Machine Interface Utility:VER1.0
This commit is contained in:
TAO Cheng
@@ -0,0 +1,433 @@
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// protocol for control SevenOcean's Machine
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//
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//////////////////////////////////////////////////////////////////////
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#ifndef AFX_SO7_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#define AFX_SO7_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 "CMD_H.h"
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#include "..\..\..\..\..\ThirdParty\UsbSupport\LibUsb_Win\Include\lusb0_usb.h"
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#include "..\MicroVu\SsiStatus.h"
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#define MAX_BUFF_SIZE 0x200
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#define USB_ENDPOINT_TYPE_CONTROL 0
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#define USB_ENDPOINT_TYPE_ISOCHRONOUS 1
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#define USB_ENDPOINT_TYPE_BULK 2
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#define USB_ENDPOINT_TYPE_INTERRUPT 3
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#define USB_DEVICE_DESCRIPTOR_TYPE 1
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#define USB_CONFIGURATION_DESCRIPTOR_TYPE 2
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#define THREAD_RUNNING_STATE1 0
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#define THREAD_RUNNING_STATE2 2
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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// Device configuration and interface id.
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#define SO7_USB_CONFIG 1
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#define SO7_USB_INTF 0
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#define EP_S07_01 0x01
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#define EP_S07_02 0x02
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#define EP_S07_03 0x03
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#define EP_S07_81 0x81
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#define EP_S07_82 0x82
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#define EP_S07_84 0x84
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#define EP_01_CMD_IDX 0 // index to usb buffers
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#define EP_81_DATA_IDX 1 //
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#define EP_02_CMD_IDX 2 //
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#define EP_82_DATA_IDX 3 //
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#define EP_03_CMD_IDX 4 //
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#define EP_84_DATA_IDX 5 //
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#define lEPSIZE 6
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#define MAXRINGS 5 // for MicroVu Vertex 220
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#define MAXSEGS 8
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#define TWO_RINGS 2
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#define EIGHT_SEGS 8
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#define FIVE_RINGS 5
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const long MAX_INTENSITY = 0x3FF;
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#define MAXLIGHTVALUE 256
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#pragma pack(push)
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#pragma pack(1)
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//****************************************************************************************************
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// Set the _status to Idle after reply data has been received.
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// How to recover? In order to send data, _status must be Idle. If the system is not available
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// for 1 second, assume something wrong and treat it as "TimeOut".
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// Another way to do this is to lock this structure is to use a mutex to ensure single-threaded
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// access.
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//****************************************************************************************************
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//====================================================================================================
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typedef struct s_so7_axis // axis parameters
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{
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char _Move_Speed_Gear;
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union
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{
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long _long_;
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char _char_[4];
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}_pos_fixed;
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union
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{
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long _long_;
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char _char_[4];
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}_scale_pos;
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double _d_cur_pos_;
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long _scale_probe;
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double _dSet_Zero_Pos;
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long _lSet_Zero_Pos;
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} SO7AXIS;
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struct s_so7_axis_config // axis configuration
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{
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double _motor_precision;//set precision
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double _motor_wheelbase;//set wheelbase
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char _speed_base[5];
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char _speed_fresh[5];
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char _speed_start[5];
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char _speed_max[5];
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double _speed_slow_dis[5];
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long _scale_range;
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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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bool _bhomed;
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};
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struct s_so7_zm_axis_config // zm configuration
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{
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int _ComPort;
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double _StartDegree;
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double _EndDegree;
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double _RelativeZeroDegree;
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double _Deadband;
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int _ReadingInterval;
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double _PulseScale;
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short _SpeedFast;
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short _SpeedSlow;
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CString _ProductID;
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long _neg_working_limit;
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long _pos_working_limit;
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double _neg_deg_working_limit; // within the limits
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double _pos_deg_working_limit;
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union
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{
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short _short_;
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char _char_[2];
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}_speed;
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};
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struct s_so7_machine_interface_config
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{
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BOOL _EnCloseLoop;
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int _RetryTimes;
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double _ShiftPositionX;
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double _ShiftPositionY;
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double _ShiftPositionZ;
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};
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//======================
