1、对串口获取返回值
2、新增获取批量点 3、新增测试用例 4、对对端设备进行调试
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zhengxuan.zhang
@@ -786,8 +786,12 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x01;
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m_cSendData[2] = 0x02;
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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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//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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Sleep(10);
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@@ -1125,6 +1129,21 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
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}
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while (!home);
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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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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(5);
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//清除锁存板Flash区
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m_cSendData[0] = 0x01;
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m_cSendData[1] = 0x04;
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m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
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Sleep(5);
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g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
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g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
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}
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@@ -3720,9 +3739,76 @@ HSI_STATUS HSI_Motion::SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE
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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"SetPositionXyzCache : start\n");
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g_pLogger->SendAndFlushWithTime(L"[SetPositionXyzCache] start\n");
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g_pLogger->SendAndFlushWithTime(L"SetPositionXyzCache : end\n");
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g_pLogger->SendAndFlushWithTime(L"[SetPositionXyzCache] end\n");
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}
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return rStatus;
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}
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//===========================================================================
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/**
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* \brief 获取缓存点
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* \param CacheData
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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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{
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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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{
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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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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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//解析缓存点数量
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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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{
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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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//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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}
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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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//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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{
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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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rStatus = HSI_STATUS_FAILED;
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}
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else
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{
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memcpy(CacheData, m_SO7_Serial.m_RecvData, m_SO7_Serial.m_iRecvBytes);
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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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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] Serial Port is unavailable! \n");
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rStatus = HSI_STATUS_FAILED;
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}
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g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] end\n");
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}
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return rStatus;
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}
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@@ -3971,7 +4057,7 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
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/*m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);*/
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//m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);//速度转换为脉冲
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m_JogDriveSpeed[j][i] = speed; //直接读取速度
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g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %ld %ld\n", i, j,
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g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %d %ld\n", i, j,
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speed, m_JogDriveSpeed[j][i]); //打印配置文件 档位速度
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GetPrivateProfileString(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], L"10",
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@@ -4097,6 +4183,25 @@ HSI_STATUS HSI_Motion::Load_EF3_Config_Inifile(CString GoogolIniFile)
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m_IsHavePattern = GetPrivateProfileInt(L"ASIX", L"ISHAVE_AXISPATTERN", 15, csAppPath);
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m_AxisHomeDirection = GetPrivateProfileInt(L"ASIX", L"AXIS_HOMEDIRECTION", 15, csAppPath);
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m_IsUseManualRunin = GetPrivateProfileInt(L"ASIX", L"IS_USEMANUALRUNIN", 0, csAppPath);
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m_axisLatchFrequency = GetPrivateProfileInt(L"ASIX", L"AXIS_LATCHFREQUENCY", 1, csAppPath);
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switch (m_axisLatchFrequency)
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{
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case 1:
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m_axisLatchFrequency = 1000;
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break;
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case 2:
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m_axisLatchFrequency = 2000;
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break;
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case 3:
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m_axisLatchFrequency = 4000;
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break;
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case 4:
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m_axisLatchFrequency = 8000;
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break;
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case 5:
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m_axisLatchFrequency = 16000;
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break;
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} //锁存频率处理
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m_IsUseExternalTrigger = GetPrivateProfileInt(L"FUNCTION", L"IS_USEEXTERNALTRIGGER", 1, csAppPath);
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m_IsUseSixRingEightArea = GetPrivateProfileInt(L"FUNCTION", L"IS_USESIXRINGEIGHTAREA", 0, csAppPath);
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@@ -6296,11 +6401,11 @@ HSI_STATUS HSI_Motion::DCCScanStart()
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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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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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g_pLogger->SendAndFlushWithTime(L"[DCCScanStart] Out\n");
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m_IsUsePPS = false;
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}
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@@ -8785,14 +8890,7 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
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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,m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
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int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
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if (iWriteByte != SendDataLength)// 写入字节数不等于发送字节数
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{
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rStatus = FALSE;
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte, SendDataLength);
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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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@@ -8801,6 +8899,11 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
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}
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printf("\r\n");*/
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//------------------------------调试区-----------------------------------//
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, %s\n", SendDataLength,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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@@ -8824,7 +8927,31 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
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rStatus = FALSE;
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}
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//打印串口返回值
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if (iWriteByte != SendDataLength)// 写入字节数不等于发送字节数
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{
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rStatus = FALSE;
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte, SendDataLength);
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}
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//判断回复值，是否为ok 6F 6B
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int iRetrys = 0;
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while (!m_SO7_Serial.m_iRecvState && iRetrys < 20)
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{
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iRetrys++;
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Sleep(100);
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}
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//发送完当前指令后，第一次结束完成标志
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if (m_SO7_Serial.m_iRecvState)
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{
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if ((m_SO7_Serial.m_RecvData[0] == 0x6F) && (m_SO7_Serial.m_RecvData[0] == 0x6B))
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{
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g_pLogger->SendAndFlushWithTime(L"[Send_Command] m_SO7_Serial[%d]. EF3 Reply not ok.\n", com);
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rStatus = FALSE;
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}
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}
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//打印串口返回值,该方式废弃
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//Sleep(5);
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//m_SO7_Serial.OnReceive();
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}
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