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7c3f60c985f829c39e003e3f62d2a69fda4a3d9d
EF3-Interface/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
T
TAO Cheng 7c3f60c985 新增外触发测试功能。
2014-06-20 18:25:58 +08:00

6661 lines
231 KiB
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#include "stdafx.h"
#include <math.h>
#include "SO7_Proto.h"
#define MY_CONFIG 1
#define MAX_DEVPATH_LENGTH 256
#define ENDPOINT_TIMEOUT 500
#define MAX_IN_BUFF_SIZE 1024
#define M_PI 3.14159265358979323846
const INT HOME_TIMEOUT=300000;
const INT MOVETO_TIMEOUT=60000;
const INT MIN_SLEEP_TIME=20;
const DOUBLE ROTARY_MMtoScale_RESOLUTION=0.0005;
//***** Static Data *****
static char *outBuff = NULL;
struct_so7_ep_buff CSO7_Proto::ep_buff[lEPSIZE];
//================================================================
int CSO7_Proto::g_hEP8x_Thread_State=THREAD_PAUSED;
HANDLE CSO7_Proto::g_hEP8x_Thread_Id=NULL;
//================================================================
int CSO7_Proto::g_hEP02_Thread_State=THREAD_PAUSED;
HANDLE CSO7_Proto::g_hEP02_Thread_Id=NULL;
HANDLE CSO7_Proto::g_hEP02_Serial_Mutex;
//================================================================
struct_so7_machine CSO7_Proto::g_machine;
usb_dev_handle *CSO7_Proto::g_dev=NULL;
CLogger *CSO7_Proto::g_pLogger=NULL;
HANDLE CSO7_Proto::g_hHomedEvent = NULL;
//===========================================================================
// Worker Thread to serialize EP_S07_02 commands.
//===========================================================================
unsigned __stdcall CSO7_Proto::g_EP02_Thread(LPVOID pThis)
{
CSO7_Proto* _This = (CSO7_Proto*)pThis;
for (;;)
{
//TRACE0("g_hEP02_Thread in loop set.\n");
if (g_hEP02_Thread_State == THREAD_EXIT)
ExitThread(0);
WaitForSingleObject(ep_buff[EP_02_CMD_IDX]._event,INFINITE);
//TRACE0("g_hEP02_Thread obtained event.\n");
switch (g_hEP02_Thread_State)
{
case THREAD_EXIT:
{
ExitThread(0);
}
case THREAD_PAUSED:
break;
case THREAD_RUNNING_STATE1:
{
//TRACE0("g_hEP02_Thread calling _send_usb_cmd. EP_S07_02; \n");
_This->_send_usb_cmd(EP_02_CMD_IDX);
//TRACE0("g_hEP02_Thread return _send_usb_cmd. EP_S07_02; \n");
break;
}
case THREAD_RUNNING_STATE2:
{
//TRACE0("g_hSerDialUsbThread processing _write_usb_data_only();\n");
_This->_write_usb_data_only(EP_02_CMD_IDX);
//TRACE0("g_hSerialUsbThread return from _write_usb_data_only();\n");
break;
}
default:
ExitThread(0);
}
};
g_hEP02_Thread_State = THREAD_EXIT;
ExitThread(0);
};
//******************************************************************************
// This is the worker thread to process USBD_TRANSFER_DIRECTION_IN
//******************************************************************************
unsigned __stdcall CSO7_Proto::g_EP8x_Thread(LPVOID pThis)
{
CSO7_Proto* _This = (CSO7_Proto*)pThis;
for (;;)
{
//TRACE0("g_hEP8x_Thread_State in loop set.\n");
if (g_hEP8x_Thread_State == THREAD_EXIT)
ExitThread(0);
WaitForSingleObject(ep_buff[EP_82_DATA_IDX]._event, INFINITE);
//TRACE0("g_hEP8x_Thread_State obtained event.\n");
switch (g_hEP8x_Thread_State)
{
case THREAD_EXIT:
{
ExitThread(0);
}
case THREAD_PAUSED:
break;
case THREAD_RUNNING_STATE1:
{
_This->_read_data_8x(EP_81_DATA_IDX);
break;
}
case THREAD_RUNNING_STATE2:
{
_This->_read_data_8x(EP_82_DATA_IDX);
break;
}
default:
ExitThread(0);
}
}
}
//******************************************************************************
// Parse the data received based on the index (which EP are we processing).
// The CCmdObj should only have one CMD_STATUS_PROCESSING.
// Update CCmdObj _ep_01_status and _ep_81_status.
// Update _status to CMD_STATUS_COMPLETE when both _ep_01_status and _ep_81_status
// are CMD_STATUS_COMPLETE.
//
//******************************************************************************
void CSO7_Proto::_process_rcv_transfer_data(int iEP)
{
switch (iEP)
{
case EP_01_CMD_IDX :
TRACE0("_process_rcv_transfer_data() : Update EP_01_CMD_IDX.\r\n");
break;
case EP_82_DATA_IDX : //
if (ep_buff[EP_02_CMD_IDX]._save_send_cmd == CT_MOTOR)
{
switch (ep_buff[EP_02_CMD_IDX]._save_send_cmd0)
{
case CT_MOVEX:
_process_SO7_CMD_MOVE_X();
break;
case CT_MOVEY:
_process_SO7_CMD_MOVE_Y();
break;
case CT_MOVEZ:
_process_SO7_CMD_MOVE_Z();
break;
case CT_MOVEV:
_process_SO7_CMD_MOVE_ZM();
break;
case CT_RESET:
_process_SO7_CMD_MOVE_RESET_XYZ();
break;
case CT_MOVETOX:
_process_SO7_CMD_MOVE_TO_POS_X();
break;
case CT_MOVETOY:
_process_SO7_CMD_MOVE_TO_POS_Y();
break;
case CT_MOVETOZ:
_process_SO7_CMD_MOVE_TO_POS_Z();
break;
case CT_MOVETOV:
_process_SO7_CMD_MOVE_TO_POS_ZM();
break;
case CT_MOVETOXYZ:
_process_SO7_CMD_MOVE_TO_POS_XYZ();
break;
case CT_SET_SPEEDX:
case CT_SET_SPEEDY:
case CT_SET_SPEEDZ:
_process_SO7_CMD_SET_SPEED_PARAMETER();
break;
case CT_READ_SPEEDX:
_process_SO7_CMD_READ_SPEED_PARAMETERX();
break;
case CT_READ_SPEEDY:
_process_SO7_CMD_READ_SPEED_PARAMETERY();
break;
case CT_READ_SPEEDZ:
_process_SO7_CMD_READ_SPEED_PARAMETERZ();
break;
case CT_SET_PRECISIONX:
case CT_SET_PRECISIONY:
case CT_SET_PRECISIONZ:
_process_SO7_CMD_SET_SPEED_PRECISION();
break;
case CT_READ_PRECISIONX:
_process_SO7_CMD_READ_SPEED_PRECISIONX();
break;
case CT_READ_PRECISIONY:
_process_SO7_CMD_READ_SPEED_PRECISIONY();
break;
case CT_READ_PRECISIONZ:
_process_SO7_CMD_READ_SPEED_PRECISIONZ();
break;
case CT_SET_MOTOR_CAL:
_process_SO7_CMD_SET_SPEED_MOTOR_WHEELBASE_PARAMETER();
break;
case CT_READ_MOTOR_CAL:
_process_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
break;
break;
case CT_TEST_STOP:
_process_SO7_CMD_READ_ZOOM_MOTION_STATUS();
break;
case CT_GET_INTERRUPT_MSG:
_process_SO7_CMD_GET_INTERRUPT_MSG(ep_buff[EP_02_CMD_IDX]._save_send_cmd1);
break;
default:
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
break;
};
}
else if(ep_buff[EP_02_CMD_IDX]._save_send_cmd == CT_DATA)
{
switch (ep_buff[EP_02_CMD_IDX]._save_send_cmd0)
{
case CT_READ_AXISXYZ:
_process_SO7_CMD_READ_AXIS_XYZ();
break;
case CT_READ_PROBEXYZ:
_process_SO7_CMD_READ_PROBE_XYZ();
break;
case CT_READ_AXISV:
_process_SO7_CMD_READ_V_DATA();
break;
case CT_READ_IO_DAT:
_process_SO7_CMD_READ_INPUT_PORT_STATUS();
break;
case CT_READ_SEC_REALX:
_process_SO7_CMD_READ_ZSIGNAL_POS_X();
break;
case CT_READ_SEC_REALY:
_process_SO7_CMD_READ_ZSIGNAL_POS_Y();
break;
case CT_READ_SEC_REALZ:
_process_SO7_CMD_READ_ZSIGNAL_POS_Z();
break;
case CT_WRITE_SYSTEM:
_process_SO7_CMD_WRITE_DATA_TO_FPGA();
break;
case CT_READ_SYSTEM:
_process_SO7_CMD_READ_DATA_FROM_FPGA();
break;
case CT_READ_SEQ_NUMBER:
_process_SO7_CMD_GET_SEQ_NUMBER();
break;
case CT_READ_TRIG_PULSE_PARA:
_process_SO7_CMD_READ_TRIG_PULSE_PARA();
break;
case CT_WRITE_TRIG_PULSE_PARA:
_process_SO7_CMD_WRITE_TRIG_PULSE_PARA();
break;
default:
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
break;
};
}
else if(ep_buff[EP_02_CMD_IDX]._save_send_cmd == CT_SCALE)
{
switch (ep_buff[EP_02_CMD_IDX]._save_send_cmd0)
{
case CT_GET_RESET_FLAG:
_process_SO7_CMD_GET_GET_RESET_FLAG();
break;
case CT_GET_SYSTEM_VER_INFO:
_process_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
break;
default:
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
break;
};
}
else if(ep_buff[EP_02_CMD_IDX]._save_send_cmd == CT_LIGHT)
{
switch (ep_buff[EP_02_CMD_IDX]._save_send_cmd0)
{
case CT_LIGHT1_SWITCH:
case CT_LIGHT2_SWITCH:
case CT_LIGHT3_SWITCH:
case CT_LIGHT4_SWITCH:
case CT_LIGHT1_SIZE:
case CT_LIGHT2_SIZE:
case CT_LIGHT3_SIZE:
case CT_LIGHT4_SIZE:
case CT_LIGHT_CMD:
_process_SO7_CMD_SET_LIGHT();
break;
default:
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
break;
};
}
//TRACE0("_process_rcv_transfer_data() : Update EP_82_DATA_IDX status.\r\n");
break;
case EP_02_CMD_IDX :
TRACE0("_process_rcv_transfer_data() : Update EP_02_CMD_IDX.\r\n");
break;
case EP_81_DATA_IDX :
_process_SO7_CMD_READ_INTERRUPT_MESSAGE();
TRACE0("_process_rcv_transfer_data() : Update EP_81_DATA_IDX.\r\n");
break;
default:
break;
};
};
//===========================================================================
double CSO7_Proto::ScaleToMM(long lCount, double dResolution)
{
double dMM = 0.0;
dMM = (lCount* dResolution) /1000 ;
return dMM;
}
//===========================================================================
long CSO7_Proto::MMtoScale(double lDistanceMM, double dResolution)
{
long lCounts(0);
if (dResolution)
lCounts = static_cast<long> (lDistanceMM *1000 / dResolution);
else
ASSERT(0);
return lCounts;
}
//===========================================================================
void CSO7_Proto::Trace_EP_Buff(long lIndex)
{
UCHAR tmp[256];
CString csTmp;
memcpy(tmp, ep_buff[lIndex]._buffer, ep_buff[lIndex]._size);
csTmp = _T("Trace_EP_Buff _59 ");
for (int ii= 0 ; ii < ep_buff[lIndex]._size ; ++ii)
{
CString csTmpHex;
csTmpHex.Format(_T("%2X"), tmp[ii] );
csTmp += csTmpHex;
}
TRACE1("_process_SO7_CMD_GET_INDEX_4E() Trace_EP_Buff %s \n", csTmp);
}
//=====================================================================================
long CSO7_Proto::_4char2long(unsigned char *cBuff)
{
union
{
long l_value;
char c_array[5];
};
memset (c_array, 0, 5);
c_array[0] = cBuff[3];
c_array[1] = cBuff[2];
c_array[2] = cBuff[1];
c_array[3] = cBuff[0];
return(l_value);
}
//=====================================================================================
long CSO7_Proto::_3char2long(unsigned char *cBuff)
{
union
{
long l_value;
char c_array[5];
};
memset (c_array, 0, 5);
c_array[0] = cBuff[2];
c_array[1] = cBuff[1];
c_array[2] = cBuff[0];
return(l_value);
}
//========================================================================
void CSO7_Proto::_reverse_dword(DWORD *dWord)
{
BYTE cBuff[4];
BYTE *dwBuff = (BYTE *)dWord;
for ( int ii = 0 ; ii < 4 ; ++ii )
cBuff[ii]= dwBuff[ii];
dwBuff[0] = cBuff[3];
dwBuff[1] = cBuff[2];
dwBuff[2] = cBuff[1];
dwBuff[3] = cBuff[0];
}
//******************************************************************************
void CSO7_Proto::_scale2inch(unsigned long scale, double &inch)
{
UNREFERENCED_PARAMETER(scale);
UNREFERENCED_PARAMETER(inch);
}
//******************************************************************************
void CSO7_Proto::_inch2scale(unsigned long &scale, double inch)
{
UNREFERENCED_PARAMETER(scale);
UNREFERENCED_PARAMETER(inch);
}
//******************************************************************************
// convert a string of characters into its binary form
void CSO7_Proto::_char2bin(unsigned char *cBuff, BYTE *cBytes, int iLen)
{
memset(cBytes, 0, MAX_BUFF_SIZE);
for (int i=0;i<iLen;i++)
{
sscanf_s((const char *)(cBuff+i*2), "%2x", (cBytes+i));
};
return;
}
//******************************************************************************
void CSO7_Proto::_swap_byte(unsigned short &Val)
{
unsigned short MSB = Val<<8;
BYTE LSB = Val>>8;
Val = MSB|LSB;
}
//******************************************************************************
double CSO7_Proto::TimeInSecs(void)
{
double Secs;
LARGE_INTEGER HPCounterTicksPerSecond;
BOOL HasHPCounter = QueryPerformanceFrequency(&HPCounterTicksPerSecond);
if (HasHPCounter == TRUE)
{
// Use high resolution clock.
double HPCounterTicksPersec = (DWORD)((double) HPCounterTicksPerSecond.QuadPart);
LARGE_INTEGER HPTicks;
QueryPerformanceCounter(&HPTicks);
Secs = ((double)HPTicks.QuadPart / HPCounterTicksPersec);
}
else
{
// Use clock with less resolution.
