040
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#define HBIT7 0X0080
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#define HBIT8 0X0100
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#define HBIT9 0X0200
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#define HBIT10 0X0400
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#define HBIT11 0X0800
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#define HBIT12 0X1000
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#define HBIT13 0X2000
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#define HBIT14 0X4000
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#define HBIT15 0X8000
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#pragma pack(push)
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#pragma pack(1)
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//====================================================================================================
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typedef struct s_smartmotor_axis // axis parameters
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{
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char _Move_Speed_Gear;
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long _l_move_dis;
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double _d_move_dis;
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long _l_cur_pos;
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double _d_cur_pos;
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double _dSet_Zero_Pos;
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long _lSet_Zero_Pos;
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long address;
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struct s_machine_status
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{
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int StatusWord[2];
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BOOL DriverRdy;
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BOOL MotorOff;
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BOOL VoltageFault;
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BOOL PosErr;
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BOOL OverHeat;
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BOOL NegLimit;
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BOOL PosLimit;
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} s_machine_status;
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} SMARTMOTORAXIS;
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//====================================================================================================
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struct s_smartmotor_axis_config // axis configuration
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{
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double _motor_precision;//set precision
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int _speed_[5];
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int _accel_[5];
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int _decel_[5];
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double _neg_working_limit;
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double _pos_working_limit;
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double _scale_resolution;
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};
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//====================================================================================================
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typedef struct s_smartmotor_xyzzm
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{
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bool bFast;
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long from;
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long to;
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long speed;
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long acc;
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long dec;
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double dFromMM;
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double dToMM;
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} SMARTMOTORAXISMOVE;
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//====================================================================================================
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struct struct_smartmotor_machine
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{ // g_machine structure
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struct s_machine_config
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{
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struct s_smartmotor_axis_config x_axis;
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struct s_smartmotor_axis_config y_axis;
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struct s_smartmotor_axis_config z_axis;
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} s_machine_config;
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struct s_status {
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BOOL _bXHomed;
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BOOL _bYHomed;
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BOOL _bZHomed;
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BOOL _bXYZHomed;
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BOOL _machine_running;
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BOOL _bXMoving;
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BOOL _bYMoving;
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BOOL _bZMoving;
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BOOL _bXYZMoving;
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} s_status;
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struct s_smartmotor_axis x;
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struct s_smartmotor_axis y;
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struct s_smartmotor_axis z;
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};
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#pragma pack(pop)
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//====================================================================================================
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class SmartMotor_Proto
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{
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public:
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//=============Smart Motor===================
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//ISMICommPtr CommInterface;
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//ISMICMotionPtr CMotionInterface;
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//ISMIPathPtr PathInterface;
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ISMICommPtr CommInterface;
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ISMICMotionPtr CMotionInterface;
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ISMIPathPtr PathInterface;
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// machine threads.
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static int g_machine_Thread_State;
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static unsigned __stdcall g_machine_Thread(LPVOID pThis);
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static HANDLE g_machine_Thread_Id;
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static HANDLE g_machine_Serial_Mutex; // EP02
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static HANDLE g_hHomedEvent;
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//
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SmartMotor_Proto();
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virtual ~SmartMotor_Proto();
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// Global Structures
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static struct_smartmotor_machine g_machine;
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static double TimeInSecs(void);
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static CLogger* g_pLogger;
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bool m_bHomingActive;
