尝试对串口返回值情况进行优化，思路，引入期望返回字节，当不是，进行重发
This commit is contained in:
zhengxuan.zhang
@@ -776,12 +776,6 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
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//锁存模式设置，定时模式
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//if (m_IsUseRocker == 1)
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{
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//软件清空
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//m_cSendData[0] = 0x01;
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//m_cSendData[1] = 0x06;
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//m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
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//Sleep(10);
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//设置锁存频率 1秒钟（）
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x01;
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@@ -789,10 +783,10 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
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//m_cSendData[3] = 0x03; // 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
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//m_cSendData[4] = 0xE8;
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// 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
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m_cSendData[3] = (m_axisLatchFrequency >> 8) & 0xFF;
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m_cSendData[4] = m_axisLatchFrequency & 0xFF;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 5);
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// 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
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m_cSendData[3] = (m_axisLatchFrequency >> 8) & 0xFF;
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m_cSendData[4] = m_axisLatchFrequency & 0xFF;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 5, 2);
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Sleep(10);
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g_pLogger->SendAndFlushWithTime(L"[Startup] Set EF3 Timing latch Success\n");
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@@ -824,16 +818,16 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
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senddata[0] = 0x01;
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senddata[1] = 0x08;
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m_SO7_Serial.m_RecvData[0] = 0;
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m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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Sleep(30);
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m_SO7_Serial.m_RecvData[0] = 0;
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m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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Sleep(30);
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m_SO7_Serial.m_RecvData[0] = 0;
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m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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m_WriteByte = Send_Command(0, (const char*)senddata, 2, 20);
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Sleep(30);
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//m_SO7_Serial.m_RecvData[0] = 0;
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//m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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//Sleep(30);
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//m_SO7_Serial.m_RecvData[0] = 0;
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//m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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//Sleep(30);
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while ((m_SO7_Serial.m_RecvData[0] != 3) && (m_SO7_Serial.m_RecvData[0] != 2))
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while ((m_SO7_Serial.m_RecvData[0] != 0x32) && (m_SO7_Serial.m_RecvData[1] != 0x30))
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{
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waite_count++;
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if (waite_count > 100)
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@@ -843,8 +837,8 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
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if (waite_count > 100)
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{
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waite_count = 0;
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m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
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while ((m_SO7_Serial.m_RecvData[0] != 3) && (m_SO7_Serial.m_RecvData[0] != 2))
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m_WriteByte = Send_Command(0, (const char*)senddata, 2, 20); //再次重发，并等待回应
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while ((m_SO7_Serial.m_RecvData[0] != 0x32) && (m_SO7_Serial.m_RecvData[1] != 0x30))
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{
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waite_count++;
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if (waite_count > 100)
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@@ -870,7 +864,7 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
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}
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}
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g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %s\n", version);
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g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %S\n", version);
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m_Thread_StateData = HSI_THREAD_RUNNING;
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SetEvent(m_hTriggerEventData); //触发事件，其中hEvent表示句柄，返回值：如果操作成功，则返回非零值，否则为0。
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return HSI_STATUS_NORMAL;
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@@ -967,10 +961,14 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
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int SavePos[5] = {0};
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if (m_SO7_Serial.m_RecvData[0] == 2)
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{
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SavePos[1] = (m_SO7_Serial.m_RecvData[41] << 24 | m_SO7_Serial.m_RecvData[42] << 16 | m_SO7_Serial.m_RecvData[43] << 8 | m_SO7_Serial.m_RecvData[44]);
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SavePos[2] = (m_SO7_Serial.m_RecvData[45] << 24 | m_SO7_Serial.m_RecvData[46] << 16 | m_SO7_Serial.m_RecvData[47] << 8 | m_SO7_Serial.m_RecvData[48]);
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SavePos[3] = (m_SO7_Serial.m_RecvData[49] << 24 | m_SO7_Serial.m_RecvData[50] << 16 | m_SO7_Serial.m_RecvData[51] << 8 | m_SO7_Serial.m_RecvData[52]);
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SavePos[4] = (m_SO7_Serial.m_RecvData[53] << 24 | m_SO7_Serial.m_RecvData[54] << 16 | m_SO7_Serial.m_RecvData[55] << 8 | m_SO7_Serial.m_RecvData[56]);
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SavePos[1] = (m_SO7_Serial.m_RecvData[41] << 24 | m_SO7_Serial.m_RecvData[42] << 16 | m_SO7_Serial.