Secs = GetTickCount();
Secs /= 1000.0;
}
return Secs;
}
//******************************************************************************
CSO7_Proto::CSO7_Proto()
{
ep_buff[EP_01_CMD_IDX]._ep = EP_S07_01;
ep_buff[EP_81_DATA_IDX]._ep = EP_S07_81;
ep_buff[EP_02_CMD_IDX]._ep = EP_S07_02;
ep_buff[EP_82_DATA_IDX]._ep = EP_S07_82;
for (int i=0;i<lEPSIZE;i++)
{
ep_buff[i]._size = 0;
ep_buff[i]._save_send_cmd = 99;
ep_buff[i]._async_context = NULL;
ep_buff[i]._buffer = (char *)malloc(MAX_BUFF_SIZE);
ep_buff[i]._hProtoPending = false;
ep_buff[i]._event = NULL;
};
for (int i=0;i<20;i++)
{
for (int j=0;j<2;j++)
{
g_machine.GetInterruptMsg[i][j]=0;
}
}
g_machine.IsSupportReadInterrputMsg=FALSE;
g_machine.IsOffline=TRUE;
g_machine.FPGAData=0;
g_machine.FirmwareVer=FirmwareVer_3_X;
g_machine.x._Move_Speed_Gear =2;
g_machine.y._Move_Speed_Gear =2;
g_machine.z._Move_Speed_Gear =2;
g_machine.x._MoveTo_Speed_Gear =0;
g_machine.y._MoveTo_Speed_Gear =0;
g_machine.z._MoveTo_Speed_Gear =0;
g_machine.zm._Move_Speed_Gear =2;
g_machine.x._pos_fixed._long_ =0;
g_machine.y._pos_fixed._long_ =0;
g_machine.z._pos_fixed._long_ =0;
g_machine.zm._pos_fixed._long_ =0;
g_machine.x._ZSignal_pos._long_=0;
g_machine.y._ZSignal_pos._long_=0;
g_machine.z._ZSignal_pos._long_=0;
g_machine.x._d_cur_pos_ = 0;
g_machine.y._d_cur_pos_ = 0;
g_machine.z._d_cur_pos_ = 0;
g_machine.zm._d_cur_pos_ = 0;
g_machine.ADC_Number=0;
g_machine.ADC_Value =0;
g_machine.Sys_Reset_Flag=0;
g_machine.cFixtureFlag=0;
g_machine.cVerNumber=3;
g_machine.s_lights_value._top_light=1;
g_machine.s_lights_value._bottom_light=1;
g_machine.s_lights_value._ring_light=1;
g_machine.s_lights_value._coaxial_light=1;
g_machine.s_lights_value._spare_light1=1;
g_machine.s_lights_value.segment[0]=0;
g_machine.s_lights_value.segment[1]=0;
g_machine.dRotaryCirclDis=100;
g_machine.Light_Size=0;
g_machine.Light_Switch=0;
g_machine.SEQ_NUMBER=0;
g_machine.s_machine_config.x_axis._MoveToSpeed[0]=0.0;
g_machine.s_machine_config.x_axis._MoveToSpeed[1]=0.0;
g_machine.s_machine_config.x_axis._MotionSpeedScale=1.0;
g_machine.s_machine_config.y_axis._MoveToSpeed[0]=0.0;
g_machine.s_machine_config.y_axis._MoveToSpeed[1]=0.0;
g_machine.s_machine_config.y_axis._MotionSpeedScale=1.0;
g_machine.s_machine_config.z_axis._MoveToSpeed[0]=0.0;
g_machine.s_machine_config.z_axis._MoveToSpeed[1]=0.0;
g_machine.s_machine_config.z_axis._MotionSpeedScale=1.0;
g_machine.s_machine_config.zm_axis._ProductID=_T("So7123456");
g_machine.s_machine_config.zm_axis._ComPort=1;
g_machine.s_machine_config.zm_axis._StartDegree=0.0;
g_machine.s_machine_config.zm_axis._EndDegree=0.0;
g_machine.s_machine_config.zm_axis._RelativeZeroDegree=0.0;
g_machine.s_machine_config.zm_axis._Deadband=0.1;
g_machine.s_machine_config.zm_axis._ReadingInterval=60;
g_machine.s_machine_config.zm_axis._PulseScale=25.13473606496862;
g_machine.s_machine_config.zm_axis._SpeedFast=2000;
g_machine.s_machine_config.zm_axis._SpeedSlow=800;
g_machine.s_machine_config.zm_axis._speed._short_=0;
g_machine.MotionType=-1;
g_machine.s_status._bIsZMMotionFinished=0;
g_machine.x._scale_pos._long_ = 0;
g_machine.y._scale_pos._long_ = 0;
g_machine.z._scale_pos._long_ = 0;
g_machine.zm._scale_pos._long_ = 0;
g_machine.x._d_cur_pos_ = 0;
g_machine.y._d_cur_pos_ = 0;
g_machine.z._d_cur_pos_ = 0;
g_machine.zm._d_cur_pos_= 0;
g_machine.x._dSet_Zero_Pos = 0.0;
g_machine.y._dSet_Zero_Pos = 0.0;
g_machine.z._dSet_Zero_Pos = 0.0;
g_machine.zm._dSet_Zero_Pos = 0.0;
g_machine.x._lSet_Zero_Pos = 0;
g_machine.y._lSet_Zero_Pos = 0;
g_machine.z._lSet_Zero_Pos = 0;
g_machine.zm._lSet_Zero_Pos = 0;
g_machine.s_machine_config._dXYZSpeed=50;
g_machine.InterruptFlag[0]=0;
g_machine.InterruptFlag[1]=0;
g_machine.InPortStatus=0;
so7_motion_reset_controller_parameter();
so7_config_para_set_default();
m_bHomingActive = false;
g_pLogger = new CLogger(_T("\\MachineInterface.Log"));
};
//******************************************************************************
CSO7_Proto::~CSO7_Proto()
{
for (int i=0;i<lEPSIZE;i++)
{
free(ep_buff[i]._buffer);
};
if (g_pLogger)
{
delete g_pLogger;
g_pLogger = NULL;
}
}
#pragma warning(disable:4996)
//==============================================================================
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::so7_config_para_set_default()
{
g_machine.s_machine_config.motion._EnCloseLoop=FALSE;
g_machine.s_machine_config.motion._RetryTimes=0;
g_machine.s_machine_config.motion._ShiftPositionX=0.0;
g_machine.s_machine_config.motion._ShiftPositionY=0.0;
g_machine.s_machine_config.motion._ShiftPositionZ=0.0;
g_machine.s_machine_config.motion._ShiftPositionZ=0.0;
g_machine.s_machine_config.motion.GetInterruptMsgMethod=E_GET_INTERRUPT_MSG_INQUIRY;
g_machine.s_machine_config.motion.m_WriteDataSleepTime=0;
g_machine.s_machine_config.motion.m_AccuraErrPulseX=1;
g_machine.s_machine_config.motion.m_AccuraErrPulseY=1;
g_machine.s_machine_config.motion.m_AccuraErrPulseZ=1;
g_machine.s_machine_config.motion.m_EQUIDIS_X=0;
g_machine.s_machine_config.motion.m_EQUIDIS_Y=0;
g_machine.s_machine_config.motion.m_EQUIDIS_Z=0;
g_machine.s_machine_config.motion.m_CNC_Deadlock_Solution=1;
g_machine.s_machine_config.motion.m_CNC_Deadlock_JudgeMaxCnts=6;
g_machine.s_machine_config.motion.m_TouchProbeEnable=0;
g_machine.s_machine_config.motion.m_FootSwitchEnable=0;
g_machine.s_machine_config.motion.m_JoyStickEnable=0;
g_machine.s_machine_config.motion.m_STIL_CCS_PRIMA_Enable=0;
g_machine.s_machine_config.motion.m_DebugOutputEnable=0;
g_machine.s_machine_config.motion.m_SDK3000_CntThreadSleepVal=550000;
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[0]=70;
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[1]=70;
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[2]=70;
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[3]=70;
g_machine.s_machine_config.motion.m_MachineType=MACHINE_SO7_CONTROLLER;
g_machine.s_machine_config.motion.m_VideoCardType=0;
g_machine.s_machine_config.x_axis._scale_resolution=0.5;
g_machine.s_machine_config.y_axis._scale_resolution=0.5;
g_machine.s_machine_config.z_axis._scale_resolution=0.5;
g_machine.s_machine_config.x_axis._neg_working_limit=0;
g_machine.s_machine_config.x_axis._pos_working_limit=200;
g_machine.s_machine_config.y_axis._neg_working_limit=0;
g_machine.s_machine_config.y_axis._pos_working_limit=100;
g_machine.s_machine_config.z_axis._neg_working_limit=0;
g_machine.s_machine_config.z_axis._pos_working_limit=200;
g_machine.s_machine_config.motion.m_RotaryCircleDis=7.2;
g_machine.s_machine_config.motion.m_RotaryCirclePulse=14400;
g_machine.s_machine_config.motion.m_RotaryAxisNO=MACHINE_AXIS_NONE;
return SSI_STATUS_MOTION_NORMAL;
}
SSI_STATUS_MOTION CSO7_Proto::so7_motion_reset_controller_parameter()
{
for(int i=0;i<5;i++)
{
g_machine.s_machine_config.x_axis._speed_base[i]=0;
g_machine.s_machine_config.x_axis._speed_max[i]=0;
g_machine.s_machine_config.x_axis._speed_start[i]=0;
g_machine.s_machine_config.x_axis._speed_fresh[i]=0;
g_machine.s_machine_config.x_axis._speed_slow_dis[i]=0;
g_machine.s_machine_config.y_axis._speed_base[i]=0;
g_machine.s_machine_config.y_axis._speed_max[i]=0;
g_machine.s_machine_config.y_axis._speed_start[i]=0;
g_machine.s_machine_config.y_axis._speed_fresh[i]=0;
g_machine.s_machine_config.y_axis._speed_slow_dis[i]=0;
g_machine.s_machine_config.z_axis._speed_base[i]=0;
g_machine.s_machine_config.z_axis._speed_max[i]=0;
g_machine.s_machine_config.z_axis._speed_start[i]=0;
g_machine.s_machine_config.z_axis._speed_fresh[i]=0;
g_machine.s_machine_config.z_axis._speed_slow_dis[i]=0;
}
g_machine.s_machine_config.x_axis._motor_wheelbase=0;
g_machine.s_machine_config.y_axis._motor_wheelbase=0;
g_machine.s_machine_config.z_axis._motor_wheelbase=0;
g_machine._motor_pulse_num=10000;
g_machine.s_machine_config.x_axis._motor_precision=0;
g_machine.s_machine_config.y_axis._motor_precision=0;
g_machine.s_machine_config.z_axis._motor_precision=0;
return SSI_STATUS_MOTION_NORMAL;
}
//=========================================================================================
SSI_STATUS_MOTION CSO7_Proto::Save_SevenOcean_Inifile(CString path_and_fileName)
{
FILE* m_pOutFile;
char *outBuff = NULL;
char tmp;
_wfopen_s(&m_pOutFile, path_and_fileName, _T("wt"));
if (!m_pOutFile)
{
free(outBuff);
}
else
{
outBuff="[HARDWARE]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_FAST_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.x_axis._MoveToSpeed[0]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SLOW_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.x_axis._MoveToSpeed[1]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SCALE_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.x_axis._MotionSpeedScale);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="MOVETOSPEED_FAST_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.y_axis._MoveToSpeed[0]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SLOW_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.y_axis._MoveToSpeed[1]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SCALE_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.y_axis._MotionSpeedScale);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="MOVETOSPEED_FAST_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.z_axis._MoveToSpeed[0]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SLOW_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.z_axis._MoveToSpeed[1]);
fprintf(m_pOutFile, "\n");
outBuff="MOVETOSPEED_SCALE_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%9.8f", g_machine.s_machine_config.z_axis._MotionSpeedScale);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_X1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_base[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_X1=";
fprintf(m_pOutFile,"%s", outBuff);
tmp= g_machine.s_machine_config.x_axis._speed_max[0];
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_max[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_X1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_start[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_X1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_fresh[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_X1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._speed_slow_dis[0]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_X2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_base[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_X2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_max[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_X2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_start[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_X2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_fresh[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_X2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._speed_slow_dis[1]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_X3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte) g_machine.s_machine_config.x_axis._speed_base[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_X3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_max[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_X3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_start[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_X3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_fresh[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_X3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._speed_slow_dis[2]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_X4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_base[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_X4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_max[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_X4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_start[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_X4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_fresh[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_X4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._speed_slow_dis[3]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_X5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_base[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_X5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.x_axis._speed_max[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_X5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_start[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_X5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.x_axis._speed_fresh[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_X5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._speed_slow_dis[4]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Y1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_base[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Y1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_max[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Y1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_start[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Y1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_fresh[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Y1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._speed_slow_dis[0]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Y2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_base[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Y2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_max[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Y2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_start[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Y2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_fresh[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Y2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._speed_slow_dis[1]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Y3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_base[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Y3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_max[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Y3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_start[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Y3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_fresh[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Y3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._speed_slow_dis[2]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Y4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_base[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Y4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_max[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Y4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_start[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Y4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_fresh[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Y4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._speed_slow_dis[3]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Y5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.y_axis._speed_base[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Y5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_max[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Y5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_start[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Y5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.y_axis._speed_fresh[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Y5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._speed_slow_dis[4]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Z1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_base[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Z1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_max[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Z1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_start[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Z1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_fresh[0]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Z1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._speed_slow_dis[0]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Z2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_base[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Z2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_max[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Z2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_start[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Z2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_fresh[1]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Z2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._speed_slow_dis[1]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Z3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_base[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Z3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_max[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Z3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_start[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Z3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_fresh[2]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Z3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._speed_slow_dis[2]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Z4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_base[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Z4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_max[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Z4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_start[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Z4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_fresh[3]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Z4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._speed_slow_dis[3]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="SPEED_BASE_Z5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_base[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_MAX_Z5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", (byte)g_machine.s_machine_config.z_axis._speed_max[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_START_Z5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_start[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_FRESH_Z5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",(byte)g_machine.s_machine_config.z_axis._speed_fresh[4]);
fprintf(m_pOutFile, "\n");
outBuff="SPEED_SLOW_Z5=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._speed_slow_dis[4]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="X_MOTOR_PRECISION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._motor_precision);
fprintf(m_pOutFile, "\n");
outBuff="Y_MOTOR_PRECISION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._motor_precision);
fprintf(m_pOutFile, "\n");
outBuff="Z_MOTOR_PRECISION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._motor_precision);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="X_MOTOR_WHEELBASE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.x_axis._motor_wheelbase);
fprintf(m_pOutFile, "\n");
outBuff="Y_MOTOR_WHEELBASE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.y_axis._motor_wheelbase);
fprintf(m_pOutFile, "\n");
outBuff="Z_MOTOR_WHEELBASE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f",g_machine.s_machine_config.z_axis._motor_wheelbase);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="MOTOR_PULSE_NUM=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d",g_machine._motor_pulse_num);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
//===========worktable=====================
outBuff="[WORKTABLE]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="X_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Y_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Z_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="X_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
outBuff="X_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="ROTARY_CIR_DIS=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.3f", g_machine.dRotaryCirclDis);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile,"%s", ";\n");
fclose(m_pOutFile);
}
return SSI_STATUS_MOTION_NORMAL;
}
//******************************************************************************
//log file shows the machine speed data
SSI_STATUS_MOTION CSO7_Proto::Load_SevenOcean_Inifile(CString cso7IniFile)
{
FILE *hConfigFile = NULL;
char szLine[MAX_BUFF_SIZE];
char *token = NULL;
char seps[] = " =,\t\n";
char cTemp[20]={0};
CString csSO7ConfigFile =cso7IniFile;//csAppPath+_T("\\so7_config.ini");
_wfopen_s(&hConfigFile,csSO7ConfigFile,_T("rt"));
if(hConfigFile)
{
while (!feof(hConfigFile))
{
fgets(szLine,MAX_BUFF_SIZE,hConfigFile);//read a line
if((szLine[0]!=';')&&(strlen(szLine)>2))
{
token = strtok(szLine,seps);
if(!_stricmp(token,"MOVETOSPEED_FAST_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._MoveToSpeed[0]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SLOW_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._MoveToSpeed[1]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SCALE_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._MotionSpeedScale=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_FAST_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._MoveToSpeed[0]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SLOW_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._MoveToSpeed[1]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SCALE_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._MotionSpeedScale=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_FAST_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._MoveToSpeed[0]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SLOW_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._MoveToSpeed[1]=atof(cTemp);
}
}
else if(!_stricmp(token,"MOVETOSPEED_SCALE_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._MotionSpeedScale=atof(cTemp);
}
}
// X1
else if(!_stricmp(token,"SPEED_BASE_X1"))//SPEED_BASE_X1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_base[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_X1"))//SPEED_FRESH_X1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_fresh[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_X1"))//SPEED_START_X1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_start[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_X1"))//SPEED_MAX_X1
{
token = strtok( NULL, seps);
// temp=token;
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_max[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_X1"))//SPEED_SLOW_X1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_slow_dis[0]=atof(cTemp);
}
}
// X2
else if(!_stricmp(token,"SPEED_BASE_X2"))//SPEED_BASE_X2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_base[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_X2"))//SPEED_FRESH_X2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_fresh[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_X2"))//SPEED_START_X2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_start[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_X2"))//SPEED_MAX_X2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_max[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_X2"))//SPEED_SLOW_X2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_slow_dis[1]=atof(cTemp);
}
}
//X3
else if(!_stricmp(token,"SPEED_BASE_X3"))//SPEED_BASE_X3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_base[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_X3"))//SPEED_FRESH_X3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_fresh[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_X3"))//SPEED_START_X3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_start[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_X3"))//SPEED_MAX_X3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_max[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_X3"))//SPEED_SLOW_X3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_slow_dis[2]=atof(cTemp);