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double ScaleToMM(long lCount, double dResolution);
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long MMtoScale(double lDistanceMM, double dResolution);
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static void _swap_byte(unsigned short &Val);
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static void _reverse_dword(DWORD *);
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static void _scale2inch(unsigned long scale, double &inch);
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static void _inch2scale(unsigned long &scale, double inch);
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static long _4char2long(unsigned char *cBuff);
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static long _3char2long(unsigned char *cBuff);
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static void _char2bin(unsigned char *cBuff, BYTE *cBytes, int len);
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SSI_STATUS_SMARTMOTOR Create_thread();
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SSI_STATUS_SMARTMOTOR Exit_thread();
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SSI_STATUS_SMARTMOTOR GetAppPath(CString &Path);
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SSI_STATUS_SMARTMOTOR ExtractAppPath(CString &Path);
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SSI_STATUS_SMARTMOTOR SaveSmartMotorConfig();
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SSI_STATUS_SMARTMOTOR LoadSmartMotorConfig();
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BOOL InitSmartMotor();
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void StartSmartMotor();
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void StopSmartMotor();
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void _reset_config_parameter();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_Dcc_Home();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_IS_Homed();
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SSI_STATUS_SMARTMOTOR _start_machine();
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SSI_STATUS_SMARTMOTOR _shutdown_machine();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_position_xyz(double & dX, double & dY, double & dZ);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_pos_pulse_xyz(long & lX, long & lY, long & lZ);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_move_rel_dis_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz_S();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_home_status();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_motion_status();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_status_word();
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SSI_STATUS_SMARTMOTOR _calculate_straightline_motion(double dSpeedMM);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_POS_XYZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEX(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEY(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEZ(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPX();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPY();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPX();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPY();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDX(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDY(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDZ(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_X();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD0();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD16();
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static SSI_STATUS_SMARTMOTOR _process_SO7_CMD_MOVE_TO_POS_XYZ();
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};
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#endif
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// ************************************************************************************************
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// * File : SMIDefs.h
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// * Project : IntegMotorInterface
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// * Version : 2.201
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// * Last Update : 12/16/2009
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// * Copyright ?2000-2009 Animatics Corp.
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// * Author :
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// ************************************************************************************************
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#ifndef __SMIDEFS_H_
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#define __SMIDEFS_H_
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#define MAX_STRLEN 256
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#define MAX_HOST_AXIS 6
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#define PI ((double)3.14159265358979323846)
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#define EPSILON 0.0000000001
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#define MAX_PRG_LENGTH 0x00007FFF
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#define MAX_PRG_LENGTH9 0x0000FFFE
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#define MAX_PRG_LENGTH6 0x0000FA96
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// ************************************************************************************************
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// *** CommError and Motor Detection Return Values:
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// ************************************************************************************************
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#define CER_SUCCESS 0x00000001 // Motors Found (=CER_MOTORSFOUND)
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#define CER_MOTORSFOUND 0x00000001 // Motors Found (=CER_SUCCESS)
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#define CER_SOMEADDRESSED 0x00000002 // Some Motors are addressed
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#define CER_BIGADDRESS 0x00000004 // The address of some motors is bigger than the specified MaxAddress
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#define CER_DUPLICATEADDR 0x00000008 // Duplicate address
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#define CER_NOTADDRESSED 0x00000010 // No motor is addressed
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#define CER_COMMERROR 0x00000020 // Other communication problem
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#define CER_NOMOTOR 0x00000040 // Failed to find motors
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#define CER_NETERROR 0x00000080 // Network error
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#define CER_USBERROR 0x00000100 // USB error
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#define CER_CANOPENERROR 0x00000200 // CANOpen error
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#define CER_TRYHIGHBAUD 0x00000400 // no motors found at lower baud rates try higher rates
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#define CER_PORTNOTOPEN 0x00010000 // Port Not Open
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#define CER_CANCELED 0x00040000 // Canceled
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// CommError and Motor Detection Actions
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#define CMA_THROWX 0x00100000 // Throw exception if an error occurs
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#define CMA_READDRESS232 0x00400000 // Re-address RS232 chain if they are not addressed
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#define CMA_USECURRENTBAUD 0x00800000 // only try at current baud rate
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#define CMA_NOENDPRG 0x04000000 // Do not Stop the user program before addressing/detecting motors
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#define CMA_NOESTABLISH 0x08000000 // Do try to establish the communication (it is already established)
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//#define CER_CHANGED 0x00010000 // The pointers have been changed.
