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新增 dll 通过串口获取 EF3固件版本号

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zhengxuan.zhang
2022-10-12 16:13:53 +08:00
parent 82115577c2
commit abc78bfa0b
18 changed files with 792 additions and 703 deletions
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HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
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HSI_SEVENOCEAN_EF1_CsTest/Program.cs
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@@ -1,134 +1,150 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using HSI_SEVENOCEAN_EF1_CsTest;
using HSI_SEVENOCEAN_EF1_CsTest.HSI;
namespace HSI_SEVENOCEAN_EF1_CsTest
{
class Program
{
private static Interface.PEventCallback _eventCallback;
internal class Program
{
private static Interface.PEventCallback _eventCallback;
private static void Main(string[] args)
{
//获取HSI Dll版本
uint major = Def.HSI_APIVersionMajor;
uint minjor = Def.HSI_APIVersionMinor;
var rStatus = Interface.GetInterfaceVersion(ref major, ref minjor);
Console.WriteLine("Interface.GetInterfaceVersion: {0}", rStatus);
Console.WriteLine("HSI.dll Version: {0}.{1}", major, minjor);
static void Main(string[] args)
{
uint major = Def.HSI_APIVersionMajor;
uint minjor = Def.HSI_APIVersionMinor;
var rStatus = Interface.GetInterfaceVersion(ref major, ref minjor);
Console.WriteLine("Interface.GetInterfaceVersion:{0}", rStatus);
Console.WriteLine("Version:{0}.{1}", major, minjor);
var mainIntPtr = User32Api.GetCurrentWindowHandle();
rStatus = Interface.Startup(mainIntPtr, false);
Console.WriteLine("Interface.Startup:{0}", rStatus);
//HSI 初始化
var mainIntPtr = User32Api.GetCurrentWindowHandle();
rStatus = Interface.Startup(mainIntPtr, false);
Console.WriteLine("Interface.Startup: {0}", rStatus);
Interface.HsiCallback=new Interface.PEventCallback(Interface.EventCallback);
rStatus = Interface.SetEventCallback(Interface.HsiCallback);
Console.WriteLine("SetEventCallback:{0}", rStatus);
//获取机器类型
var machineVersion = Def.HSI_EF3Version;
rStatus = Interface.GetMachineInfo(ref machineVersion);
Console.WriteLine("Interface.GetMachineInfo: {0}", rStatus);
Console.WriteLine("HSI EF3 Version: {0}", machineVersion);
//if (Motion.IsActive(true))
{
rStatus = Motion.Startup(true);
Console.WriteLine("Motion.Startup:{0}", rStatus);
var bHomed = true;
rStatus = Motion.IsHomed(ref bHomed);
Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bexit = false;
double SpeedGear = 1.0;
var dPos = new double[3];
do
{
var info = Console.ReadKey();
double dTime = 0;
switch (info.Key)
{
case ConsoleKey.P:
dPos[0] += 10.0;
dPos[1] += 10.0;
rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2], Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0);
//设置回调，方便根据回调结果进行提醒
Interface.HsiCallback = Interface.EventCallback;
rStatus = Interface.SetEventCallback(Interface.HsiCallback);
Console.WriteLine("SetEventCallback:{0}", rStatus); //事件回调成功
break;
case ConsoleKey.Enter:
rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], ref dPos[2], ref dTime);
Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]);
break;
case ConsoleKey.Escape:
bexit = true;
break;
case ConsoleKey.Spacebar:
rStatus = Motion.StopJog();
Console.WriteLine("Motion.StopJog:{0}", rStatus);
break;
case ConsoleKey.NumPad1:
case ConsoleKey.D1:
SpeedGear = 1.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad2:
case ConsoleKey.D2:
SpeedGear = 2.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad3:
case ConsoleKey.D3:
SpeedGear = 3.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad4:
case ConsoleKey.D4:
SpeedGear = 4.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.LeftArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.RightArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.DownArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.UpArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageUp:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageDown:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
break;
default:
Console.WriteLine("Invalid");
break;
}
} while (!bexit);
//if (Motion.IsActive(true))
{
rStatus = Motion.Startup(true); //运动初始化
Console.WriteLine("Motion.Startup:{0}", rStatus);
//获取EF3固件版本号,待测试
var EF3Version = new byte[20];
//IntPtr intPtrEF3Version = IntPtr.Zero;
IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.Unicode.GetString(EF3Version));
var bHomed = true;
rStatus = Motion.IsHomed(ref bHomed);
Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bexit = false;
var SpeedGear = 1.0;
var dPos = new double[3];
do
{
var info = Console.ReadKey();
double dTime = 0;
switch (info.Key)
{
case ConsoleKey.P:
dPos[0] += 10.0;
dPos[1] += 10.0;
rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],
Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0);
break;
case ConsoleKey.Enter:
rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1],
ref dPos[2], ref dTime);
Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]);
break;
case ConsoleKey.Escape:
bexit = true;
break;
case ConsoleKey.Spacebar:
rStatus = Motion.StopJog();
Console.WriteLine("Motion.StopJog:{0}", rStatus);
break;
case ConsoleKey.NumPad1:
case ConsoleKey.D1:
SpeedGear = 1.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad2:
case ConsoleKey.D2:
SpeedGear = 2.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad3:
case ConsoleKey.D3:
SpeedGear = 3.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad4:
case ConsoleKey.D4:
SpeedGear = 4.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.LeftArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.RightArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.DownArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.UpArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageUp:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageDown:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
break;
default:
Console.WriteLine("Invalid");
break;
}
} while (!bexit);
rStatus = Motion.Shutdown();
Console.WriteLine("Motion.Startup:{0}", rStatus);
}
rStatus = Motion.Shutdown();
Console.WriteLine("Motion.Startup:{0}", rStatus);
}
rStatus = Interface.Shutdown();
Console.WriteLine("Interface.Shutdown:{0}", rStatus);
rStatus = Interface.Shutdown();
Console.WriteLine("Interface.Shutdown:{0}", rStatus);
Console.WriteLine();
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
}
}
Console.WriteLine();
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
}
}
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini
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HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Log/2022-10-11_16
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