}
}
// X4
else if(!_stricmp(token,"SPEED_BASE_X4"))//SPEED_BASE_X4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_base[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_X4"))//SPEED_FRESH_X4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_fresh[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_X4"))//SPEED_START_X4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_start[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_X4"))//SPEED_MAX_X4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_max[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_X4"))//SPEED_SLOW_X4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_slow_dis[3]=atof(cTemp);
}
}
//X5
else if(!_stricmp(token,"SPEED_BASE_X5"))//SPEED_BASE_X5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_base[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_X5"))//SPEED_FRESH_X5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_fresh[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_X5"))//SPEED_START_X5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_start[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_X5"))//SPEED_MAX_X5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_max[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_X5"))//SPEED_SLOW_X5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._speed_slow_dis[4]=atof(cTemp);
}
}
// Y_axis
else if(!_stricmp(token,"SPEED_BASE_Y1"))//SPEED_BASE_Y1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_base[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Y1"))//SPEED_FRESH_Y1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_fresh[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Y1"))//SPEED_START_Y1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_start[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Y1"))//SPEED_MAX_Y1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_max[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Y1"))//SPEED_SLOW_Y1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_slow_dis[0]=atof(cTemp);
}
}
//Y2
else if(!_stricmp(token,"SPEED_BASE_Y2"))//SPEED_BASE_Y2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_base[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Y2"))//SPEED_FRESH_Y2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_fresh[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Y2"))//SPEED_START_Y2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_start[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Y2"))//SPEED_MAX_Y2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_max[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Y2"))//SPEED_SLOW_Y2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_slow_dis[1]=atof(cTemp);
}
}
//Y3
else if(!_stricmp(token,"SPEED_BASE_Y3"))//SPEED_BASE_Y3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_base[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Y3"))//SPEED_FRESH_Y3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_fresh[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Y3"))//SPEED_START_Y3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_start[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Y3"))//SPEED_MAX_Y3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_max[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Y3"))//SPEED_SLOW_Y3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_slow_dis[2]=atof(cTemp);
}
}
// Y4
else if(!_stricmp(token,"SPEED_BASE_Y4"))//SPEED_BASE_Y4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_base[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Y4"))//SPEED_FRESH_Y4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_fresh[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Y4"))//SPEED_START_Y4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_start[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Y4"))//SPEED_MAX_Y4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_max[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Y4"))//SPEED_SLOW_Y4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_slow_dis[3]=atof(cTemp);
}
}
//Y5
else if(!_stricmp(token,"SPEED_BASE_Y5"))//SPEED_BASE_Y5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_base[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Y5"))//SPEED_FRESH_Y5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_fresh[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Y5"))//SPEED_START_Y5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_start[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Y5"))//SPEED_MAX_Y5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_max[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Y5"))//SPEED_SLOW_Y5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._speed_slow_dis[4]=atof(cTemp);
}
}
// Z_axis
else if(!_stricmp(token,"SPEED_BASE_Z1"))//SPEED_BASE_Z1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_base[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Z1"))//SPEED_FRESH_Z1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_fresh[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Z1"))//SPEED_START_Z1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_start[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Z1"))//SPEED_MAX_Z1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_max[0]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Z1"))//SPEED_SLOW_Z1
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_slow_dis[0]=atof(cTemp);
}
}
//Z2
else if(!_stricmp(token,"SPEED_BASE_Z2"))//SPEED_BASE_Z2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_base[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Z2"))//SPEED_FRESH_Z2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_fresh[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Z2"))//SPEED_START_Z2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_start[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Z2"))//SPEED_MAX_Z2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_max[1]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Z2"))//SPEED_SLOW_Z2
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_slow_dis[1]=atof(cTemp);
}
}
//Z3
else if(!_stricmp(token,"SPEED_BASE_Z3"))//SPEED_BASE_Z3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_base[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Z3"))//SPEED_FRESH_Z3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_fresh[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Z3"))//SPEED_START_Z3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_start[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Z3"))//SPEED_MAX_Z3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_max[2]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Z3"))//SPEED_SLOW_Z3
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_slow_dis[2]=atof(cTemp);
}
}
// Z4
else if(!_stricmp(token,"SPEED_BASE_Z4"))//SPEED_BASE_Z4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_base[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Z4"))//SPEED_FRESH_Z4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_fresh[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Z4"))//SPEED_START_Z4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_start[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Z4"))//SPEED_MAX_Z4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_max[3]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Z4"))//SPEED_SLOW_Z4
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_slow_dis[3]=atof(cTemp);
}
}
//Z5
else if(!_stricmp(token,"SPEED_BASE_Z5"))//SPEED_BASE_Z5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_base[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_FRESH_Z5"))//SPEED_FRESH_Z5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_fresh[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_START_Z5"))//SPEED_START_Z5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_start[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_MAX_Z5"))//SPEED_MAX_Z5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_max[4]=static_cast<char>(atoi(cTemp));
}
}
else if(!_stricmp(token, "SPEED_SLOW_Z5"))//SPEED_SLOW_Z5
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._speed_slow_dis[4]=atof(cTemp);
}
}
//XZY_MOTOR_PRECISION
else if(!_stricmp(token, "X_MOTOR_PRECISION"))//SET MOTOR PRECISION
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._motor_precision=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_MOTOR_PRECISION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._motor_precision=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_MOTOR_PRECISION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._motor_precision=atof(cTemp);
}
}
else if(!_stricmp(token, "X_MOTOR_WHEELBASE"))//SET MOTOR WHEELBASE
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._motor_wheelbase=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_MOTOR_WHEELBASE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._motor_wheelbase=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_MOTOR_WHEELBASE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._motor_wheelbase=atof(cTemp);
}
}
else if(!_stricmp(token, "MOTOR_PULSE_NUM"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine._motor_pulse_num=atoi(cTemp);
}
}
/*
//=====================[WORKTABLE]========================
else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "X_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "X_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_CIR_DIS"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.dRotaryCirclDis=atof(cTemp);
}
}
*/
}
}
fclose(hConfigFile);
}
return SSI_STATUS_MOTION_NORMAL;
}
//=========================================================================================
SSI_STATUS_MOTION CSO7_Proto::Save_So7_Config()
{
FILE* m_pOutFile= NULL;
char *outBuff = NULL;
CString csAppPath;
GetAppPath(csAppPath);
CString cFileName=csAppPath+_T("\\so7_config.ini");
_wfopen_s(&m_pOutFile, cFileName, _T("wt"));
if (!m_pOutFile)
{
free(outBuff);
}
else
{
outBuff="[7OCEANAUTOZOOM]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_PRODUCT_ID=";
fprintf(m_pOutFile,"%s", outBuff);
USES_CONVERSION;
outBuff=T2A(g_machine.s_machine_config.zm_axis._ProductID);
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_COM_PORT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.zm_axis._ComPort);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_START_DEG=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.zm_axis._StartDegree);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_END_DEG=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.zm_axis._EndDegree);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_ORG_DEG=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.zm_axis._RelativeZeroDegree);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_DEADBAND_DEG=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.zm_axis._Deadband);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_PULSE_PER_DEG=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.15f", g_machine.s_machine_config.zm_axis._PulseScale);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_READING_INTERVAL_TIME=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.zm_axis._ReadingInterval);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_MOTOR_SPEED_FAST=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.zm_axis._SpeedFast);
fprintf(m_pOutFile, "\n");
outBuff="ZOOM_MOTOR_SPEED_SLOW=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.zm_axis._SpeedSlow);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
outBuff="[CONTROLLER]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="CLOSE_LOOP_ENABLED=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion._EnCloseLoop);
fprintf(m_pOutFile, "\n");
outBuff="MOTION_RETRY_TIMES=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion._RetryTimes);
fprintf(m_pOutFile, "\n");
outBuff="SHIFT_POSITION_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.motion._ShiftPositionX);
fprintf(m_pOutFile, "\n");
outBuff="SHIFT_POSITION_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.motion._ShiftPositionY);
fprintf(m_pOutFile, "\n");
outBuff="SHIFT_POSITION_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.motion._ShiftPositionZ);
fprintf(m_pOutFile, "\n");
outBuff="GET_USB_MESSAGE_METHOD=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.GetInterruptMsgMethod);
fprintf(m_pOutFile, "\n");
outBuff="WRITE_DATA_SLEEP_TIME=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_WriteDataSleepTime);
fprintf(m_pOutFile, "\n");
outBuff="ACCURA_ERROR_PULSE_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_AccuraErrPulseX);
fprintf(m_pOutFile, "\n");
outBuff="ACCURA_ERROR_PULSE_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_AccuraErrPulseY);
fprintf(m_pOutFile, "\n");
outBuff="ACCURA_ERROR_PULSE_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_AccuraErrPulseZ);
fprintf(m_pOutFile, "\n");
outBuff="EQUIDISTANCE_PULSE_X=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_EQUIDIS_X);
fprintf(m_pOutFile, "\n");
outBuff="EQUIDISTANCE_PULSE_Y=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_EQUIDIS_Y);
fprintf(m_pOutFile, "\n");
outBuff="EQUIDISTANCE_PULSE_Z=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_EQUIDIS_Z);
fprintf(m_pOutFile, "\n");
outBuff="CNC_DEADLOCK_SOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_CNC_Deadlock_Solution);
fprintf(m_pOutFile, "\n");
outBuff="CNC_DEADLOCK_MAX_CNTS=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_CNC_Deadlock_JudgeMaxCnts);
fprintf(m_pOutFile, "\n");
outBuff="TOUCH_PROBE_ENABLE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_TouchProbeEnable);
fprintf(m_pOutFile, "\n");
outBuff="FOOT_SWITCH_ENABLE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_FootSwitchEnable);
fprintf(m_pOutFile, "\n");
outBuff="JOYSTICK_ENABLE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_JoyStickEnable);
fprintf(m_pOutFile, "\n");
outBuff="CCS_PRIMA_ENABLE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_STIL_CCS_PRIMA_Enable);
fprintf(m_pOutFile, "\n");
outBuff="DEBUG_LOG_ENABLE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_DebugOutputEnable);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
outBuff="[VIDEOCARD]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="SDK3000_SLEEP_COUNT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_SDK3000_CntThreadSleepVal);
fprintf(m_pOutFile, "\n");
outBuff="SV4000E_DENOISE_PARA_CHANNEL1=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[0]);
fprintf(m_pOutFile, "\n");
outBuff="SV4000E_DENOISE_PARA_CHANNEL2=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[1]);
fprintf(m_pOutFile, "\n");
outBuff="SV4000E_DENOISE_PARA_CHANNEL3=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[2]);
fprintf(m_pOutFile, "\n");
outBuff="SV4000E_DENOISE_PARA_CHANNEL4=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[3]);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
outBuff="[HSI]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="MACHINE_CONTROLLER_TYPE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_MachineType);
fprintf(m_pOutFile, "\n");
outBuff="MACHINE_VIDEOCARD_TYPE=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_VideoCardType);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
outBuff="[CUSTOM_MACHINE]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="X_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.x_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Y_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.y_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Z_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.z_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="X_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.x_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="X_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.x_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.y_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.y_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.z_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.z_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="ROTARY_AXIS_NUMBER=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_RotaryAxisNO);
fprintf(m_pOutFile, "\n");
outBuff="ROTARY_CIR_DIS=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%.6f", g_machine.s_machine_config.motion.m_RotaryCircleDis);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
fclose(m_pOutFile);
}
return SSI_STATUS_MOTION_NORMAL;
}
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::Load_So7_Config()
{
FILE *hConfigFile = NULL;
char szLine[MAX_BUFF_SIZE];
char *token = NULL;
char seps[] = " =,\t\n";
char cTemp[30]={0};
CString csAppPath;
GetAppPath(csAppPath);
CString csSO7ConfigFile =csAppPath+_T("\\so7_config.ini");
_wfopen_s(&hConfigFile,csSO7ConfigFile,_T("rt"));
if(hConfigFile)
{
while (!feof(hConfigFile))
{
fgets(szLine,MAX_BUFF_SIZE,hConfigFile);//read a line
if((szLine[0]!=';')&&(strlen(szLine)>2))
{
token = strtok(szLine,seps);
//==============7OceanAutozoom==============================
if(!_stricmp(token,"ZOOM_PRODUCT_ID"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._ProductID=cTemp;
}
}
else if(!_stricmp(token,"ZOOM_COM_PORT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._ComPort=atoi(cTemp);
}
}
else if(!_stricmp(token,"ZOOM_START_DEG"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._StartDegree=atof(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_END_DEG"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._EndDegree=atof(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_ORG_DEG"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._RelativeZeroDegree=atof(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_DEADBAND_DEG"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._Deadband=atof(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_PULSE_PER_DEG"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._PulseScale=atof(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_READING_INTERVAL_TIME"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._ReadingInterval=atoi(cTemp);
}
}
else if (!_stricmp(token,"ZOOM_MOTOR_SPEED_FAST"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._SpeedFast=static_cast<short>(atoi(cTemp));
}
}
else if (!_stricmp(token,"ZOOM_MOTOR_SPEED_SLOW"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.zm_axis._SpeedSlow=static_cast<short>(atoi(cTemp));
}
}
//==============Motion=====================
else if(!_stricmp(token,"CLOSE_LOOP_ENABLED"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion._EnCloseLoop=atoi(cTemp);
}
}
else if (!_stricmp(token,"MOTION_RETRY_TIMES"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion._RetryTimes=atoi(cTemp);
}
}
else if (!_stricmp(token,"SHIFT_POSITION_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion._ShiftPositionX=atof(cTemp);
}
}
else if (!_stricmp(token,"SHIFT_POSITION_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion._ShiftPositionY=atof(cTemp);
}
}
else if (!_stricmp(token,"SHIFT_POSITION_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion._ShiftPositionZ=atof(cTemp);
}
}
else if (!_stricmp(token,"GET_USB_MESSAGE_METHOD"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.GetInterruptMsgMethod=static_cast<char>(atoi(cTemp));
}
}
else if (!_stricmp(token,"WRITE_DATA_SLEEP_TIME"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_WriteDataSleepTime=atoi(cTemp);
}
}
else if (!_stricmp(token,"ACCURA_ERROR_PULSE_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_AccuraErrPulseX=atoi(cTemp);
}
}
else if (!_stricmp(token,"ACCURA_ERROR_PULSE_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_AccuraErrPulseY=atoi(cTemp);
}
}
else if (!_stricmp(token,"ACCURA_ERROR_PULSE_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_AccuraErrPulseZ=atoi(cTemp);
}
}
else if (!_stricmp(token,"EQUIDISTANCE_PULSE_X"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_EQUIDIS_X=atoi(cTemp);
}
}
else if (!_stricmp(token,"EQUIDISTANCE_PULSE_Y"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_EQUIDIS_Y=atoi(cTemp);
}
}
else if (!_stricmp(token,"EQUIDISTANCE_PULSE_Z"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_EQUIDIS_Z=atoi(cTemp);
}
}
else if (!_stricmp(token,"CNC_DEADLOCK_SOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_CNC_Deadlock_Solution=atoi(cTemp);
}
}
else if (!_stricmp(token,"CNC_DEADLOCK_MAX_CNTS"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_CNC_Deadlock_JudgeMaxCnts=atoi(cTemp);
}
}
else if (!_stricmp(token,"TOUCH_PROBE_ENABLE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_TouchProbeEnable=atoi(cTemp);
}
}
else if (!_stricmp(token,"FOOT_SWITCH_ENABLE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_FootSwitchEnable=atoi(cTemp);
}
}
else if (!_stricmp(token,"JOYSTICK_ENABLE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_JoyStickEnable=atoi(cTemp);
}
}
else if (!_stricmp(token,"CCS_PRIMA_ENABLE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_STIL_CCS_PRIMA_Enable=atoi(cTemp);
}
}
else if (!_stricmp(token,"DEBUG_LOG_ENABLE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_DebugOutputEnable=atoi(cTemp);
}
}
//=================VideoCard========================
else if (!_stricmp(token,"SDK3000_SLEEP_COUNT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_SDK3000_CntThreadSleepVal=atoi(cTemp);
}
}
else if (!_stricmp(token,"SV4000E_DENOISE_PARA_CHANNEL1"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[0]=atoi(cTemp);
}
}
else if (!_stricmp(token,"SV4000E_DENOISE_PARA_CHANNEL2"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[1]=atoi(cTemp);
}
}
else if (!_stricmp(token,"SV4000E_DENOISE_PARA_CHANNEL3"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[2]=atoi(cTemp);
}
}
else if (!_stricmp(token,"SV4000E_DENOISE_PARA_CHANNEL4"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_SV4000E_DenoisePara[3]=atoi(cTemp);
}
}
//=================MSI========================
else if(!_stricmp(token,"MACHINE_CONTROLLER_TYPE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_MachineType=atoi(cTemp);
}
}
else if(!_stricmp(token,"MACHINE_VIDEOCARD_TYPE"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_VideoCardType=atoi(cTemp);
}
}
//=================Custom machine========================
else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "X_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "X_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_AXIS_NUMBER"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryAxisNO=atoi(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_CIR_DIS"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryCircleDis=atof(cTemp);
g_machine.s_machine_config.motion.m_RotaryCirclePulse=g_machine.s_machine_config.motion.m_RotaryCircleDis/ROTARY_MMtoScale_RESOLUTION;
}
}
}
}
fclose(hConfigFile);
}
else
{
return SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND;
}
return SSI_STATUS_MOTION_NORMAL;
}
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::GetAppPath(CString &Path)
{
Path=_T(""); // Speed optimization - noticed slow in GlowCode
if (Path.IsEmpty())
{
CString tmpPath;
GetModuleFileName(NULL,tmpPath.GetBuffer(255),255);
tmpPath.ReleaseBuffer();
tmpPath.TrimRight();
int nLastSlash = tmpPath.ReverseFind('\\');
if (nLastSlash >= 0)
tmpPath = tmpPath.Left(nLastSlash);
else
tmpPath.Empty();
Path=tmpPath;
}
return SSI_STATUS_MOTION_NORMAL;
};
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::ExtractAppPath(CString &Path)
{
CString tmpPath = Path;
tmpPath.TrimRight();
tmpPath.TrimLeft();
int nLastSlash = tmpPath.ReverseFind('\\');
if (nLastSlash > -1)
{ // complete path
tmpPath = Path.Left(nLastSlash);
Path = tmpPath;
}
else
{ // not a complete path
Path="";
};
return SSI_STATUS_MOTION_NORMAL;
};
//******************************************************************************
// Replay the capture file.