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//#define CER_CONTINUE 0x00020000 // The caller can continue
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//#define CER_CANCELED 0x00040000 // Canceled
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// ************************************************************************************************
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// *** Planes
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// ************************************************************************************************
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#define PLN_XY 0
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#define PLN_XZ 1
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#define PLN_YZ 2
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// ************************************************************************************************
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// *** LogFlags
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// ************************************************************************************************
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#define LOG_COMM 0x00000001
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#define LOG_CMOTION 0x00000002
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#define LOG_PATH 0x00000004
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#define LOG_SCAN 0x00000008
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#define LOG_MOTOR 0x00000010
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#define LOG_ALL 0x0000001F
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#define LOG_APPEND 0x00010000
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#define LOG_NEW 0x00020000 // Do not set this flag. It is used internally
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// ************************************************************************************************
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// *** Notification Codes:
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// ************************************************************************************************
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#define SMNOT_STARTDOWNLOAD 0x00000001
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#define SMNOT_PROGRESS 0x00000002
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#define SMNOT_END 0x00000003
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#define SMNOT_STARTUPLOAD 0x00000004
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#define SMNOT_STARTADDRESS 0x00000005
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#define SMNOT_STARTDETECT 0x00000006
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#define SMNOT_STARTCOLISION 0x00000007
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#define SMNOT_STARTGETINFO 0x00000008
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// ************************************************************************************************
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// *** Motor Download Flags:
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// ************************************************************************************************
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#define MDF_TURNOFF 0x00000001 // Turn it off if it is on
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#define MDF_BLIND 0x00000010 // Blind Download
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#define MDF_CAL 0x00000080 // Download Calibration Program
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#define MDF_FORCEDOWNLOAD 0x00000100 // Download even if motor has no EEPROM
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#define MDF_SKIPPRGINFO 0x00000200
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// ************************************************************************************************
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// *** Error Codes for IntegMotorInterface exceptions match resourec numbers for SMI and IntegMotorInterface
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// ************************************************************************************************
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#define EID_NOERROR 4000
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#define EID_CX 4001
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#define EID_OPEN 4002
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#define EID_SETTIMEOUT 4003
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#define EID_CONNECTION 4004
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#define EID_TIMEOUT 4005
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#define EID_ECHOTIMEOUT 4006
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#define EID_BADECHO 4007
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#define EID_PORTNOTOPEN 4008
