TAO Cheng
306 lines
8.4 KiB
C++
306 lines
8.4 KiB
C++
// protocol for control SevenOcean's Machine
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//
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//////////////////////////////////////////////////////////////////////
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#ifndef AFX_SO7_Proto_Aux_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#define AFX_SO7_Proto_Aux_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 "CMD_H.h"
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#include "..\..\..\..\..\ThirdParty\UsbSupport\LibUsb_Win\Include\lusb0_usb.h"
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#include "..\Tools\UsbUtility\MachineInterfaceDll\MachineInterfaceDll.h"
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#define MAX_BUFF_SIZE 0x200
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#define USB_R_SEQ_NUMBER 1
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#define RSPEEDGEAR 1
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#define ONE_R_PULSE 590000
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#define TYPER1 0
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#define TYPER2 1
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#define USB_ENDPOINT_TYPE_CONTROL 0
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#define USB_ENDPOINT_TYPE_ISOCHRONOUS 1
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#define USB_ENDPOINT_TYPE_BULK 2
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#define USB_ENDPOINT_TYPE_INTERRUPT 3
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#define USB_DEVICE_DESCRIPTOR_TYPE 1
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#define USB_CONFIGURATION_DESCRIPTOR_TYPE 2
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#define THREAD_RUNNING_STATE1 0
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#define THREAD_RUNNING_STATE2 2
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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// Device configuration and interface id.
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#define SO7_USB_CONFIG 1
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#define SO7_USB_INTF 0
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#define EP_S07_01 0x01
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#define EP_S07_02 0x02
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#define EP_S07_03 0x03
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#define EP_S07_81 0x81
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#define EP_S07_82 0x82
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#define EP_S07_84 0x84
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#define EP_01_CMD_IDX 0 // index to usb buffers
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#define EP_81_DATA_IDX 1 //
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#define EP_02_CMD_IDX 2 //
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#define EP_82_DATA_IDX 3 //
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#define EP_03_CMD_IDX 4 //
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#define EP_84_DATA_IDX 5 //
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#define lEPSIZE 6
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#define MAXRINGS 5 // for MicroVu Vertex 220
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#define MAXSEGS 8
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#define TWO_RINGS 2
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#define EIGHT_SEGS 8
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#define FIVE_RINGS 5
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enum EMACHINERTYPE
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{
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MACHINE_SO7_R_CONTROLLER,
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MACHINE_METRONICS_CONTROLLER_R,
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MACHINE_TOTAL_R=255
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};
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enum EFirmwareRVer
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{
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FirmwareVer_3_X_R=0,
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FirmwareVer_6_X_R,
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FirmwareVer_Total_R
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};
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#pragma pack(push)
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#pragma pack(1)
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//****************************************************************************************************
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// Set the _status to Idle after reply data has been received.
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// How to recover? In order to send data, _status must be Idle. If the system is not available
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// for 1 second, assume something wrong and treat it as "TimeOut".
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// Another way to do this is to lock this structure is to use a mutex to ensure single-threaded
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// access.
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//****************************************************************************************************
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//====================================================================================================
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typedef struct s_so7_r_axis // axis parameters
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{
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char _Move_Speed_Gear;
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char _MoveTo_Speed_Gear;
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union
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{
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long _long_;
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char _char_[4];
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}_pos_fixed;
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union
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{
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long _long_;
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char _char_[4];
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}_scale_pos;
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union
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{
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long _long_;
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char _char_[4];
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}_ZSignal_pos;
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double _d_cur_pos_;
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long _scale_probe;
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double _dSet_Zero_Pos;
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long _lSet_Zero_Pos;
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} SO7RAXIS;
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struct s_so7_r_axis_config // axis configuration
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{
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double _motor_precision;//set precision
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double _motor_wheelbase;//set wheelbase
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char _speed_base[5];
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char _speed_fresh[5];
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char _speed_start[5];
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char _speed_max[5];
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double _speed_slow_dis[5];
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double _MoveToSpeed[2];
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double _MotionSpeedScale;
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long _scale_range;
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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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bool _bhomed;
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};
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struct s_so7_r_machine_interface_config
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{
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BOOL _EnCloseLoop;
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int _RetryTimes;
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double _ShiftPositionR;
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char GetInterruptMsgMethod;
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INT m_WriteDataSleepTime;
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INT m_AccuraErrPulseR;
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INT m_EQUIDIS_R;
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INT m_SDK3000_CntThreadSleepVal;
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INT m_SV4000E_DenoisePara[4];
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INT m_MachineType;
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INT m_VideoCardType;
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};
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//======================
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typedef struct s_so7_r
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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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} SO7RAXISMOVE;
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//--------------------------------------------------------------------
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//