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::_replay_capture(CString s_replay_file)
{
char *_0x4e00_cmd = "4e00";
FILE* pInFile;
_wfopen_s(&pInFile, s_replay_file, _T("r"));
if (pInFile == NULL)
return SSI_STATUS_UNKNOWN_ERROR;
char *cData = (char *)malloc(MAX_BUFF_SIZE);
char *inBuff = (char *)malloc(MAX_BUFF_SIZE);
fgets((char *)inBuff, MAX_BUFF_SIZE, pInFile ); // pick up the first line
while (!feof(pInFile))
{
if (*inBuff == '>')
{
if (strstr(inBuff, "0x00000001"))
{
if (!(_strnicmp(inBuff+35, _0x4e00_cmd, 4))) break;
_process_replay_capture_commands(inBuff, pInFile);
}
};
fgets((char *)inBuff, MAX_BUFF_SIZE, pInFile ); // pick up the first line
};
fclose(pInFile);
free(cData);
free(inBuff);
return SSI_STATUS_MOTION_NORMAL;
}
//******************************************************************************
// Do not send out DCC Home. We can send everything else.
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::_process_replay_capture_commands(char *inBuff, FILE* pInFile)
{
char x[3];
char cSize[9];
int iSendSize;
int iRcvSize;
if ( ((*(inBuff+35) == '4')) && (*(inBuff+36) == 'f'))
{
fgets((char *)inBuff, MAX_BUFF_SIZE, pInFile ); // pick up the first line
return SSI_STATUS_MOTION_NORMAL;
};
memset(cSize, 0 , 9);
memcpy(cSize, inBuff+24, 8);
sscanf_s(cSize, "%8x", &iSendSize); // get the length of the transmission
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0, MAX_BUFF_SIZE);
for (int j=0;j<iSendSize;j++)
{
memset(x, 0, 3);
memcpy(x, inBuff+35+(j*2), 2);
sscanf_s(x, "%2x", ep_buff[EP_02_CMD_IDX]._buffer+j);
};
ep_buff[EP_02_CMD_IDX]._size = iSendSize;
fgets((char *)inBuff, MAX_BUFF_SIZE, pInFile ); // pick up the first line
if (feof(pInFile)) SSI_STATUS_MOTION_NORMAL; // if error, exit
memset(cSize, 0 , 9);
memcpy(cSize, inBuff+24, 8);
sscanf_s(cSize, "%8x", &iRcvSize); // get the length of the transmission
ep_buff[EP_81_DATA_IDX]._size = iRcvSize;
#pragma message("no usb comm??")
// _do_single_threaded_usb_comm(EP_01_CMD_IDX);
return SSI_STATUS_MOTION_NORMAL;
};
//******************************************************************************
usb_dev_handle* CSO7_Proto::_open_usb_dev(unsigned short sSeqNumber)
{
struct usb_bus *bus = NULL;
struct usb_device *dev = NULL;
usb_dev_handle *udev = NULL;
for (bus = usb_get_busses(); bus; bus = bus->next)
{
for (dev = bus->devices; dev; dev = dev->next)
{
if (dev->descriptor.idVendor == SEVENOCEAN_VID && dev->descriptor.idProduct == SEVENOCEAN_PID)
{
udev = usb_open(dev);
usb_claim_interface(udev, 0);
if (sSeqNumber>255)
{
return udev;
}
else
{
if(Get_SeqNumber(udev) != sSeqNumber)
{
usb_close(udev);
}
else
{
return udev;
}
}
}
}
}
return NULL;
}
//******************************************************************************
int CSO7_Proto::Get_SeqNumber(usb_dev_handle *udev)
{
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEQ_NUMBER;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
int _ret;
_ret = usb_bulk_write(udev, ep_buff[2]._ep, (char *)ep_buff[2]._buffer,(int) ep_buff[2]._size, 50);
if (_ret < 0)
{
return -1;
}
_ret = usb_bulk_read(udev, ep_buff[3]._ep, (char *)ep_buff[3]._buffer,(int) ep_buff[3]._size, 5000);
if (_ret < 0)
{
return -1;
}
g_machine.SEQ_NUMBER = -1;
g_machine.SEQ_NUMBER = *(ep_buff[EP_82_DATA_IDX]._buffer);
return g_machine.SEQ_NUMBER;
}
//******************************************************************************
// Send is direct and async.
// The receive thread will receive data and interpret it.
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::Init_SO7Usb()
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Enter Initialize Usb.\n"));
}
//Set initial state of the machine
g_machine.s_status._machine_running = false;
SSI_STATUS_MOTION rStatus=SSI_STATUS_MOTION_NORMAL;
if (!g_dev)
{
g_machine.IsOffline=FALSE;
int usb_status = NULL;
usb_init(); // initialize the library
usb_status = usb_find_busses(); // find all busses
usb_status = usb_find_devices(); // find all connected devices
g_dev = _open_usb_dev();
if (!g_dev)
{
MessageBox(NULL, _T("Unable to open device"), _T("Message"), MB_OK|MB_ICONERROR);
g_machine.IsOffline=TRUE;
rStatus= SSI_STATUS_MOTION_DATALINK_ERROR;
}
else if (usb_set_configuration(g_dev, MY_CONFIG) < 0)
{
g_dev=NULL;
MessageBox(NULL, _T("Unable to SET CONFIGURATION"), _T("Message"), MB_OK|MB_ICONERROR);
g_machine.IsOffline=TRUE;
rStatus=SSI_STATUS_MOTION_DATALINK_ERROR;
}
else if (usb_claim_interface(g_dev, 0) < 0)
{
usb_close(g_dev);
g_dev=NULL;
MessageBox(NULL, _T("Unable to CLAIM DEVICE"), _T("Message"), MB_OK|MB_ICONERROR);
g_machine.IsOffline=TRUE;
rStatus=SSI_STATUS_MOTION_DATALINK_ERROR;
}
// ********************************************************************
// This event is used to kick the Serial Usb Command process. This threading model
// is important because the underlying library is not thread-safe.
//
ep_buff[EP_02_CMD_IDX]._event = CreateEvent(NULL, // default security attributes
FALSE, // manual reset event object
NULL, // signaled
NULL); // unamed object
g_hEP02_Thread_Id = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
0,
(LPTHREAD_START_ROUTINE) g_EP02_Thread,
(LPVOID) this,
0,
NULL);
g_hEP02_Thread_State = THREAD_RUNNING_STATE1;
// ********************************************************************
// Prepare and start EP_S07_81 Thread - Use async commit.
//
ep_buff[EP_82_DATA_IDX]._event = CreateEvent(NULL, // default security attributes
FALSE, // manual reset event object
NULL, // signaled
NULL); // unamed object
g_hEP8x_Thread_State = THREAD_PAUSED;
g_hEP8x_Thread_Id = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
0,
(LPTHREAD_START_ROUTINE) g_EP8x_Thread,
(LPVOID) this,
0,
NULL);
g_hEP02_Serial_Mutex = CreateMutex(NULL, // default security attributes
FALSE, // initial owner
NULL); // name
// *********************************************************************
g_hHomedEvent = CreateEvent(NULL, // default security attributes
TRUE, // manual reset event object
FALSE, // initial state is signaled
NULL); // unamed object
}
return rStatus;
}
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::Exit_SO7Usb()
{
SSI_STATUS_MOTION Status=SSI_STATUS_MOTION_NORMAL;
g_hEP8x_Thread_State = THREAD_EXIT;
g_hEP02_Thread_State = THREAD_EXIT;
SetEvent(ep_buff[EP_82_DATA_IDX]._event);
if (g_hEP8x_Thread_Id)
{
DWORD dwCode = STILL_ACTIVE;
while (dwCode == STILL_ACTIVE)
{
GetExitCodeThread(g_hEP8x_Thread_Id,&dwCode);
Sleep(1);
}
}
SetEvent(ep_buff[EP_02_CMD_IDX]._event);
if (g_hEP02_Thread_Id)
{
DWORD dwCode = STILL_ACTIVE;
while (dwCode == STILL_ACTIVE)
{
GetExitCodeThread(g_hEP02_Thread_Id,&dwCode);
Sleep(1);
}
}
if (g_dev)
{
usb_release_interface(g_dev,0);
usb_close(g_dev);
g_dev = NULL;
}
SetEvent(ep_buff[EP_82_DATA_IDX]._event);
CloseHandle(ep_buff[EP_82_DATA_IDX]._event);
SetEvent(ep_buff[EP_02_CMD_IDX]._event);
CloseHandle(ep_buff[EP_02_CMD_IDX]._event);
g_hEP02_Thread_State = THREAD_EXIT;
ReleaseMutex(g_hEP02_Serial_Mutex);
CloseHandle(g_hEP02_Serial_Mutex);
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Exit Exit_SO7Usb.\n"));
}
return Status;
}
//******************************************************************************
// Kick the g_hEP01_Thread_Event to get the g_EP01_Thread going.
// iEP = EP_S07_01 or EP_S07_02 = 0x01 or 0x02
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::_do_single_threaded_usb_comm(int iEP_Base)
{
//TRACE1("=====_do_single_threaded_usb_comm(iEP) g_hEP01_Thread_Event. %x\n", iEP_Base);
while ((ep_buff[iEP_Base]._hProtoPending == TRUE) || (ep_buff[iEP_Base+1]._hProtoPending == TRUE))
{
ASSERT(0);
Sleep(3);
}
ep_buff[iEP_Base]._hProtoPending = ep_buff[iEP_Base+1]._hProtoPending = TRUE;
//TRACE1("=====_do_single_threaded_usb_comm(iEP_Base) SetEvent(g_hEP01_Thread_Event): %X \r\n", ep_buff[iEP_Base]._save_send_cmd);
if (iEP_Base == EP_01_CMD_IDX)
SetEvent(ep_buff[EP_82_DATA_IDX]._event);
else
SetEvent(ep_buff[iEP_Base]._event);
while ((ep_buff[iEP_Base]._hProtoPending == TRUE) || (ep_buff[iEP_Base+1]._hProtoPending == TRUE))
{
Sleep(3);
}
//TRACE1("=====_do_single_threaded_usb_comm(iEP) g_hProtoDoneEvents. %x\n", iEP_Base);
return SSI_STATUS_MOTION_NORMAL;
}
//******************************************************************************
// This startup just kicks off the EP_S07_81 worker thread.
//******************************************************************************
SSI_STATUS_MOTION CSO7_Proto::_start_machine()
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("_start_machine.\n"));
}
g_hEP8x_Thread_State = THREAD_RUNNING_STATE2;
g_machine.s_status._machine_running = true;
SetEvent(g_hHomedEvent);
//so7_motion_probe_on_off_(false);
//so7_motion_fixture_on_off(true);
//so7_motion_fixture_up_down(true);
return SSI_STATUS_MOTION_NORMAL;
};
//===============================================================================
SSI_STATUS_MOTION CSO7_Proto::_shutdown_machine()
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("_shutdown_machine.\n"));
}
g_machine.s_status._machine_running = false;
return SSI_STATUS_MOTION_NORMAL;
};
//===============================================================================
// iEP_Base : EP_81_DATA_IDX/EP_82_DATA_IDX
//
//===============================================================================
SSI_STATUS_MOTION CSO7_Proto::_read_data_8x(int iEP_Base)
{
if (g_machine.IsOffline)
{
ep_buff[EP_82_DATA_IDX]._hProtoPending = false;
ep_buff[EP_01_CMD_IDX]._hProtoPending = false;
ep_buff[EP_81_DATA_IDX]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
if (iEP_Base == EP_82_DATA_IDX)
{
//TRACE2("_read_data_81() iEP : %X - ep_buff[iEP]._size : %X \r\n", iEP_Base, ep_buff[iEP_Base]._size);
int _ret;
_ret = usb_bulk_read(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 5000);
if (_ret > 0)
{
_process_rcv_transfer_data(iEP_Base);
ep_buff[EP_82_DATA_IDX]._hProtoPending = false;
}
else
{
TRACE1("Read Timeout %xx\n", *((char *)ep_buff[iEP_Base]._buffer));
ASSERT(0);
return SSI_STATUS_MOTION_TIMEOUT;
}
return SSI_STATUS_MOTION_NORMAL;
}
else
{
//TRACE2("_read_data_81() iEP : %X - ep_buff[iEP]._size : %X \r\n", iEP_Base, ep_buff[iEP_Base]._size);
int _ret;
_ret = usb_interrupt_read(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 20);
if (_ret > 0)
{
_process_rcv_transfer_data(iEP_Base);
}
else
{
g_machine.InterruptFlag[0] = 0;
TRACE1("There is no data interrupt read from controller. %xx\n", *((char *)ep_buff[iEP_Base]._buffer));
}
ep_buff[EP_01_CMD_IDX]._hProtoPending = false;
ep_buff[EP_81_DATA_IDX]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
}
//===============================================================================
// _send_usb_cmd(iEP) sends data to the corresponding iEP channel.
