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锁存拼包功能初版

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This commit is contained in:
zhengxuan.zhang
2022-11-28 16:51:58 +08:00
parent 39e26fadba
commit 65cb1d3804
6 changed files with 163 additions and 81 deletions
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HSI_HexagonMI_EF3/HSI_Motion.cpp
+75 -58
View File
@@ -1135,7 +1135,6 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
Sleep(5);
//清除锁存板Flash区
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x04;
@@ -3766,33 +3765,34 @@ HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char* CacheData, int DataCou
unsigned char m_cSendData[8] = {0};
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x05;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,8);
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2, 8); //期望回复8个字节，其中 4-7字节为点数量
//解析缓存点数量
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[1] == 0x1B))
if ((m_SO7_Serial.m_RecvData[0] == 0x01) && (m_SO7_Serial.m_RecvData[1] == 0x1B) && (m_SO7_Serial.
m_iRecvBytes == 8))
{
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));
m_SO7_Serial.HexToStr((const char*)m_SO7_Serial.m_RecvData, 8));
}
else
else //查询失败
{
g_pLogger->SendAndFlushWithTime(L"[GetPositionXyzCache] DataCount：%d, %s\n", DataCount,
m_SO7_Serial.ToHexStr((const char*)m_SO7_Serial.m_RecvData, 8));
m_SO7_Serial.HexToStr((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,DataCount); //此处应该返回 "ok"
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2, DataCount*12);
//读取点的字节数，每个点占用12个字节
@@ -6406,11 +6406,16 @@ HSI_STATUS HSI_Motion::DCCScanStart()
iTriggleNum, iMotionDirection, begin_position[1]);
//m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, m_SendDataLength);
//启动定时锁存的同时，启动扫描 外部IO
unsigned char m_cSendData[8] = {0};
//启动定时扫描，此处清空旧缓存值
unsigned char m_cSendData[8] = { 0 };
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x04;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2, 2);
//启动定时锁存的同时启动扫描外部IO
m_cSendData[0] = 0x01;
m_cSendData[1] = 0x02;
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2,2);
m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2, 2);
g_pLogger->SendAndFlushWithTime(L"[DCCScanStart] Out\n");
@@ -6450,7 +6455,7 @@ 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, 2,2);
m_WriteByte = Send_Command(0, (const char*)m_SendDCCData, 2, 2);
g_pLogger->SendAndFlushWithTime(L"[DCCScanStop] Out\n");
}
ReleaseMutex(g_WR_ToMove_Mutex);
@@ -8906,7 +8911,7 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
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));
m_SO7_Serial.HexToStr(_SendData, SendDataLength));
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
if (iWriteByte == 0)
{
@@ -8959,7 +8964,7 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
//------------------------------调试区-----------------------------------//
g_pLogger->SendAndFlushWithTime(L"[Send_Command] lenth:%d, expectType:%d, %s\n", SendDataLength, expectType,
m_SO7_Serial.ToHexStr(_SendData, SendDataLength));
m_SO7_Serial.HexToStr(_SendData, SendDataLength));
int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength);
if (iWriteByte == 0)
@@ -8992,60 +8997,72 @@ BOOL HSI_Motion::Send_Command(int com, const char* _SendData, DWORD SendDataLeng
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
m_SO7_Serial.m_iExpectBytes = expectType;
//判断回复值，是否为ok 6F 6B
