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尝试对串口返回值情况进行优化，思路，引入期望返回字节，当不是，进行重发

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This commit is contained in:
zhengxuan.zhang
2022-11-28 14:09:02 +08:00
parent 4e11acde01
commit 39e26fadba
6 changed files with 179 additions and 81 deletions
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HSI_HexagonMI_EF3/HSI.h
+1 -4
View File
@@ -79,8 +79,7 @@ enum HSI_STATUS
HSI_STATUS_VP_TIMEOUT = 350,
HSI_STATUS_VP_IMAGEPROCESS_FAIL,
HSI_ACS_OK=400,
// ACS命令成功
HSI_ACS_OK=400,// ACS命令成功
HSI_ACS_ERROR
};
@@ -412,7 +411,6 @@ enum HSI_SCAN_MOTION_TYPE
HSI_SCAN_MOTION_MANUAL_TEST //测试使用
};
enum HSI_ZOOM_TYPE
{
HSI_ZOOM_MANUAL = 0,
@@ -475,7 +473,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITIONPROBE(UINT AxisTypes, double& P
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_HexagonMI_EF3/HSI_Motion.cpp
+157 -66
View File
@@ -776,12 +776,6 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
//锁存模式设置，定时模式
//if (m_IsUseRocker == 1)
{
//软件清空
//m_cSendData[0] = 0x01;
//m_cSendData[1] = 0x06;
//m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
//Sleep(10);
//设置锁存频率 1秒钟（）
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x01;
@@ -789,10 +783,10 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
//m_cSendData[3] = 0x03; // 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
//m_cSendData[4] = 0xE8;
// 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
m_cSendData[3] = (m_axisLatchFrequency >> 8) & 0xFF;
m_cSendData[4] = m_axisLatchFrequency & 0xFF;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 5);
// 10000 （0x27 0x10）对应1秒，3-4字节表示锁存周期
m_cSendData[3] = (m_axisLatchFrequency >> 8) & 0xFF;
m_cSendData[4] = m_axisLatchFrequency & 0xFF;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 5, 2);
Sleep(10);
g_pLogger->SendAndFlushWithTime(L"[Startup] Set EF3 Timing latch Success\n");
@@ -824,16 +818,16 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
senddata[0] = 0x01;
senddata[1] = 0x08;
m_SO7_Serial.m_RecvData[0] = 0;
m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
Sleep(30);
m_SO7_Serial.m_RecvData[0] = 0;
m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
Sleep(30);
m_SO7_Serial.m_RecvData[0] = 0;
m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
m_WriteByte = Send_Command(0, (const char*)senddata, 2, 20);
Sleep(30);
//m_SO7_Serial.m_RecvData[0] = 0;
//m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
//Sleep(30);
//m_SO7_Serial.m_RecvData[0] = 0;
//m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
//Sleep(30);
while ((m_SO7_Serial.m_RecvData[0] != 3) && (m_SO7_Serial.m_RecvData[0] != 2))
while ((m_SO7_Serial.m_RecvData[0] != 0x32) && (m_SO7_Serial.m_RecvData[1] != 0x30))
{
waite_count++;
if (waite_count > 100)
@@ -843,8 +837,8 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
if (waite_count > 100)
{
waite_count = 0;
m_WriteByte = Send_Command(0, (const char*)senddata, sizeof(senddata));
while ((m_SO7_Serial.m_RecvData[0] != 3) && (m_SO7_Serial.m_RecvData[0] != 2))
m_WriteByte = Send_Command(0, (const char*)senddata, 2, 20); //再次重发，并等待回应
while ((m_SO7_Serial.m_RecvData[0] != 0x32) && (m_SO7_Serial.m_RecvData[1] != 0x30))
{
waite_count++;
if (waite_count > 100)
@@ -870,7 +864,7 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
}
}
g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %s\n", version);