// iEP = EP_S07_01 / EP_S07_02 EP_S07_01 = 0x01; EP_S07_02 = 0x02;
//===============================================================================
SSI_STATUS_MOTION CSO7_Proto::_send_usb_cmd(int iEP_Base)
{
if (g_machine.IsOffline)
{
SetEvent(ep_buff[iEP_Base+1]._event);
ep_buff[iEP_Base]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
int _ret;
ep_buff[iEP_Base]._save_send_cmd = ep_buff[iEP_Base]._buffer[0];
ep_buff[iEP_Base]._save_send_cmd0 = ep_buff[iEP_Base]._buffer[1];
ep_buff[iEP_Base]._save_send_cmd1 = ep_buff[iEP_Base]._buffer[2];
//TRACE3("_send_usb_cmd() iEP : %X - ep_buff[iEP]._save_send_cmd : %X ._buffer[0] : %X\r\n", iEP_Base, ep_buff[iEP_Base]._save_send_cmd, ep_buff[iEP_Base]._buffer[0]);
_ret = usb_bulk_write(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 50);
if (_ret < 0)
{
TRACE("Write Timeout \n");
ASSERT(0);
return SSI_STATUS_MOTION_TIMEOUT;
}
SetEvent(ep_buff[iEP_Base+1]._event);
ep_buff[iEP_Base]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================================
// _write_usb_data_only(iEP) sends data to the corresponding iEP channel.No need to
//process the reap async
// iEP = EP_S07_01 / EP_S07_02 EP_S07_01 = 0x01; EP_S07_02 = 0x02;
//===============================================================================
SSI_STATUS_MOTION CSO7_Proto::_write_usb_data_only(int iEP_Base)
{
if (g_machine.IsOffline)
{
ep_buff[iEP_Base]._hProtoPending = false;
ep_buff[iEP_Base+1]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
int _ret;
ep_buff[iEP_Base]._save_send_cmd = ep_buff[iEP_Base]._buffer[0];
ep_buff[iEP_Base]._save_send_cmd0 = ep_buff[iEP_Base]._buffer[1];
ep_buff[iEP_Base]._save_send_cmd1 = ep_buff[iEP_Base]._buffer[2];
//TRACE3("_send_usb_cmd() iEP : %X - ep_buff[iEP]._save_send_cmd : %X ._buffer[0] : %X\r\n", iEP_Base, ep_buff[iEP_Base]._save_send_cmd, ep_buff[iEP_Base]._buffer[0]);
_ret = usb_bulk_write(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 50);
if (_ret < 0)
{
TRACE("Write Timeout \n");
ASSERT(0);
return SSI_STATUS_MOTION_TIMEOUT;
}
ep_buff[iEP_Base]._hProtoPending = false;
ep_buff[iEP_Base+1]._hProtoPending = false;
return SSI_STATUS_MOTION_NORMAL;
}
//=================================================================
// false: probe off ��ǰ̽ͷΪ���⣻true: probe on��ǰ̽ͷΪ�Ӵ�ʽ.//
//=================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_probe_on_off_(bool _bOnOff)
{
if (_bOnOff)
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_PROBE_ON,0);
else
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_PROBE_OFF,1);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_reset_worktable_lower_left(char _HomeMode)
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_RESET_LEFT,_HomeMode);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_reset_worktable_top_right()
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_RESET_RIGHT,1);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_stop_motor_to_get_laser_data()
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_GET_LASE,1);
return SSI_STATUS_MOTION_NORMAL;
};
//=================================================================
// false: �رռо� �� true: �����о�. //
//=================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_fixture_on_off(bool _bOnOff)
{
if (_bOnOff)
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_SWITCH_START,1);
else
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_SWITCH_CLOSE,1);
return SSI_STATUS_MOTION_NORMAL;
};
//=================================================================
// false: ��� �� true: ���. //
//=================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_fixture_up_down(bool _bOnOff)
{
if (_bOnOff)
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_SWITCH_BOM,1);
else
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_SWITCH_TOP,1);
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
//false: CT_LASE_TIMMER_ON ����� true: CT_LASE_TIMMER_OFF ������//
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_laser_on_off(bool _bOnOff)
{
if (_bOnOff)
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_LASE_TIMMER_OFF,1);
else
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_LASE_TIMMER_ON,1);
return SSI_STATUS_MOTION_NORMAL;
};
//**********************************************************************//
//**********************************************************************//
SSI_STATUS_MOTION CSO7_Proto::so7_motion_init_firmware_para()
{
_send_cmd_SO7_CMD_GET_RESET_FLAG();
if(g_machine.IsSupportReadInterrputMsg)
{
_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(g_machine.s_machine_config.motion.GetInterruptMsgMethod);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
CStringA csAStr("");
csAStr.Format("FirmwareVersion:%s.\n",g_machine.FirmwareInfo);
CString csStr(csAStr);
g_pLogger->SendAndFlushWithTime(csStr);
}
if (g_machine.FirmwareVer==FirmwareVer_6_X)
{
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_X,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseX));
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Y,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseY));
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Z,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseZ));
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_X,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_X));
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Y,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_Y));
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Z,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_Z));
Sleep(MIN_SLEEP_TIME);
}
}
else
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("FirmwareVersion:UNKNOWN.\n"));
}
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
bool CSO7_Proto::so7_motion_is_homed()
{
//if (g_machine.IsOffline)
//{
// g_machine.Sys_Reset_Flag =1;
// SetEvent(g_hHomedEvent);
//}
_send_cmd_SO7_CMD_GET_RESET_FLAG();
if (g_machine.Sys_Reset_Flag == 1)
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("so7_motion_is_homed:true.\n"));
}
SetEvent(g_hHomedEvent);
return true;
}
else
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("so7_motion_is_homed:false.\n"));
}
return false;
}
};
//========================================================================
// Move the stage left/right until the index location is non-zero
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home()
{
if (g_machine.IsOffline)
{
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
//��ѯ�Ƿ���λ
_send_cmd_SO7_CMD_GET_RESET_FLAG();
g_machine.cVerNumber=3;
if (g_machine.Sys_Reset_Flag == 1)
{
_send_cmd_SO7_CMD_SET_VER_NUMBER();
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
m_bHomingActive = true; // Tell the world we need to home the stage
// Home
so7_motion_reset_worktable_lower_left(CT_HOME_XYZ);
TRACE0(" - waiting for X,Y,Zm to stop moving\n");
//========================================
// Wait until X-Y-Zm stopped moving
INT iRetry(0);
while (g_machine.Sys_Reset_Flag != 1)
{
Sleep(50);
_send_cmd_SO7_CMD_GET_RESET_FLAG();
iRetry++;
}
//_get_xyz_index(g_machine.s_machine_config.x_axis._neg_working_limit,g_machine.s_machine_config.y_axis._neg_working_limit,g_machine.s_machine_config.z_axis._neg_working_limit);
_send_cmd_SO7_CMD_SET_VER_NUMBER();
m_bHomingActive = false;
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_HomeXYZ(char cHomeMachineMode)
{
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Enter so7_motion_Dcc_HomeXYZ(%d).\n"),cHomeMachineMode);
}
if (g_machine.IsOffline)
{
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
//��ѯ�Ƿ���λ
_send_cmd_SO7_CMD_GET_RESET_FLAG();
g_machine.cVerNumber=3;
if (g_machine.Sys_Reset_Flag == 1)
{
_send_cmd_SO7_CMD_SET_VER_NUMBER();
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
m_bHomingActive = true; // Tell the world we need to home the stage
// Home
so7_motion_reset_worktable_lower_left(cHomeMachineMode);
TRACE0("Waiting for X,Y,Zm to stop moving\n");
//========================================
// Wait until X-Y-Zm stopped moving
//========================================
INT lSleep = 20;
INT lMaxLoopCnt = HOME_TIMEOUT/lSleep;
INT lLoopCnt = 0;
Sleep(lSleep);
do
{
Sleep(lSleep);
_send_cmd_SO7_CMD_GET_RESET_FLAG();
lLoopCnt++;
} while (g_machine.Sys_Reset_Flag != 1 && lLoopCnt < lMaxLoopCnt);
//_get_xyz_index(g_machine.s_machine_config.x_axis._neg_working_limit,g_machine.s_machine_config.y_axis._neg_working_limit,g_machine.s_machine_config.z_axis._neg_working_limit);
m_bHomingActive = false;
if (g_machine.Sys_Reset_Flag == 1)
{
SetEvent(g_hHomedEvent);
_send_cmd_SO7_CMD_SET_VER_NUMBER();
return SSI_STATUS_MOTION_NORMAL;
}
else
{
return SSI_STATUS_MOTION_TIMEOUT;
}
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsHomed(bool &bHomed)
{
_send_cmd_SO7_CMD_GET_RESET_FLAG();
if (g_machine.Sys_Reset_Flag == 1)
{
SetEvent(g_hHomedEvent);
bHomed=true;
}
else
{
bHomed=false;
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home_R()
{
//��ѯ�Ƿ���λ
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Enter so7_motion_Dcc_Home_R.\n"));
}
_send_cmd_SO7_CMD_GET_RESET_FLAG();
if (g_machine.Sys_Reset_Flag == 1)
{
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
m_bHomingActive = true; // Tell the world we need to home the stage
// Home r
long lMoveToDis(0);
g_machine.x._pos_fixed._long_=0;
g_machine.y._pos_fixed._long_=0;
g_machine.z._pos_fixed._long_=0;
lMoveToDis=MMtoScale(2.0*g_machine.s_machine_config.motion.m_RotaryCircleDis,ROTARY_MMtoScale_RESOLUTION);
if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
{
g_machine.x._pos_fixed._long_=lMoveToDis;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
{
g_machine.y._pos_fixed._long_=lMoveToDis;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
{
g_machine.z._pos_fixed._long_=lMoveToDis;
}
_send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
//========================================
INT lSleep = 20;
INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep;
INT lLoopCnt = 0;
Sleep(lSleep);
bool IsFinished(FALSE);
do
{
so7_Motion_R_IsMotionFInished(IsFinished);
Sleep(lSleep);
++lLoopCnt;
} while (!IsFinished && lLoopCnt < lMaxLoopCnt);
m_bHomingActive = false;
if (IsFinished)
{
_send_cmd_SO7_CMD_SET_RESET_FLAG();
g_machine.cVerNumber = 3;
_send_cmd_SO7_CMD_SET_VER_NUMBER();
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
else
{
return SSI_STATUS_MOTION_TIMEOUT;
}
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_position_R(double & dRad)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
long lX=0, lY=0, lZ=0;
long lX_Ref=0, lY_Ref=0, lZ_Ref=0;
double dR(0.0);
_send_cmd_SO7_CMD_READ_AXIS_XYZ();
if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
{
lX = g_machine.x._scale_pos._long_;
_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_X();
lX_Ref=g_machine.x._ZSignal_pos._long_;
dR=static_cast<double>(lX-lX_Ref);
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
{
lY = g_machine.y._scale_pos._long_;
_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Y();
lY_Ref=g_machine.y._ZSignal_pos._long_;
dR=static_cast<double>(lY-lY_Ref);
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
{
lZ = g_machine.z._scale_pos._long_;
_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Z();
lZ_Ref=g_machine.z._ZSignal_pos._long_;
dR=static_cast<double>(lZ-lZ_Ref);
}
bool bPlus(true);
if (dR<-0.00001)
{
bPlus=true;
}
else
{
bPlus=false;
}
int iRetryCnts(0);
if (fabs(dR)-fabs(2.0*g_machine.s_machine_config.motion.m_RotaryCirclePulse)>100)
{
do
{
iRetryCnts++;
if (bPlus)
{
dR+=8388608;
}
else
{
dR-=8388608;
}
//m_csMessage.Format("[CONVERT RotaryY]CNTS:%d;PLUS:%d;ScaleYResult:%.4f.",iRetryCnts,bPlus,dR);
} while ((iRetryCnts<5)&&
(fabs(dR)-fabs(g_machine.s_machine_config.motion.m_RotaryCirclePulse)>100));
}
dRad = 2.0*M_PI*dR/(g_machine.s_machine_config.motion.m_RotaryCirclePulse);
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_R(double dRad,bool bWait)
{
WaitForSingleObject(g_hHomedEvent, INFINITE);
// get the current position
double dRStart(0.0),dRMovetoDis(0.0);
long lMoveToDis(0);
so7_motion_get_position_R(dRStart);
dRMovetoDis=dRad-dRStart;
double dMod=dRMovetoDis/(2.0*M_PI);
int iMod(0);
if(dMod>=0.0001)
{
iMod=static_cast<int>(floor(dMod));
}
else
{
iMod=static_cast<int>(ceil(dMod));
}
dRMovetoDis=dRMovetoDis-2.0*M_PI*static_cast<double>(iMod);
if ((dRMovetoDis)<=-0.01)
{
dRMovetoDis=2.0*M_PI+dRMovetoDis;
}
else
{
dRMovetoDis=dRMovetoDis;
}
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("so7_motion_set_position_R:[From]%.4f;[To]%.4f;[Dis]%.4F.\n")
,dRStart,dRad,dRMovetoDis);
}
lMoveToDis=static_cast<long>(dRMovetoDis*(static_cast<double>(g_machine.s_machine_config.motion.m_RotaryCirclePulse))/(2.0*M_PI));
g_machine.x._pos_fixed._long_=0;
g_machine.y._pos_fixed._long_=0;
g_machine.z._pos_fixed._long_=0;
if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
{
g_machine.x._pos_fixed._long_=lMoveToDis;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
{
g_machine.y._pos_fixed._long_=lMoveToDis;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
{
g_machine.z._pos_fixed._long_=lMoveToDis;
}
_send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
g_machine.MotionType=EMSG_STOPXYZ_1_MOVETOXYZ;
bool IsFinished(true);
if (bWait)
{
INT lSleep = 20;
INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep; // use max homing time of 20 seconds
INT lLoopCnt = 0;
Sleep(lSleep);
do
{
so7_Motion_R_IsMotionFInished(IsFinished);
Sleep(lSleep);
++lLoopCnt;
} while (!IsFinished && lLoopCnt < lMaxLoopCnt);
}
if (IsFinished)
{
g_machine.MotionType=-1;
return SSI_STATUS_MOTION_NORMAL;
}
else
{
return SSI_STATUS_MOTION_TIMEOUT;
}
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsMotionFInished(bool &bFinished)
{
if (g_machine.MotionType<EMSG_STOPXYZ_1_MOVETOXYZ)
{
bFinished=true;
}
else
{
BOOL IsFinished(TRUE);
so7_motion_is_finished(g_machine.MotionType,IsFinished);
if (IsFinished)
{
bFinished=true;
IsMotionFinishedManual(TRUE);
}
else
{
IsFinished=IsMotionFinishedManual();
if (IsFinished)
{
bFinished=true;
}
else
{
bFinished=false;
}
}
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_move_R(char _SpeedGear)
{
//4-FASTER,1-SLOWER
if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
{
_send_cmd_SO7_CMD_MOVE_X(_SpeedGear);
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
{
_send_cmd_SO7_CMD_MOVE_Y(_SpeedGear);
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
{
_send_cmd_SO7_CMD_MOVE_Z(_SpeedGear);
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_startup(double dScaleResolutionX, double dScaleResolutionY, double dScaleResolutionZ)
{
g_machine.s_machine_config.x_axis._scale_resolution = dScaleResolutionX;
g_machine.s_machine_config.y_axis._scale_resolution = dScaleResolutionY;
g_machine.s_machine_config.z_axis._scale_resolution = dScaleResolutionZ;
_start_machine();
so7_motion_Dcc_Home();
_replay_capture(_T("Replay_Capture"));
return SSI_STATUS_MOTION_NORMAL;
};
//========================================================================
// read the configuration from the controller and populate the g_machine
// data structure
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::_get_xyz_index(long & lX, long & lY, long & lZ)
{
_send_cmd_SO7_CMD_READ_AXIS_XYZ();
lX = g_machine.x._scale_pos._long_;
lY = g_machine.y._scale_pos._long_;
lZ = g_machine.z._scale_pos._long_;
return SSI_STATUS_MOTION_NORMAL;
};
SSI_STATUS_MOTION CSO7_Proto::so7_motion_jog(EMACHINE_AXIS cAxis,char cSpeedGear)
{
if (abs(cSpeedGear)>4)
{
if (cSpeedGear>0)
{
cSpeedGear=4;
}
else
{
cSpeedGear=-4;
}
}
if (abs(cSpeedGear)<1)
{
cSpeedGear=1;
}
switch (cAxis)
{
case MACHINE_AXIS_X:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(g_machine.s_machine_config.x_axis._pos_working_limit,dYStart,dZStart,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(g_machine.s_machine_config.x_axis._neg_working_limit,dYStart,dZStart,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_X(cSpeedGear);
}
break;
}
case MACHINE_AXIS_Y:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,g_machine.s_machine_config.y_axis._pos_working_limit,dZStart,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,g_machine.s_machine_config.y_axis._neg_working_limit,dZStart,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_Y(cSpeedGear);
}
break;
}
case MACHINE_AXIS_Z:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,dYStart,g_machine.s_machine_config.z_axis._pos_working_limit,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,dYStart,g_machine.s_machine_config.z_axis._neg_working_limit,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_Z(cSpeedGear);
}
break;
}
case MACHINE_AXIS_ZOOM:
{
if (abs(cSpeedGear)==4)
{
if (cSpeedGear>0)
{
cSpeedGear=5;
}
else
{
cSpeedGear=-5;
}
}
else if (abs(cSpeedGear)==3)
{
if (cSpeedGear>0)
{
cSpeedGear=5;
}
else
{
cSpeedGear=-5;
}
}
else if (abs(cSpeedGear)==2)
{
if (cSpeedGear>0)
{
cSpeedGear=1;
}
else
{
cSpeedGear=-1;
}
}
else if (abs(cSpeedGear)==1)
{
if (cSpeedGear>0)
{
cSpeedGear=2;
}
else
{
cSpeedGear=-2;
}
}
return _send_cmd_SO7_CMD_MOVE_ZM(cSpeedGear);
break;
}
case MACHINE_AXIS_R:
{
return so7_motion_move_R(cSpeedGear);
break;
}
default:
{
return SSI_STATUS_MOTION_INVALID_PARAMETERS;
break;
}
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_position_xyz(double & dX, double & dY, double & dZ)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
long lX=0, lY=0, lZ=0;
_send_cmd_SO7_CMD_READ_AXIS_XYZ();
lX = g_machine.x._scale_pos._long_;
lY = g_machine.y._scale_pos._long_;
lZ = g_machine.z._scale_pos._long_;
dX = ScaleToMM(lX, g_machine.s_machine_config.x_axis._scale_resolution);
dY = ScaleToMM(lY, g_machine.s_machine_config.y_axis._scale_resolution);
dZ = ScaleToMM(lZ, g_machine.s_machine_config.z_axis._scale_resolution);
//dX -= g_machine.s_machine_config.x_axis._neg_working_limit;
//dY -= g_machine.s_machine_config.y_axis._neg_working_limit;
//dZ -= g_machine.s_machine_config.z_axis._neg_working_limit;
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
if (g_machine.IsOffline)
{
SetEvent(g_hHomedEvent);
return SSI_STATUS_MOTION_NORMAL;
}
// get the current position
double dXStart, dYStart, dZStart;
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
SO7AXISMOVE X;
SO7AXISMOVE Y;
SO7AXISMOVE Z;
X.dFromMM = dXStart;
if (dX<g_machine.s_machine_config.x_axis._neg_working_limit)
{
X.dToMM=g_machine.s_machine_config.x_axis._neg_working_limit;
}
else if (dX>g_machine.s_machine_config.x_axis._pos_working_limit)
{
X.dToMM=g_machine.s_machine_config.x_axis._pos_working_limit;
}
else
{
X.dToMM = dX;
}
Y.dFromMM = dYStart;
if (dY<g_machine.s_machine_config.y_axis._neg_working_limit)
{
Y.dToMM=g_machine.s_machine_config.y_axis._neg_working_limit;
}
else if (dY>g_machine.s_machine_config.y_axis._pos_working_limit)
{
Y.dToMM=g_machine.s_machine_config.y_axis._pos_working_limit;
}
else
{
Y.dToMM = dY;
}
Z.dFromMM = dZStart;
if (dZ<g_machine.s_machine_config.z_axis._neg_working_limit)
{
Z.dToMM=g_machine.s_machine_config.z_axis._neg_working_limit;
}
else if (dZ>g_machine.s_machine_config.z_axis._pos_working_limit)
{
Z.dToMM=g_machine.s_machine_config.z_axis._pos_working_limit;
}
else
{
Z.dToMM = dZ;
}
X.from = MMtoScale(dXStart, g_machine.s_machine_config.x_axis._scale_resolution);
X.to = MMtoScale(dX, g_machine.s_machine_config.x_axis._scale_resolution);
Y.from = MMtoScale(dYStart, g_machine.s_machine_config.y_axis._scale_resolution);
Y.to = MMtoScale(dY, g_machine.s_machine_config.y_axis._scale_resolution);