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#define EID_OVERRUN 4009
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#define EID_RXOVER 4010
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#define EID_RXPARITY 4011
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#define EID_FRAME 4012
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#define EID_BREAK 4013
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#define EID_IOE 4014
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#define EID_TXFULL 4015
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#define EID_COMMUNKNOWN 4016
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#define EID_READ 4017
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#define EID_WRITE 4018
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#define EID_INVALIDDATA 4019
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#define EID_INVALIDTIME 4020
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#define EID_INVALIDTIMEDELTA 4021
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#define EID_INVALIDPOSDELTA 4022
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#define EID_INTDATASPACE 4023
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#define EID_BUFFOVERFLOW 4024
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#define EID_BUFFUNDERFLOW 4025
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#define EID_HMFAILED 4026
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#define EID_GETSTATUS 4027
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#define EID_SAMPLERATES 4028
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#define EID_NOTSUPPORTED 4029
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#define EID_NOTINIT 4030
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#define EID_NOMEM 4031
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#define EID_GETALL 4032
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#define EID_NOMORE 4033
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#define EID_OPENFILE 4034
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#define EID_OPENFILEWRITE 4035
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#define EID_NOEEPROM 4036
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#define EID_INVALIDMODE 4037
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#define EID_RS485 4038
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#define EID_FILETOOLONG 4039
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#define EID_CORRUPTEEPROM 4040
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#define EID_DOWNLOADON 4041
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#define EID_VERSIONMISMATCH 4042
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#define EID_SOCKET 4043
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#define EID_DOWNLOADRCKS 4044
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#define EID_NETERROR 4045
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#define EID_USBERROR 4046
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#define EID_BIGADDRESS 4047
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#define EID_CALWARNING 4048
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#define EID_CANCELED 4049
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#define EID_SOMEADDRESSED 4050
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#define EID_COMMUNICATION 4051
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#define EID_DUPLICATEADDR 4052
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#define EID_COMMRESET 4053
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#define EID_STOP 4054
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#define EID_NOTFOUND 4055
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#define EID_LANGFILE 4056
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#define EID_INVALID_PROJ 4057
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#define EID_READFILE 4058
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#define EID_CHANGEBAUD 4059
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#define EID_CANERROR 4060
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#define EID_NOCANDWLD 4061
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||||
#define EID_NOLEGOACK 4062
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||||
#define EID_NOMODBUSDWLD 4063
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||||
#define EID_INCORRECTMICRO 4064
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||||
#define EID_FILEFORMAT 4065
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||||
#define EID_DLD_BUFFEREXCEED 4066
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||||
#define EID_DLD_HEXCHKSUM 4067
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||||
#define EID_DLD_HEXADDRESS 4068
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#define EID_HEXTYPE 4069
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#define EID_DATAINSERT 4070
