diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp index d60d5b8..dd0fea8 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.cpp +++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp @@ -63,17 +63,6 @@ HANDLE HSI_Motion::m_ThreadTCP_Id = nullptr; int HSI_Motion::m_ThreadTCP_State = TCPIP_THREAD_PAUSED; SOCKET m_socket[4] = {0}; -//=========================================================================== -//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载 - - -void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm) -{ - printf(ErrorMessage); - printf("press any key to exit.\n"); - if (fCloseComm) acsc_CloseComm(handleACS); - _getch(); -}; void ErrorsHandler() { @@ -100,8 +89,8 @@ void ErrorsHandler() g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Communication handle is invalid\n"); } }; - - +//=========================================================================== +//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载 HSI_Motion::HSI_Motion() { TRACE0("HSI_Motion Constructor!\n"); @@ -242,8 +231,8 @@ HSI_Motion::HSI_Motion() { for (int j = 0; j < 5; j++) { - m_JogDriveSpeed[j][i] = 10; //表示5个档位 轴号,从1开始；5：档位 - m_JogStartSpeed[j][i] = 10; + m_JogDriveSpeed[j][i] = 20; //表示5个档位 轴号,从1开始；5：档位 + m_JogStartSpeed[j][i] = 20; m_JogAccLine[j][i] = 5; m_JogAccCurve[j][i] = 0; m_JogDecLine[j][i] = 5; @@ -252,6 +241,7 @@ HSI_Motion::HSI_Motion() m_Home_Machine_Axis[i] = 1; //用于启动时需要回原点的轴号选择,赋值1表示该轴需要回家 m_Home_Pos_Axis[i] = 0; //记住关闭电源时的位置，用于判断是否还需要回原点 } + m_Home_Machine_Axis[4] = 0; //用于启动时需要回原点的轴号选择 for (int i = 0; i < 5; i++) { @@ -1047,6 +1037,7 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed) HSI_STATUS HSI_Motion::HomeMachine(bool bHomed) { auto rStatus = HSI_STATUS_NORMAL; + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n"); if (!bHomed) { g_pLogger->SendAndFlushWithTime(L"[HomeMachine] bHomed No Need Reture\n"); @@ -1056,9 +1047,9 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed) { return HSI_STATUS_NORMAL; } - if (g_pHSI_Motion) + if (g_pHSI_Motion &&(handleACS != ACSC_INVALID)) { - g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n"); + //判断是否需要回家 bool home(false); IsHomed(home); @@ -1095,15 +1086,32 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed) return HSI_STATUS_FAILED; } - //再次读取回家标志位，或者上个动作完成回调 - IsHomed(home); - if (home == true) - { - g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n"); - } + //等待运动结束 ，方式1 + /* acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE); + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] X homed\n"); + acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE); + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Y homed\n"); + + acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE); + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Z homed\n");*/ + + //等待运动结束 ，方式2 + do + { + //再次读取回家标志位，或者上个动作完成回调 + IsHomed(home); + Sleep(200); + + } while (!home); + + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n"); g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n"); } + else + { + g_pLogger->SendAndFlushWithTime(L"[HomeMachine] faild, g_pHSI_Motion or handleACS not invaild! \n"); + } return rStatus; } @@ -1473,12 +1481,12 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed) rStatus = HSI_STATUS_FAILED; bHomed = false; } - - g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y1:[%d] Y2:[%d] Z:[%d]\n", isHomed[0], - isHomed[1], isHomed[2], isHomed[3]); + + g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y:[%d] Z:[%d]\n", isHomed[0], + isHomed[1], isHomed[2]); //如果各个轴标志位 已经回过家 - if (isHomed[0] == 1 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1) + if (isHomed[0] == 2 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1) { g_pLogger->SendAndFlushWithTime(L"[IsHomed] E_GTS_HOME_FINISHED\n"); CurrentHomeMachineState = E_EF3_HOME_FINISHED; @@ -1846,7 +1854,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed) HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) { auto rStatus = HSI_STATUS_NORMAL; - g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d] SpeedGear: [%lf]\n", AxisTypes, Speed); + g_pLogger->SendAndFlushWithTime(L"[Jog] Aixs: [%d] SpeedGear: [%lf]\n", AxisTypes, Speed); if (g_pHSI_Motion) { if (m_DeviceType != 3) //非转盘设备 @@ -1899,7 +1907,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) JogSpeed = abs(SpeedPercent(AxisNumber, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve)); - g_pLogger->SendAndFlushWithTime(L"[Jog] StartSpeed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", StartSpeed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine); + g_pLogger->SendAndFlushWithTime(L"[Jog] Speed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", Speed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine); if (m_DeviceType != 3) { @@ -2518,6 +2526,14 @@ int HSI_Motion::P2P(short AxisNumber, long Pos, double Speed, double Acc) //=========================================================================== //运动控制部分 //=========================================================================== +/** + * \brief 对比现在编码器位置和期望位置, position给上层用的, HSI内部用的是EncPrf + * \param AxisTypes + * \param EncPos + * \param PrfPos + * \param Count + * \return + */ HSI_STATUS HSI_Motion::GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count) { auto