Z.from = MMtoScale(dZStart, g_machine.s_machine_config.z_axis._scale_resolution);
Z.to = MMtoScale(dZ, g_machine.s_machine_config.z_axis._scale_resolution);
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("so7_motion_set_position_xyz:[From]X:%.4f,Y:%.4f,Z:%.4f;[To]X:%.4f,Y:%.4f,Z:%.4f.\n")
,dXStart,dYStart,dZStart,dX,dY,dZ);
}
// move the position to make the -X, -Y, -Z position 0,0,0
//X.to += g_machine.s_machine_config.x_axis._neg_working_limit;
//Y.to += g_machine.s_machine_config.y_axis._neg_working_limit;
//Z.to += g_machine.s_machine_config.z_axis._neg_working_limit;
//X.from += g_machine.s_machine_config.x_axis._neg_working_limit;
//Y.from += g_machine.s_machine_config.y_axis._neg_working_limit;
//Z.from += g_machine.s_machine_config.z_axis._neg_working_limit;
g_machine.x._pos_fixed._long_=X.to-X.from;
g_machine.y._pos_fixed._long_=Y.to-Y.from;
g_machine.z._pos_fixed._long_=Z.to-Z.from;
// _calculate_straightline_motion(g_machine.s_machine_config._dXYZSpeed);
_send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
g_machine.MotionType=EMSG_STOPXYZ_1_MOVETOXYZ;
#pragma message("Test settle wait comparing the status bit to the scale monitor")
TRACE1("Presettle Time: %lf\n", TimeInSecs());
if (bWait)
{
INT lSleep = 20;
INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep; // use max homing time of 20 seconds
INT lLoopCnt = 0;
Sleep(lSleep);
bool IsFinished(FALSE);
do
{
so7_Motion_XYZ_IsMotionFinished(IsFinished);
Sleep(lSleep);
++lLoopCnt;
} while (!IsFinished && lLoopCnt < lMaxLoopCnt);
TRACE1("Postsettle Time: %lf\n", TimeInSecs());
if (IsFinished)
{
g_machine.MotionType=-1;
return SSI_STATUS_MOTION_NORMAL;
}
else
{
return SSI_STATUS_MOTION_TIMEOUT;
}
}
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_Motion_XYZ_IsMotionFinished(bool &bFinished)
{
if (g_machine.MotionType<EMSG_STOPXYZ_1_MOVETOXYZ)
{
bFinished=true;
}
else
{
BOOL IsFinished(FALSE);
so7_motion_is_finished(g_machine.MotionType,IsFinished);
if (IsFinished)
{
g_machine.MotionType=-1;
bFinished=true;
IsMotionFinishedManual(TRUE);
}
else
{
IsFinished=IsMotionFinishedManual();
if (IsFinished)
{
g_machine.MotionType=-1;
bFinished=true;
}
else
{
bFinished=false;
}
}
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================
BOOL CSO7_Proto::IsMotionFinishedManual(BOOL _BResetCnts)
{
if (_BResetCnts)
{
g_machine.MotionFinished=FALSE;
g_machine.MotionFinishedCnts=0;
}
else
{
if (g_machine.s_machine_config.motion.m_CNC_Deadlock_Solution>=1)
{
double dPosX(0.0),dPosY(0.0),dPosZ(0.0);
so7_motion_get_position_xyz(dPosX,dPosY,dPosZ);
if ((fabs(dPosX-g_machine.x._ReCorded_Pos)<=g_machine.s_machine_config.x_axis._motor_precision)
&& (fabs(dPosY-g_machine.y._ReCorded_Pos)<=g_machine.s_machine_config.y_axis._motor_precision)
&& (fabs(dPosZ-g_machine.z._ReCorded_Pos)<=g_machine.s_machine_config.z_axis._motor_precision))
{
g_machine.MotionFinishedCnts++;
if (g_machine.MotionFinishedCnts>g_machine.s_machine_config.motion.m_CNC_Deadlock_JudgeMaxCnts)
{
g_machine.MotionFinished=TRUE;
}
else
{
g_machine.MotionFinished=FALSE;
}
}
else
{
g_machine.MotionFinishedCnts=0;
}
g_machine.x._ReCorded_Pos=dPosX;
g_machine.y._ReCorded_Pos=dPosY;
g_machine.z._ReCorded_Pos=dPosZ;
}
else
{
g_machine.MotionFinished=FALSE;
g_machine.MotionFinishedCnts=0;
}
}
return g_machine.MotionFinished;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_is_finished(char MotionType,BOOL& IsFinished)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
BOOL bIsFinised(FALSE);
if (g_machine.s_machine_config.motion.GetInterruptMsgMethod==E_GET_INTERRUPT_MSG_INQUIRY)
{
_send_cmd_SO7_CMD_GET_INTERRUPT_MSG(MotionType);
if (g_machine.GetInterruptMsg[MotionType][0]==CT_STOPXYZ)
{
bIsFinised=TRUE;
_send_cmd_SO7_CMD_SET_INTERRUPT_MSG(MotionType,0);
}
}
else
{
_send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE();
if (g_machine.InterruptFlag[0]==CT_STOPXYZ)
{
bIsFinised=TRUE;
g_machine.InterruptFlag[0]=0;
}
}
IsFinished=bIsFinised;
return SSI_STATUS_MOTION_NORMAL;
};
//========================================================================
// This speed setting will be carried out in the next DCC move
// Full Speed -> dPercentSpeed = 100%
// Slow Speed -> dPercentSpeed = 20%
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_speed_xyz(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis)
{
char SetSpeedGear(0);
EMACHINE_AXIS SetAXIS(MACHINE_AXIS_NONE);
SetSpeedGear=static_cast<char>(abs(cSpeedGear));
if (SetSpeedGear>4)
{
SetSpeedGear=4;
}
else if (SetSpeedGear<1)
{
SetSpeedGear=1;
}
SetSpeedGear=4-SetSpeedGear;
if (cAxis==MACHINE_AXIS_R)
{
if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
{
SetAXIS=MACHINE_AXIS_X;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
{
SetAXIS=MACHINE_AXIS_Y;
}
else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
{
SetAXIS=MACHINE_AXIS_Z;
}
}
switch(cAxis)
{
case MACHINE_AXIS_X:
{
g_machine.s_machine_config.x_axis._speed_base[SetSpeedGear]=Acce;
g_machine.s_machine_config.x_axis._speed_max[SetSpeedGear]=cHoldSpeed;
g_machine.s_machine_config.x_axis._speed_start[SetSpeedGear]=cStartSpeed;
g_machine.s_machine_config.x_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
g_machine.s_machine_config.x_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,SetSpeedGear);
Sleep(MIN_SLEEP_TIME);
break;
}
case MACHINE_AXIS_Y:
{
g_machine.s_machine_config.y_axis._speed_base[SetSpeedGear]=Acce;
g_machine.s_machine_config.y_axis._speed_max[SetSpeedGear]=cHoldSpeed;
g_machine.s_machine_config.y_axis._speed_start[SetSpeedGear]=cStartSpeed;
g_machine.s_machine_config.y_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
g_machine.s_machine_config.y_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,SetSpeedGear);
Sleep(MIN_SLEEP_TIME);
break;
}
case MACHINE_AXIS_Z:
{
g_machine.s_machine_config.z_axis._speed_base[SetSpeedGear]=Acce;
g_machine.s_machine_config.z_axis._speed_max[SetSpeedGear]=cHoldSpeed;
g_machine.s_machine_config.z_axis._speed_start[SetSpeedGear]=cStartSpeed;
g_machine.s_machine_config.z_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
g_machine.s_machine_config.z_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,SetSpeedGear);
Sleep(MIN_SLEEP_TIME);
break;
}
case MACHINE_AXIS_ZOOM:
{
if (SetSpeedGear==4)
{
SetSpeedGear=0;
}
else if (SetSpeedGear==3)
{
SetSpeedGear=0;
}
else if (SetSpeedGear==2)
{
SetSpeedGear=1;
}
else if (SetSpeedGear==1)
{
SetSpeedGear=2;
}
g_machine.s_machine_config.zm_axis._speed._char_[0]=cStartSpeed;
g_machine.s_machine_config.zm_axis._speed._char_[1]=cHoldSpeed;
_send_cmd_SO7_CMD_SET_ZOOM_SPEED(SetSpeedGear);
Sleep(MIN_SLEEP_TIME);
break;
}
default:break;
}
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_speed_xyz(double &dPercentSpeed)
{
dPercentSpeed = g_machine.s_machine_config._dXYZSpeed;
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_3D_max_speed(double &dMaxSpeed)
{
double dMaxSpeedX = g_machine.s_machine_config.x_axis._speed_max[0];
double dMaxSpeedY = g_machine.s_machine_config.y_axis._speed_max[0];
double dMaxSpeedZ = g_machine.s_machine_config.z_axis._speed_max[0];
dMaxSpeed = sqrt(dMaxSpeedX*dMaxSpeedX + dMaxSpeedY*dMaxSpeedY + dMaxSpeedZ*dMaxSpeedZ);
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_all_speed_para()
{
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,0);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,1);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,2);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,3);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,4);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,0);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,1);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,2);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,3);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,4);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,0);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,1);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,2);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,3);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,4);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PRECISION(0);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PRECISION(1);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_SPEED_PRECISION(2);
Sleep(MIN_SLEEP_TIME);
_send_cmd_SO7_CMD_SET_MOTOR_SPEED_WHEELBASE_PARAMETER();
Sleep(MIN_SLEEP_TIME);
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_all_speed_para()
{
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 0);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 1);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 2);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 3);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 4);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 0);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 1);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 2);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 3);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 4);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 0);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 1);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 2);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 3);
_send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 4);
_send_cmd_SO7_CMD_READ_SPEED_PRECISION(0);
_send_cmd_SO7_CMD_READ_SPEED_PRECISION(1);
_send_cmd_SO7_CMD_READ_SPEED_PRECISION(2);
_send_cmd_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
return SSI_STATUS_MOTION_NORMAL;
}
//========================================================================
SSI_STATUS_MOTION CSO7_Proto::_calculate_straightline_motion(double dSpeedMM)
{
CString csAppPath;
GetAppPath(csAppPath);
CString csSO7ConfigFile = csAppPath + _T("\\Utility_Config.ini");
Load_SevenOcean_Inifile(csSO7ConfigFile);
g_machine.s_machine_config.x_axis._speed_max[0]=static_cast<char>(g_machine.s_machine_config.x_axis._speed_max[0]*dSpeedMM);
g_machine.s_machine_config.y_axis._speed_max[0]=static_cast<char>(g_machine.s_machine_config.y_axis._speed_max[0]*dSpeedMM);
g_machine.s_machine_config.z_axis._speed_max[0]=static_cast<char>(g_machine.s_machine_config.z_axis._speed_max[0]*dSpeedMM);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,0);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,0);
_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,0);
return SSI_STATUS_MOTION_NORMAL;
}
//**********************************************************************//
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_optics_set_scale_position(long lScale)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
TRACE1("caller set scale position = %X \r\n", lScale);
lScale += g_machine.s_machine_config.zm_axis._neg_working_limit;
g_machine.zm._pos_fixed._long_=(lScale);
_send_cmd_SO7_CMD_MOVE_TO_POS_ZM();
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_optics_get_scale_position(long &lScale)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
_send_cmd_SO7_CMD_READ_V_DATA();
lScale = g_machine.zm._scale_pos._long_;
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_optics_get_scale_range(long &neg_scale_range, long &pos_scale_range)
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
neg_scale_range = g_machine.s_machine_config.zm_axis._neg_working_limit;
pos_scale_range = g_machine.s_machine_config.zm_axis._pos_working_limit;
TRACE2("Get Scale Range : %X, %X \r\n",neg_scale_range, pos_scale_range);
return SSI_STATUS_MOTION_NORMAL;
};
//**********************************************************************//
void CSO7_Proto::so7_set_full_ringlight_data(long lIntensity)
{
g_machine.s_lights_value.segment[0]=static_cast<BYTE>(0xff);
g_machine.s_lights_value.segment[1]=static_cast<BYTE>(0xff);
g_machine.s_lights_value._ring_light=static_cast<char>(lIntensity);
};
//=========================================================================================
void CSO7_Proto::so7_set_ringlight_data(long lMaxSize, double *pSegments)
{
if (pSegments && (lMaxSize == (TWO_RINGS*EIGHT_SEGS)))
{
BYTE cRingSwitchOn=0x01;
BYTE cRingSwitchOff=0xfe;
for (int ii=0 ; ii<TWO_RINGS; ii++ )
{
for (int jj=0 ; jj<EIGHT_SEGS ; jj++)
{
if ((pSegments[ii * EIGHT_SEGS + jj])>1)
{
g_machine.s_lights_value.segment[ii] |= (cRingSwitchOn<<jj);
g_machine.s_lights_value._ring_light=static_cast<char>((pSegments[ii * EIGHT_SEGS + jj])/100.0 * (MAXLIGHTVALUE));
}
else
{
g_machine.s_lights_value.segment[ii] &= (cRingSwitchOff<<jj);
}
}
}
}
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_light_set_light_off()
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
g_machine.s_lights_value._top_light=1;
g_machine.s_lights_value._bottom_light=1;
g_machine.s_lights_value._ring_light=1;
g_machine.s_lights_value._coaxial_light=1;
g_machine.s_lights_value._spare_light1=1;
g_machine.s_lights_value.segment[0]=0;
g_machine.s_lights_value.segment[1]=0;
_send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
Sleep(3*MIN_SLEEP_TIME);
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_light_set_light()
{
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
_send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
Sleep(3*MIN_SLEEP_TIME);
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_light_set_lamp_state(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch)
{
WaitForSingleObject(g_hHomedEvent, INFINITE);
g_machine.s_lights_value._bottom_light = (static_cast<char>(dTopLightPercent* (MAXLIGHTVALUE-MINLIGHTVALUE)/100.0 ))+MINLIGHTVALUE;
g_machine.s_lights_value._top_light = (static_cast<char>(dBottomLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
g_machine.s_lights_value._ring_light = (static_cast<char>(dRingLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
g_machine.s_lights_value._coaxial_light = (static_cast<char>(dCoaxialLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
g_machine.s_lights_value._spare_light1 = (static_cast<char>(dReservedLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
g_machine.s_lights_value.segment[0] = cOuterRingLightSwitch;
g_machine.s_lights_value.segment[1] = cInnerRingLightSwitch;
_send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
Sleep(3*MIN_SLEEP_TIME);
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("so7_light_set_lamp_state:TOP:%d,BOT:%d,COAXIAL:%d,RESERVED:%d,RING:%d,ORING:%d,IRING:%d.\n")
,(BYTE)g_machine.s_lights_value._bottom_light,(BYTE)g_machine.s_lights_value._top_light,(BYTE)g_machine.s_lights_value._coaxial_light
,(BYTE)g_machine.s_lights_value._spare_light1,(BYTE)g_machine.s_lights_value._ring_light,(BYTE)g_machine.s_lights_value.segment[0]
,(BYTE)g_machine.s_lights_value.segment[1]);
}
return SSI_STATUS_MOTION_NORMAL;
};
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_GetDIO(int Channel,BYTE& bDISts)
{
char Addr(0);
switch(Channel)
{
case INPORT_J2:
{
Addr=ESO7_CONTROLLER_INPUT_PORT_ADDR;
break;
}
case OUTPORT_J1:
{
Addr=ESO7_CONTROLLER_WOUTPUT_PORT_ADDR;
break;
}
case OUTPORT_J3:
{
Addr=ESO7_CONTROLLER_OUTPUT_PORT_ADDR;
break;
}
case LIMIT_SWITCH_J4:
{
Addr=ESO7_CONTROLLER_LIMIT_SWITCH_ADDR;
break;
}
default:
{
Addr=-1;
break;
}
}
if (Addr>=0)
{
_send_cmd_SO7_CMD_READ_INPUT_PORT_STATUS(Addr);
bDISts=static_cast<BYTE>(g_machine.InPortStatus);
return SSI_STATUS_MOTION_NORMAL;
}
else
{
bDISts=0;
return SSI_STATUS_MOTION_INVALID_PARAMETERS;
}
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_SetDO(int Channel,BYTE bDOSts)
{
char cSetIOStatusAddr(0);
char cSetValue(0);
switch(Channel)
{
case OUTPORT_J1:
{
if (bDOSts&HBIT0)
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_LASE_ON,0);
}
else
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_LASE_OFF,0);
}
Sleep(5);
if (bDOSts&HBIT1)
{
cSetIOStatusAddr=1;
cSetValue=1;
}
else
{
cSetIOStatusAddr=1;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT2)
{
cSetIOStatusAddr=2;
cSetValue=1;
}
else
{
cSetIOStatusAddr=2;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT3)
{
cSetIOStatusAddr=3;
cSetValue=1;
}
else
{
cSetIOStatusAddr=3;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT4)
{
cSetIOStatusAddr=4;
cSetValue=1;
}
else
{
cSetIOStatusAddr=4;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT5)
{
cSetIOStatusAddr=5;
cSetValue=1;
}
else
{
cSetIOStatusAddr=5;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
break;
}
case OUTPORT_J3:
{
if (bDOSts&HBIT0)
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_PROBE_OFF,0);
Sleep(5);
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_LASE_TIMMER_ON,0);
}
else
{
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_M_PROBE_ON,0);
Sleep(5);
_send_cmd_SO7_CMD_COMMON_COMMAND(CT_MOTOR,CT_LASE_TIMMER_OFF,0);
}
Sleep(5);
if (bDOSts&HBIT1)
{
cSetIOStatusAddr=11;
cSetValue=1;
}
else
{
cSetIOStatusAddr=11;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT2)
{
cSetIOStatusAddr=12;
cSetValue=1;
}
else
{
cSetIOStatusAddr=12;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT3)
{
cSetIOStatusAddr=13;
cSetValue=1;
}
else
{
cSetIOStatusAddr=13;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT4)
{
cSetIOStatusAddr=14;
cSetValue=1;
}
else
{
cSetIOStatusAddr=14;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
if (bDOSts&HBIT5)
{
cSetIOStatusAddr=15;
cSetValue=1;
}
else
{
cSetIOStatusAddr=15;
cSetValue=0;
}
_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(CT_DATA,CT_WRITE_IO_DAT,cSetIOStatusAddr,cSetValue);
Sleep(5);
break;
}
default:
{
break;
}
}
return SSI_STATUS_MOTION_NORMAL;
}
SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_trig_para(char _cAxis,char _TrigMode,short _ParaNumber,short* _ParaData)
{
short SetStartIndex(0);
short SetParaNumber(0);
do
{
if ((_ParaNumber-SetStartIndex)>20)
{
SetParaNumber=20;
}
else
{
SetParaNumber=(_ParaNumber-SetStartIndex);
}
_send_cmd_SO7_CMD_WRITE_TRIG_PULSE_PARA(_cAxis,_TrigMode,SetStartIndex,SetParaNumber,_ParaData);
SetStartIndex+=SetParaNumber;
} while ((_ParaNumber-SetStartIndex)>0);
return SSI_STATUS_MOTION_NORMAL;
}
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_trig_para(short _Index,char& _cAxis,char& _TrigMode,short& _ParaNumber,short& _ParaData)
{
_send_cmd_SO7_CMD_READ_TRIG_PULSE_PARA(_Index);
_cAxis=g_machine.TrigPara.TrigPulseActiveAxis;
_TrigMode=g_machine.TrigPara.TrigPulseMethod;
_ParaNumber=static_cast<short>(g_machine.TrigPara.TrigTotalNo._long_);
_ParaData=static_cast<short>(g_machine.TrigPara.TrigReadPara._long_);
return SSI_STATUS_MOTION_NORMAL;
}
//********************************************************************************//
//********************************************************************************//
//==================================================================================
//==================================================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_X(char SpeedGear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEX;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = SpeedGear;
TRACE1("[MOVE_X]:%d\n",static_cast<int>(SpeedGear));
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Jog X:%d.\n"),SpeedGear);
}
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_Y(char SpeedGear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEY;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = SpeedGear;
TRACE1("[MOVE_Y]:%d\n",static_cast<int>(SpeedGear));
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Jog Y:%d.\n"),SpeedGear);
}
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_Z(char SpeedGear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = SpeedGear;