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||||
#define EID_CMDNOSUPPORT 4071
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||||
#define EID_NOTIMEDELTA 4072
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||||
#define EID_CANINVTIMEDELTA 4073
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||||
#define EID_CANVOLTAGEFAULT 4074
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||||
#define EID_CANEXCESSTEMP 4075
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||||
#define EID_CANEXCESSPOS 4076
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||||
#define EID_CANVELOCITYLIMIT 4077
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#define EID_CANDEDTLIMIT 4078
|
||||
#define EID_CANHWPOSHWLIMIT 4079
|
||||
#define EID_CANHWNEGHWLIMIT 4080
|
||||
#define EID_CANSWPOSLIMIT 4081
|
||||
#define EID_CANSWNEGLIMIT 4082
|
||||
#define EID_FIRMVERMISSMATCH 4083
|
||||
#define EID_BADMODEL 4084
|
||||
|
||||
// scanner errors match the resource numbers in SMI and IntegMotorInterface
|
||||
#define ER_CANNOT_OPEN 8672
|
||||
#define ER_ERROR_CLINE 8673
|
||||
#define ER_LINE_TOKENS 8674
|
||||
#define ER_NOLANGFILE 8675
|
||||
#define ER_UNKNOWNERROR 8676
|
||||
|
||||
#define ER_2DEFAULTS 8700
|
||||
#define ER_2ELSE 8701
|
||||
#define ER_2MANYINCLUDES 8702
|
||||
#define ER_ABSEXPECTED 8703
|
||||
#define ER_ASSIGNECXPTD 8704
|
||||
#define ER_BADBREAK 8705
|
||||
#define ER_CASEAFTERDEFAULT 8706
|
||||
#define ER_CASEWOSWITCH 8707
|
||||
#define ER_CASEXPTD 8708
|
||||
#define ER_CBRACKETXPTD 8709
|
||||
#define ER_CLOSEPXPTD 8710
|
||||
#define ER_CMPWOIFX 8711
|
||||
#define ER_COMMAXPTD 8712
|
||||
#define ER_DEFAULTWOSWITCH 8713
|
||||
#define ER_DESTINATION 8714
|
||||
#define ER_DIRECTIVECLOSE 8715
|
||||
#define ER_DOTEXPTD 8716
|
||||
#define ER_DUPLICATELABELS 8717
|
||||
#define ER_ELSEIFAFTERELSE 8718
|
||||
#define ER_ELSEIFWOIF 8719
|
||||
#define ER_ELSEWOIF 8720
|
||||
#define ER_ENDIFWOIF 8721
|
||||
#define ER_ENDSWOSWITCH 8722
|
||||
#define ER_ENDXPTD 8723
|
||||
#define ER_IFFWOCMP 8724
|
||||
#define ER_IFTWOCMP 8725
|
||||
#define ER_IFWOENDIF 8726
|
||||
#define ER_IFXWOCMP 8727
|
||||
#define ER_INVALIDEOP 8728
|
||||
#define ER_INVALIDEXPTERM 8729
|
||||
#define ER_INVALIDNOPARAM 8730
|
||||
#define ER_INVALIDPARAM 8731
|
||||
#define ER_LANGFILE 8732
|
||||
#define ER_LOOPWOWHILE 8733
|
||||
#define ER_LVALUE 8734
|
||||
#define ER_NEWLINESTRING 8735
|
||||
#define ER_NOTINPROGRAM 8736
|
||||
#define ER_NUMSIGNXPTD 8737
|
||||
#define ER_NUMXPTD 8738
|
||||
#define ER_OBRACKETXPTD 8739
|
||||
#define ER_OPENINCLUDE 8740
|
||||
#define ER_OPENPXPTD 8741
|
||||
#define ER_QUOTXPTD 8742
|
||||
#define ER_REDEF 8743
|
||||
#define ER_RESERVED 8744
|
||||
#define ER_SPACEXPTD 8745
|
||||
#define ER_STRXPTD 8746
|
||||
#define ER_SWITCHWOENDS 8747
|
||||
#define ER_SYNTAX 8748
|
||||
#define ER_UNDEFINED 8749
|
||||
#define ER_UPARAMXPTD 8750
|
||||
#define ER_WHILEWOLOOP 8751
|
||||
#define ER_DIVIDEBYZERO 8752
|
||||
#define ER_FLT_NOTALLOW 8753
|
||||
#define ER_NOFLOATVARMATH 8754
|
||||
#define ER_PEERTOPEERTYPE 8755
|
||||
#define ER_MISSINGSEMI 8756
|
||||
#define ER_MISSINGCOLON 8757
|
||||
#define ER_INVALIDADDRESS 8758
|
||||
#define ER_INVALIDAXIS 8759
|
||||
#define ER_REPORTNOTALLOWED 8760
|
||||
|
||||
#define WR_BAUDRATE 8800
|
||||
#define WR_DATARANGE 8801
|
||||
#define WR_DEFAULTLANGUAGE 8802
|
||||
#define WR_MISSINGPOUND 8803
|
||||
#define WR_NUMRANGE 8804
|
||||
#define WR_NUMRANGEMM 8805
|
||||
#define WR_NUMRANGEN 8806
|
||||
#define WR_NUMRANGENN 8807
|
||||
#define WR_NUMRANGENP 8808
|
||||
#define WR_NUMRANGEP 8809
|
||||
#define WR_FLTDECIMALS 8810
|
||||
#define WR_FLTRANGE 8811
|
||||
#define WR_FLTOVERFLOW 8812
|
||||
#define WR_LONGOVERFLOW 8813
|
||||
#define WR_FLTDECIMALSPT 8814
|
||||
|
||||
#define FATAL_ER_2MANYERRORS 8900
|
||||
#define FATAL_ER_2MANYWARNINGS 8901
|
||||
#define FATAL_ER_NESTING 8902
|
||||
|
||||
// warning range
|
||||
#define IS_WARNING_ID(x) (((x) >= WR_BAUDRATE) && ((x) <= (WR_BAUDRATE + 99)))
|
||||
|
||||
// fatal error range (stop scanning)
|
||||
#define IS_FATAL_ID(x) (((x) >= FATAL_ER_2MANYERRORS) && ((x) <= (FATAL_ER_2MANYERRORS + 99)))
|
||||
|
||||
// ************************************************************************************************
|
||||
// used when warnings replaces errors for keywords (no strings associated) only used for ER_UNDEFINED
|
||||
#define ERRTOWARN_START (FATAL_ER_2MANYERRORS + 100) // set start area of converted errors 9000
|
||||
#define ERRTOWARN_END (ERRTOWARN_START + 99) // set start area of converted errors 9099
|
||||
#define IS_ERRTOWWARNING(x) (((x) >= ERRTOWARN_START) && ((x) <= ERRTOWARN_END))
|
||||
#define MAKEWE(x) ((Errors2Warnings)?(ERRTOWARN_START + (x) % 100):(x)) // convert error to warning if Errors2Warnings
|
||||
#define WE2E(x) (IS_ERRTOWWARNING(x)?(ER_2DEFAULTS + (x % 100)):(x)) // convert error to warning back to orignal error
|
||||
|
||||
|
||||
#endif //__SMIDEFS_H_
|
||||
|
||||
Reference in New Issue
Block a user