From 2566cc92e23f556a8a309a475e882b6b5ae1e2df Mon Sep 17 00:00:00 2001 From: "zhengxuan.zhang" Date: Tue, 18 Feb 2025 18:01:50 +0800 Subject: [PATCH] =?UTF-8?q?#0019=20=E5=89=A5=E7=A6=BB=E5=B9=B3=E5=8F=B0?= =?UTF-8?q?=E8=BD=B4=E5=AE=9A=E4=B9=89=E5=88=B0=E9=85=8D=E7=BD=AE=E6=96=87?= =?UTF-8?q?=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HSI_HexagonMI_EF3/CLMS.cpp | 135 +- HSI_HexagonMI_EF3/HSI.cpp | 17 + HSI_HexagonMI_EF3/HSI.h | 1 + HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj | 3 +- HSI_HexagonMI_EF3/HSI_Motion.cpp | 1271 ++++++++++--------- HSI_HexagonMI_EF3/HSI_Motion.h | 22 +- HSI_HexagonMI_EF3/logger.h | 2 +- HSI_HexagonMI_EF3/version.cmd | 2 +- HSI_HexagonMI_EF3/version.h | 10 +- 9 files changed, 776 insertions(+), 687 deletions(-) diff --git a/HSI_HexagonMI_EF3/CLMS.cpp b/HSI_HexagonMI_EF3/CLMS.cpp index a6aee90..b396fbf 100644 --- a/HSI_HexagonMI_EF3/CLMS.cpp +++ b/HSI_HexagonMI_EF3/CLMS.cpp @@ -1,6 +1,6 @@ - #include "stdafx.h" #include "CLMS.h" +#include "logger.h" using namespace std; #ifdef _DEBUG @@ -76,55 +76,92 @@ CLM_GetExpirationDateFor m_pCLM_GetExpirationDateFor; BOOL CheckLicense() { - m_hCLM = LoadLibrary(_T("CLMTool.dll")); - if (m_hCLM) - { - //Production - m_pCLM_Login = (CLM_Login)GetProcAddress(m_hCLM, "CLM_Login"); - m_pCLM_Logout = (CLM_Logout)GetProcAddress(m_hCLM, "CLM_Logout"); - m_pCLM_Login_Scope = (CLM_Login_Scope)GetProcAddress(m_hCLM, "CLM_Login_Scope"); - m_pCLM_ModuleIsLicensed = (CLM_ModuleIsLicensed)GetProcAddress(m_hCLM, "CLM_ModuleIsLicensed"); - m_pCLM_GetExpirationDateFor = (CLM_GetExpirationDateFor)GetProcAddress(m_hCLM, "CLM_GetExpirationDateFor"); - m_pCLM_GetWarrantyExpiration = (CLM_GetWarrantyExpiration)GetProcAddress(m_hCLM, "CLM_GetWarrantyExpiration"); - } - //////////////////////////////////////////////////////////////////1登陆验证 - BOOL res = FALSE; - //Metus软件 - char* strLogin = "rsWoGvmINesgabljzJZpTmMRGMLyKxFsaxpLRZSnpsujYlboLaKwSINrFbtddgMYgsXkCLwxfVUALwfQcxWEbvZZHjrrYwRkNCBMsjfxeKyannbTIVxsrQvLUWraoysNJFcYJrYnCSabWnxgezkDbvwHLksNqdWyvrfHqKeBLyyVyVYROgizPCqVaRQLkNrSROgvbAqShNZNuzKGHjOLYiwLaXnPKgvHcXuNeNLyuGMFeDnpiipTVDrvJaoNXDTq"; - res = m_pCLM_Login(strLogin); - if (!res) - { - return res; + m_hCLM = LoadLibrary(_T("CLMTool.dll")); + if (m_hCLM) + { + if (g_pLogger) + { + g_pLogger->SendAndFlushWithTime(L"CLMTool.dll Load Success"); + } + + //Production + m_pCLM_Login = (CLM_Login)GetProcAddress(m_hCLM, "CLM_Login"); + m_pCLM_Logout = (CLM_Logout)GetProcAddress(m_hCLM, "CLM_Logout"); + m_pCLM_Login_Scope = (CLM_Login_Scope)GetProcAddress(m_hCLM, "CLM_Login_Scope"); + m_pCLM_ModuleIsLicensed = (CLM_ModuleIsLicensed)GetProcAddress(m_hCLM, "CLM_ModuleIsLicensed"); + m_pCLM_GetExpirationDateFor = (CLM_GetExpirationDateFor)GetProcAddress(m_hCLM, "CLM_GetExpirationDateFor"); + m_pCLM_GetWarrantyExpiration = (CLM_GetWarrantyExpiration)GetProcAddress(m_hCLM, "CLM_GetWarrantyExpiration"); + } + else + { + if (g_pLogger) + { + g_pLogger->SendAndFlushWithTime(L"CLMTool.dll Load Failed"); + } + + return FALSE; + } + //////////////////////////////////////////////////////////////////1登陆验证 + BOOL res = FALSE; + //Metus软件 + char* strLogin = "rsWoGvmINesgabljzJZpTmMRGMLyKxFsaxpLRZSnpsujYlboLaKwSINrFbtddgMYgsXkCLwxfVUALwfQcxWEbvZZHjrrYwRkNCBMsjfxeKyannbTIVxsrQvLUWraoysNJFcYJrYnCSabWnxgezkDbvwHLksNqdWyvrfHqKeBLyyVyVYROgizPCqVaRQLkNrSROgvbAqShNZNuzKGHjOLYiwLaXnPKgvHcXuNeNLyuGMFeDnpiipTVDrvJaoNXDTq"; + res = m_pCLM_Login(strLogin); + if (!res) + { + //登陆验证失败 + if (g_pLogger) { + g_pLogger->SendAndFlushWithTime(L"登陆验证失败"); + } + + return res; + } - //登陆验证失败 - } + //////////////////////////////////////////////////////////////////2检查许可 + res = m_pCLM_Login_Scope(); + if (!res) + { + //检查许可失败 + if (g_pLogger) { + g_pLogger->SendAndFlushWithTime(L"检查许可失败"); + } - //////////////////////////////////////////////////////////////////2检查许可 - res = m_pCLM_Login_Scope(); - if (!res) - { - return res; - //检查许可失败 - } + return res; + } - //////////////////////////////////////////////////////////////////3获取许可模块 - UINT16 Mod = 0;// - UINT16 OnLineType = 0;//许可状态 - res = m_pCLM_ModuleIsLicensed(Mod, OnLineType); - if (!res) - { - return res; - //登陆验证失败 - } + //////////////////////////////////////////////////////////////////3获取许可模块 + UINT16 Mod = 7;// 对应模块ID，8为模块ID-1， 表示直线电机中间件 + UINT16 OnLineType = 0;//许可状态 + res = m_pCLM_ModuleIsLicensed(Mod, OnLineType); + if (!res) + { + //登陆验证失败 + if (g_pLogger) { + g_pLogger->SendAndFlushWithTime(L"登陆验证失败"); + } - //////////////////////////////////////////////////////////////////4获取许可最早到期日期 - int ModuleID = 2; - int Year, Month, Day; - res = m_pCLM_GetWarrantyExpiration(Month, Day, Year);//获取过期时间 - if (!res) - { - return res; - //登陆验证失败 - } - return res; -} + return res; + } + + //////////////////////////////////////////////////////////////////4获取许可最早到期日期 + int ModuleID = 2; + int Year, Month, Day; + res = m_pCLM_GetWarrantyExpiration(Month, Day, Year);//获取过期时间 + if (!res) + { + //登陆验证失败 + if (g_pLogger) { + g_pLogger->SendAndFlushWithTime(L"获取过期时间失败"); + } + + return res; + } + //打印到期时间 + CString expirationDate; + expirationDate.Format(_T("到期时间为：%d年%d月%d日"), Year, Month, Day); + if (g_pLogger) { + g_pLogger->SendAndFlushWithTime(expirationDate); + } + + + return res; +} \ No newline at end of file diff --git a/HSI_HexagonMI_EF3/HSI.cpp b/HSI_HexagonMI_EF3/HSI.cpp index c164a2e..3a6a865 100644 --- a/HSI_HexagonMI_EF3/HSI.cpp +++ b/HSI_HexagonMI_EF3/HSI.cpp @@ -1119,6 +1119,23 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_COLLECTPOS(bool isEnable, MOTOR_AXISCHOOES_ } return rStatus; } + +HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_SHUTDOWN() +{ + auto rStatus = HSI_STATUS_NORMAL; + //if (g_pHSI_Illumination) + //{ + // rStatus = g_pHSI_Illumination->Shutdown(); + // delete g_pHSI_Illumination; + // g_pHSI_Illumination = nullptr; + //} + //else + //{ + // rStatus = HSI_STATUS_FAILED; + //} + return rStatus; +} + #pragma endregion #endif // DEBUG diff --git a/HSI_HexagonMI_EF3/HSI.h b/HSI_HexagonMI_EF3/HSI.h index 00b074e..aa4cb1c 100644 --- a/HSI_HexagonMI_EF3/HSI.h +++ b/HSI_HexagonMI_EF3/HSI.h @@ -492,6 +492,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_EX(UINT AxisTypes, double& Speed) HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_ACCELERATION_EX(UINT AxisTypes, double& Accel); HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_ACCELERATION_EX(UINT AxisTypes, double Accel); +HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_SHUTDOWN(); //鏆傛湭瀹炵幇 //HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_MAGNIFICATION(UINT AxisTypes, double mag, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear); diff --git a/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj b/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj index db240b2..373ce94 100644 --- a/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj +++ b/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj @@ -72,7 +72,8 @@ copy "$(TargetDir)$(ProjectName).dll" "$(SolutionDir)HSI_SEVENOCEAN_EF1_CsTest\bin\Debug\HSI.dll" copy "$(TargetDir)$(ProjectName).dll" "C:\Program Files\Hexagon\Metus\Metus-7.10.1967\HSI_Sevenocean_EF3.dll" -copy "$(TargetDir)$(ProjectName).dll" "D:\HSI_Sevenocean_EF3.dll" +copy "$(TargetDir)$(ProjectName).dll" "D:\HSI_Sevenocean_EF3.dll" +copy "$(TargetDir)$(ProjectName).dll" "D:\HSI.dll" version.cmd diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp index f2da96b..d670748 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.cpp +++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp @@ -248,14 +248,12 @@ HSI_Motion::HSI_Motion() // CLMS 鎺堟潈楠岃瘉 if (!CheckLicense()) { - wprintf(L"Can't find license\n"); //寮圭獥鎻愮ず - AfxMessageBox(_T("acs metus middleware No authorization found, please contact the corresponding sales"), MB_ICONWARNING | MB_OK); - - g_pLogger->SendAndFlushWithTime(L"Acs Middleware No authorization found, Please contact the corresponding sales\n"); - + AfxMessageBox(_T("[Check License] Acs-Metus Middleware No Authorization Found, Please Contact the Corresponding Sales"), MB_ICONWARNING | MB_OK); + g_pLogger->SendAndFlushWithTime(L"[Check License] Acs-Metus Middleware No Authorization Found, Please Contact the Corresponding Sales\n"); + return; } - g_pLogger->SendAndFlushWithTime(L"Acs Middleware Check License