g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %S\n", version);
m_Thread_StateData = HSI_THREAD_RUNNING;
SetEvent(m_hTriggerEventData); //触发事件，其中hEvent表示句柄，返回值：如果操作成功，则返回非零值，否则为0。
return HSI_STATUS_NORMAL;
@@ -967,10 +961,14 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
int SavePos[5] = {0};
if (m_SO7_Serial.m_RecvData[0] == 2)
{
SavePos[1] = (m_SO7_Serial.m_RecvData[41] << 24 | m_SO7_Serial.m_RecvData[42] << 16 | m_SO7_Serial.m_RecvData[43] << 8 | m_SO7_Serial.m_RecvData[44]);
SavePos[2] = (m_SO7_Serial.m_RecvData[45] << 24 | m_SO7_Serial.m_RecvData[46] << 16 | m_SO7_Serial.m_RecvData[47] << 8 | m_SO7_Serial.m_RecvData[48]);
SavePos[3] = (m_SO7_Serial.m_RecvData[49] << 24 | m_SO7_Serial.m_RecvData[50] << 16 | m_SO7_Serial.m_RecvData[51] << 8 | m_SO7_Serial.m_RecvData[52]);
SavePos[4] = (m_SO7_Serial.m_RecvData[53] << 24 | m_SO7_Serial.m_RecvData[54] << 16 | m_SO7_Serial.m_RecvData[55] << 8 | m_SO7_Serial.m_RecvData[56]);
SavePos[1] = (m_SO7_Serial.m_RecvData[41] << 24 | m_SO7_Serial.m_RecvData[42] << 16 | m_SO7_Serial.
m_RecvData[43] << 8 | m_SO7_Serial.m_RecvData[44]);
SavePos[2] = (m_SO7_Serial.m_RecvData[45] << 24 | m_SO7_Serial.m_RecvData[46] << 16 | m_SO7_Serial.
m_RecvData[47] << 8 | m_SO7_Serial.m_RecvData[48]);
SavePos[3] = (m_SO7_Serial.m_RecvData[49] << 24 | m_SO7_Serial.m_RecvData[50] << 16 | m_SO7_Serial.
m_RecvData[51] << 8 | m_SO7_Serial.m_RecvData[52]);
SavePos[4] = (m_SO7_Serial.m_RecvData[53] << 24 | m_SO7_Serial.m_RecvData[54] << 16 | m_SO7_Serial.
m_RecvData[55] << 8 | m_SO7_Serial.m_RecvData[56]);
}
double PrinfPos[5] = {0};
PrinfPos[1] = SavePos[1] * m_Resolution[1];
@@ -1131,7 +1129,7 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
//回家后，将锁存板的位置设置为0
unsigned char m_cSendData[8] = { 0 };
unsigned char m_cSendData[8] = {0};
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x06;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
@@ -2057,7 +2055,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
//速度限制
g_pLogger->SendAndFlushWithTime(
L"[Jog] DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n",
DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
// 急停判断
if ((StartSpeed < 250) && (DriveSpeed < 6))
@@ -2084,18 +2082,19 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
//int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
//设置加速度
if(!acsc_SetAccelerationImm(handleACS, jogAxisNum, AccLine, nullptr))
if (!acsc_SetAccelerationImm(handleACS, jogAxisNum, AccLine, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetAccelerationImm failed, Aixs:[%d] AccCurve:[%d]\n", jogAxisNum,
AccLine);
g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetAccelerationImm failed, Aixs:[%d] AccCurve:[%d]\n",
jogAxisNum,
AccLine);
ErrorsHandler();
}
//设置减速度
if(!acsc_SetDeceleration(handleACS, jogAxisNum, AccLine, nullptr))
if (!acsc_SetDeceleration(handleACS, jogAxisNum, AccLine, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetDeceleration failed, Aixs:[%d] DecCurve:[%d]\n", jogAxisNum,
AccLine);
AccLine);
ErrorsHandler();
}
@@ -2109,7 +2108,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
jogMoving = true;
g_pLogger->SendAndFlushWithTime(L"[Jog] Out, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", DriveSpeed, AccLine, AccLine);
g_pLogger->SendAndFlushWithTime(L"[Jog] Out, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", DriveSpeed,
