From 196419beba806c94fc8416184ffd6f2a11993ca3 Mon Sep 17 00:00:00 2001
From: "zhengxuan.zhang" <zhengxuan.zhang@hexagon.com>
Date: Tue, 1 Nov 2022 11:50:21 +0800
Subject: [PATCH] =?UTF-8?q?=E6=89=93=E5=BC=80=E9=A2=84=E7=95=99=E5=87=BD?=
 =?UTF-8?q?=E6=95=B0=EF=BC=8C=E6=96=B9=E4=BE=BF=E5=AE=9A=E4=BD=8DMetus?=
 =?UTF-8?q?=E8=B0=83=E7=94=A8=E6=83=85=E5=86=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 HSI_HexagonMI_EF3/HSI.cpp        |   1 +
 HSI_HexagonMI_EF3/HSI.h          |  42 +++++++++----------
 HSI_HexagonMI_EF3/HSI_Motion.cpp |  70 +++++++++++++++++++++++++++++--
 HSI_HexagonMI_EF3/HSI_Motion.h   |  43 +++++++------------
 HSI_HexagonMI_EF3/version.h      |   4 +-
 SerialAssistant/README.md        | Bin 8192 -> 2644 bytes
 6 files changed, 106 insertions(+), 54 deletions(-)

diff --git a/HSI_HexagonMI_EF3/HSI.cpp b/HSI_HexagonMI_EF3/HSI.cpp
index d644871..e1004b6 100644
--- a/HSI_HexagonMI_EF3/HSI.cpp
+++ b/HSI_HexagonMI_EF3/HSI.cpp
@@ -377,6 +377,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED(UINT& Types)
 }
 #pragma  endregion
 
+#define USE_Motion_API
 #ifdef USE_Motion_API
 
 #pragma region 后续考虑
diff --git a/HSI_HexagonMI_EF3/HSI.h b/HSI_HexagonMI_EF3/HSI.h
index a0e8c74..de4612b 100644
--- a/HSI_HexagonMI_EF3/HSI.h
+++ b/HSI_HexagonMI_EF3/HSI.h
@@ -430,28 +430,28 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_DIO(UINT IOChannel, UINT& _Status);
 HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_DIO(UINT IOChannel, UINT _Status);
 
 HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED(UINT &Types);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_XYZ(double &Speed);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_XYZ(double  Speed);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ACCELERATION_XYZ(double &AccelX, double &AccelY, double &AccelZ);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_ACCELERATION_XYZ(double  AccelX, double  AccelY, double  AccelZ);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_R(double &Speed);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_R(double  Speed);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ACCELERATION_R(double &AccelR);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_ACCELERATION_R(double  AccelR);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SCALE_RESOLUTION(double &ScaleX, double &ScaleY, double &ScaleZ);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SCALE_RESOLUTION(double ScaleX, double ScaleY, double ScaleZ);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_DEADBAND(double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_REFRESH_DEADBAND(double &Deadband);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITIONPROBE(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &PositionA);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ENCODER_XYZ(long *lEncVal);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ_CACHE(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point *CacheData);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_R(UINT AxisTypes, double &PositionR, double &Time);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_R(UINT AxisTypes, double  PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_PLAN_SCAN(double *pdStartPosX, double *pdStartPosY, double *pdStartPosZ, double *pdEndPosX, double *pdEndPosY, double *pdEndPosZ, double *pdStepDis, bool *pbTrig, int iCount);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_XYZ(double &Speed);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_XYZ(double  Speed);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ACCELERATION_XYZ(double &AccelX, double &AccelY, double &AccelZ);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_ACCELERATION_XYZ(double  AccelX, double  AccelY, double  AccelZ);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_R(double &Speed);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_R(double  Speed);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ACCELERATION_R(double &AccelR);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_ACCELERATION_R(double  AccelR);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SCALE_RESOLUTION(double &ScaleX, double &ScaleY, double &ScaleZ);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SCALE_RESOLUTION(double ScaleX, double ScaleY, double ScaleZ);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_DEADBAND(double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_REFRESH_DEADBAND(double &Deadband);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITIONPROBE(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &PositionA);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ENCODER_XYZ(long *lEncVal);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ_CACHE(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point *CacheData);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_R(UINT AxisTypes, double &PositionR, double &Time);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_R(UINT AxisTypes, double  PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_PLAN_SCAN(double *pdStartPosX, double *pdStartPosY, double *pdStartPosZ, double *pdEndPosX, double *pdEndPosY, double *pdEndPosZ, double *pdStepDis, bool *pbTrig, int iCount);
 