TRACE1("[MOVE_Z]:%d\n",static_cast<int>(SpeedGear));
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("Jog Z:%d.\n"),SpeedGear);
}
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_ZM(char SpeedGear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEV;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = SpeedGear;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_STOP_MOVE_XYZ()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_STOPA;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0x00;
TRACE("[STOP_XYZ]\n");
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_81_DATA_IDX]._size = 0x04;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_RESET_XYZ()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_RESET;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0X00;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_RESET_V()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_TESTV;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_STOP_V()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_STOPV;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_X()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOX;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=(((g_machine.x._pos_fixed._char_[3])<0x80)?(g_machine.x._pos_fixed._char_[2]):((g_machine.x._pos_fixed._char_[2])|0x80));//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.x._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.x._pos_fixed._char_[0]);
ep_buff[EP_02_CMD_IDX]._size = 0x07;
ep_buff[EP_81_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_Y()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOY;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=(((g_machine.y._pos_fixed._char_[3])<0x80)?(g_machine.y._pos_fixed._char_[2]):((g_machine.y._pos_fixed._char_[2])|0x80));//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.y._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.y._pos_fixed._char_[0]);
ep_buff[EP_02_CMD_IDX]._size = 0x07;
ep_buff[EP_81_DATA_IDX]._size = 0x07;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_Z()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOZ;
if(g_machine.z._pos_fixed._long_<0)
{
g_machine.z._pos_fixed._long_=-g_machine.z._pos_fixed._long_;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=((g_machine.z._pos_fixed._char_[2])|0x80);//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.z._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.z._pos_fixed._char_[0]);
}
else
{
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=(g_machine.z._pos_fixed._char_[2]);//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.z._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.z._pos_fixed._char_[0]);
}
ep_buff[EP_02_CMD_IDX]._size = 0x07;
ep_buff[EP_81_DATA_IDX]._size = 0x07;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_ZM()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOV;
if(g_machine.zm._pos_fixed._long_<0)
{
g_machine.zm._pos_fixed._long_=-g_machine.zm._pos_fixed._long_;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=((g_machine.zm._pos_fixed._char_[2])|0x80);//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.zm._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.zm._pos_fixed._char_[0]);
}
else
{
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=(g_machine.zm._pos_fixed._char_[2]);//����λ
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.zm._pos_fixed._char_[1]);
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.zm._pos_fixed._char_[0]);
}
ep_buff[EP_02_CMD_IDX]._size = 0x07;
ep_buff[EP_81_DATA_IDX]._size = 0x07;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(char ProbeType)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
pSO7_CMD_02->uCmdByte = CT_MOTOR;
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.uSubCmdByte =ProbeType;
if(g_machine.x._pos_fixed._long_<0)
{
g_machine.x._pos_fixed._long_=-g_machine.x._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[0]=(g_machine.x._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[1]=(g_machine.x._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[2]=(g_machine.x._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[0]=(g_machine.x._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[1]=(g_machine.x._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[2]=(g_machine.x._pos_fixed._char_[0]);
}
if(g_machine.y._pos_fixed._long_<0)
{
g_machine.y._pos_fixed._long_=-g_machine.y._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[3]=(g_machine.y._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[4]=(g_machine.y._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[5]=(g_machine.y._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[3]=(g_machine.y._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[4]=(g_machine.y._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[5]=(g_machine.y._pos_fixed._char_[0]);
}
if(g_machine.z._pos_fixed._long_<0)
{
g_machine.z._pos_fixed._long_=-g_machine.z._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[6]=(g_machine.z._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[7]=(g_machine.z._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[8]=(g_machine.z._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[6]=(g_machine.z._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[7]=(g_machine.z._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[8]=(g_machine.z._pos_fixed._char_[0]);
}
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[9]=(g_machine.x._MoveTo_Speed_Gear);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[10]=(g_machine.y._MoveTo_Speed_Gear);
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[11]=(g_machine.z._MoveTo_Speed_Gear);
ep_buff[EP_02_CMD_IDX]._size = 0x0E;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_XYZV()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
pSO7_CMD_02->uCmdByte = CT_MOTOR;
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.uSubCmdByte =CT_MOVETOXYZV;
if(g_machine.x._pos_fixed._long_<0)
{
g_machine.x._pos_fixed._long_=-g_machine.x._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[0]=(g_machine.x._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[1]=(g_machine.x._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[2]=(g_machine.x._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[0]=(g_machine.x._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[1]=(g_machine.x._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[2]=(g_machine.x._pos_fixed._char_[0]);
}
if(g_machine.y._pos_fixed._long_<0)
{
g_machine.y._pos_fixed._long_=-g_machine.y._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[3]=(g_machine.y._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[4]=(g_machine.y._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[5]=(g_machine.y._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[3]=(g_machine.y._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[4]=(g_machine.y._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[5]=(g_machine.y._pos_fixed._char_[0]);
}
if(g_machine.z._pos_fixed._long_<0)
{
g_machine.z._pos_fixed._long_=-g_machine.z._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[6]=(g_machine.z._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[7]=(g_machine.z._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[8]=(g_machine.z._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[6]=(g_machine.z._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[7]=(g_machine.z._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[8]=(g_machine.z._pos_fixed._char_[0]);
}
if(g_machine.zm._pos_fixed._long_<0)
{
g_machine.zm._pos_fixed._long_=-g_machine.z._pos_fixed._long_;
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[6]=(g_machine.zm._pos_fixed._char_[2] | 0x80);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[7]=(g_machine.zm._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[8]=(g_machine.zm._pos_fixed._char_[0]);
}
else
{
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[9]=(g_machine.zm._pos_fixed._char_[2]);//����λ
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[10]=(g_machine.zm._pos_fixed._char_[1]);
pSO7_CMD_02->s_SO7_CMD_MOVETOXYZV.data[11]=(g_machine.zm._pos_fixed._char_[0]);
}
ep_buff[EP_02_CMD_IDX]._size = 0x0F;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_AXIS_XYZ()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_AXISXYZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x09;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_PROBE_XYZ()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_PROBEXYZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x09;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_V_DATA()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_AXISV;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_RESET_FLAG()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_RESET_FLAG;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_FIXTURE_VALUE()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_M_SWITCH_VALUE;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0x00;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = 0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_RESET_FLAG()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_RESET_FLAG;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0x01;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_LIGHT_SIZE(char subCMD,BYTE LightValue)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_LIGHT;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = subCMD;//CT_LIGHT/1-4/_SIZE or CT_LIGHT/1-4/_SWITCH
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = LightValue-1;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = 0;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
pSO7_CMD_02->uCmdByte = CT_LIGHT;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT.uSubCmdByte =CT_LIGHT_CMD;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT.uStartCmdByte =(BYTE)0xA1;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._bottom_light =g_machine.s_lights_value._bottom_light;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._top_light =g_machine.s_lights_value._top_light;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._ring_light =g_machine.s_lights_value._ring_light;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._coaxial_light =g_machine.s_lights_value._coaxial_light;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._spare_light1 =g_machine.s_lights_value._spare_light1;
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._outer_ring_light_switch =g_machine.s_lights_value.segment[0];
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT._inner_ring_light_switch =g_machine.s_lights_value.segment[1];
pSO7_CMD_02->s_SO7_CMD_SET_LIGHT.uEndCmdByte =(BYTE)0xB1;
ep_buff[EP_02_CMD_IDX]._size = 0x0B;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_VER_NUMBER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_VERNO;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = g_machine.cVerNumber;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_CORRECTION_SCALE(char cAxisType)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
if (cAxisType == 0)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_LINE_X;
else if(cAxisType == 1)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_LINE_Y;
else if(cAxisType == 2)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_LINE_Z;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 1;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_SECTION(char cAxisType)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
if (cAxisType == 0)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SECTION_X;
else if(cAxisType == 1)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SECTION_Y;
else if(cAxisType == 2)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SECTION_Z;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 1;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_COMMON_COMMAND(char Cmd,char SubCmd,char Type)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = Cmd;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = SubCmd;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = Type;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = 0x00;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(char Cmd,char SubCmd,char Type,char Data)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
{
g_pLogger->SendAndFlushWithTime(_T("SEND_SYS_COMMAND:Cmd:%d,BOT:%d,SubCmd:%d,Type:%d,Data:%d.\n")
,Cmd,SubCmd,Type,Data);
}
*(ep_buff[EP_02_CMD_IDX]._buffer) = Cmd;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = SubCmd;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = Type;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = Data;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_82_DATA_IDX]._size = 0x10;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//=============================================================
//xyz_gear=0(slow) 1 2 3(fast);
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_ZOOM_SPEED(char xyz_gear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDV;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = xyz_gear;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = g_machine.s_machine_config.zm_axis._speed._char_[1];
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = g_machine.s_machine_config.zm_axis._speed._char_[0];
ep_buff[EP_02_CMD_IDX]._size = 0x05;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//=============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_CONSTANT_SPEED(int iSpeed,char axis_type,char xyz_gear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
int iDeceDistance(0);
char _speed_base(0);
char _speed_fresh(0);
char _speed_start(0);
char _speed_max(0);
if (g_machine.FirmwareVer==FirmwareVer_6_X)
{
iDeceDistance = iSpeed;
}
else
{
if (iSpeed>255)
{
BYTE MaxSpeed(255);
_speed_start=static_cast<char>((iSpeed%256)+1);
_speed_max=static_cast<char>(MaxSpeed);
}
else
{
_speed_start= static_cast<char>(iSpeed);
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = 0;
}
iDeceDistance =0;
}
if(axis_type == 0)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDX;
else if(axis_type == 1)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDY;
else if(axis_type == 2)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = xyz_gear+1;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = _speed_base;
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = _speed_fresh;
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = _speed_start;
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = _speed_max;
char cBuffer;
cBuffer =static_cast<char>(iDeceDistance/1000);
*(ep_buff[EP_02_CMD_IDX]._buffer+7) =cBuffer;
cBuffer = static_cast<char>((iDeceDistance%1000)/100);
*(ep_buff[EP_02_CMD_IDX]._buffer+8) = cBuffer;
cBuffer = static_cast<char>((iDeceDistance%100)/10);
*(ep_buff[EP_02_CMD_IDX]._buffer+9) = cBuffer;
cBuffer = static_cast<char>(iDeceDistance%10);
*(ep_buff[EP_02_CMD_IDX]._buffer+10)= cBuffer;
ep_buff[EP_02_CMD_IDX]._size = 0x0b;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//=============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(char axis_type,char xyz_gear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
int iDeceDistance = 0;
if(axis_type == 0)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDX;
else if(axis_type == 1)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDY;
else if(axis_type == 2)
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = xyz_gear+1;
if(axis_type==0)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = g_machine.s_machine_config.x_axis._speed_base[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = g_machine.s_machine_config.x_axis._speed_fresh[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = g_machine.s_machine_config.x_axis._speed_start[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = g_machine.s_machine_config.x_axis._speed_max[xyz_gear];
iDeceDistance =(int)((g_machine.s_machine_config.x_axis._speed_slow_dis[xyz_gear] ) * 1000);
}
else if(axis_type==1)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = g_machine.s_machine_config.y_axis._speed_base[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = g_machine.s_machine_config.y_axis._speed_fresh[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = g_machine.s_machine_config.y_axis._speed_start[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = g_machine.s_machine_config.y_axis._speed_max[xyz_gear];
iDeceDistance =(int)((g_machine.s_machine_config.y_axis._speed_slow_dis[xyz_gear] ) * 1000);
}
else if(axis_type==2)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = g_machine.s_machine_config.z_axis._speed_base[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = g_machine.s_machine_config.z_axis._speed_fresh[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = g_machine.s_machine_config.z_axis._speed_start[xyz_gear];
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = g_machine.s_machine_config.z_axis._speed_max[xyz_gear];
iDeceDistance =(int)((g_machine.s_machine_config.z_axis._speed_slow_dis[xyz_gear] ) * 1000);
}
char cBuffer;
cBuffer =static_cast<char>(iDeceDistance/1000);
*(ep_buff[EP_02_CMD_IDX]._buffer+7) =cBuffer;
cBuffer = static_cast<char>((iDeceDistance%1000)/100);
*(ep_buff[EP_02_CMD_IDX]._buffer+8) = cBuffer;
cBuffer = static_cast<char>((iDeceDistance%100)/10);
*(ep_buff[EP_02_CMD_IDX]._buffer+9) = cBuffer;
cBuffer = static_cast<char>(iDeceDistance%10);
*(ep_buff[EP_02_CMD_IDX]._buffer+10)= cBuffer;
ep_buff[EP_02_CMD_IDX]._size = 0x0b;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_SPEED_PRECISION(char axis_type)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
if(axis_type == 0)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_PRECISIONX;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) =static_cast<char>(g_machine.s_machine_config.x_axis._motor_precision*1000+1);
}
else if(axis_type == 1)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_PRECISIONY;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = static_cast<char>(g_machine.s_machine_config.y_axis._motor_precision*1000+1);
}
else if (axis_type == 2)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_PRECISIONZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = static_cast<char>(g_machine.s_machine_config.z_axis._motor_precision*1000+1);
}
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x06;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_MOTOR_SPEED_WHEELBASE_PARAMETER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
float fmotor_wheelbasex(0.0);
float fmotor_wheelbasey(0.0);
float fmotor_wheelbasez(0.0);
fmotor_wheelbasex=static_cast<float>(((g_machine.s_machine_config.x_axis._scale_resolution)*(g_machine._motor_pulse_num))/(g_machine.s_machine_config.x_axis._motor_wheelbase*1000));
fmotor_wheelbasey=static_cast<float>(((g_machine.s_machine_config.y_axis._scale_resolution)*(g_machine._motor_pulse_num))/(g_machine.s_machine_config.y_axis._motor_wheelbase*1000));
fmotor_wheelbasez=static_cast<float>(((g_machine.s_machine_config.z_axis._scale_resolution)*(g_machine._motor_pulse_num))/(g_machine.s_machine_config.z_axis._motor_wheelbase*1000));
*(ep_buff[EP_02_CMD_IDX]._buffer)=CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1)=CT_SET_MOTOR_CAL;
memcpy(ep_buff[EP_02_CMD_IDX]._buffer+2,&fmotor_wheelbasex,4);
