Machine Interface Utility:VER1.0

2013-05-09 20:29:54 +08:00
commit 036cdcb228
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+//////////////////////////////////////////////////////////////////////
+//
+// HAL_Motion.cpp : interface for the Motion related functions
+//
+//////////////////////////////////////////////////////////////////////
+
+#include "StdAfx.h"
+
+#include "HAL.h"
+#include "HSI.h"
+
+extern CHAL           *g_pHSI;
+extern CLogger        *g_pLogger;
+extern CHALMicroVuExt  g_HSIExt;
+extern CMv_Proto      *g_pMv_Proto;
+//extern HANDLE          hEventEStop;
+
+extern double TimeInMsecs(void);
+
+//extern HANDLE  hMotionInitDoneEvent;
+static double PositionSampleTime = 3.0;
+
+//===========================================================================================================
+void HAL_Motion_HomeStatus(bool &bHomed)
+{
+  bHomed = g_pMv_Proto->mv_motion_is_homed();
+  return;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_IsSupported(UINT &Type)
+{
+  static int isDCC = -1;
+  Type = HAL_MOTION_SUPPORTS_MANUAL_CONTROL|HAL_MOTION_SUPPORTS_HOMING | HAL_MOTION_SUPPORTS_DCC_CONTROL;
+  return HAL_STATUS_NORMAL;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_Startup( bool /*bHome*/ )
+{
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  //  g_HSIExt.m_ActiveMachineType = HAL_MACHINE_TYPE_EXCEL;
+  // If the machine type hasn't been selected then exit the initialisation
+#pragma message("what is the correct return status if no machine type selected")
+  if(g_HSIExt.m_ActiveMachineType == -1)
+    return Status;
+  return Status;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetAxisCount( enum HAL_MOTION_AXIS_TYPE AxisType, int &nAxis )
+{
+  switch(AxisType)
+  {
+  case HAL_MOTION_AXIS_X:
+  case HAL_MOTION_AXIS_Y:
+  case HAL_MOTION_AXIS_Z:
+    nAxis = 1;
+    break;
+  case HAL_MOTION_AXIS_R:
+  default:
+      nAxis = 0;
+    break;
+  }
+  HAL_SendDebug(_T("HAL_Motion_GetAxisCount %d\n"), nAxis);
+  return HAL_STATUS_NORMAL;
+}
+
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_SetSpeedXYZ( double dSpeed )
+{
+  g_pMv_Proto->mv_motion_set_speed_xyz(dSpeed);
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  return Status;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetSpeedXYZ( double &dSpeed )
+{
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  g_pMv_Proto->mv_motion_get_speed_xyz(dSpeed);
+  return Status;
+}
+
+////===========================================================================================================
+//HAL_STATUS HAL_Motion_SetSpeedXYZ1( double SpeedX, double SpeedY, double SpeedZ )
+//{
+//  HAL_STATUS Status = HAL_STATUS_NORMAL;
+//  long lSpeedX = (long) SpeedX;
+//  long lSpeedY = (long) SpeedY;
+//  long lSpeedZ = (long) SpeedZ;
+//  g_pMv_Proto->mv_motion_set_speed_xyz(lSpeedX, lSpeedY, lSpeedZ);
+//  return Status;
+//}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetSpeedR( double & /*Speed*/ )
+{
+  return HAL_STATUS_NOT_SUPPORTED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_SetSpeedR( double /*Speed*/ )
+{
+  HAL_STATUS Status = HAL_STATUS_NOT_SUPPORTED;
+  return Status;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetAccelerationXYZ( double &AccelX, double &AccelY, double &AccelZ )
+{
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  return Status;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_SetAccelerationXYZ( double AccelX, double AccelY, double AccelZ )
+{
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  return Status;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetAccelerationR( double & /*AccelR*/ )
+{
+  return HAL_STATUS_NOT_SUPPORTED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_SetAccelerationR( double /*AccelQ*/ )
+{
+  return HAL_STATUS_NOT_SUPPORTED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetPositionXYZ( UINT /*GetAxisTypes*/, double &PositionX, double &PositionY, double &PositionZ, double &Time)
+{
+  SSI_STATUS Status = g_pMv_Proto->mv_motion_get_position_xyz(PositionX, PositionY, PositionZ);   
+  Time = TimeInMsecs();
+  return (Status == SSI_STATUS_NORMAL)?HAL_STATUS_NORMAL:HAL_STATUS_FAILED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_SetPositionXYZ( UINT /*SetAxisType*/, double PositionX, double PositionY, double PositionZ, enum HAL_MOTION_MOVE_TYPE eType, double /*flyRadius*/)
+{
+  bool bWait = (eType == HAL_MOTION_MOVE_WAIT)?true:false;
+  SSI_STATUS Status = g_pMv_Proto->mv_motion_set_position_xyz(PositionX, PositionY, PositionZ, bWait);   
+  return (Status == SSI_STATUS_NORMAL)?HAL_STATUS_NORMAL:HAL_STATUS_FAILED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetPositionR( UINT /*GetAxisTypes*/, double & /*PositionR*/, double & /*Time*/ )
+{
+  g_pMv_Proto->mv_motion_get_position_r();   
+  return HAL_STATUS_NOT_SUPPORTED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetSettleTime( double &SettleTime )
+{
+  SettleTime=g_HSIExt.m_StageSettleTime;
+  return HAL_STATUS_NORMAL;
+}
+
+////===========================================================================================================
+HAL_STATUS HAL_Motion_GetDeadband( double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR )
+{ 
+  HAL_STATUS retVal=HAL_STATUS_NOT_SUPPORTED;
+  return retVal;
+}
+
+////===========================================================================================================
+HAL_STATUS HAL_Motion_GetRefreshDeadband( double &Deadband )
+{  // not used because the controller will set this automatically
+  HAL_STATUS retVal=HAL_STATUS_NOT_SUPPORTED;
+  return retVal;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_IsHomed( bool &bHomed )
+{
+  bHomed = g_pMv_Proto->mv_motion_is_homed();
+  return HAL_STATUS_NORMAL;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetStageLimits(double *StageLimitsMax, double *StageLimitsMin)
+{
+//  StageLimitsMax[HAL_AXIS_X] =  
+//  StageLimitsMin[HAL_AXIS_X] =  
+//  StageLimitsMax[HAL_AXIS_Y] =  g_pMv_Proto
+//  StageLimitsMin[HAL_AXIS_Y] =  
+//  StageLimitsMax[HAL_AXIS_Z] =  
+//  StageLimitsMin[HAL_AXIS_Z] =  
+  return HAL_STATUS_NORMAL;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_GetMaxSpeed(double *MaxSpeed)
+{
+  SSI_STATUS Status = SSI_STATUS_ERROR;
+  if (MaxSpeed) 
+    Status = g_pMv_Proto->mv_motion_get_3D_max_speed(*MaxSpeed); 
+  return (Status == SSI_STATUS_NORMAL) ? HAL_STATUS_NORMAL : HAL_STATUS_FAILED;
+}
+
+//===========================================================================================================
+HAL_STATUS HAL_Motion_Shutdown( )
+{
+  HAL_STATUS Status = HAL_STATUS_NORMAL;
+  return Status;
+}