OK\n"); + g_pLogger->SendAndFlushWithTime(L"[Check License] Acs Middleware Check License OK\n"); //妗ｄ綅鍙傛暟 for (int i = 0; i < 5; i++) @@ -422,6 +420,14 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) hWnd = _hWnd; bOfflineOnly = _bOfflineOnly; + // CLMS 鎺堟潈楠岃瘉 + if (!CheckLicense()) + { + // 鎺堟潈楠岃瘉澶辫触 + g_pLogger->SendAndFlushWithTime(L"[Check License] Acs-Metus Middleware No Authorization Found, Please Contact the Corresponding Sales\n"); + return HSI_STATUS_FAILED; // 杩斿洖閫傚綋鐨勯敊璇姸鎬 + } + if (!bOfflineOnly) { CString GoogolMotionConfigFile(_T("")); @@ -505,8 +511,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) } #endif //浣胯兘鐢垫満 - int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 - if (!acsc_EnableM(handleACS, Axes, nullptr)) + //int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 + if (!acsc_EnableM(handleACS, ACSAxisNumbers, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n"); ErrorsHandler(); @@ -1997,8 +2003,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) } //浣胯兘鐢垫満 - int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 - if (!acsc_EnableM(handleACS, Axes, nullptr)) + //int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 + if (!acsc_EnableM(handleACS, ACSAxisNumbers, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n"); ErrorsHandler(); @@ -2415,10 +2421,10 @@ HSI_STATUS HSI_Motion::StopJog() m_WriteByte = Send_Command(0, (const char*)m_SendJogData, m_SendDataLength); }*/ - int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; + //int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; if (handleACS != ACSC_INVALID) { - if (!acsc_HaltM(handleACS, Axes, nullptr)) //鍋滄JOG杩愬姩 + if (!acsc_HaltM(handleACS, ACSAxisNumbers, nullptr)) //鍋滄JOG杩愬姩 { g_pLogger->SendAndFlushWithTime(L"[StopJog] ACS acsc_HaltM error!\n"); ErrorsHandler(); @@ -2589,7 +2595,7 @@ HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, do CString tempStr; if (g_pHSI_Motion) { - g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] In\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] In\n"); if (m_SO7_Serial.m_RecvData[0] == 2) { EncPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.m_RecvData[ @@ -2647,9 +2653,9 @@ HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, do PrfPos[2] = m_PrfPos[2]; PrfPos[2] = m_PrfPos[3]; PrfPos[4] = m_PrfPos[4]; - g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] failed\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] failed\n"); } - g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] Out\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] Out\n"); } return rStatus; } @@ -2751,21 +2757,21 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double& if (g_pHSI_Motion && (handleACS != ACSC_INVALID)) //鍙ユ焺鏈夋晥 { - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_1, &PositionX, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSAxisNumbers[0], &PositionX, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionX failed\n"); ErrorsHandler(); bGetPosition = false; return HSI_ACS_ERROR; } - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_0, &PositionY, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSAxisNumbers[1], &PositionY, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionY failed\n"); ErrorsHandler(); bGetPosition = false; return HSI_ACS_ERROR; } - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_8, &PositionZ, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSAxisNumbers[2], &PositionZ, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionZ failed\n"); ErrorsHandler(); @@ -2929,568 +2935,568 @@ HSI_STATUS HSI_Motion::GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, d * \param dFlyRadius * \return */ -//HSI_STATUS HSI_Motion::SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, -// HSI_MOTION_MOVE_TYPE eType, double dFlyRadius) -//{ -// WaitForSingleObject(g_WR_ToMove_Mutex, INFINITE); -// auto rStatus = HSI_STATUS_NORMAL; -// if (g_pHSI_Motion) -// { -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n"); -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,PositionY, PositionZ); -// unsigned char send_pos_data[64] = { 0 }; -// axis_start = 0; -// unsigned char direct_pos = 0; -// unsigned char xyzAxis = 0; -// //濡傛灉鐘舵侀潪 杩愬姩涓紝璁剧疆涓鸿繍鍔ㄤ腑 -// if (CurrentMotionState != E_SO7_MOTION_MOVETO) -// { -// CurrentMotionState = E_SO7_MOTION_MOVETO; -// LimitOver(HSI_MOTION_AXIS_X, PositionX); -// LimitOver(HSI_MOTION_AXIS_Y, PositionY); -// LimitOver(HSI_MOTION_AXIS_Z, PositionZ); -// LimitOver(HSI_MOTION_AXIS_R, m_PositionA); -// -// m_PosThread[1] = PositionX; //SetpositionXyz鐨勭洰鏍囦綅缃 -// m_PosThread[2] = PositionY; -// m_PosThread[3] = PositionZ; -// m_PosThread[4] = m_PositionA; -// -// targetpos_n[1] = PositionX; -// targetpos_n[2] = PositionY; -// targetpos_n[3] = PositionZ; -// targetpos_n[4] = m_PositionA; -// -// int Pos_t[5] = { 0 }; -// int Pos_n[5] = { 0 }; -// int Pos[5] = { 0 }; -// int NowPos[5] = { 0 }; -// int target_pos[5] = { 0 }; -// -// if (m_SO7_Serial.m_RecvData[0] == 2) -// { -// //鏍规嵁璁惧绫诲瀷鑾峰彇鐜板湪浣嶇疆 -// if (m_DeviceType != 1) //璁惧绫诲瀷闈炰笁婵鍏 -// { -// if (m_IsHavePattern & 0x01 == 0x01) -// NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial. -// m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); -// else -// NowPos[1] = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | -// m_SO7_Serial.m_RecvData[19] << 8 | m_SO7_Serial.m_RecvData[20]); -// if (m_IsHavePattern & 0x02) -// NowPos[2] = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial. -// m_RecvData[7] << 8 | m_SO7_Serial.m_RecvData[8]); -// else -// NowPos[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | -// m_SO7_Serial.m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); -// if (m_IsHavePattern & 0x04) -// NowPos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial -// .m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]); -// else -// NowPos[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | -// m_SO7_Serial.m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); -// if (m_IsHavePattern & 0x08) -// NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | -// m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); -// else -// NowPos[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 | -// m_SO7_Serial.m_RecvData[31] << 8 | m_SO7_Serial.m_RecvData[32]); -// } -// else -// { -// NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial. -// m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); -// NowPos[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial. -// m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); -// NowPos[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial. -// m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); -// NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial. -// m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); -// } -// //NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); -// //NowPos[2] = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial.m_RecvData[7] << 8 | m_SO7_Serial.m_RecvData[8]); -// //NowPos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial.m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]); -// //NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); -// -// Pos_t[1] = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | m_SO7_Serial. -// m_RecvData[19] << 8 | m_SO7_Serial.m_RecvData[20]); -// Pos_t[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial. -// m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); -// Pos_t[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial. -// m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); -// Pos_t[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 | m_SO7_Serial. -// m_RecvData[31] << 8 | m_SO7_Serial.m_RecvData[32]); -// } -// else -// { -// /* 缂栬瘧鍣ㄩ殣寮忔墽琛岀殑浠讳綍绫诲瀷杞崲閮藉彲浠ョ敱static_cast鏄惧紡瀹屾垚銆 -// static_cast鍙互鐢ㄦ潵灏嗘灇涓剧被鍨嬭浆鎹㈡垚鏁村瀷锛屾垨鑰呮暣鍨嬭浆鎹㈡垚娴偣鍨*/ -// Pos_t[1] = NowPos[1] = static_cast(m_EncPos[1] / m_Resolution[1]); -// Pos_t[2] = NowPos[2] = static_cast(m_EncPos[2] / m_Resolution[2]); -// Pos_t[3] = NowPos[3] = static_cast(m_EncPos[3] / m_Resolution[3]); -// Pos_t[4] = NowPos[4] = static_cast(m_EncPos[4] / m_Resolution[4]); -// } -// -// if (m_motorType & 0x01) //姝ヨ繘鐢垫満 -// Pos[1] = static_cast(PositionX / m_Resolution[1]) - NowPos[1]; -// else -// Pos[1] = static_cast(PositionX / m_Resolution[1]) - Pos_t[1]; -// if (m_motorType & 0x02) //姝ヨ繘鐢垫満 -// Pos[2] = static_cast(PositionX / m_Resolution[2]) - NowPos[2]; -// else -// Pos[2] = static_cast(PositionY / m_Resolution[2]) - Pos_t[2]; -// if (m_motorType & 0x04) //姝ヨ繘鐢垫満 -// Pos[3] = static_cast(PositionX / m_Resolution[3]) - NowPos[3]; -// else -// Pos[3] = static_cast(PositionZ / m_Resolution[3]) - Pos_t[3]; -// if (m_motorType & 0x08) //姝ヨ繘鐢垫満 -// Pos[4] = static_cast(PositionX / m_Resolution[4]) - NowPos[4]; -// else -// Pos[4] = static_cast(m_PositionA / m_Resolution[4]) - Pos_t[4]; -// -// /*if (m_motorType==1) -// { -// if (m_IsUse_HSICompensation) -// { -// } -// else -// { -// Pos[1] = (int)(PositionX / m_Resolution[1]) - NowPos[1]; -// Pos[2] = (int)(PositionY / m_Resolution[2]) - NowPos[2]; -// Pos[3] = (int)(PositionZ / m_Resolution[3]) - NowPos[3]; -// Pos[4] = (int)(m_PositionA / m_Resolution[4]) - NowPos[4]; -// } -// } -// else -// { -// Pos_n[1] = (int)(targetpos_n[1] / m_Resolution[1]) - NowPos[1]; -// Pos_n[2] = (int)(targetpos_n[2] / m_Resolution[2]) - NowPos[2]; -// Pos_n[3] = (int)(targetpos_n[3] / m_Resolution[3]) - NowPos[3]; -// -// Pos_t[1] = (int)(targetpos_n[1] / m_Resolution[1]) - (int)(targetpos_l[1] / m_Resolution[1]); -// Pos_t[2] = (int)(targetpos_n[2] / m_Resolution[2]) - (int)(targetpos_l[2] / m_Resolution[1]); -// Pos_t[3] = (int)(targetpos_n[3] / m_Resolution[3]) - (int)(targetpos_l[3] / m_Resolution[1]); -// -// if (m_IsUse_HSICompensation) -// { -// for (int k = 1; k < 4; k++) -// { -// if (abs(Pos_n[k] - Pos_t[k]) > m_Compensation_Pluse) -// { -// Pos[k] = Pos_n[k]; -// } -// else -// { -// Pos[k] = Pos_t[k]; -// } -// if (abs(Pos[k]) < m_Compensation_Pluse) -// { -// Pos[k] = 0; -// } -// } -// } -// else -// { -// Pos[1] = (int)(PositionX / m_Resolution[1]) - NowPos[1]; -// Pos[2] = (int)(PositionY / m_Resolution[2]) - NowPos[2]; -// Pos[3] = (int)(PositionZ / m_Resolution[3]) - NowPos[3]; -// Pos[4] = (int)(m_PositionA / m_Resolution[4]) - NowPos[4]; -// } -// }*/ -// target_pos[1] = static_cast(PositionX / m_Resolution[1]); //璁＄畻鍒扮洰鏍囦綅缃 -// target_pos[2] = static_cast(PositionY / m_Resolution[2]); -// target_pos[3] = static_cast(PositionZ / m_Resolution[3]); -// target_pos[4] = static_cast(m_PositionA / m_Resolution[4]); -// -// begin_position[1] = target_pos[1]; //灏嗙洰鏍囦綅缃缃负 寮濮嬩綅缃 -// begin_position[2] = target_pos[2]; -// begin_position[3] = target_pos[3]; -// begin_position[4] = target_pos[4]; -// -// float scale[4] = { 0 }; -// int Stepdriverspeed[5] = { 0 }; -// int StepStartspeed[5] = { 0 }; -// int StepAcc[5] = { 0 }; -// //if (Pos[1] > 0) direct_pos |= 0x01; -// //if (Pos[2] > 0) direct_pos |= 0x02; -// //if (Pos[3] > 0) direct_pos |= 0x04; -// if (abs(Pos[1]) > 2) axis_start |= 0x01; -// if (abs(Pos[2]) > 2) axis_start |= 0x02; -// if (abs(Pos[3]) > 2) axis_start |= 0x04; -// int MaxPos = abs(Pos[1]); -// for (int i = 2; i < 5; i++) -// { -// if (MaxPos < abs(Pos[i])) -// { -// MaxPos = abs(Pos[i]); -// } -// } -// //MaxPos = abs(MaxPos); -// scale[0] = abs(Pos[1]) / static_cast(MaxPos); -// scale[1] = abs(Pos[2]) / static_cast(MaxPos); -// scale[2] = abs(Pos[3]) / static_cast(MaxPos); -// scale[3] = abs(Pos[4]) / static_cast(MaxPos); -// -// g_pLogger->SendAndFlushWithTime( -// L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", -// NowPos[1] * m_Resolution[1], NowPos[2] * m_Resolution[2], NowPos[3] * m_Resolution[3], -// NowPos[4] * m_Resolution[4]); -// g_pLogger->SendAndFlushWithTime( -// L"[SetPositionXyzTagPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX, -// PositionY, PositionZ, m_PositionA); -// -// int stepinterpolation = 0x03; -// //if (!m_motorType) -// //{ -// // /*if ((stepinterpolation & 0x01) && m_IsUseManualRunin) -// // { -// // Stepdriverspeed[1] = m_SetPotion_DriveSpeed[1] * scale[0]; -// // if (Stepdriverspeed[1] < m_SetPotion_StartSpeed[1]) -// // { -// // Stepdriverspeed[1] = m_SetPotion_StartSpeed[1]; -// // } -// // } -// // else -// // { -// // Stepdriverspeed[1] = m_SetPotion_DriveSpeed[1]; -// // } -// // if ((stepinterpolation & 0x02) && m_IsUseManualRunin) -// // { -// // Stepdriverspeed[2] = m_SetPotion_DriveSpeed[2] * scale[1]; -// // if (Stepdriverspeed[2] < m_SetPotion_StartSpeed[2]) -// // { -// // Stepdriverspeed[2] = m_SetPotion_StartSpeed[2]; -// // } -// // } -// // else -// // { -// // Stepdriverspeed[2] = m_SetPotion_DriveSpeed[2]; -// // } -// // if ((stepinterpolation & 0x04) && m_IsUseManualRunin) -// // { -// // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3] * scale[2]; -// // if (Stepdriverspeed[3] < m_SetPotion_StartSpeed[3]) -// // { -// // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; -// // } -// // } -// // else -// // { -// // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; -// // } -// // if ((stepinterpolation & 0x08) && m_IsUseManualRunin) -// // { -// // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4] * scale[3]; -// // if (Stepdriverspeed[4] < m_SetPotion_StartSpeed[4]) -// // { -// // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4]; -// // } -// // } -// // else -// // { -// // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4]; -// // }*/ -// // for (int i = 1; i < 3; i++) -// // { -// // if (abs(Pos[i]) < m_stepPosition_Load[0]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[0]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[0]; -// // StepAcc[i] = m_stepPosition_acc[0]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[1]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[1]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[1]; -// // StepAcc[i] = m_stepPosition_acc[1]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[2]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[2]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[2]; -// // StepAcc[i] = m_stepPosition_acc[2]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[3]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[3]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[3]; -// // StepAcc[i] = m_stepPosition_acc[3]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[4]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[4]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[4]; -// // StepAcc[i] = m_stepPosition_acc[4]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[5]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[5]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[5]; -// // StepAcc[i] = m_stepPosition_acc[5]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[6]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[6]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[6]; -// // StepAcc[i] = m_stepPosition_acc[6]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[7]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[7]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[7]; -// // StepAcc[i] = m_stepPosition_acc[7]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[8]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[8]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[8]; -// // StepAcc[i] = m_stepPosition_acc[8]; -// // } -// // else if (abs(Pos[i]) < m_stepPosition_Load[9]) -// // { -// // StepStartspeed[i] = m_stepPosition_L_speed[9]; -// // Stepdriverspeed[i] = m_stepPosition_H_speed[9]; -// // StepAcc[i] = m_stepPosition_acc[9]; -// // } -// // else -// // { -// // StepStartspeed[i] = m_SetPotion_StartSpeed[i]; -// // Stepdriverspeed[i] = m_SetPotion_DriveSpeed[i]; -// // StepAcc[i] = m_SetPotion_Line[i]; -// // } -// // } -// // StepStartspeed[3] = m_SetPotion_StartSpeed[3]; -// // StepAcc[3] = m_SetPotion_Line[3]; -// // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; -// //} -// -// int axisCount = 4; -// if (fourthAxisFlag) //绗4杞 -// { -// fourthAxisFlag = false; -// if (Pos[4] > 0) direct_pos |= 0x08; -// if (abs(Pos[4]) > 20) axis_start |= 0x08; -// axisCount = 5; -// xyzAxis = AXIS_XYZU; -// } -// else -// { -// xyzAxis = AXIS_XYZ; -// } -// -// //璁剧疆杩愬姩鍙傛暟 -// for (int i = 1; i < axisCount; i++) -// { -// int time_out_send = 0; -// -// send_pos_data[0] = CT_MOTOR; -// send_pos_data[1] = CT_MOTOR_SET; -// send_pos_data[2] = 1 << (i - 1); -// send_pos_data[3] = POSITION_SPEED_ACC_DEC_POS; -// /*if (m_motorType == 1) -// {*/ -// send_pos_data[4] = (m_SetPotion_StartSpeed[i] & 0xff); -// send_pos_data[5] = ((m_SetPotion_StartSpeed[i] >> 8) & 0xff); -// send_pos_data[6] = ((m_SetPotion_StartSpeed[i] >> 16) & 0xff); -// send_pos_data[7] = ((m_SetPotion_StartSpeed[i] >> 24) & 0xff); -// if ((xyzAxis == AXIS_XYZU) && (m_IsUseFourthSpeed == 1)) -// { -// send_pos_data[8] = (m_SetPotion_DriveSpeed[4] & 0xff); -// send_pos_data[9] = ((m_SetPotion_DriveSpeed[4] >> 8) & 0xff); -// send_pos_data[10] = ((m_SetPotion_DriveSpeed[4] >> 16) & 0xff); -// send_pos_data[11] = ((m_SetPotion_DriveSpeed[4] >> 24) & 0xff); -// } -// else -// { -// send_pos_data[8] = (m_SetPotion_DriveSpeed[i] & 0xff); -// send_pos_data[9] = ((m_SetPotion_DriveSpeed[i] >> 8) & 0xff); -// send_pos_data[10] = ((m_SetPotion_DriveSpeed[i] >> 16) & 0xff); -// send_pos_data[11] = ((m_SetPotion_DriveSpeed[i] >> 24) & 0xff); -// } -// send_pos_data[12] = (m_SetPotion_Line[i] & 0xff); -// send_pos_data[13] = ((m_SetPotion_Line[i] >> 8) & 0xff); -// send_pos_data[14] = ((m_SetPotion_Line[i] >> 16) & 0xff); -// send_pos_data[15] = ((m_SetPotion_Line[i] >> 24) & 0xff); -// -// send_pos_data[16] = (m_SetPotion_Buffer[i] & 0xff); -// send_pos_data[17] = ((m_SetPotion_Buffer[i] >> 8) & 0xff); -// send_pos_data[18] = ((m_SetPotion_Buffer[i] >> 16) & 0xff); -// send_pos_data[19] = ((m_SetPotion_Buffer[i] >> 24) & 0xff); -// -// send_pos_data[28] = (target_pos[i] & 0xff); -// send_pos_data[29] = ((target_pos[i] >> 8) & 0xff); -// send_pos_data[30] = ((target_pos[i] >> 16) & 0xff); -// send_pos_data[31] = ((target_pos[i] >> 24) & 0xff); -// -// send_pos_data[32] = (Pos[i] & 0xff); -// send_pos_data[33] = ((Pos[i] >> 8) & 0xff); -// send_pos_data[34] = ((Pos[i] >> 16) & 0xff); -// send_pos_data[35] = ((Pos[i] >> 24) & 0xff); -// -// g_pLogger->SendAndFlushWithTime( -// L"[SetPositionXyz] m_SetPotion_StartSpeed[%d] = %d,m_SetPotion_DriveSpeed[%d] = %d\n", i, -// m_SetPotion_StartSpeed[i], i, m_SetPotion_DriveSpeed[i]); -// //send_pos_data[32] = 0x21; -// /*}*/ -// -// /*else -// { -// send_pos_data[4] = (StepStartspeed[i] & 0xff); -// send_pos_data[5] = ((StepStartspeed[i] >> 8) & 0xff); -// send_pos_data[6] = ((StepStartspeed[i] >> 16) & 0xff); -// send_pos_data[7] = ((StepStartspeed[i] >> 24) & 0xff); -// -// send_pos_data[8] = (Stepdriverspeed[i] & 0xff); -// send_pos_data[9] = ((Stepdriverspeed[i] >> 8) & 0xff); -// send_pos_data[10] = ((Stepdriverspeed[i] >> 16) & 0xff); -// send_pos_data[11] = ((Stepdriverspeed[i] >> 24) & 0xff); -// -// send_pos_data[12] = (StepAcc[i] & 0xff); -// send_pos_data[13] = ((StepAcc[i] >> 8) & 0xff); -// send_pos_data[14] = ((StepAcc[i] >> 16) & 0xff); -// send_pos_data[15] = ((StepAcc[i] >> 24) & 0xff); -// -// send_pos_data[16] = (m_SetPotion_Buffer[i] & 0xff); -// send_pos_data[17] = ((m_SetPotion_Buffer[i] >> 8) & 0xff); -// send_pos_data[18] = ((m_SetPotion_Buffer[i] >> 16) & 0xff); -// send_pos_data[19] = ((m_SetPotion_Buffer[i] >> 24) & 0xff); -// -// send_pos_data[28] = (target_pos[i] & 0xff); -// send_pos_data[29] = ((target_pos[i] >> 8) & 0xff); -// send_pos_data[30] = ((target_pos[i] >> 16) & 0xff); -// send_pos_data[31] = ((target_pos[i] >> 24) & 0xff); -// -// send_pos_data[32] = (Pos[i] & 0xff); -// send_pos_data[33] = ((Pos[i] >> 8) & 0xff); -// send_pos_data[34] = ((Pos[i] >> 16) & 0xff); -// send_pos_data[35] = ((Pos[i] >> 24) & 0xff); -// -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] m_SetPotion_StartSpeed[%d] = %d,m_SetPotion_DriveSpeed[%d] = %d\n", i, m_SetPotion_StartSpeed[i], i, m_SetPotion_DriveSpeed[i]); -// }*/ -// m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); -// Sleep(6); -// } -// -// //娓呴櫎缂撳瓨浣嶇疆 -// while (m_SO7_Serial.m_RecvData[39]) -// { -// send_pos_data[0] = CT_ORDER; -// send_pos_data[1] = CT_POSFLAG_CLEAR; -// m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); -// Sleep(10); -// } -// -// Sleep(10); -// //鍚姩鎻掕ˉ鍜屽畾浣嶅姛鑳 -// /* if (m_motorType == 1) -// { -// send_pos_data[0] = CT_MOTOR; -// send_pos_data[1] = CT_START_POSITION; -// send_pos_data[2] = xyzAxis; -// send_pos_data[3] = 0x53; -// send_pos_data[4] = INTERPOLATION; -// } -// else -// {*/ -// send_pos_data[0] = CT_MOTOR; -// send_pos_data[1] = CT_START_POSITION; -// send_pos_data[2] = axis_start; -// send_pos_data[3] = 0x53; -// send_pos_data[4] = m_motorType & 0xff; -// /* }*/ -// for (int j = 1; j < axisCount; j++) -// { -// send_pos_data[9 + 4 * (j - 1)] = (target_pos[j] & 0xff); -// send_pos_data[10 + 4 * (j - 1)] = ((target_pos[j] >> 8) & 0xff); -// send_pos_data[11 + 4 * (j - 1)] = ((target_pos[j] >> 16) & 0xff); -// send_pos_data[12 + 4 * (j - 1)] = ((target_pos[j] >> 24) & 0xff); -// } -// //send_pos_data[25] = direct_pos; -// int stepmotoracc = 0; -// stepmotoracc = CaculateStepMotorACC(Pos[1], m_SetPotion_Line[1], 10); -// send_pos_data[25] = stepmotoracc; -// stepmotoracc = CaculateStepMotorACC(Pos[2], m_SetPotion_Line[2], 10); -// send_pos_data[26] = stepmotoracc; -// stepmotoracc = CaculateStepMotorACC(Pos[3], m_SetPotion_Line[3], 10); -// send_pos_data[27] = stepmotoracc; -// stepmotoracc = CaculateStepMotorACC(Pos[4], m_SetPotion_Line[4], 10); -// /*send_pos_data[25] = m_SetPotion_Line[1]; -// send_pos_data[26] = m_SetPotion_Line[2]; -// send_pos_data[27] = m_SetPotion_Line[3]; -// send_pos_data[28] = m_SetPotion_Line[4];*/ -// -// send_pos_data[29] = m_SpeedAdjustPeriod[1]; -// send_pos_data[30] = m_SpeedAdjustPeriod[2]; -// send_pos_data[31] = m_SpeedAdjustPeriod[3]; -// send_pos_data[32] = m_SpeedAdjustPeriod[4]; -// -// for (size_t i = 1; i < 5; i++) -// { -// Stepdriverspeed[i] = m_SetPotion_DriveSpeed[i] * m_Resolution[i] * 50; -// } -// -// send_pos_data[33] = (Stepdriverspeed[1] >> 8) & 0xff; -// send_pos_data[34] = Stepdriverspeed[1] & 0xff; -// send_pos_data[35] = (Stepdriverspeed[2] >> 8) & 0xff; -// send_pos_data[36] = Stepdriverspeed[2] & 0xff; -// send_pos_data[37] = (Stepdriverspeed[3] >> 8) & 0xff; -// send_pos_data[38] = Stepdriverspeed[3] & 0xff; -// send_pos_data[39] = (Stepdriverspeed[4] >> 8) & 0xff; -// send_pos_data[40] = Stepdriverspeed[4] & 0xff; -// -// if (bCircleRun) //鍦嗗姬鎻掕ˉ -// { -// bCircleRun = false; -// send_pos_data[1] = CT_CIRCLERUN_POSITION; -// send_pos_data[2] = 0x03; -// send_pos_data[4] = CIRCLER; -// for (size_t i = 1; i < 3; i++) -// { -// iCircleRunPnt[i] = iCircleRunPnt[i] - NowPos[i]; -// send_pos_data[26 + 4 * (i - 1)] = (iCircleRunPnt[i] & 0xff); -// send_pos_data[27 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 8) & 0xff); -// send_pos_data[28 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 16) & 0xff); -// send_pos_data[29 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 24) & 0xff); -// } -// } -// g_IsClose = false; -// m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); -// set_start = GetTickCount(); -// Sleep(3); // -// if (eType == HSI_MOTION_MOVE_NOWAIT) -// { -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait SetEvent\n"); -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait move!\n"); -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Nowait\n"); -// m_IsExMotion = 0; -// bRunGlueDispenser = HSI_THREAD_PAUSED; -// m_Thread_State = HSI_THREAD_RUNNING; -// SetEvent(m_hTriggerEvent); -// } -// if (eType == HSI_MOTION_MOVE_WAIT) -// { -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n"); -// m_Thread_State = HSI_THREAD_RUNNING; -// m_IsExMotion = 0; -// UpdateMotionState(); -// m_Thread_State = HSI_THREAD_PAUSED; -// } -// } -// else -// { -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] HSI_STATUS_MOTION_MOVING\n"); -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n"); -// rStatus = HSI_STATUS_MOTION_MOVING; -// } -// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n"); -// targetpos_l[1] = PositionX; -// targetpos_l[2] = PositionY; -// targetpos_l[3] = PositionZ; -// } -// ReleaseMutex(g_WR_ToMove_Mutex); -// return rStatus; -//} + //HSI_STATUS HSI_Motion::SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, + // HSI_MOTION_MOVE_TYPE eType, double dFlyRadius) + //{ + // WaitForSingleObject(g_WR_ToMove_Mutex, INFINITE); + // auto rStatus = HSI_STATUS_NORMAL; + // if (g_pHSI_Motion) + // { + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n"); + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,PositionY, PositionZ); + // unsigned