AccLine, AccLine);
}
return rStatus;
}
@@ -3753,45 +3753,53 @@ HSI_STATUS HSI_Motion::SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE
* \param DataCount
* \return
*/
HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char * CacheData, int DataCount)
HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char* CacheData, int DataCount)
{
auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion)
{
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] start\n");
if(m_SO7_Serial.IsOpen())
if (m_SO7_Serial.IsOpen())
{
//发送获取点数量命令 0x01 0x05
unsigned char m_cSendData[8] = { 0 };
unsigned char m_cSendData[8] = {0};
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x05;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
Sleep(2);
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,8);
//解析缓存点数量
if(m_SO7_Serial.m_iRecvState)
if (m_SO7_Serial.m_iRecvState)
{
//特殊帧头, 表示该内容为回复点数
if ((m_SO7_Serial.m_RecvData[0] == 0x01) && (m_SO7_Serial.m_RecvData[0] == 0x1B))
if ((m_SO7_Serial.m_RecvData[0] == 0x01) && (m_SO7_Serial.m_RecvData[1] == 0x1B))
{
DataCount = (m_SO7_Serial.m_RecvData[4] << 24 | m_SO7_Serial.m_RecvData[5] << 16 | m_SO7_Serial.m_RecvData[6] << 8 | m_SO7_Serial.m_RecvData[7]);
DataCount = (m_SO7_Serial.m_RecvData[4] << 24 | m_SO7_Serial.m_RecvData[5] << 16 | m_SO7_Serial.
m_RecvData[6] << 8 | m_SO7_Serial.m_RecvData[7]);
//详细 https://blog.csdn.net/hebbely/article/details/79577880
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n",DataCount, m_SO7_Serial.ToHexStr((const char *)m_SO7_Serial.m_RecvData,8));
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n", DataCount,
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData, 8));
}
else
{
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n", DataCount,
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData, 8));
}
}
//读取锁存点
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x09;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2); //此处应该返回 "ok"
Sleep(2);
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,DataCount); //此处应该返回 "ok"
//读取点的字节数，每个点占用12个字节
if (m_SO7_Serial.m_iRecvBytes != DataCount*12)
if (m_SO7_Serial.m_iRecvBytes != DataCount * 12)
{
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] m_iRecvBytes: %d != Points: %d\n", m_SO7_Serial.m_iRecvBytes, DataCount * 12);
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] m_iRecvBytes: %d != Points: %d\n",
m_SO7_Serial.m_iRecvBytes, DataCount * 12);
rStatus = HSI_STATUS_FAILED;
}
else
@@ -3800,7 +3808,6 @@ HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char * CacheData, int DataCo
m_SO7_Serial.m_iRecvState = FALSE;
rStatus = HSI_STATUS_FAILED;
}
}
else
{
@@ -6265,7 +6272,7 @@ HSI_STATUS HSI_Motion::DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType
}
//启动定时锁存的同时，启动扫描 外部IO
unsigned char m_cSendData[8] = { 0 };
unsigned char m_cSendData[8] = {0};
//清空EF3缓存Flash
m_cSendData[0] = 0x01;
@@ -6403,8 +6410,8 @@ HSI_STATUS HSI_Motion::DCCScanStart()
unsigned char m_cSendData[8] = {0};
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x02;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
Sleep(2);
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,2);
g_pLogger->SendAndFlushWithTime(L"[DCCScanStart] Out\n");
m_IsUsePPS = false;
@@ -6443,7 +6450,7 @@ HSI_STATUS HSI_Motion::DCCScanStop()
unsigned char m_SendDCCData[64] = {0};
