xhouse/EF3-Interface
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

打开预留函数，方便定位Metus调用情况

Browse Source
This commit is contained in:
zhengxuan.zhang
2022-11-01 11:50:21 +08:00
parent 320f16e6fb
commit 196419beba
6 changed files with 106 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
HSI_HexagonMI_EF3/HSI_Motion.cpp
+67 -3
View File
@@ -92,7 +92,7 @@ void ErrorsHandler()
{
ErrorStr[Received] = '\0';
printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr);
g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error, {%s}\n", ErrorStr);
g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error %s\n",ErrorStr);
}
}
else
@@ -1843,7 +1843,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
{
auto rStatus = HSI_STATUS_NORMAL;
g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d] speed:[%d]\n", AxisTypes, Speed);
g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d] speed:[%lf]\n", AxisTypes, Speed);
if (g_pHSI_Motion)
{
if (m_DeviceType != 3) //·ÇתÅÌÉ豸
@@ -4671,7 +4671,13 @@ HSI_STATUS HSI_Motion::GetDIO(UINT IOChannel, UINT& _Status)
return rStatus;
}
//===========================================================================
HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
/**
* \brief
* \param IOChannel
* \param _Status
* \return
*/
HSI_STATUS HSI_Motion::SetDIOOld(UINT IOChannel, UINT _Status)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
@@ -4724,7 +4730,65 @@ HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
}
return rStatus;
}
HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
{
if (m_bISUseMoreLights > 0 && (m_ForStatus != _Status))
{
if (m_Led8MotionFlag[m_selectedIndex])
{
m_ForStatus = _Status;
IOdata[0] = 0x02;
IOdata[1] = 0x02;
IOdata[2] = 0x01;
IOdata[6] = 0x04;
IOdata[7] = 0xff;
IOdata[8] = 0xff;
IOdata[9] = 0xff;
IOdata[10] = 0xff;
IOdata[14] = _Status & 0xff;
IOSend++;
}
else
{
m_ForStatus = _Status;
IOdata[0] = 0x02;
IOdata[1] = 0x02;
IOdata[2] = 0x01;
IOdata[3] = 0x36;
IOdata[4] = 0x04;
IOdata[7] = 0xff;
IOdata[8] = 0xff;
IOdata[9] = 0xff;
IOdata[10] = 0xff;
IOdata[11] = (_Status >> 24) & 0xff;
IOdata[12] = (_Status >> 16) & 0xff;
IOdata[13] = (_Status >> 8) & 0xff;
IOdata[14] = _Status & 0xff;
IOSend++;
}
}
if ((IOChannel == HSI_MOTION_OUTPUT_CH1)/* && (m_ForStatus != _Status)*/)
{
m_ForStatus = _Status;
m_cSendData[0] = CT_PORT;
m_cSendData[1] = 0x02;
m_cSendData[2] = (_Status >> 8) & 0xff;
m_cSendData[3] = _Status & 0xff;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, m_SendDataLength);
Sleep(5);
}
}
//-----------TEST Begin------------------
_Status = 0;
//-----------TEST End------------------
return rStatus;
}
//===========================================================================
HSI_STATUS HSI_Motion::GetAxisStatus(int* _Status)
{