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_SET_DATA(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_START();
-//HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_STOP();
+HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_SET_DATA(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_START();
+HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_STOP();
 
 
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED_EX(UINT AxisTypes, UINT &Types);
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index f057664..0df3ef9 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -92,7 +92,7 @@ void ErrorsHandler()
 		{
 			ErrorStr[Received] = '\0';
 			printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr);
-			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error, {%s}\n", ErrorStr);
+			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error %s\n",ErrorStr);
 		}
 	}
 	else
@@ -1843,7 +1843,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
 HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
-	g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d]  speed:[%d]\n", AxisTypes, Speed);
+	g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d]  speed:[%lf]\n", AxisTypes, Speed);
 	if (g_pHSI_Motion)
 	{
 		if (m_DeviceType != 3) //非转盘设备
@@ -4671,7 +4671,13 @@ HSI_STATUS HSI_Motion::GetDIO(UINT IOChannel, UINT& _Status)
 	return rStatus;
 }
 //===========================================================================
-HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
+/**
+ * \brief 
+ * \param IOChannel 
+ * \param _Status 
+ * \return 
+ */
+HSI_STATUS HSI_Motion::SetDIOOld(UINT IOChannel, UINT _Status)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -4724,7 +4730,65 @@ HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
 	}
 	return rStatus;
 }
+HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status)
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (g_pHSI_Motion)
+	{
+		if (m_bISUseMoreLights > 0 && (m_ForStatus != _Status))
+		{
+			if (m_Led8MotionFlag[m_selectedIndex])
+			{
+				m_ForStatus = _Status;
+				IOdata[0] = 0x02;
+				IOdata[1] = 0x02;
+				IOdata[2] = 0x01;
+				IOdata[6] = 0x04;
+				IOdata[7] = 0xff;
+				IOdata[8] = 0xff;
+				IOdata[9] = 0xff;
+				IOdata[10] = 0xff;
+				IOdata[14] = _Status & 0xff;
+				IOSend++;
+			}
+			else
+			{
+				m_ForStatus = _Status;
+				IOdata[0] = 0x02;
+				IOdata[1] = 0x02;
+				IOdata[2] = 0x01;
+				IOdata[3] = 0x36;
+				IOdata[4] = 0x04;
+				IOdata[7] = 0xff;
+				IOdata[8] = 0xff;
+				IOdata[9] = 0xff;
+				IOdata[10] = 0xff;
+				IOdata[11] = (_Status >> 24) & 0xff;
+				IOdata[12] = (_Status >> 16) & 0xff;
+				IOdata[13] = (_Status >> 8) & 0xff;
+				IOdata[14] = _Status & 0xff;
+				IOSend++;
+			}
+		}
+		if ((IOChannel == HSI_MOTION_OUTPUT_CH1)/* && (m_ForStatus != _Status)*/)
+		{
+			m_ForStatus = _Status;
+			m_cSendData[0] = CT_PORT;
+			m_cSendData[1] = 0x02;
+			m_cSendData[2] = (_Status >> 8) & 0xff;
+			m_cSendData[3] = _Status & 0xff;
+			m_WriteByte = Send_Command(0, (const char*)m_cSendData, m_SendDataLength);
+			Sleep(5);
+		}
+	}
 