m_SendDCCData[0] = 0x01;
m_SendDCCData[1] = 0x03;
m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, 2);
m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, 2,2);
g_pLogger->SendAndFlushWithTime(L"[DCCScanStop] Out\n");
}
ReleaseMutex(g_WR_ToMove_Mutex);
@@ -8884,24 +8891,75 @@ HSI_STATUS HSI_Motion::FindOriginTest(bool type)
}
//===========================================================================
/**
* \brief 串口发送命令
* \param com
* \param _SendData 发送内容指针
* \param SendDataLength 发送字节长度
* \param expectType 期待返回长度，2：返回ok，8：返回8个字节，N:返回N字节，如果本次返回内容不是期待字节，等待或重发该命令。
* \return
*/
BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLength)
{
BOOL rStatus = TRUE;
WaitForSingleObject(g_RW_Data_Mutex, INFINITE);
if (m_bConnected && (m_IsUseEF3 == 1) && (com == 0))
{
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, %s\n", SendDataLength,
m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
if (iWriteByte == 0)
{
int iError = GetLastError();
g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError = %d\n", iError);
if (iError == 1167)
{
g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError is 1167,EF3 device is no connect\n");
m_Thread_StateData = THREAD_PAUSED;
if (m_bConnected == true && g_IsClose == false)
{
g_pLogger->SendAndFlushWithTime(L"[Send_Command] GetLastError is 1167,EF3 device is no connect\n");
sEvenProp.Init();
sEvenProp.EventType = HSI_EVENT_ERROR;
sEvenProp.EventID = HSI_EVENT_MOTION;
sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "EF3控制器已断开连接");
EventCallback(sEvenProp);
}
}
g_pLogger->SendAndFlushWithTime(L"[Send_Command] m_SO7_Serial[%d].Send failed\n", com);
rStatus = FALSE;
}
// Sleep(5);
// m_SO7_Serial.OnReceive();
}
ReleaseMutex(g_RW_Data_Mutex);
return rStatus;
};
BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLength, int expectType)
{
BOOL rStatus = TRUE;
WaitForSingleObject(g_RW_Data_Mutex, INFINITE);
//指令回复分两种情况:
//1、正常2字节，回复 OK，（0x6F 0x6B ）
//2、返回多字节
if (m_bConnected && (m_IsUseEF3 == 1) /*&& (com == 0)*/)
{
//------------------------------调试区-----------------------------------//
//原文链接：https://blog.csdn.net/qq_31073871/article/details/85696092
/*printf("Send_Command: ");
for (int i = 0; i < SendDataLength; i++)
{
printf("%02X ", ((uint8_t*)_SendData)[i]);
}
printf("\r\n");*/
//printf("Send_Command: ");
//for (int i = 0; i < SendDataLength; i++)
//{
// printf("%02X ", ((uint8_t*)_SendData)[i]);
//}
//printf("\r\n");
//------------------------------调试区-----------------------------------//
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, %s\n", SendDataLength,m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, expectType:%d, %s\n", SendDataLength, expectType,
m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
if (iWriteByte == 0)
@@ -8927,27 +8985,60 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
rStatus = FALSE;
}
if (iWriteByte != SendDataLength)// 写入字节数不等于发送字节数
if (iWriteByte != SendDataLength) // 写入字节数不等于发送字节数
{
rStatus = FALSE;
g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte, SendDataLength);
g_pLogger->SendAndFlushWithTime(L"[Send_Command] WriteByte:%d,!= SendDataLength:%d\n", iWriteByte,
SendDataLength);
}
m_SO7_Serial.m_iRecvState = false; //发送完毕，接收状态置为false，并开始等待EF3回复
//判断回复值，是否为ok 6F 6B
int iRetrys = 0;
while (!m_SO7_Serial.m_iRecvState && iRetrys < 20)
bool iReSend = false;