char send_pos_data[64] = { 0 }; + // axis_start = 0; + // unsigned char direct_pos = 0; + // unsigned char xyzAxis = 0; + // //濡傛灉鐘舵侀潪 杩愬姩涓紝璁剧疆涓鸿繍鍔ㄤ腑 + // if (CurrentMotionState != E_SO7_MOTION_MOVETO) + // { + // CurrentMotionState = E_SO7_MOTION_MOVETO; + // LimitOver(HSI_MOTION_AXIS_X, PositionX); + // LimitOver(HSI_MOTION_AXIS_Y, PositionY); + // LimitOver(HSI_MOTION_AXIS_Z, PositionZ); + // LimitOver(HSI_MOTION_AXIS_R, m_PositionA); + // + // m_PosThread[1] = PositionX; //SetpositionXyz鐨勭洰鏍囦綅缃 + // m_PosThread[2] = PositionY; + // m_PosThread[3] = PositionZ; + // m_PosThread[4] = m_PositionA; + // + // targetpos_n[1] = PositionX; + // targetpos_n[2] = PositionY; + // targetpos_n[3] = PositionZ; + // targetpos_n[4] = m_PositionA; + // + // int Pos_t[5] = { 0 }; + // int Pos_n[5] = { 0 }; + // int Pos[5] = { 0 }; + // int NowPos[5] = { 0 }; + // int target_pos[5] = { 0 }; + // + // if (m_SO7_Serial.m_RecvData[0] == 2) + // { + // //鏍规嵁璁惧绫诲瀷鑾峰彇鐜板湪浣嶇疆 + // if (m_DeviceType != 1) //璁惧绫诲瀷闈炰笁婵鍏 + // { + // if (m_IsHavePattern & 0x01 == 0x01) + // NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial. + // m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); + // else + // NowPos[1] = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | + // m_SO7_Serial.m_RecvData[19] << 8 | m_SO7_Serial.m_RecvData[20]); + // if (m_IsHavePattern & 0x02) + // NowPos[2] = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial. + // m_RecvData[7] << 8 | m_SO7_Serial.m_RecvData[8]); + // else + // NowPos[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | + // m_SO7_Serial.m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); + // if (m_IsHavePattern & 0x04) + // NowPos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial + // .m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]); + // else + // NowPos[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | + // m_SO7_Serial.m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); + // if (m_IsHavePattern & 0x08) + // NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | + // m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); + // else + // NowPos[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 | + // m_SO7_Serial.m_RecvData[31] << 8 | m_SO7_Serial.m_RecvData[32]); + // } + // else + // { + // NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial. + // m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); + // NowPos[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial. + // m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); + // NowPos[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial. + // m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); + // NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial. + // m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); + // } + // //NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]); + // //NowPos[2] = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial.m_RecvData[7] << 8 | m_SO7_Serial.m_RecvData[8]); + // //NowPos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial.m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]); + // //NowPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]); + // + // Pos_t[1] = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | m_SO7_Serial. + // m_RecvData[19] << 8 | m_SO7_Serial.m_RecvData[20]); + // Pos_t[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial. + // m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]); + // Pos_t[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial. + // m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]); + // Pos_t[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 | m_SO7_Serial. + // m_RecvData[31] << 8 | m_SO7_Serial.m_RecvData[32]); + // } + // else + // { + // /* 缂栬瘧鍣ㄩ殣寮忔墽琛岀殑浠讳綍绫诲瀷杞崲閮藉彲浠ョ敱static_cast鏄惧紡瀹屾垚銆 + // static_cast鍙互鐢ㄦ潵灏嗘灇涓剧被鍨嬭浆鎹㈡垚鏁村瀷锛屾垨鑰呮暣鍨嬭浆鎹㈡垚娴偣鍨*/ + // Pos_t[1] = NowPos[1] = static_cast(m_EncPos[1] / m_Resolution[1]); + // Pos_t[2] = NowPos[2] = static_cast(m_EncPos[2] / m_Resolution[2]); + // Pos_t[3] = NowPos[3] = static_cast(m_EncPos[3] / m_Resolution[3]); + // Pos_t[4] = NowPos[4] = static_cast(m_EncPos[4] / m_Resolution[4]); + // } + // + // if (m_motorType & 0x01) //姝ヨ繘鐢垫満 + // Pos[1] = static_cast(PositionX / m_Resolution[1]) - NowPos[1]; + // else + // Pos[1] = static_cast(PositionX / m_Resolution[1]) - Pos_t[1]; + // if (m_motorType & 0x02) //姝ヨ繘鐢垫満 + // Pos[2] = static_cast(PositionX / m_Resolution[2]) - NowPos[2]; + // else + // Pos[2] = static_cast(PositionY / m_Resolution[2]) - Pos_t[2]; + // if (m_motorType & 0x04) //姝ヨ繘鐢垫満 + // Pos[3] = static_cast(PositionX / m_Resolution[3]) - NowPos[3]; + // else + // Pos[3] = static_cast(PositionZ / m_Resolution[3]) - Pos_t[3]; + // if (m_motorType & 0x08) //姝ヨ繘鐢垫満 + // Pos[4] = static_cast(PositionX / m_Resolution[4]) - NowPos[4]; + // else + // Pos[4] = static_cast(m_PositionA / m_Resolution[4]) - Pos_t[4]; + // + // /*if (m_motorType==1) + // { + // if (m_IsUse_HSICompensation) + // { + // } + // else + // { + // Pos[1] = (int)(PositionX / m_Resolution[1]) - NowPos[1]; + // Pos[2] = (int)(PositionY / m_Resolution[2]) - NowPos[2]; + // Pos[3] = (int)(PositionZ / m_Resolution[3]) - NowPos[3]; + // Pos[4] = (int)(m_PositionA / m_Resolution[4]) - NowPos[4]; + // } + // } + // else + // { + // Pos_n[1] = (int)(targetpos_n[1] / m_Resolution[1]) - NowPos[1]; + // Pos_n[2] = (int)(targetpos_n[2] / m_Resolution[2]) - NowPos[2]; + // Pos_n[3] = (int)(targetpos_n[3] / m_Resolution[3]) - NowPos[3]; + // + // Pos_t[1] = (int)(targetpos_n[1] / m_Resolution[1]) - (int)(targetpos_l[1] / m_Resolution[1]); + // Pos_t[2] = (int)(targetpos_n[2] / m_Resolution[2]) - (int)(targetpos_l[2] / m_Resolution[1]); + // Pos_t[3] = (int)(targetpos_n[3] / m_Resolution[3]) - (int)(targetpos_l[3] / m_Resolution[1]); + // + // if (m_IsUse_HSICompensation) + // { + // for (int k = 1; k < 4; k++) + // { + // if (abs(Pos_n[k] - Pos_t[k]) > m_Compensation_Pluse) + // { + // Pos[k] = Pos_n[k]; + // } + // else + // { + // Pos[k] = Pos_t[k]; + // } + // if (abs(Pos[k]) < m_Compensation_Pluse) + // { + // Pos[k] = 0; + // } + // } + // } + // else + // { + // Pos[1] = (int)(PositionX / m_Resolution[1]) - NowPos[1]; + // Pos[2] = (int)(PositionY / m_Resolution[2]) - NowPos[2]; + // Pos[3] = (int)(PositionZ / m_Resolution[3]) - NowPos[3]; + // Pos[4] = (int)(m_PositionA / m_Resolution[4]) - NowPos[4]; + // } + // }*/ + // target_pos[1] = static_cast(PositionX / m_Resolution[1]); //璁＄畻鍒扮洰鏍囦綅缃 + // target_pos[2] = static_cast(PositionY / m_Resolution[2]); + // target_pos[3] = static_cast(PositionZ / m_Resolution[3]); + // target_pos[4] = static_cast(m_PositionA / m_Resolution[4]); + // + // begin_position[1] = target_pos[1]; //灏嗙洰鏍囦綅缃缃负 寮濮嬩綅缃 + // begin_position[2] = target_pos[2]; + // begin_position[3] = target_pos[3]; + // begin_position[4] = target_pos[4]; + // + // float scale[4] = { 0 }; + // int Stepdriverspeed[5] = { 0 }; + // int StepStartspeed[5] = { 0 }; + // int StepAcc[5] = { 0 }; + // //if (Pos[1] > 0) direct_pos |= 0x01; + // //if (Pos[2] > 0) direct_pos |= 0x02; + // //if (Pos[3] > 0) direct_pos |= 0x04; + // if (abs(Pos[1]) > 2) axis_start |= 0x01; + // if (abs(Pos[2]) > 2) axis_start |= 0x02; + // if (abs(Pos[3]) > 2) axis_start |= 0x04; + // int MaxPos = abs(Pos[1]); + // for (int i = 2; i < 5; i++) + // { + // if (MaxPos < abs(Pos[i])) + // { + // MaxPos = abs(Pos[i]); + // } + // } + // //MaxPos = abs(MaxPos); + // scale[0] = abs(Pos[1]) / static_cast(MaxPos); + // scale[1] = abs(Pos[2]) / static_cast(MaxPos); + // scale[2] = abs(Pos[3]) / static_cast(MaxPos); + // scale[3] = abs(Pos[4]) / static_cast(MaxPos); + // + // g_pLogger->SendAndFlushWithTime( + // L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", + // NowPos[1] * m_Resolution[1], NowPos[2] * m_Resolution[2], NowPos[3] * m_Resolution[3], + // NowPos[4] * m_Resolution[4]); + // g_pLogger->SendAndFlushWithTime( + // L"[SetPositionXyzTagPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX, + // PositionY, PositionZ, m_PositionA); + // + // int stepinterpolation = 0x03; + // //if (!m_motorType) + // //{ + // // /*if ((stepinterpolation & 0x01) && m_IsUseManualRunin) + // // { + // // Stepdriverspeed[1] = m_SetPotion_DriveSpeed[1] * scale[0]; + // // if (Stepdriverspeed[1] < m_SetPotion_StartSpeed[1]) + // // { + // // Stepdriverspeed[1] = m_SetPotion_StartSpeed[1]; + // // } + // // } + // // else + // // { + // // Stepdriverspeed[1] = m_SetPotion_DriveSpeed[1]; + // // } + // // if ((stepinterpolation & 0x02) && m_IsUseManualRunin) + // // { + // // Stepdriverspeed[2] = m_SetPotion_DriveSpeed[2] * scale[1]; + // // if (Stepdriverspeed[2] < m_SetPotion_StartSpeed[2]) + // // { + // // Stepdriverspeed[2] = m_SetPotion_StartSpeed[2]; + // // } + // // } + // // else + // // { + // // Stepdriverspeed[2] = m_SetPotion_DriveSpeed[2]; + // // } + // // if ((stepinterpolation & 0x04) && m_IsUseManualRunin) + // // { + // // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3] * scale[2]; + // // if (Stepdriverspeed[3] < m_SetPotion_StartSpeed[3]) + // // { + // // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; + // // } + // // } + // // else + // // { + // // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; + // // } + // // if ((stepinterpolation & 0x08) && m_IsUseManualRunin) + // // { + // // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4] * scale[3]; + // // if (Stepdriverspeed[4] < m_SetPotion_StartSpeed[4]) + // // { + // // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4]; + // // } + // // } + // // else + // // { + // // Stepdriverspeed[4] = m_SetPotion_DriveSpeed[4]; + // // }*/ + // // for (int i = 1; i < 3; i++) + // // { + // // if (abs(Pos[i]) < m_stepPosition_Load[0]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[0]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[0]; + // // StepAcc[i] = m_stepPosition_acc[0]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[1]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[1]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[1]; + // // StepAcc[i] = m_stepPosition_acc[1]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[2]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[2]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[2]; + // // StepAcc[i] = m_stepPosition_acc[2]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[3]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[3]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[3]; + // // StepAcc[i] = m_stepPosition_acc[3]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[4]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[4]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[4]; + // // StepAcc[i] = m_stepPosition_acc[4]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[5]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[5]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[5]; + // // StepAcc[i] = m_stepPosition_acc[5]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[6]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[6]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[6]; + // // StepAcc[i] = m_stepPosition_acc[6]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[7]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[7]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[7]; + // // StepAcc[i] = m_stepPosition_acc[7]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[8]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[8]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[8]; + // // StepAcc[i] = m_stepPosition_acc[8]; + // // } + // // else if (abs(Pos[i]) < m_stepPosition_Load[9]) + // // { + // // StepStartspeed[i] = m_stepPosition_L_speed[9]; + // // Stepdriverspeed[i] = m_stepPosition_H_speed[9]; + // // StepAcc[i] = m_stepPosition_acc[9]; + // // } + // // else + // // { + // // StepStartspeed[i] = m_SetPotion_StartSpeed[i]; + // // Stepdriverspeed[i] = m_SetPotion_DriveSpeed[i]; + // // StepAcc[i] = m_SetPotion_Line[i]; + // // } + // // } + // // StepStartspeed[3] = m_SetPotion_StartSpeed[3]; + // // StepAcc[3] = m_SetPotion_Line[3]; + // // Stepdriverspeed[3] = m_SetPotion_DriveSpeed[3]; + // //} + // + // int axisCount = 4; + // if (fourthAxisFlag) //绗4杞 + // { + // fourthAxisFlag = false; + // if (Pos[4] > 0) direct_pos |= 0x08; + // if (abs(Pos[4]) > 20) axis_start |= 0x08; + // axisCount = 5; + // xyzAxis = AXIS_XYZU; + // } + // else + // { + // xyzAxis = AXIS_XYZ; + // } + // + // //璁剧疆杩愬姩鍙傛暟 + // for (int i = 1; i < axisCount; i++) + // { + // int time_out_send = 0; + // + // send_pos_data[0] = CT_MOTOR; + // send_pos_data[1] = CT_MOTOR_SET; + // send_pos_data[2] = 1 << (i - 1); + // send_pos_data[3] = POSITION_SPEED_ACC_DEC_POS; + // /*if (m_motorType == 1) + // {*/ + // send_pos_data[4] = (m_SetPotion_StartSpeed[i] & 0xff); + // send_pos_data[5] = ((m_SetPotion_StartSpeed[i] >> 8) & 0xff); + // send_pos_data[6] = ((m_SetPotion_StartSpeed[i] >> 16) & 0xff); + // send_pos_data[7] = ((m_SetPotion_StartSpeed[i] >> 24) & 0xff); + // if ((xyzAxis == AXIS_XYZU) && (m_IsUseFourthSpeed == 1)) + // { + // send_pos_data[8] = (m_SetPotion_DriveSpeed[4] & 0xff); + // send_pos_data[9] = ((m_SetPotion_DriveSpeed[4] >> 8) & 0xff); + // send_pos_data[10] = ((m_SetPotion_DriveSpeed[4] >> 16) & 0xff); + // send_pos_data[11] = ((m_SetPotion_DriveSpeed[4] >> 24) & 0xff); + // } + // else + // { + // send_pos_data[8] = (m_SetPotion_DriveSpeed[i] & 0xff); + // send_pos_data[9] = ((m_SetPotion_DriveSpeed[i] >> 8) & 0xff); + // send_pos_data[10] = ((m_SetPotion_DriveSpeed[i] >> 16) & 0xff); + // send_pos_data[11] = ((m_SetPotion_DriveSpeed[i] >> 24) & 0xff); + // } + // send_pos_data[12] = (m_SetPotion_Line[i] & 0xff); + // send_pos_data[13] = ((m_SetPotion_Line[i] >> 8) & 0xff); + // send_pos_data[14] = ((m_SetPotion_Line[i] >> 16) & 0xff); + // send_pos_data[15] = ((m_SetPotion_Line[i] >> 24) & 0xff); + // + // send_pos_data[16] = (m_SetPotion_Buffer[i] & 0xff); + // send_pos_data[17] = ((m_SetPotion_Buffer[i] >> 8) & 0xff); + // send_pos_data[18] = ((m_SetPotion_Buffer[i] >> 16) & 0xff); + // send_pos_data[19] = ((m_SetPotion_Buffer[i] >> 24) & 0xff); + // + // send_pos_data[28] = (target_pos[i] & 0xff); + // send_pos_data[29] = ((target_pos[i] >> 8) & 0xff); + // send_pos_data[30] = ((target_pos[i] >> 16) & 0xff); + // send_pos_data[31] = ((target_pos[i] >> 24) & 0xff); + // + // send_pos_data[32] = (Pos[i] & 0xff); + // send_pos_data[33] = ((Pos[i] >> 8) & 0xff); + // send_pos_data[34] = ((Pos[i] >> 16) & 0xff); + // send_pos_data[35] = ((Pos[i] >> 24) & 0xff); + // + // g_pLogger->SendAndFlushWithTime( + // L"[SetPositionXyz] m_SetPotion_StartSpeed[%d] = %d,m_SetPotion_DriveSpeed[%d] = %d\n", i, + // m_SetPotion_StartSpeed[i], i, m_SetPotion_DriveSpeed[i]); + // //send_pos_data[32] = 0x21; + // /*}*/ + // + // /*else + // { + // send_pos_data[4] = (StepStartspeed[i] & 0xff); + // send_pos_data[5] = ((StepStartspeed[i] >> 8) & 0xff); + // send_pos_data[6] = ((StepStartspeed[i] >> 16) & 0xff); + // send_pos_data[7] = ((StepStartspeed[i] >> 24) & 0xff); + // + // send_pos_data[8] = (Stepdriverspeed[i] & 0xff); + // send_pos_data[9] = ((Stepdriverspeed[i] >> 8) & 0xff); + // send_pos_data[10] = ((Stepdriverspeed[i] >> 16) & 0xff); + // send_pos_data[11] = ((Stepdriverspeed[i] >> 24) & 0xff); + // + // send_pos_data[12] = (StepAcc[i] & 0xff); + // send_pos_data[13] = ((StepAcc[i] >> 8) & 0xff); + // send_pos_data[14] = ((StepAcc[i] >> 16) & 0xff); + // send_pos_data[15] = ((StepAcc[i] >> 24) & 0xff); + // + // send_pos_data[16] = (m_SetPotion_Buffer[i] & 0xff); + // send_pos_data[17] = ((m_SetPotion_Buffer[i] >> 8) & 0xff); + // send_pos_data[18] = ((m_SetPotion_Buffer[i] >> 16) & 0xff); + // send_pos_data[19] = ((m_SetPotion_Buffer[i] >> 24) & 0xff); + // + // send_pos_data[28] = (target_pos[i] & 0xff); + // send_pos_data[29] = ((target_pos[i] >> 8) & 0xff); + // send_pos_data[30] = ((target_pos[i] >> 16) & 0xff); + // send_pos_data[31] = ((target_pos[i] >> 24) & 0xff); + // + // send_pos_data[32] = (Pos[i] & 0xff); + // send_pos_data[33] = ((Pos[i] >> 8) & 0xff); + // send_pos_data[34] = ((Pos[i] >> 16) & 0xff); + // send_pos_data[35] = ((Pos[i] >> 24) & 0xff); + // + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] m_SetPotion_StartSpeed[%d] = %d,m_SetPotion_DriveSpeed[%d] = %d\n", i, m_SetPotion_StartSpeed[i], i, m_SetPotion_DriveSpeed[i]); + // }*/ + // m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); + // Sleep(6); + // } + // + // //娓呴櫎缂撳瓨浣嶇疆 + // while (m_SO7_Serial.m_RecvData[39]) + // { + // send_pos_data[0] = CT_ORDER; + // send_pos_data[1] = CT_POSFLAG_CLEAR; + // m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); + // Sleep(10); + // } + // + // Sleep(10); + // //鍚姩鎻掕ˉ鍜屽畾浣嶅姛鑳 + // /* if (m_motorType == 1) + // { + // send_pos_data[0] = CT_MOTOR; + // send_pos_data[1] = CT_START_POSITION; + // send_pos_data[2] = xyzAxis; + // send_pos_data[3] = 0x53; + // send_pos_data[4] = INTERPOLATION; + // } + // else + // {*/ + // send_pos_data[0] = CT_MOTOR; + // send_pos_data[1] = CT_START_POSITION; + // send_pos_data[2] = axis_start; + // send_pos_data[3] = 0x53; + // send_pos_data[4] = m_motorType & 0xff; + // /* }*/ + // for (int j = 1; j < axisCount; j++) + // { + // send_pos_data[9 + 4 * (j - 1)] = (target_pos[j] & 0xff); + // send_pos_data[10 + 4 * (j - 1)] = ((target_pos[j] >> 8) & 0xff); + // send_pos_data[11 + 4 * (j - 1)] = ((target_pos[j] >> 16) & 0xff); + // send_pos_data[12 + 4 * (j - 1)] = ((target_pos[j] >> 24) & 0xff); + // } + // //send_pos_data[25] = direct_pos; + // int stepmotoracc = 0; + // stepmotoracc = CaculateStepMotorACC(Pos[1], m_SetPotion_Line[1], 10); + // send_pos_data[25] = stepmotoracc; + // stepmotoracc = CaculateStepMotorACC(Pos[2], m_SetPotion_Line[2], 10); + // send_pos_data[26] = stepmotoracc; + // stepmotoracc = CaculateStepMotorACC(Pos[3], m_SetPotion_Line[3], 10); + // send_pos_data[27] = stepmotoracc; + // stepmotoracc = CaculateStepMotorACC(Pos[4], m_SetPotion_Line[4], 10); + // /*send_pos_data[25] = m_SetPotion_Line[1]; + // send_pos_data[26] = m_SetPotion_Line[2]; + // send_pos_data[27] = m_SetPotion_Line[3]; + // send_pos_data[28] = m_SetPotion_Line[4];*/ + // + // send_pos_data[29] = m_SpeedAdjustPeriod[1]; + // send_pos_data[30] = m_SpeedAdjustPeriod[2]; + // send_pos_data[31] = m_SpeedAdjustPeriod[3]; + // send_pos_data[32] = m_SpeedAdjustPeriod[4]; + // + // for (size_t i = 1; i < 5; i++) + // { + // Stepdriverspeed[i] = m_SetPotion_DriveSpeed[i] * m_Resolution[i] * 50; + // } + // + // send_pos_data[33] = (Stepdriverspeed[1] >> 8) & 0xff; + // send_pos_data[34] = Stepdriverspeed[1] & 0xff; + // send_pos_data[35] = (Stepdriverspeed[2] >> 8) & 0xff; + // send_pos_data[36] = Stepdriverspeed[2] & 0xff; + // send_pos_data[37] = (Stepdriverspeed[3] >> 8) & 0xff; + // send_pos_data[38] = Stepdriverspeed[3] & 0xff; + // send_pos_data[39] = (Stepdriverspeed[4] >> 8) & 0xff; + // send_pos_data[40] = Stepdriverspeed[4] & 0xff; + // + // if (bCircleRun) //鍦嗗姬鎻掕ˉ + // { + // bCircleRun = false; + // send_pos_data[1] = CT_CIRCLERUN_POSITION; + // send_pos_data[2] = 0x03; + // send_pos_data[4] = CIRCLER; + // for (size_t i = 1; i < 3; i++) + // { + // iCircleRunPnt[i] = iCircleRunPnt[i] - NowPos[i]; + // send_pos_data[26 + 4 * (i - 1)] = (iCircleRunPnt[i] & 0xff); + // send_pos_data[27 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 8) & 0xff); + // send_pos_data[28 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 16) & 0xff); + // send_pos_data[29 + 4 * (i - 1)] = ((iCircleRunPnt[i] >> 24) & 0xff); + // } + // } + // g_IsClose = false; + // m_WriteByte = Send_Command(0, (const char*)send_pos_data, m_SendDataLength); + // set_start = GetTickCount(); + // Sleep(3); // + // if (eType == HSI_MOTION_MOVE_NOWAIT) + // { + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait SetEvent\n"); + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait move!\n"); + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Nowait\n"); + // m_IsExMotion = 0; + // bRunGlueDispenser = HSI_THREAD_PAUSED; + // m_Thread_State = HSI_THREAD_RUNNING; + // SetEvent(m_hTriggerEvent); + // } + // if (eType == HSI_MOTION_MOVE_WAIT) + // { + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n"); + // m_Thread_State = HSI_THREAD_RUNNING; + // m_IsExMotion = 0; + // UpdateMotionState(); + // m_Thread_State = HSI_THREAD_PAUSED; + // } + // } + // else + // { + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] HSI_STATUS_MOTION_MOVING\n"); + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n"); + // rStatus = HSI_STATUS_MOTION_MOVING; + // } + // g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n"); + // targetpos_l[1] = PositionX; + // targetpos_l[2] = PositionY; + // targetpos_l[3] = PositionZ; + // } + // ReleaseMutex(g_WR_ToMove_Mutex); + // return rStatus; + //} HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius) @@ -3540,8 +3546,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_SetPotion_DriveSpeed[1] * 100 }; - SetSingleAxisMotionParams(ACSC_AXIS_1, X_SetmotionParam);//璁剧疆X杞村畾浣嶉熷害 - m_SetPotion_DriveSpeed[ACSC_AXIS_1] = X_SetmotionParam[0];// 璁板綍X杞撮熷害 + SetSingleAxisMotionParams(ACSAxisNumbers[0], X_SetmotionParam);//璁剧疆X杞村畾浣嶉熷害 + m_SetPotion_DriveSpeed[ACSAxisNumbers[0]] = X_SetmotionParam[0];// 璁板綍X杞撮熷害 g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] 璁剧疆Y杞村畾浣嶉熷害 %d\n", m_SetPotion_DriveSpeed[2]); double Y_SetmotionParam[5] = { @@ -3552,8 +3558,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_SetPotion_DriveSpeed[2] * 100 }; - SetSingleAxisMotionParams(ACSC_AXIS_0, Y_SetmotionParam);//璁剧疆Y杞村畾浣嶉熷害 - m_SetPotion_DriveSpeed[ACSC_AXIS_0] = Y_SetmotionParam[0];// 璁板綍Y杞撮熷害 + SetSingleAxisMotionParams(ACSAxisNumbers[1], Y_SetmotionParam);//璁剧疆Y杞村畾浣嶉熷害 + m_SetPotion_DriveSpeed[ACSAxisNumbers[1]] = Y_SetmotionParam[0];// 璁板綍Y杞撮熷害 g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] 璁剧疆Z杞村畾浣嶉熷害 %d\n", m_SetPotion_DriveSpeed[3]); double Z_SetmotionParam[5] = { @@ -3564,12 +3570,12 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_SetPotion_DriveSpeed[3] * 100 //鍑忓噺閫熷害 }; - SetSingleAxisMotionParams(ACSC_AXIS_8, Z_SetmotionParam);//璁剧疆Z杞村畾浣嶉熷害 - m_SetPotion_DriveSpeed[ACSC_AXIS_8] = Z_SetmotionParam[0]; //璁板綍Z杞撮熷害 + SetSingleAxisMotionParams(ACSAxisNumbers[2], Z_SetmotionParam);//璁剧疆Z杞村畾浣嶉熷害 + m_SetPotion_DriveSpeed[ACSAxisNumbers[2]] = Z_SetmotionParam[0]; //璁板綍Z杞撮熷害 //浣胯兘鐢垫満 - int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 - if (!acsc_EnableM(handleACS, Axes, nullptr)) + //int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //鏍规嵁鐢垫皵灞傞潰瀹氫箟锛岃繖閲岀殑0瀵瑰簲X杞达紝1瀵瑰簲Y杞达紝8瀵瑰簲Z杞 + if (!acsc_EnableM(handleACS, ACSAxisNumbers, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n"); ErrorsHandler(); @@ -3581,7 +3587,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P //寮濮嬭繍鍔ㄥ埌鎸囧畾浣嶇疆锛屽杞磋繍鍔 double Points[] = { PositionX, PositionY, PositionZ }; //鐩爣浣嶇疆鐐 - if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr)) //绉诲姩鍒扮粷瀵逛綅缃 + if (!acsc_ToPointM(handleACS, 0, ACSAxisNumbers, Points, nullptr)) //绉诲姩鍒扮粷瀵逛綅缃 { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n"); ErrorsHandler(); @@ -4324,6 +4330,18 @@ HSI_STATUS HSI_Motion::Load_EF3_Config_Inifile(CString GoogolIniFile) } m_EF3COMPort = GetPrivateProfileInt(L"EF3COM", L"COMPORT", 0, csAppPath); + + // 鍔犺浇ACS 杞村彿瀹氫箟 + int x = GetPrivateProfileInt(L"ACS_AXIS", L"ACS_AXIS_X", 0, csAppPath); + int y = GetPrivateProfileInt(L"ACS_AXIS", L"ACS_AXIS_Y", 0, csAppPath); + int z = GetPrivateProfileInt(L"ACS_AXIS", L"ACS_AXIS_Z", 0, csAppPath); + + ACSAxisNumbers[0] = ACSAxisDefault[x]; + ACSAxisNumbers[1] = ACSAxisDefault[y]; + ACSAxisNumbers[2] = ACSAxisDefault[z]; + ACSAxisNumbers[3] = -1; + g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Config_Inifile] 鍔犺浇ACS杞村畾涔 ACSAxisNumbers[0]: %d, ACSAxisNumbers[1]: %d, ACSAxisNumbers[2]: %d, ACSAxisNumbers[3]: %d\n", + ACSAxisNumbers[0], ACSAxisNumbers[1], ACSAxisNumbers[2], ACSAxisNumbers[3]); } return rStatus; } @@ -4447,9 +4465,9 @@ void HSI_Motion::UpdateMotionState() g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Now wait Run End\n"); printf("\nWaiting for motion end\n"); - acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);//渚濇绛夊緟 X,Y,Z杞磋繍鍔ㄥ埌浣 - acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE); - acsc_WaitMotionEnd(handleACS, ACSC_AXIS_8, INFINITE); + acsc_WaitMotionEnd(handleACS, ACSAxisNumbers[0], INFINITE);//渚濇绛夊緟 X,Y,Z杞磋繍鍔ㄥ埌浣 + acsc_WaitMotionEnd(handleACS, ACSAxisNumbers[1], INFINITE); + acsc_WaitMotionEnd(handleACS, ACSAxisNumbers[2], INFINITE); printf("\nMotion end\n"); //鍥炲璇樊 @@ -4563,21 +4581,21 @@ void HSI_Motion::UpdateMotionState() } switch (CurrentMotionState) { - case E_SO7_MOTION_MOVETO: - { - g_pLogger->SendAndFlushWithTime( - L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n"); - m_Thread_State = HSI_THREAD_PAUSED; - CurrentMotionState = E_SO7_MOTION_NONE; - m_IsExMotion = 2; - SendMsgMotionFinished(); //瀹氫綅瀹屾垚 - break; - } - default: - { - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n"); - break; - } + case E_SO7_MOTION_MOVETO: + { + g_pLogger->SendAndFlushWithTime( + L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n"); + m_Thread_State = HSI_THREAD_PAUSED; + CurrentMotionState = E_SO7_MOTION_NONE; + m_IsExMotion = 2; + SendMsgMotionFinished(); //瀹氫綅瀹屾垚 + break; + } + default: + { + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n"); + break; + } } } g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Out\n"); @@ -5081,7 +5099,7 @@ HSI_STATUS HSI_Motion::GetDIO(UINT IOChannel, UINT& _Status) auto rStatus = HSI_STATUS_NORMAL; if (g_pHSI_Motion) { - g_pLogger->SendAndFlushWithTime(L"[GetDIO] In\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetDIO] In\n"); if (m_SO7_Serial.m_RecvData[0] == 2) { if (IOChannel == HSI_MOTION_INPUT_LIMIT_SWITCH) @@ -5124,9 +5142,9 @@ HSI_STATUS HSI_Motion::GetDIO(UINT IOChannel, UINT& _Status) } else { - g_pLogger->SendAndFlushWithTime(L"[GetDIO] failed\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetDIO] failed\n"); } - g_pLogger->SendAndFlushWithTime(L"[GetDIO] Out\n"); + //g_pLogger->SendAndFlushWithTime(L"[GetDIO] Out\n"); } //-----------TEST Begin------------------ _Status = 0; @@ -5201,7 +5219,7 @@ HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status) auto rStatus = HSI_STATUS_NORMAL; if (g_pHSI_Motion) { - g_pLogger->SendAndFlushWithTime(L"[SetDIO] In\n"); + //g_pLogger->SendAndFlushWithTime(L"[SetDIO] In\n"); if (m_bISUseMoreLights > 0 && (m_ForStatus != _Status)) { if (m_Led8MotionFlag[m_selectedIndex]) @@ -5247,7 +5265,7 @@ HSI_STATUS HSI_Motion::SetDIO(UINT IOChannel, UINT _Status) //m_WriteByte = Send_Command(0, (const char*)m_cSendData, m_SendDataLength); Sleep(5); } - g_pLogger->SendAndFlushWithTime(L"[SetDIO] Out\n"); + //g_pLogger->SendAndFlushWithTime(L"[SetDIO] Out\n"); } //-----------TEST Begin------------------ @@ -5320,10 +5338,10 @@ HSI_STATUS HSI_Motion::AbortMotion() //闇瑕佽繍鍔ㄥ疄鐜 g_IsClose = true; g_pLogger->SendAndFlushWithTime(L"[AbortMotion] In\n"); - int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; + //int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; if (handleACS != ACSC_INVALID) { - if (!acsc_HaltM(handleACS, Axes, nullptr)) //鍋滄JOG杩愬姩 + if (!acsc_HaltM(handleACS, ACSAxisNumbers, nullptr)) //鍋滄JOG杩愬姩 { g_pLogger->SendAndFlushWithTime(L"[AbortMotion] ACS acsc_HaltM error!\n"); ErrorsHandler(); @@ -7814,8 +7832,8 @@ HSI_STATUS HSI_Motion::GetSpeedXyz(int AxisNum, double& Speed) short AxisNumber = AxisConvertIndex(AxisNum); //灏嗚酱鍙疯浆鎹负 骞冲彴杞村彿 //鎵撳嵃杞村彿鎹㈢畻鍚庣殑鍊 g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] AxisNum = %d, AxisNumber = %d\n", AxisNum, AxisNumber); - - // 鏂瑰紡1 + + // 鏂瑰紡1 for (int j = 0;j < 9;j++) { //鍐欐棩蹇 @@ -7823,8 +7841,6 @@ HSI_STATUS HSI_Motion::GetSpeedXyz(int AxisNum, double& Speed) } Speed = m_SetPotion_DriveSpeed[AxisNumber]; //浠巑_SetPotion_DriveSpeed[AxisNumber]涓幏鍙栭熷害 - - //鏂瑰紡2锛屼粠搴曞眰鏌ヨ double getMotionParam[5] = { 0 }; GetSingleAxisParam(AxisNumber, getMotionParam); //鑾峰彇鍗曡酱杩愬姩鍙傛暟 @@ -7834,7 +7850,6 @@ HSI_STATUS HSI_Motion::GetSpeedXyz(int AxisNum, double& Speed) Speed = getMotionParam[0]; //浠巊etMotionParam[0]涓幏鍙栭熷害 - g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] AxisNum = %d, Speed=%.2f\n", AxisNumber, Speed); g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] Out ================================ \n"); return rStatus; @@ -7949,7 +7964,6 @@ HSI_STATUS HSI_Motion::SetFocusSpeed(double Speed) g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] Speed = %f\n", Speed); if (Speed >= -1 && Speed <= 0) { - m_JogDriveSpeed[3][4] = static_cast(fabs(Speed * m_Jog_Auto_Focus)); g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] m_Jog_SpeedZ[3][4] = %d\n", m_JogDriveSpeed[3][4]); } @@ -8053,37 +8067,37 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) //鍗曡酱杞檺浣 //=========================================================================== short HSI_Motion::AxisConvertIndex(UINT AxisTypes) { - short AxisNumber(0); + short m_Axis(0); switch (AxisTypes) { case HSI_MOTION_AXIS_X: { - AxisNumber = 0x01; //瀵瑰簲ACS 骞冲彴 1杞 + m_Axis = ACSAxisNumbers[0]; //瀵瑰簲ACS 骞冲彴 1杞 break; } case HSI_MOTION_AXIS_Y: { - AxisNumber = 0x00; //瀵瑰簲 ACS 骞冲彴 0杞 (榫欓棬杞) + m_Axis = ACSAxisNumbers[1]; //瀵瑰簲 ACS 骞冲彴 0杞 (榫欓棬杞) break; } case HSI_MOTION_AXIS_Z: { - AxisNumber = 0x08;//瀵瑰簲 ACS骞冲彴 8杞 锛坋cat閫氳锛 + m_Axis = ACSAxisNumbers[2];//瀵瑰簲 ACS骞冲彴 8杞 锛坋cat閫氳锛 break; } case HSI_MOTION_AXIS_R: { - AxisNumber = 0x04; + m_Axis = 0x04; break; } default: { g_pLogger->SendAndFlushWithTime(L"[AxisConvertIndex] failed, AxisTypes = %d,AxisNumber = %d\n", AxisTypes, - AxisNumber); + m_Axis); break; } } - return AxisNumber; + return m_Axis; } //=========================================================================== @@ -8092,7 +8106,6 @@ void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetMotionParam g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisMotionParams] In >>>>>>>>>>>>>>>>>>>>>> \n"); double getMotionParam[5] = { 0 }; - GetSingleAxisParam(AxisTypes, getMotionParam); //鑾峰彇鍗曡酱杩愬姩鍙傛暟 g_pLogger->SendAndFlushWithTime( L"[before] Axis= %d, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n", @@ -8208,7 +8221,7 @@ HSI_STATUS HSI_Motion::GetPositionEx(UINT AxisTypes, double& Position, double& T double position[4] = { 0.0 }; short AxisNumber = AxisConvertIndex(AxisTypes); Position = m_PosForAllAxis[AxisNumber]; - g_pLogger->SendAndFlushWithTime(L"[GetPositionEx] Position: %d\n", Position); + //g_pLogger->SendAndFlushWithTime(L"[GetPositionEx] Position: %d\n", Position); } return rStatus; } diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h index d637193..9194c81 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.h +++ b/HSI_HexagonMI_EF3/HSI_Motion.h @@ -14,7 +14,7 @@ #define THREAD_EXIT -1 #define MAX_BUFF_SIZE 0x200 const double SCALE_UNITS = 1000.0; -static CLogger* g_pLogger; + static CLogger* g_pLogger2; static bool g_IsClose; //鐢ㄤ簬DoEvents()鐨勯鍑猴紝鑰屼笉寮傚父 @@ -554,6 +554,26 @@ public: unsigned char m_cSendData[64]; unsigned char m_direct_pos; unsigned char axis_start; + + // ACS杞村彿瀹氫箟 + static const int MAX_AXES = 10; // 瀹氫箟杞寸殑鏈澶ф暟閲 + + // ACS杞村彿 + int ACSAxisDefault[MAX_AXES] = + { + ACSC_AXIS_0, // 榛樿鍊 + ACSC_AXIS_1, // 榛樿鍊 + ACSC_AXIS_2, // 榛樿鍊 + ACSC_AXIS_3, // 榛樿鍊 + ACSC_AXIS_4, // 榛樿鍊 + ACSC_AXIS_5, // 榛樿鍊 + ACSC_AXIS_6, // 榛樿鍊 + ACSC_AXIS_7, // 榛樿鍊 + ACSC_AXIS_8, // 榛樿鍊 + ACSC_AXIS_9, // 榛樿鍊 + }; + + int ACSAxisNumbers[3]; CPSerial m_SO7_Serial; DWORD m_WriteByte; diff --git a/HSI_HexagonMI_EF3/logger.h b/HSI_HexagonMI_EF3/logger.h index 555afcd..d227528 100644 --- a/HSI_HexagonMI_EF3/logger.h +++ b/HSI_HexagonMI_EF3/logger.h @@ -84,5 +84,5 @@ public: CRITICAL_SECTION m_lockLogger;//涓寸晫鍖 }; - +extern CLogger* g_pLogger; #endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_) diff --git a/HSI_HexagonMI_EF3/version.cmd b/HSI_HexagonMI_EF3/version.cmd index 740421b..6baf6c4 100644 --- a/HSI_HexagonMI_EF3/version.cmd +++ b/HSI_HexagonMI_EF3/version.cmd @@ -5,7 +5,7 @@ echo Generate release version ::闇瑕佷汉宸ヨ缃殑鐗堟湰鍙---------------------------------------------------------------------------------- set major_ver=0 set minor_ver=0 -set revsion_ver=2 +set revsion_ver=3 ::------------------------------------------------------------------------------------------------------ set revfile="%~dp0version.h" diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h index 582ed31..7cedd3e 100644 --- a/HSI_HexagonMI_EF3/version.h +++ b/HSI_HexagonMI_EF3/version.h @@ -4,13 +4,13 @@ #define HSI_VERSION_NUM #define HSI_VERSION_SET _T("") /// -#define HSI_VERSION "0.0.2" -#define HSI_VERSION_CSTRING _T("0.0.2") +#define HSI_VERSION "0.0.3" +#define HSI_VERSION_CSTRING _T("0.0.3") #define HSI_VERSION_MAJOR 0 #define HSI_VERSION_MINOR 0 -#define HSI_VERSION_REVISION 2 +#define HSI_VERSION_REVISION 3 #define HSI_VERSION_REVNUM #define HSI_VERSION_BUILD_DATE _T(__DATE__ ) #define HSI_VERSION_BUILD_TIME _T(__TIME__ ) -#define HSI_FILE_DESCRIPTION "2025.02.17 / 11:10 " -#define HSI_FILE_CSDESCRIPTION _T("2025.02.17 / 11:10 ") +#define HSI_FILE_DESCRIPTION "2025.02.18 / 17:09 " +#define HSI_FILE_CSDESCRIPTION _T("2025.02.18 / 17:09 ")