+	//-----------TEST Begin------------------
+	_Status = 0;
+
+
+	//-----------TEST End------------------
+	return rStatus;
+}
 //===========================================================================
 HSI_STATUS HSI_Motion::GetAxisStatus(int* _Status)
 {
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h
index 17064e7..b7cb9bb 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.h
+++ b/HSI_HexagonMI_EF3/HSI_Motion.h
@@ -28,39 +28,28 @@ enum E_SO7_MOTION_TYPE
 
 enum E_EF3_HOME_STATUS
 {
-	E_EF3_HOME_NONE,
-	//0表示从未回过回原点
-	E_EF3_HOME_ING,
-	//1表示正在回原点
-	E_EF3_HOME_FINISHED,
-	//2表示已经回过原点
+	E_EF3_HOME_NONE,//0表示从未回过回原点
+	E_EF3_HOME_ING,//1表示正在回原点
+	E_EF3_HOME_FINISHED,//2表示已经回过原点
 };
 
 enum FUN_CMD //第一级指令
 {
-	CT_MOTOR = 0x01,
-	//MOTOR
-	CT_LIGHT,
-	//LIGHT
-	CT_PORT,
-	//PORT
-	CT_ORDER,
-	//ORDER
-	CT_SOFTSTOP,
-	//STOP
-	CT_GLUEDISPENSER,
-	//点胶
+	CT_MOTOR = 0x01,//MOTOR
+	CT_LIGHT,//LIGHT
+	CT_PORT,//PORT
+	CT_ORDER,//ORDER
+	CT_SOFTSTOP,//STOP
+	CT_GLUEDISPENSER,//点胶
 	CT_TURNTABLE,
 };
 
 enum MOTOR_CMD //第二级指令
 {
 	CT_MOTOR_SET = 0x01,
-	CT_START_JOG_POS,
-	//
+	CT_START_JOG_POS,//
 	CT_START_JOG_NEG,
-	CT_START_POSITION,
-	//_POS,
+	CT_START_POSITION,//_POS,
 	CT_STOP,
 	CT_GOHOME,
 	CT_TRIGGER_DATA,
@@ -74,12 +63,11 @@ enum MOTOR_CMD //
 	CT_GLUEDISPENSER_SET,
 	CT_GLUEDISPENSER_CLEAR,
 	CT_GLUEDISPENSER_START,
-	CT_GLUEDISPENSER_STOP,
-	//转盘时启用
+	CT_GLUEDISPENSER_STOP,//转盘时启用
 	CT_RTSET,
 	CT_BINSDATA,
-	CT_RTSTOP,
-	//	CT_MOTOR_UPDATE,			//		up date all the aixs
+	CT_RTSTOP,//
+	CT_MOTOR_UPDATE,			//		up date all the aixs
 };
 
 enum MOTOR_START_POSOTION // 		
@@ -286,6 +274,7 @@ public:
 	 * \return 
 	 */
 	HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
+	HSI_STATUS SetDIOOld(UINT IOChannel, UINT _Status);
 	HSI_STATUS GetAxisStatus(int* _Status);
 	HSI_STATUS GetAppPath(CString& Path);
 	/**
@@ -645,8 +634,6 @@ private:
 };
 
 extern HSI_Motion* g_pHSI_Motion;
-
-
 extern void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm); //ACS 错误打印
 
 #endif
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index 83a2d8f..219d53b 100644
--- a/HSI_HexagonMI_EF3/version.h
+++ b/HSI_HexagonMI_EF3/version.h
@@ -12,5 +12,5 @@
 #define HSI_VERSION_REVNUM              
 #define HSI_VERSION_BUILD_DATE        _T(__DATE__ )  
 #define HSI_VERSION_BUILD_TIME        _T(__TIME__ )  
-#define HSI_FILE_DESCRIPTION          "2022.10.21 / 18:06 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.10.21 / 18:06 ")  
+#define HSI_FILE_DESCRIPTION          "2022.11.01 / 11:45 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.11.01 / 11:45 ")  
diff --git a/SerialAssistant/README.md b/SerialAssistant/README.md
index 68a66eec83b295f5a6005dde19d37938036e53b3..bc85c00c3a05aedc12e0bac3003e5afe0bc84eca 100644
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