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m_RecvData[43] << 8 | m_SO7_Serial.m_RecvData[44]);
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SavePos[2] = (m_SO7_Serial.m_RecvData[45] << 24 | m_SO7_Serial.m_RecvData[46] << 16 | m_SO7_Serial.
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m_RecvData[47] << 8 | m_SO7_Serial.m_RecvData[48]);
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SavePos[3] = (m_SO7_Serial.m_RecvData[49] << 24 | m_SO7_Serial.m_RecvData[50] << 16 | m_SO7_Serial.
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m_RecvData[51] << 8 | m_SO7_Serial.m_RecvData[52]);
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SavePos[4] = (m_SO7_Serial.m_RecvData[53] << 24 | m_SO7_Serial.m_RecvData[54] << 16 | m_SO7_Serial.
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m_RecvData[55] << 8 | m_SO7_Serial.m_RecvData[56]);
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}
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double PrinfPos[5] = {0};
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PrinfPos[1] = SavePos[1] * m_Resolution[1];
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@@ -1131,7 +1129,7 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
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//回家后，将锁存板的位置设置为0
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unsigned char m_cSendData[8] = { 0 };
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unsigned char m_cSendData[8] = {0};
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x06;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
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@@ -2057,7 +2055,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
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//速度限制
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g_pLogger->SendAndFlushWithTime(
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L"[Jog] DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n",
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DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
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DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
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// 急停判断
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if ((StartSpeed < 250) && (DriveSpeed < 6))
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@@ -2084,18 +2082,19 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
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//int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
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//设置加速度
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if(!acsc_SetAccelerationImm(handleACS, jogAxisNum, AccLine, nullptr))
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if (!acsc_SetAccelerationImm(handleACS, jogAxisNum, AccLine, nullptr))
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{
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g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetAccelerationImm failed, Aixs:[%d] AccCurve:[%d]\n", jogAxisNum,
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AccLine);
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g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetAccelerationImm failed, Aixs:[%d] AccCurve:[%d]\n",
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jogAxisNum,
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AccLine);
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ErrorsHandler();
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}
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//设置减速度
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if(!acsc_SetDeceleration(handleACS, jogAxisNum, AccLine, nullptr))
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if (!acsc_SetDeceleration(handleACS, jogAxisNum, AccLine, nullptr))
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{
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g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetDeceleration failed, Aixs:[%d] DecCurve:[%d]\n", jogAxisNum,
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AccLine);
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AccLine);
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ErrorsHandler();
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}
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@@ -2109,7 +2108,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
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jogMoving = true;
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g_pLogger->SendAndFlushWithTime(L"[Jog] Out, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", DriveSpeed, AccLine, AccLine);
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g_pLogger->SendAndFlushWithTime(L"[Jog] Out, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", DriveSpeed,
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AccLine, AccLine);
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}
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return rStatus;
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}
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@@ -3753,45 +3753,53 @@ HSI_STATUS HSI_Motion::SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE
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* \param DataCount
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* \return
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*/
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HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char * CacheData, int DataCount)
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HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char* CacheData, int DataCount)
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{
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auto rStatus = HSI_STATUS_NORMAL;
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if (g_pHSI_Motion)
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{
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] start\n");
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if(m_SO7_Serial.IsOpen())
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if (m_SO7_Serial.IsOpen())
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{
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//发送获取点数量命令 0x01 0x05
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unsigned char m_cSendData[8] = { 0 };
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unsigned char m_cSendData[8] = {0};
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x05;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
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Sleep(2);
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,8);
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//解析缓存点数量
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if(m_SO7_Serial.m_iRecvState)
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if (m_SO7_Serial.m_iRecvState)
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{
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//特殊帧头, 表示该内容为回复点数
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if ((m_SO7_Serial.m_RecvData[0] == 0x01) && (m_SO7_Serial.m_RecvData[0] == 0x1B))
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if ((m_SO7_Serial.m_RecvData[0] == 0x01) && (m_SO7_Serial.m_RecvData[1] == 0x1B))
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{
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DataCount = (m_SO7_Serial.m_RecvData[4] << 24 | m_SO7_Serial.m_RecvData[5] << 16 | m_SO7_Serial.m_RecvData[6] << 8 | m_SO7_Serial.m_RecvData[7]);
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DataCount = (m_SO7_Serial.m_RecvData[4] << 24 | m_SO7_Serial.m_RecvData[5] << 16 | m_SO7_Serial.
