TAO Cheng
250 lines
8.0 KiB
C++
250 lines
8.0 KiB
C++
// protocol for control SevenOcean's Machine
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//
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//////////////////////////////////////////////////////////////////////
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#ifndef AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#define AFX_ANIMATICS_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#if _MSC_VER > 1000
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#pragma once
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#endif // _MSC_VER > 1000
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#include "..\Tools\UsbUtility\logger.h"
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#include "..\MicroVu\SsiStatus.h"
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#include "SMIDefs.h"
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//#include "IntegMotorInterface.h"
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#import "IntegMotorInterface.tlb"
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using namespace INTEGMOTORINTERFACELib;
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#define MAX_BUFF_SIZE 0x200
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#define THREAD_RUNNING_STATE 0
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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#define HBIT0 0X0001
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#define HBIT1 0X0002
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#define HBIT2 0X0004
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#define HBIT3 0X0008
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#define HBIT4 0X0010
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#define HBIT5 0X0020
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#define HBIT6 0X0040
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#define HBIT7 0X0080
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#define HBIT8 0X0100
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#define HBIT9 0X0200
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#define HBIT10 0X0400
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#define HBIT11 0X0800
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#define HBIT12 0X1000
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#define HBIT13 0X2000
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#define HBIT14 0X4000
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#define HBIT15 0X8000
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#pragma pack(push)
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#pragma pack(1)
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//====================================================================================================
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typedef struct s_smartmotor_axis // axis parameters
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{
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char _Move_Speed_Gear;
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long _l_move_dis;
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double _d_move_dis;
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long _l_cur_pos;
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double _d_cur_pos;
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double _dSet_Zero_Pos;
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long _lSet_Zero_Pos;
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long address;
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struct s_machine_status
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{
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int StatusWord[2];
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BOOL DriverRdy;
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BOOL MotorOff;
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BOOL VoltageFault;
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BOOL PosErr;
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BOOL OverHeat;
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BOOL NegLimit;
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BOOL PosLimit;
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} s_machine_status;
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} SMARTMOTORAXIS;
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//====================================================================================================
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struct s_smartmotor_axis_config // axis configuration
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{
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double _motor_precision;//set precision
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int _speed_[5];
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int _accel_[5];
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int _decel_[5];
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double _neg_working_limit;
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double _pos_working_limit;
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double _scale_resolution;
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};
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//====================================================================================================
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typedef struct s_smartmotor_xyzzm
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{
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bool bFast;
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long from;
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long to;
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long speed;
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long acc;
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long dec;
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double dFromMM;
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double dToMM;
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} SMARTMOTORAXISMOVE;
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//====================================================================================================
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struct struct_smartmotor_machine
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{ // g_machine structure
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struct s_machine_config
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{
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struct s_smartmotor_axis_config x_axis;
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struct s_smartmotor_axis_config y_axis;
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struct s_smartmotor_axis_config z_axis;
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} s_machine_config;
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struct s_status {
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BOOL _bXHomed;
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BOOL _bYHomed;
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BOOL _bZHomed;
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BOOL _bXYZHomed;
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BOOL _machine_running;
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BOOL _bXMoving;
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BOOL _bYMoving;
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BOOL _bZMoving;
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BOOL _bXYZMoving;
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} s_status;
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struct s_smartmotor_axis x;
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struct s_smartmotor_axis y;
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struct s_smartmotor_axis z;
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};
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#pragma pack(pop)
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//====================================================================================================
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class SmartMotor_Proto
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{
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public:
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//=============Smart Motor===================
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//ISMICommPtr CommInterface;
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//ISMICMotionPtr CMotionInterface;
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//ISMIPathPtr PathInterface;
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ISMICommPtr CommInterface;
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ISMICMotionPtr CMotionInterface;
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ISMIPathPtr PathInterface;
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// machine threads.
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static int g_machine_Thread_State;
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static unsigned __stdcall g_machine_Thread(LPVOID pThis);
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static HANDLE g_machine_Thread_Id;
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static HANDLE g_machine_Serial_Mutex; // EP02
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static HANDLE g_hHomedEvent;
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//
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SmartMotor_Proto();
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virtual ~SmartMotor_Proto();
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// Global Structures
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static struct_smartmotor_machine g_machine;
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static double TimeInSecs(void);
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static CLogger* g_pLogger;
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bool m_bHomingActive;
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double ScaleToMM(long lCount, double dResolution);
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long MMtoScale(double lDistanceMM, double dResolution);
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static void _swap_byte(unsigned short &Val);
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static void _reverse_dword(DWORD *);
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static void _scale2inch(unsigned long scale, double &inch);
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static void _inch2scale(unsigned long &scale, double inch);
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static long _4char2long(unsigned char *cBuff);
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static long _3char2long(unsigned char *cBuff);
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static void _char2bin(unsigned char *cBuff, BYTE *cBytes, int len);
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SSI_STATUS_SMARTMOTOR Create_thread();
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SSI_STATUS_SMARTMOTOR Exit_thread();
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SSI_STATUS_SMARTMOTOR GetAppPath(CString &Path);
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SSI_STATUS_SMARTMOTOR ExtractAppPath(CString &Path);
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SSI_STATUS_SMARTMOTOR SaveSmartMotorConfig();
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SSI_STATUS_SMARTMOTOR LoadSmartMotorConfig();
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BOOL InitSmartMotor();
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void StartSmartMotor();
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void StopSmartMotor();
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void _reset_config_parameter();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_Dcc_Home();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_IS_Homed();
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SSI_STATUS_SMARTMOTOR _start_machine();
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SSI_STATUS_SMARTMOTOR _shutdown_machine();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_position_xyz(double & dX, double & dY, double & dZ);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_pos_pulse_xyz(long & lX, long & lY, long & lZ);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_move_rel_dis_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_stop_xyz_S();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_home_status();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_motion_status();
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SSI_STATUS_SMARTMOTOR smartmotor_motion_get_status_word();
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SSI_STATUS_SMARTMOTOR _calculate_straightline_motion(double dSpeedMM);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_POS_XYZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_ABS(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOX_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOY_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVETOZ_REL(double dis);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEX(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEY(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_MOVEZ(BOOL dir);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPX();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPY();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_ABRUPT_STOPZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPX();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPY();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_DECEL_STOPZ();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDX(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDY(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_COMM_CMDZ(CString _command);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(CString &_response);
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_X();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD0();
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SSI_STATUS_SMARTMOTOR _send_cmd_SMARTMOTOR_GET_STATUS_WORD16();
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static SSI_STATUS_SMARTMOTOR _process_SO7_CMD_MOVE_TO_POS_XYZ();
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};
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#endif
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