int iRetrys = 0;
bool iReSend = false;
while (!m_SO7_Serial.m_iRecvState && iRetrys < 100) //等待300毫秒
while (!m_SO7_Serial.m_iRecvState && iRetrys < 1000) //等待
{
iRetrys++;
Sleep(1);
Sleep(3);
}
g_pLogger->SendAndFlushWithTime(L"[Send_Command] iRetrys:%d\n", iRetrys);
//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_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] EF3 Reply Error, RecvBytes:%d, %s\n",
// m_SO7_Serial.m_iRecvBytes,
// m_SO7_Serial.HexToStr((const char*)m_SO7_Serial.m_RecvData,
// m_SO7_Serial.m_iRecvBytes));
// m_SO7_Serial.m_iRecvState = false;
// int iWriteByte = m_SO7_Serial.Send(_SendData, SendDataLength); //再次重发，并等待回应
// while (!m_SO7_Serial.m_iRecvState && iRetrys < 100) //等待300毫秒
// {
// iRetrys++;
// Sleep(3);
// }
// if (m_SO7_Serial.m_iRecvState)
// {
// if (iRetrys > 100)
// {
// iRetrys = 0;
// while (m_SO7_Serial.m_iRecvBytes != expectType)
// {
// iRetrys++;
// if (iRetrys > 100)
// break;
// Sleep(2);
// }
// }
// if (iRetrys > 100)
// {
// rStatus = HSI_STATUS_FAILED;
// g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply Error!");
// }
// else //获得期望结果
// {
// rStatus = HSI_STATUS_NORMAL;
// g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply OK, RecvBytes:%d, %s\n",
// m_SO7_Serial.m_iRecvBytes,
// m_SO7_Serial.HexToStr((const char*)m_SO7_Serial.m_RecvData,
// m_SO7_Serial.m_iRecvBytes));
// }
// }
//}
//else
{
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
{
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));
}
}
rStatus = FALSE;
g_pLogger->SendAndFlushWithTime(L"[Send_Command] EF3 Reply OK, RecvBytes:%d, %s\n",
m_SO7_Serial.m_iRecvBytes,
m_SO7_Serial.HexToStr((const char*)m_SO7_Serial.m_RecvData,
m_SO7_Serial.m_iRecvBytes));
}
//打印串口返回值,该方式废弃
//Sleep(5);
//m_SO7_Serial.OnReceive();
}
//打印串口返回值,该方式废弃
//Sleep(5);
//m_SO7_Serial.OnReceive();
ReleaseMutex(g_RW_Data_Mutex);
return rStatus;
};
HSI_HexagonMI_EF3/HSI_Motion.h
+1 -1
View File
@@ -257,7 +257,7 @@ public:
HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData);
HSI_STATUS HSI_Motion::GetPositionXyzCache(unsigned char * CacheData, int DataCount);
HSI_STATUS GetPositionXyzCache(unsigned char * CacheData, int DataCount);
HSI_STATUS GetPositionR(UINT AxisTypes, double& PositionR, double& Time);
HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ); //圆弧插补
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP
+73 -10
View File
@@ -445,7 +445,7 @@ DWORD CPSerial::WritePort(const char* Buffer, DWORD Bytes)
//==========================================================================
//单纯读取单包串口数据，拼包功能在上层实现
int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
{
BOOL JudgeRead;
@@ -458,8 +458,8 @@ int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
return 0;
}
dwLength = (static_cast<DWORD>(MaxLength) < ComStat.cbInQue ? MaxLength : ComStat.cbInQue);
memset(abIn, 0, MaxLength);
//如果有字符即读入
//memset(abIn, 0, MaxLength);
//如果有字符即读入, 这种策略下无法解决读入的字符不是完整的一帧的问题 Bug
if (dwLength)
{
JudgeRead = ReadFile(m_PortHandle, abIn, dwLength, &dwLength, &m_ReceiveOLap); //读出字符至abIn处
@@ -477,7 +477,6 @@ int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
{
dwLength = 0;
}
}
}
return dwLength;
@@ -487,6 +486,31 @@ int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
// ReceiveTask() : Internal function, this runs as a thread and provides the
// OnRecieve and OnTransmit events
/*
// C prototype : void HexToStr(char *pszDest, byte *pbSrc, int nLen)