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typedef struct s_so7_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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} SO7AXISMOVE;
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//--------------------------------------------------------------------
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//
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//--------------------------------------------------------------------
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struct struct_so7_machine
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{ // g_machine structure
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struct s_machine_config
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{
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double _dXYZSpeed;
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struct s_so7_axis_config x_axis;
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struct s_so7_axis_config y_axis;
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struct s_so7_axis_config z_axis;
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struct s_so7_zm_axis_config zm_axis;
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struct s_so7_machine_interface_config motion;
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} s_machine_config;
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struct s_status
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{
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bool _homed;
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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 _bZMMoving;
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char _bIsZMMotionFinished;
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bool _bZMHoming;
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bool _bXYZZMIdle;
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} s_status;
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union {
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struct s_lights_value
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{
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char _top_light;
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char _bottom_light;
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char _ring_light;
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char _coaxial_light;
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char _spare_light1;
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char segment[TWO_RINGS];
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} s_lights_value;
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};
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char cFixtureFlag;
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char Light_Size;
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char Light_Switch;
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char ADC_Number;
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int ADC_Value;
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char Sys_Reset_Flag;
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char cVerNumber;
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char InterruptFlag[2];
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int _motor_pulse_num;
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struct s_so7_axis x;
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struct s_so7_axis y;
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struct s_so7_axis z;
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struct s_so7_axis zm;
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};
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#define SEVENOCEAN_VID 0x4532
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#define SEVENOCEAN_PID 0x5567
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//****************************************************************************************************
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// Binary SevenOcean command structure, out going
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//
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//****************************************************************************************************
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#define pSO7_CMD_02 ((s_SO7_CMD_BUFF_02 *) ep_buff[EP_02_CMD_IDX]._buffer)
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struct s_SO7_CMD_BUFF_02
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{
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UCHAR uCmdByte;
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union
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{
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struct
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{
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BYTE uSubCmdByte;
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char data[9];
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}s_SO7_CMD_MOVE_TO_XYZ;
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struct
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{
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BYTE uSubCmdByte;
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char data[12];
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}s_SO7_CMD_MOVETOXYZV;
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struct
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{
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BYTE uSubCmdByte;
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BYTE uStartCmdByte;
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char _bottom_light;
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char _top_light;
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char _ring_light;
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char _coaxial_light;
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char _spare_light1;
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char _outer_ring_light_switch;
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char _inner_ring_light_switch;
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BYTE uEndCmdByte;
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}s_SO7_CMD_SET_LIGHT;
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};
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};
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#pragma pack(pop)
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//======================
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struct struct_so7_ep_buff
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{
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int _ep;
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BYTE _save_send_cmd;
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BYTE _save_send_cmd0;
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BYTE _save_send_cmd1;
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char *_buffer; // MAX_BUFF_SIZE
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int _size;
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void *_async_context;
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BOOL _hProtoPending;
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HANDLE _event;
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};
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//======================================================================================
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class CSO7_Proto
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{
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public:
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// EP 81/82 channel threads.
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static int g_hEP8x_Thread_State;
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static unsigned __stdcall g_EP8x_Thread(LPVOID pThis);
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static HANDLE g_hEP8x_Thread_Id;
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// EP 02channel threads.
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static int g_hEP02_Thread_State;
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static unsigned __stdcall g_EP02_Thread(LPVOID pThis);
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static HANDLE g_hEP02_Thread_Id;
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static HANDLE g_hEP02_Serial_Mutex; // EP02
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static HANDLE g_hHomedEvent;
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//
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CSO7_Proto();
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virtual ~CSO7_Proto();
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// Global Structures
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static struct_so7_ep_buff ep_buff[lEPSIZE];
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static struct_so7_machine g_machine;
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SSI_STATUS_MOTION Init_SO7Usb();