while (!m_SO7_Serial.m_iRecvState && iRetrys < 100) //等待300毫秒
{
iRetrys++;
Sleep(100);
Sleep(1);
}
//发送完当前指令后，第一次结束完成标志
if (m_SO7_Serial.m_iRecvState)
{
if ((m_SO7_Serial.m_RecvData[0] == 0x6F) && (m_SO7_Serial.m_RecvData[0] == 0x6B))
if (m_SO7_Serial.m_iRecvBytes != expectType) //获取数量不等于期望数量，打印错误，并重发
{
g_pLogger->SendAndFlushWithTime(L"[Send_Command] m_SO7_Serial[%d]. EF3 Reply not ok.\n", com);
rStatus = FALSE;
iReSend = true;
g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply Error, RecvBytes:%d, %s\n",
m_SO7_Serial.m_iRecvBytes,
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData,
m_SO7_Serial.m_iRecvBytes));
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength); //再次重发，并等待回应
if (iRetrys > 100)
{
iRetrys = 0;
while (m_SO7_Serial.m_iRecvBytes != expectType)
{
iRetrys++;
if (iRetrys > 100)
break;
Sleep(2);
}
}
if (iRetrys > 100)
{
rStatus = FALSE;
}
else //获得期望结果
{
rStatus = TRUE;
g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply OK, RecvBytes:%d, %s\n",
m_SO7_Serial.m_iRecvBytes,
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData,
m_SO7_Serial.m_iRecvBytes));
}
}
}
HSI_HexagonMI_EF3/HSI_Motion.h
+1
View File
@@ -556,6 +556,7 @@ public:
CPSerial m_SO7_Serial;
DWORD m_WriteByte;
BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength);
BOOL Send_Command(int com, const char* _SendData, DWORD SendDataLength, int expectType);// 带期望返回值的发送命令
BOOL Receive_Data();
bool PortInit(int iSerialComPort, int iBuadRate);
char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP
+3
View File
@@ -474,7 +474,10 @@ int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
// m_osRead.Offset=(m_osRead.Offset+dwLength)%MAXBLOCK;
}
else
{
dwLength = 0;
}
}
}
return dwLength;
HSI_HexagonMI_EF3/version.h
+2 -2
View File
@@ -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 "2022.11.25 / 17:25 "
#define HSI_FILE_CSDESCRIPTION _T("2022.11.25 / 17:25 ")
#define HSI_FILE_DESCRIPTION "2022.11.28 / 14:06 "
#define HSI_FILE_CSDESCRIPTION _T("2022.11.28 / 14:06 ")
HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+15 -9
View File
@@ -1,6 +1,7 @@
using System;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using HSI_SEVENOCEAN_EF1_CsTest.HSI;
namespace HSI_SEVENOCEAN_EF1_CsTest
@@ -36,27 +37,32 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
rStatus = Interface.SetEventCallback(Interface.HsiCallback);
Console.WriteLine("SetEventCallback:{0}", rStatus); //事件回调成功
//if (Motion.IsActive(true))
{
rStatus = Motion.Startup(true); //运动初始化，回家判断
Console.WriteLine("Motion.Startup:{0}", rStatus);
//5 获取EF3固件版本号,待测试
var EF3Version = new byte[20];
//IntPtr intPtrEF3Version = IntPtr.Zero;
IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
Motion.DCCScanStart();
Thread.Sleep(5000);
Motion.DCCScanStop();
IntPtr dataCache = IntPtr.Zero;
int pointCount = 0;
Motion.GetPositionXyzCache(dataCache, pointCount);
Console.WriteLine("pointCount = " + pointCount);
//5 获取EF3固件版本号,待测试
//var EF3Version = new byte[20];
////IntPtr intPtrEF3Version = IntPtr.Zero;
//IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
//rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
//Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
//Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
//Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
//6 是否回家
//var bHomed = true;
//rStatus = Motion.IsHomed(ref bHomed);