// parameter(s): [OUT] pszDest - 存放目标字符串
// [IN] pbSrc - 输入16进制数的起始地址
// [IN] nLen - 16进制数的字节数
// return value:
// remarks : 将16进制数转化为字符串
*/
void CPSerial::hex2str(char* pszDest, byte* pbSrc, int nLen)
{
char ddl, ddh;
for (int i = 0; i < nLen; i++)
{
ddh = 48 + pbSrc[i] / 16;
ddl = 48 + pbSrc[i] % 16;
if (ddh > 57) ddh = ddh + 7;
if (ddl > 57) ddl = ddl + 7;
pszDest[i * 2] = ddh;
pszDest[i * 2 + 1] = ddl;
}
pszDest[nLen * 2] = '\0';
}
#if 1
void CPSerial::ReceiveTask(void)
{
//DWORD BytesWritten;
@@ -498,13 +522,44 @@ void CPSerial::ReceiveTask(void)
Sleep(2);
BYTE abIn[MAXBLOCK];
int len;
len = ReadBlock(abIn, MAXBLOCK);
len = ReadBlock(abIn, MAXBLOCK); //单包读取
if ((len > 0) && (len < MAX_RECIEVE_BUFFER_SIZE))
{
//memset(m_RecvData, 0, m_iRecvBytes);
memcpy(m_RecvData, abIn, len);
m_iRecvBytes = len;
m_iRecvState = TRUE;
if (m_bDebug)
{
auto pszDest = new char[len * 2 + 1];
hex2str(pszDest, abIn, len);
printf("len=%d, m_iExpectBytes=%d, %s\n", len, m_iExpectBytes, pszDest);
}
if (m_iExpectBytes != 0) //当有期望值时，进行拼包
{
//循环拼包
if (m_iRecvBytes < m_iExpectBytes)
{
while (m_iRecvBytes < m_iExpectBytes)
{
memcpy(m_RecvData + m_iRecvBytes, abIn, len);
m_iRecvBytes += len;
auto pszDest = new char[m_iRecvBytes * 2 + 1];
hex2str(pszDest, m_RecvData, m_iRecvBytes);
printf("11111=%d %s\n", m_iRecvBytes, pszDest);
}
}
else // 大于等于期望返回数量，成功
{
memcpy(m_RecvData, abIn, len);
m_iRecvBytes = len;
m_iRecvState = TRUE;
}
}
else //无期望返回数量时，随机返回单包数据
{
memcpy(m_RecvData, abIn, len);
m_iRecvBytes = len;
m_iRecvState = TRUE;
}
}
// Events=0;
//
@@ -557,6 +612,9 @@ void CPSerial::ReceiveTask(void)
}
while (IsOpen());
}
#endif
#if 0
void CPSerial::ReceiveTask(void)
{
@@ -1323,17 +1381,22 @@ int CPSerial::HexToInt(char* Data, int Bytes)
Value <<= 4;
HexChar = *Data++ -= '0';
if (HexChar > 32)
{
HexChar -= 39;
}
else if (HexChar > 9)
{
HexChar -= 7;
}
Value += HexChar;
}
return (Value);
}
//�ֽ�����ת��Ϊ16�����ַ�
CString CPSerial::ToHexStr(const char* pData, int nLen)
//字节数据转换为16进制字符串
CString CPSerial::HexToStr(const char* pData, int nLen)
{
CString str;
CString strTemp;
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.H
+4 -2
View File
@@ -127,9 +127,9 @@ public:
//CSerialRaw *AttachWnd( CWnd *Wnd );
// Convert ascii hex into an int
int HexToInt(char* Data, int Bytes);
void hex2str(char* pszDest, byte* pbSrc, int nLen);
//字节数据转换为16进制字符串
CString ToHexStr(const char* pData, int nLen);
CString HexToStr(const char* pData, int nLen);
DWORD Send(LPCSTR buffer, int l, BOOL needsResponse = FALSE) override;
//virtual DWORD Send(CString what);
@@ -193,6 +193,8 @@ public:
BOOL m_iRecvState; //接收状态
INT m_iRecvBytes; //接收字节数
INT m_iRecvCount; //接收计数
INT m_iExpectBytes =0; //定义期望接收的数据长度
BOOL m_bDebug = true; //调试模式，默认关闭
unsigned char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
};
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 "2022.11.28 / 14:06 "
#define HSI_FILE_CSDESCRIPTION _T("2022.11.28 / 14:06 ")
#define HSI_FILE_DESCRIPTION "2022.11.28 / 16:48 "
#define HSI_FILE_CSDESCRIPTION _T("2022.11.28 / 16:48 ")
HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+8 -8
View File
@@ -45,16 +45,16 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
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));
//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);
Thread.Sleep(10000);
Motion.DCCScanStop();
IntPtr dataCache = IntPtr.Zero;