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

引入ACS库，代码格式整理

Browse Source
This commit is contained in:
zhengxuan.zhang
2022-10-12 10:18:46 +08:00
parent 6d2b284f36
commit 82115577c2
40 changed files with 9905 additions and 3556 deletions
Download Patch File Download Diff File Expand all files Collapse all files
HSI_HexagonMI_EF3/HSI.cpp
+112 -78
View File
@@ -2,7 +2,7 @@
#include "HSI.h"
#include "HSI_Motion.h"
#include "HSI_Sevenocean_EF3.h"
#include "SevenOcean\CMMIO_SERIAL.h"
#include "SevenOcean/CMMIO_SERIAL.h"
//#include "HSI_Illumination.h"
//#include "HSI_Function.h"
//#include "HSI_JoyStick.h"
@@ -14,102 +14,128 @@
static HWND g_hWnd = nullptr;
static bool g_bOfflineOnly = false;
////////////////////////////////////////////////////////////////////////////////////////////////////
// 开发说明
//初版 V0.1 2022/10/10
//---------------------------------------
//1、剥离 Metus初步所需函数（14个函数，包含是否回家，运动初始化，版本，JOG运动，运动到指定位置等）并生成dll
//
//
//
//
//
//
//
//
//
//
//
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////
#pragma region interface
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT &APIVersionMajor, UINT &APIVersionMinor)
HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT& APIVersionMajor, UINT& APIVersionMinor)
{
APIVersionMajor = HSI_APIVersionMajor;
APIVersionMinor = HSI_APIVersionMinor;
return HSI_STATUS_NORMAL;
APIVersionMajor = HSI_APIVersionMajor; //HSI.dll 主版本号
APIVersionMinor = HSI_APIVersionMinor; //HSI.dll 小版本号
return HSI_STATUS_NORMAL;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly)
{
auto rStatus = HSI_STATUS_NORMAL;
if (!g_pHSI_Sevenocean_EF3)
{
g_pHSI_Sevenocean_EF3 = new HSI_Sevenocean_EF3();
}
if (g_pHSI_Sevenocean_EF3)
{
g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly);
}
else
{
rStatus = HSI_STATUS_FAILED;
}
g_hWnd = _hWnd;
g_bOfflineOnly = _bOfflineOnly;
return rStatus;
auto rStatus = HSI_STATUS_NORMAL;
if (!g_pHSI_Sevenocean_EF3)
{
g_pHSI_Sevenocean_EF3 = new HSI_Sevenocean_EF3();
}
if (g_pHSI_Sevenocean_EF3)
{
g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly); //初始化EF3
}
else
{
rStatus = HSI_STATUS_FAILED;
}
g_hWnd = _hWnd;
g_bOfflineOnly = _bOfflineOnly;
return rStatus;
}
//==========================获取机器控制器信息，3代表EF3=================================================
HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int &_NumMachineTypes)
HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int& _NumMachineTypes)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3)
{
rStatus = g_pHSI_Sevenocean_EF3->GetMachineInfo(_NumMachineTypes);
}
else
{
rStatus = HSI_STATUS_FAILED;
}
return rStatus;
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3)
{
rStatus = g_pHSI_Sevenocean_EF3->GetMachineInfo(_NumMachineTypes);
}
else
{
rStatus = HSI_STATUS_FAILED;
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3)
{
rStatus = g_pHSI_Sevenocean_EF3->SetEventCallback(_pCallback); //设置事件
}
else
{
rStatus = HSI_STATUS_FAILED;
}
return rStatus;
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3)
{
rStatus = g_pHSI_Sevenocean_EF3->SetEventCallback(_pCallback); //设置事件
}
else
{
rStatus = HSI_STATUS_FAILED;
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pLogger)
{
delete g_pLogger;
g_pLogger = NULL;
}
if (g_pLogger2)
{
delete g_pLogger2;
g_pLogger2 = NULL;
}
//if (g_pHSI_Illumination)
//{
// rStatus = g_pHSI_Illumination->Shutdown();
// delete g_pHSI_Illumination;
// g_pHSI_Illumination = nullptr;
//}
if (g_pHSI_Motion)
{
rStatus = g_pHSI_Motion->Shutdown();
delete g_pHSI_Motion;
g_pHSI_Motion = nullptr;
}
//if (g_pHSI_JoyStick)
auto rStatus = HSI_STATUS_NORMAL;
if (g_pLogger)
{
delete g_pLogger;
g_pLogger = nullptr;
}
if (g_pLogger2)
{
delete g_pLogger2;
g_pLogger2 = nullptr;
}
//if (g_pHSI_Illumination) //屏蔽光照
//{
// rStatus = g_pHSI_Illumination->Shutdown();
// delete g_pHSI_Illumination;
// g_pHSI_Illumination = nullptr;
//}
if (g_pHSI_Motion)
{
rStatus = g_pHSI_Motion->Shutdown(); //运动终止
delete g_pHSI_Motion;
g_pHSI_Motion = nullptr;
}
//if (g_pHSI_JoyStick) //屏蔽摇杆
//{
// g_pHSI_JoyStick->SuspendJoyStickThread();
// delete g_pHSI_JoyStick;
// g_pHSI_JoyStick = nullptr;
//}
if (g_pHSI_Sevenocean_EF3)
{
g_pHSI_Sevenocean_EF3->Shutdown();
delete g_pHSI_Sevenocean_EF3;
g_pHSI_Sevenocean_EF3 = nullptr;
}
return rStatus;
{
g_pHSI_Sevenocean_EF3->Shutdown(); //EF3对象删除
delete g_pHSI_Sevenocean_EF3;
g_pHSI_Sevenocean_EF3 = nullptr;
}
return rStatus;
}
//===========================================================================
#pragma endregion
@@ -159,8 +185,9 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome)
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion)
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte* verion)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
@@ -173,6 +200,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion)
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
{
@@ -189,6 +217,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
{
@@ -203,6 +232,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
{
@@ -217,8 +247,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time)
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& PositionX, double& PositionY,
double& PositionZ, double& Time)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
@@ -231,8 +263,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &Po
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear)
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY,
double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
@@ -245,6 +279,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double Po
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
{
@@ -259,8 +294,9 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
}
return rStatus;
}
//===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed)
HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool& bHomed)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
@@ -1183,7 +1219,6 @@ HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_TESTLIGHT(bool flag)
#endif // USE_ILLUMINATION_API
///////////////////////////////////////////////////////////////////////////////
// Probe API 探针
///////////////////////////////////////////////////////////////////////////////
@@ -1383,4 +1418,3 @@ HSI_API HSI_STATUS WINAPI HSI_TP_SHUTDOWN()
///////////////////////////////////////////////////////////////////////////////
// 测试功能
///////////////////////////////////////////////////////////////////////////////