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SSI_STATUS_MOTION Exit_SO7Usb();
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usb_dev_handle* _open_usb_dev(void);
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SSI_STATUS_MOTION _do_single_threaded_usb_comm(int iEP);
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SSI_STATUS_MOTION _read_data_8x(int iEP_Base);
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SSI_STATUS_MOTION _send_usb_cmd(int iEP_Base);
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SSI_STATUS_MOTION _write_usb_data_only(int iEP_Base);
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static void _process_rcv_transfer_data(int iEP);
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static double TimeInSecs(void);
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static CLogger* g_pLogger;
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static usb_dev_handle *g_dev;
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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 Trace_EP_Buff(long lIndex);
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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_MOTION _replay_capture(CString cFileName);
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SSI_STATUS_MOTION _process_replay_capture_commands(char *inBuff, FILE* pInFile);
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SSI_STATUS_MOTION Load_SevenOcean_Inifile(CString csSO7INIFile);
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SSI_STATUS_MOTION Save_SevenOcean_Inifile(CString csSO7INIFile);
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SSI_STATUS_MOTION Load_So7_Config();
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SSI_STATUS_MOTION Save_So7_Config();
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SSI_STATUS_MOTION GetAppPath(CString &Path);
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SSI_STATUS_MOTION ExtractAppPath(CString &Path);
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SSI_STATUS_MOTION so7_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
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bool so7_motion_is_homed();
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SSI_STATUS_MOTION so7_motion_Dcc_Home();
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SSI_STATUS_MOTION _start_machine();
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SSI_STATUS_MOTION _shutdown_machine();
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SSI_STATUS_MOTION so7_motion_probe_on_off_(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_reset_worktable_lower_left();
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SSI_STATUS_MOTION so7_motion_reset_worktable_top_right();
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SSI_STATUS_MOTION so7_motion_stop_motor_to_get_laser_data();
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SSI_STATUS_MOTION so7_motion_laser_on_off(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_fixture_on_off(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_fixture_up_down(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_reset_controller_parameter();
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SSI_STATUS_MOTION _get_xyz_index(long & lX, long & lY, long & lZ);
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SSI_STATUS_MOTION so7_motion_get_position_xyz(double & dX, double & dY, double & dZ);
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SSI_STATUS_MOTION so7_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_MOTION so7_motion_set_speed_xyz(double dPercentSpeed);
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SSI_STATUS_MOTION so7_motion_get_speed_xyz(double &dPercentSpeed);
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SSI_STATUS_MOTION so7_motion_get_3D_max_speed(double &dMaxSpeed);
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SSI_STATUS_MOTION _calculate_straightline_motion(double dSpeedMM);
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SSI_STATUS_MOTION so7_optics_set_scale_position(long lScale);
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SSI_STATUS_MOTION so7_optics_get_scale_position(long &lScale);
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SSI_STATUS_MOTION so7_optics_get_scale_range(long &neg_scale_range, long &pos_scale_range);
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void so7_set_full_ringlight_data(long lIntensity);
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void so7_set_ringlight_data(long lMaxSize, double *pSegments);
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SSI_STATUS_MOTION so7_light_set_light_off();
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SSI_STATUS_MOTION so7_light_set_light();
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SSI_STATUS_MOTION so7_light_set_lamp_state(double dBottomPercent, double dTopPercent);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_X(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_Y(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_Z(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_ZM(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_MOVE_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_V();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_V();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_X();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_Y();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_Z();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_ZM();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(char ProbeType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_XYZV();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_AXIS_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_PROBE_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_V_DATA();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_RESET_FLAG();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_FIXTURE_VALUE();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_RESET_FLAG();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_LIGHT_SIZE(char subCMD,BYTE LightValue);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_VER_NUMBER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_CORRECTION_SCALE(char cAxisType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SECTION(char cAxisType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_COMMON_COMMAND(char Cmd,char SubCmd,char Type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_COMMON_COMMAND_DATA(char Cmd,char SubCmd,char Type,char Data);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_ZOOM_SPEED(char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(char axis_type,char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SPEED_PRECISION(char axis_type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_SPEED_PARAMETER(char axis_type,char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_MOTOR_SPEED_WHEELBASE_PARAMETER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_SPEED_PRECISION(char axis_type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZOOM_MOTION_STATUS();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_OPEN_KEYENCE_LASER();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_X();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_Y();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_Z();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_ZM();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_RESET_XYZ();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_X();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_Y();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_Z();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_ZM();
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static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_XYZ();
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static SSI_STATUS_MOTION _process_SO7_CMD_READ_AXIS_XYZ();
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static SSI_STATUS_MOTION _process_SO7_CMD_READ_PROBE_XYZ();
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static SSI_STATUS_MOTION _process_SO7_CMD_READ_V_DATA();
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static SSI_STATUS_MOTION _process_SO7_CMD_GET_GET_RESET_FLAG();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_GET_GET_FIXTURE_VALUE();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_SET_LIGHT();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_PARAMETER();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_PRECISION();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERX();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERY();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERZ();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_MOTOR_WHEELBASE_PARAMETER();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONX();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONY();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONZ();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_INTERRUPT_MESSAGE();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZOOM_MOTION_STATUS();
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user