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//--------------------------------------------------------------------
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struct struct_so7_r_machine
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{ // g_machine structure
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struct s_machine_r_config
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{
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double _dRSpeed[2];
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struct s_so7_r_axis_config r_axis;
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struct s_so7_r_machine_interface_config motion;
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} s_machine_r_config;
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struct s_rstatus
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{
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bool _homed;
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bool _machine_running;
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bool _bRMoving;
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char _bIsZMMotionFinished;
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bool _bRIdle;
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} s_rstatus;
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char ADC_Number;
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int ADC_Value;
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char Sys_Reset_Flag;
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char cVerNumber;
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char InterruptFlag[2];
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char FPGAData;
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char InPortStatus;
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int _motor_pulse_num;
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char FirmwareInfo[10];
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int FirmwareVer;
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char GetInterruptMsg[20][2];
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BOOL IsOffline;
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BOOL IsSupportReadInterrputMsg;
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double dRotaryCirclDis;
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char SEQ_NUMBER;
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struct s_so7_r_axis r;
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struct s_so7_r_axis r1;
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};
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#define SEVENOCEAN_VID 0x4532
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#define SEVENOCEAN_PID 0x5567
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//****************************************************************************************************
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// Binary SevenOcean command structure, out going
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//
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//****************************************************************************************************
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#define pSO7_CMD_02 ((s_SO7_CMD_BUFF_02 *) ep_buff[EP_02_CMD_IDX]._buffer)
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struct s_SO7_R_CMD_BUFF_02
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{
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UCHAR uCmdByte;
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union
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{
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struct
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{
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BYTE uSubCmdByte;
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char data[12];
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}s_SO7_CMD_MOVE_TO_XYZ;
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struct
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{
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BYTE uSubCmdByte;
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char data[12];
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}s_SO7_CMD_MOVETOXYZV;
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struct
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{
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BYTE uSubCmdByte;
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BYTE uStartCmdByte;
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char _bottom_light;
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char _top_light;
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char _ring_light;
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char _coaxial_light;
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char _spare_light1;
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char _outer_ring_light_switch;
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char _inner_ring_light_switch;
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BYTE uEndCmdByte;
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}s_SO7_CMD_SET_LIGHT;
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};
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};
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#pragma pack(pop)
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//======================
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struct struct_so7_r_ep_buff
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{
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int _ep;
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BYTE _save_send_cmd;
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BYTE _save_send_cmd0;
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BYTE _save_send_cmd1;
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char *_buffer; // MAX_BUFF_SIZE
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int _size;
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void *_async_context;
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BOOL _hProtoPending;
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HANDLE _event;
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};
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//======================================================================================
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class CSO7_Proto_Aux
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{
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public:
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// EP 81/82 channel threads.
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static int g_hEP8x_Thread_State;
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static unsigned __stdcall g_EP8x_Thread(LPVOID pThis);
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static HANDLE g_hEP8x_Thread_Id;
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// EP 02channel threads.
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static int g_hEP02_Thread_State;
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static unsigned __stdcall g_EP02_Thread(LPVOID pThis);
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static HANDLE g_hEP02_Thread_Id;
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static HANDLE g_hEP02_Serial_Mutex; // EP02
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static HANDLE g_hHomedEvent;
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static struct_so7_r_ep_buff ep_buff[lEPSIZE];
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static struct_so7_r_machine g_machine;
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static CLogger* g_pLogger1;
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static usb_dev_handle *g_dev;
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bool m_bHomingActive;
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//
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CSO7_Proto_Aux();
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virtual ~CSO7_Proto_Aux();
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// Global Structures
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SSI_STATUS_MOTION Init_SO7Usb();
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SSI_STATUS_MOTION Exit_SO7Usb();
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usb_dev_handle* _open_usb_dev(unsigned short sSeqNumber);
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int Get_R_SeqNumber(usb_dev_handle *udev);
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SSI_STATUS_MOTION _send_usb_cmd(int iEP_Base);
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SSI_STATUS_MOTION _write_usb_data_only(int iEP_Base);
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SSI_STATUS_MOTION _read_data_8x(int iEP_Base);
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static void _process_rcv_transfer_data(int iEP);
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SSI_STATUS_MOTION _do_single_threaded_usb_comm(int iEP);
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static SSI_STATUS_MOTION _process_SO7_CMD_READ_AXIS_R();
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static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_R();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_R(int iType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_R(int iType, int iMoveAngle);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_AXIS_R();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_R(int iType);
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long GetRCurrentPosition(int iType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_R(int iType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SEQ_NUMBER();
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};
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#endif
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