memcpy(ep_buff[EP_02_CMD_IDX]._buffer+6,&fmotor_wheelbasey,4);
memcpy(ep_buff[EP_02_CMD_IDX]._buffer+10,&fmotor_wheelbasez,4);
*(ep_buff[EP_02_CMD_IDX]._buffer+14)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x0f;
ep_buff[EP_82_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_SPEED_PARAMETER(char axis_type,char xyz_gear)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
if(axis_type == 0)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SPEEDX;
}
else if(axis_type == 1)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SPEEDY;
}
else if (axis_type == 2)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SPEEDZ;
}
*(ep_buff[EP_02_CMD_IDX]._buffer+2)= xyz_gear;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x06;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_SPEED_PRECISION(char axis_type)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
if(axis_type == 0)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_PRECISIONX;
}
else if(axis_type == 1)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_PRECISIONY;
}
else if (axis_type == 2)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_PRECISIONZ;
}
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_MOTOR_CAL;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x0C;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
ep_buff[EP_81_DATA_IDX]._size = 0x02;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE1;
_do_single_threaded_usb_comm(EP_01_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_ZOOM_MOTION_STATUS()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_TEST_STOP;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_OPEN_KEYENCE_LASER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_LASE;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = 1;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_INPUT_PORT_STATUS(char AddrType)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_IO_DAT;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=AddrType;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_X()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEC_REALX;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Y()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEC_REALY;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Z()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEC_REALZ;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x03;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(char axis_type,char Addr,char Data)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_WRITE_SYSTEM;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=axis_type;
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=Addr;
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=Data;
ep_buff[EP_02_CMD_IDX]._size = 0x05;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(char axis_type,char Addr)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SYSTEM;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=axis_type;
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=Addr;
*(ep_buff[EP_02_CMD_IDX]._buffer+4)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x05;
ep_buff[EP_82_DATA_IDX]._size = 0x12;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_SYSTEM_VER_INFO;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x12;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_INTERRUPT_MSG(char cType)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_INTERRUPT_MSG;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=cType;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_82_DATA_IDX]._size = 0x12;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_INTERRUPT_MSG(char cType,char cValue)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_INTERRUPT_MSG;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=cType;
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=cValue;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_81_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(char Method)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_GETINTERRUPTMSG_METHOD;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=Method;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_XY(char SpeedGearX,char SpeedGearY)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEXY;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=SpeedGearX;
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=SpeedGearY;
TRACE2("[MOVE_XY]:X %d;Y %d.\n",static_cast<int>(SpeedGearX),static_cast<int>(SpeedGearY));
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_81_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_SEQ_NUMBER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_WRITE_SEQ_NUMBER;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=g_machine.SEQ_NUMBER;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x45;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_SEQ_NUMBER()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEQ_NUMBER;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_TRIG_PULSE_PARA(short ParaIndex)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
char cBuff(0);
g_machine.TrigPara.TrigReadIndex._long_=ParaIndex;
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_TRIG_PULSE_PARA;
cBuff = (ParaIndex>>8) & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = cBuff;
cBuff = ParaIndex & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = cBuff;
ep_buff[EP_02_CMD_IDX]._size = 0x04;
ep_buff[EP_82_DATA_IDX]._size = 0x08;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
static char caxis=1;
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_WRITE_TRIG_PULSE_PARA(char ActiveAxis,char TrigMode,short StartIndex,short ParaNumber,short* Para)
{
caxis=ActiveAxis;
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
char cBuff(0);
short sPara(0);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_WRITE_TRIG_PULSE_PARA;
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = ActiveAxis;
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = TrigMode;
cBuff = (StartIndex>>8) & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = cBuff;
cBuff = StartIndex & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = cBuff;
cBuff = (ParaNumber>>8) & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = cBuff;
cBuff = ParaNumber & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+7) = cBuff;
int j=8;
for (short i=StartIndex;i<(StartIndex+ParaNumber);i++)
{
if (Para[i]<0)
{
sPara=-Para[i];
cBuff = (sPara>>8) & 0x0ff;
cBuff = cBuff | 0x80;
*(ep_buff[EP_02_CMD_IDX]._buffer+j) = cBuff;
j++;
cBuff = sPara & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+j) = cBuff;
j++;
}
else
{
cBuff = (Para[i]>>8) & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+j) = cBuff;
j++;
cBuff = Para[i] & 0x0ff;
*(ep_buff[EP_02_CMD_IDX]._buffer+j) = cBuff;
j++;
}
}
ep_buff[EP_02_CMD_IDX]._size = j;
ep_buff[EP_82_DATA_IDX]._size = 0x02;
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_TRIG_PULSE_START()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_START_TRIG_PULSE;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=caxis;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x00;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_TRIG_PULSE_STOP()
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_STOP_TRIG_PULSE;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=caxis;
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x00;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_IO_PURPOSE(BOOL _bEnTrigIO)
{
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_IO_PURPOSE;
if (_bEnTrigIO)
{
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=1;
}
else
{
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
}
ep_buff[EP_02_CMD_IDX]._size = 0x03;
ep_buff[EP_81_DATA_IDX]._size = 0x00;
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
ReleaseMutex(g_hEP02_Serial_Mutex);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_X()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_Y()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_Z()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_ZM()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_RESET_XYZ()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_TO_POS_X()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_TO_POS_Y()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_TO_POS_Z()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_TO_POS_ZM()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_TO_POS_XYZ()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_AXIS_XYZ()
{
g_machine.x._scale_pos._long_=0;
g_machine.y._scale_pos._long_=0;
g_machine.z._scale_pos._long_=0;
g_machine.y._scale_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.y._scale_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.y._scale_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.y._scale_pos._char_[3] = 0;
g_machine.x._scale_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer+3);
g_machine.x._scale_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+4);
g_machine.x._scale_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+5);
g_machine.x._scale_pos._char_[3] = 0;
g_machine.z._scale_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer+6);
g_machine.z._scale_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+7);
g_machine.z._scale_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+8);
g_machine.z._scale_pos._char_[3] = 0;
if (g_machine.x._scale_pos._long_ > 8388608)
g_machine.x._scale_pos._long_=g_machine.x._scale_pos._long_-16777216;
if (g_machine.y._scale_pos._long_ > 8388608)
g_machine.y._scale_pos._long_=g_machine.y._scale_pos._long_-16777216;
if (g_machine.z._scale_pos._long_ > 8388608)
g_machine.z._scale_pos._long_=g_machine.z._scale_pos._long_-16777216;
// for rotary table
//if (g_machine.z._scale_pos._long_ > 4194304)
// g_machine.z._scale_pos._long_=g_machine.z._scale_pos._long_-8388608;
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_PROBE_XYZ()
{
g_machine.y._scale_probe= _3char2long((unsigned char*)(ep_buff[EP_82_DATA_IDX]._buffer));
g_machine.x._scale_probe= _3char2long((unsigned char*)(ep_buff[EP_82_DATA_IDX]._buffer+3));
g_machine.z._scale_probe= _3char2long((unsigned char*)(ep_buff[EP_82_DATA_IDX]._buffer+6));
if (g_machine.x._scale_probe > 8388608)
g_machine.x._scale_probe=g_machine.x._scale_probe-16777216;
if (g_machine.y._scale_probe > 8388608)
g_machine.y._scale_probe=g_machine.y._scale_probe-16777216;
if (g_machine.z._scale_probe > 8388608)
g_machine.z._scale_probe=g_machine.z._scale_probe-16777216;
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_V_DATA()
{
g_machine.zm._scale_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.zm._scale_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.zm._scale_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.zm._scale_pos._char_[3] = 0;
if (g_machine.zm._scale_pos._long_ > 8388608)
g_machine.zm._scale_pos._long_=g_machine.zm._scale_pos._long_-16777216;
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_GET_RESET_FLAG()
{
g_machine.Sys_Reset_Flag=*(ep_buff[EP_82_DATA_IDX]._buffer);
char cTmp=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
if (cTmp==1)
{
g_machine.IsSupportReadInterrputMsg=TRUE;
}
else
{
g_machine.IsSupportReadInterrputMsg=FALSE;
}
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_SET_LIGHT()
{
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_GET_FIXTURE_VALUE()
{
g_machine.cFixtureFlag = ep_buff[EP_82_DATA_IDX]._buffer[0] & 0x3f;
return SSI_STATUS_MOTION_NORMAL;
};
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_SET_SPEED_MOTOR_WHEELBASE_PARAMETER()
{
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_SET_SPEED_PARAMETER()
{
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_SET_SPEED_PRECISION()
{
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PARAMETERX()
{
g_machine.s_machine_config.x_axis._speed_base[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.s_machine_config.x_axis._speed_fresh[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.s_machine_config.x_axis._speed_start[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.s_machine_config.x_axis._speed_max[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+3);
g_machine.s_machine_config.x_axis._speed_slow_dis[ep_buff[EP_02_CMD_IDX]._save_send_cmd1] =(static_cast<double>(((((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[4])*256))+((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[5])))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PARAMETERZ()
{
g_machine.s_machine_config.z_axis._speed_base[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.s_machine_config.z_axis._speed_fresh[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.s_machine_config.z_axis._speed_start[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.s_machine_config.z_axis._speed_max[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+3);
g_machine.s_machine_config.z_axis._speed_slow_dis[ep_buff[EP_02_CMD_IDX]._save_send_cmd1] =(static_cast<double>(((((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[4])*256))+((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[5])))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//===============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PARAMETERY()
{
g_machine.s_machine_config.y_axis._speed_base[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.s_machine_config.y_axis._speed_fresh[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.s_machine_config.y_axis._speed_start[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.s_machine_config.y_axis._speed_max[ep_buff[EP_02_CMD_IDX]._save_send_cmd1]=*(ep_buff[EP_82_DATA_IDX]._buffer+3);
g_machine.s_machine_config.y_axis._speed_slow_dis[ep_buff[EP_02_CMD_IDX]._save_send_cmd1] =(static_cast<double>(((((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[4])*256))+((BYTE)ep_buff[EP_82_DATA_IDX]._buffer[5])))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PRECISIONX()
{
g_machine.s_machine_config.x_axis._motor_precision=(static_cast<double>(ep_buff[EP_82_DATA_IDX]._buffer[0]-1))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PRECISIONY()
{
g_machine.s_machine_config.y_axis._motor_precision=(static_cast<double>(ep_buff[EP_82_DATA_IDX]._buffer[0]-1))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_SPEED_PRECISIONZ()
{
g_machine.s_machine_config.z_axis._motor_precision=(static_cast<double>(ep_buff[EP_82_DATA_IDX]._buffer[0]-1))/1000;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER()
{
float fmotor_wheelbasex(0.0);
float fmotor_wheelbasey(0.0);
float fmotor_wheelbasez(0.0);
memcpy(&fmotor_wheelbasex,ep_buff[EP_82_DATA_IDX]._buffer,4);
g_machine.s_machine_config.x_axis._motor_wheelbase=((g_machine.s_machine_config.x_axis._scale_resolution)*(g_machine._motor_pulse_num))/(fmotor_wheelbasex*1000);
memcpy(&fmotor_wheelbasey,ep_buff[EP_82_DATA_IDX]._buffer+4,4);
g_machine.s_machine_config.y_axis._motor_wheelbase=((g_machine.s_machine_config.y_axis._scale_resolution)*(g_machine._motor_pulse_num))/(fmotor_wheelbasey*1000);
memcpy(&fmotor_wheelbasez,ep_buff[EP_82_DATA_IDX]._buffer+8,4);
g_machine.s_machine_config.z_axis._motor_wheelbase=((g_machine.s_machine_config.z_axis._scale_resolution)*(g_machine._motor_pulse_num))/(fmotor_wheelbasez*1000);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_ZOOM_MOTION_STATUS()
{
g_machine.s_status._bIsZMMotionFinished=*(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_INTERRUPT_MESSAGE()
{
g_machine.InterruptFlag[0]=*(ep_buff[EP_81_DATA_IDX]._buffer);
g_machine.InterruptFlag[1]=*(ep_buff[EP_81_DATA_IDX]._buffer+1);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_INPUT_PORT_STATUS()
{
g_machine.InPortStatus=0;
g_machine.InPortStatus=*(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_ZSIGNAL_POS_X()
{
g_machine.x._ZSignal_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.x._ZSignal_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.x._ZSignal_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.x._ZSignal_pos._char_[3] = 0;
if (g_machine.x._ZSignal_pos._long_ > 8388608)
g_machine.x._ZSignal_pos._long_=g_machine.x._ZSignal_pos._long_-16777216;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_ZSIGNAL_POS_Y()
{
g_machine.y._ZSignal_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.y._ZSignal_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.y._ZSignal_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.y._ZSignal_pos._char_[3] = 0;
if (g_machine.y._ZSignal_pos._long_ > 8388608)
g_machine.y._ZSignal_pos._long_=g_machine.y._ZSignal_pos._long_-16777216;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_ZSIGNAL_POS_Z()
{
g_machine.z._ZSignal_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.z._ZSignal_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
g_machine.z._ZSignal_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
g_machine.z._ZSignal_pos._char_[3] = 0;
if (g_machine.z._ZSignal_pos._long_ > 8388608)
g_machine.z._ZSignal_pos._long_=g_machine.z._ZSignal_pos._long_-16777216;
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_WRITE_DATA_TO_FPGA()
{
g_machine.FPGAData = *(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_DATA_FROM_FPGA()
{
g_machine.FPGAData = *(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_FIRMWARE_VERSION_INFO()
{
for (int i=0;i<10;i++)
{
g_machine.FirmwareInfo[i]=*(ep_buff[EP_82_DATA_IDX]._buffer+i);
}
if (g_machine.FirmwareInfo[3]=='6')
{
g_machine.FirmwareVer=FirmwareVer_6_X;
}
else
{
g_machine.FirmwareVer=FirmwareVer_3_X;
}
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_INTERRUPT_MSG(BYTE Type)
{
g_machine.GetInterruptMsg[Type][0]=*(ep_buff[EP_82_DATA_IDX]._buffer);
g_machine.GetInterruptMsg[Type][1]=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_SEQ_NUMBER()
{
g_machine.SEQ_NUMBER=*(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_TRIG_PULSE_PARA()
{
int index(0);
g_machine.TrigPara.TrigPulseActiveAxis=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigPulseMethod=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigTotalNo._char_[1]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigTotalNo._char_[0]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
g_machine.TrigPara.TrigTotalNo._char_[2]=0;
g_machine.TrigPara.TrigTotalNo._char_[3]=0;
index++;
g_machine.TrigPara.TrigCurIndex._char_[1]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigCurIndex._char_[0]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
g_machine.TrigPara.TrigCurIndex._char_[2]=0;
g_machine.TrigPara.TrigCurIndex._char_[3]=0;
index++;
g_machine.TrigPara.TrigReadPara._char_[1]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigReadPara._char_[0]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
g_machine.TrigPara.TrigReadPara._char_[2]=0;
g_machine.TrigPara.TrigReadPara._char_[3]=0;
index++;
if (g_machine.TrigPara.TrigReadPara._long_>32768)
{
g_machine.TrigPara.TrigReadPara._long_-=32768;
g_machine.TrigPara.TrigReadPara._long_*=-1;
}
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_WRITE_TRIG_PULSE_PARA()
{
int index(0);
g_machine.TrigPara.TrigTotalNo._char_[1]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
index++;
g_machine.TrigPara.TrigTotalNo._char_[0]=*(ep_buff[EP_82_DATA_IDX]._buffer+index);
g_machine.TrigPara.TrigTotalNo._char_[2]=0;
g_machine.TrigPara.TrigTotalNo._char_[3]=0;
index++;
return SSI_STATUS_MOTION_NORMAL;
}
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