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m_RecvData[6] << 8 | m_SO7_Serial.m_RecvData[7]);
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//详细 https://blog.csdn.net/hebbely/article/details/79577880
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n",DataCount, m_SO7_Serial.ToHexStr((const char *)m_SO7_Serial.m_RecvData,8));
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n", DataCount,
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m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData, 8));
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}
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else
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{
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n", DataCount,
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m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData, 8));
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}
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}
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//读取锁存点
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x09;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2); //此处应该返回 "ok"
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Sleep(2);
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,DataCount); //此处应该返回 "ok"
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//读取点的字节数，每个点占用12个字节
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if (m_SO7_Serial.m_iRecvBytes != DataCount*12)
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if (m_SO7_Serial.m_iRecvBytes != DataCount * 12)
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{
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] m_iRecvBytes: %d != Points: %d\n", m_SO7_Serial.m_iRecvBytes, DataCount * 12);
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] m_iRecvBytes: %d != Points: %d\n",
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m_SO7_Serial.m_iRecvBytes, DataCount * 12);
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rStatus = HSI_STATUS_FAILED;
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}
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else
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@@ -3800,7 +3808,6 @@ HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char * CacheData, int DataCo
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m_SO7_Serial.m_iRecvState = FALSE;
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rStatus = HSI_STATUS_FAILED;
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}
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}
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else
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{
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@@ -6265,7 +6272,7 @@ HSI_STATUS HSI_Motion::DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType
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}
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//启动定时锁存的同时，启动扫描 外部IO
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unsigned char m_cSendData[8] = { 0 };
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unsigned char m_cSendData[8] = {0};
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//清空EF3缓存Flash
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m_cSendData[0] = 0x01;
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@@ -6403,8 +6410,8 @@ HSI_STATUS HSI_Motion::DCCScanStart()
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unsigned char m_cSendData[8] = {0};
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x02;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
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Sleep(2);
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,2);
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g_pLogger->SendAndFlushWithTime(L"[DCCScanStart] Out\n");
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m_IsUsePPS = false;
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@@ -6443,7 +6450,7 @@ HSI_STATUS HSI_Motion::DCCScanStop()
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unsigned char m_SendDCCData[64] = {0};
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m_SendDCCData[0] = 0x01;
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m_SendDCCData[1] = 0x03;
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m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, 2);
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m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, 2,2);
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g_pLogger->SendAndFlushWithTime(L"[DCCScanStop] Out\n");
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}
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ReleaseMutex(g_WR_ToMove_Mutex);
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@@ -8884,24 +8891,75 @@ HSI_STATUS HSI_Motion::FindOriginTest(bool type)
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}
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//===========================================================================
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/**
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* \brief 串口发送命令
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* \param com
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* \param _SendData 发送内容指针
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* \param SendDataLength 发送字节长度
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* \param expectType 期待返回长度，2：返回ok，8：返回8个字节，N:返回N字节，如果本次返回内容不是期待字节，等待或重发该命令。
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* \return
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*/
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BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLength)
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{
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BOOL rStatus = TRUE;
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WaitForSingleObject(g_RW_Data_Mutex, INFINITE);
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if (m_bConnected && (m_IsUseEF3 == 1) && (com == 0))
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{
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, %s\n", SendDataLength,
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m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
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int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
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if (iWriteByte == 0)
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{
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int iError = GetLastError();
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError = %d\n", iError);
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if (iError == 1167)
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{
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError is 1167,EF3 device is no connect\n");
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m_Thread_StateData = THREAD_PAUSED;
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if (m_bConnected == true && g_IsClose == false)
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{
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError is 1167,EF3 device is no connect\n");
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sEvenProp.Init();
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sEvenProp.EventType = HSI_EVENT_ERROR;
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sEvenProp.EventID = HSI_EVENT_MOTION;
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sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
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strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "EF3控制器已断开连接");
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EventCallback(sEvenProp);
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}
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}
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] m_SO7_Serial[%d].Send failed\n", com);
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rStatus = FALSE;
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}
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// Sleep(5);
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// m_SO7_Serial.OnReceive();
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}
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ReleaseMutex(g_RW_Data_Mutex);
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return rStatus;
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};
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BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLength, int expectType)
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{
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BOOL rStatus = TRUE;
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WaitForSingleObject(g_RW_Data_Mutex, INFINITE);
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//指令回复分两种情况:
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//1、正常2字节，回复 OK，（0x6F 0x6B ）
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//2、返回多字节
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if (m_bConnected && (m_IsUseEF3 == 1) /*&& (com == 0)*/)
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{
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//------------------------------调试区-----------------------------------//
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//原文链接：https://blog.csdn.net/qq_31073871/article/details/85696092
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/*printf("Send_Command: ");
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for (int i = 0; i < SendDataLength; i++)
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{
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printf("%02X ", ((uint8_t*)_SendData)[i]);
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}
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printf("\r\n");*/
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//printf("Send_Command: ");
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//for (int i = 0; i < SendDataLength; i++)
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//{
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// printf("%02X ", ((uint8_t*)_SendData)[i]);
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//}
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//printf("\r\n");
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//------------------------------调试区-----------------------------------//
|
||||
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, %s\n", SendDataLength,m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, expectType:%d, %s\n", SendDataLength, expectType,
|
||||
m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
|
||||
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
|
||||
|
||||
if (iWriteByte == 0)
|
||||
@@ -8927,27 +8985,60 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
|
||||
rStatus = FALSE;
|
||||
}
|
||||
|
||||
if (iWriteByte != SendDataLength)// 写入字节数不等于发送字节数
|
||||
if (iWriteByte != SendDataLength) // 写入字节数不等于发送字节数
|
||||
{
|
||||
rStatus = FALSE;
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte, SendDataLength);
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte,
|
||||
SendDataLength);
|
||||
}
|
||||
m_SO7_Serial.m_iRecvState = false; //发送完毕，接收状态置为false，并开始等待EF3回复
|
||||
|
||||
//判断回复值，是否为ok 6F 6B
|
||||
int iRetrys = 0;
|
||||
while (!m_SO7_Serial.m_iRecvState && iRetrys < 20)
|
||||
bool iReSend = false;
|
||||
while (!m_SO7_Serial.m_iRecvState && iRetrys < 100) //等待300毫秒
|
||||
{
|
||||
iRetrys++;
|
||||
Sleep(100);
|
||||
Sleep(1);
|
||||
}
|
||||
|
||||
//发送完当前指令后，第一次结束完成标志
|
||||
if (m_SO7_Serial.m_iRecvState)
|
||||
{
|
||||
if ((m_SO7_Serial.m_RecvData[0] == 0x6F) && (m_SO7_Serial.m_RecvData[0] == 0x6B))
|
||||
if (m_SO7_Serial.m_iRecvBytes != expectType) //获取数量不等于期望数量，打印错误，并重发
|
||||
{
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] m_SO7_Serial[%d]. EF3 Reply not ok.\n", com);
|
||||
rStatus = FALSE;
|
||||
iReSend = true;
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply Error, RecvBytes:%d, %s\n",
|
||||
m_SO7_Serial.m_iRecvBytes,
|
||||
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData,
|
||||
m_SO7_Serial.m_iRecvBytes));
|
||||
|
||||
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength); //再次重发，并等待回应
|
||||
|
||||
if (iRetrys > 100)
|
||||
{
|
||||
iRetrys = 0;
|
||||
while (m_SO7_Serial.m_iRecvBytes != expectType)
|
||||
{
|
||||
iRetrys++;
|
||||
if (iRetrys > 100)
|
||||
break;
|
||||
Sleep(2);
|
||||
}
|
||||
}
|
||||
|
||||
if (iRetrys > 100)
|
||||
{
|
||||
rStatus = FALSE;
|
||||
}
|
||||
else //获得期望结果
|
||||
{
|
||||
rStatus = TRUE;
|
||||
g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply OK, RecvBytes:%d, %s\n",
|
||||
m_SO7_Serial.m_iRecvBytes,
|
||||
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData,
|
||||
m_SO7_Serial.m_iRecvBytes));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user