rStatus = HSI_STATUS_NORMAL; @@ -3530,6 +3546,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_Thread_State = HSI_THREAD_RUNNING; SetEvent(m_hTriggerEvent); } + if (eType == HSI_MOTION_MOVE_WAIT) //等待模式 { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n"); @@ -3905,13 +3922,15 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile) GetPrivateProfileString(L"JOG_SPEED", L"JOG_DRIVESPEED_" + strGear[i] + axisNum[j], L"10", temp.GetBufferSetLength(50), 10, csAppPath); float speed = (atof(T2A(temp))); - //m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath); - m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50); + m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath); + //m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50); + g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %lf %d\n", j, i, speed,m_JogDriveSpeed[j][i]);//打印配置文件 档位速度 + GetPrivateProfileString(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], L"10", temp.GetBufferSetLength(50), 10, csAppPath); speed = (atof(T2A(temp))); - //m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath); - m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50); + m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath); + //m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50); m_JogAccLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10, csAppPath); m_JogDecLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10, @@ -6828,7 +6847,7 @@ HSI_STATUS HSI_Motion::GetPntsDistance(double& pDistance, int& spTimeCount) //=========================================================================== /** - * \brief 运动控制参数读取及设置 + * \brief 界面挡位获取速度 * \param AxisNum * \param Speed * \param DirveSpeed @@ -6856,6 +6875,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S DecLine = m_JogDecLine[AxisNum][0]; AccCurve = m_JogAccCurve[AxisNum][0]; DecCurve = m_JogDecCurve[AxisNum][0]; + g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.81 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve); } else if (fabs(Speed) > 0.61) { @@ -6865,6 +6885,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S DecLine = m_JogDecLine[AxisNum][1]; AccCurve = m_JogAccCurve[AxisNum][1]; DecCurve = m_JogDecCurve[AxisNum][1]; + g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.61 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve); } else if (fabs(Speed) > 0.41) { @@ -6874,6 +6895,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S DecLine = m_JogDecLine[AxisNum][2]; AccCurve = m_JogAccCurve[AxisNum][2]; DecCurve = m_JogDecCurve[AxisNum][2]; + g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.41 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve); } else if (fabs(Speed) > 0.21) { @@ -6883,6 +6905,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S DecLine = m_JogDecLine[AxisNum][3]; AccCurve = m_JogAccCurve[AxisNum][3]; DecCurve = m_JogDecCurve[AxisNum][3]; + g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.21 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve); } else if (fabs(Speed) > 0.01) { @@ -6892,6 +6915,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S DecLine = m_JogDecLine[AxisNum][4]; AccCurve = m_JogAccCurve[AxisNum][4]; DecCurve = m_JogDecCurve[AxisNum][4]; + g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.01 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve); } else { diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h index 5574e0d..94e7f58 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.h +++ b/HSI_HexagonMI_EF3/HSI_Motion.h @@ -190,7 +190,7 @@ public: HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR); HSI_STATUS GetRefreshDeadBand(double& Deadband); /** - * \brief Jog运动 + * \brief Jog运动,挡位只有在JOG才有，CNC运行的速度是合成速度 * \param AxisTypes * \param Speed * \return @@ -398,7 +398,6 @@ public: int m_JogAccCurve[5][5]; int m_JogDecCurve[5][5]; int m_Jog_Auto_Focus; //变焦使用的速度 - int m_LogIsOpen[5]; //是否打开记录，0为打开，非0为关闭 unsigned int m_precisionCount[5]; //回家误差脉冲个数 @@ -427,8 +426,7 @@ public: int m_setPositionDelay; //设置定位超时 int m_setPositionPrecision; //设置定位精度 int m_setPositionNum; - CString m_AppPath; - //MST软件运行标志，trueMST软件已经启动，falseMST软件停止 + CString m_AppPath;//MST软件运行标志，trueMST软件已经启动，falseMST软件停止 bool m_MSTRunFlag; int m_IsUse_HSICompensation; //是否启用HSI进行定位补偿 0为不启用 1为启用 默认为0 int m_Compensation_Pluse; //补偿脉冲数 @@ -461,8 +459,7 @@ public: DWORD set_start; //获取定位运行开始时间 DWORD set_end; //获取定位运行结束时间 //是否启用探针捕获功能，1启用，默认0关闭 - int m_IsProbe; - //探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴 + int m_IsProbe;//探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴 int m_ProbeAllAxis; long m_ProbeCapturePos[5]; //锁存各轴的位置 double m_ProbeReturnPos; //探针触发时，调试时返回的距离mm，点击启动按钮时不起作用,默认10.0mm @@ -474,7 +471,6 @@ public: int m_EF3COMPort; //EF3板com口，默认为2 int m_ForSoft; //针对使用软件 0为MST 1为Metus int m_IsUseManualRunin; //是否开启手动插补（只针对步进电机） - int m_IsUseRocker; //是否启用摇杆 0为不启用 1为启用旧摇杆，2为新摇杆， 默认为0 int m_IsCollectPos; //是否通过串口打印位置，与摇杆2互斥 int m_IsCloseRocker; @@ -580,8 +576,32 @@ public: void SendMsgMotionFinished(); void SendMsgProbeFinished(); VOID EventCallback(sHSIEventProperties& sEventProp); + /** + * \brief 界面挡位获取速度 + * \param AxisNum + * \param Speed + * \param DriveSpeed + * \param StartSpeed + * \param AccLine + * \param DecLine + * \param AccCurve + * \param DecCurve + * \return + */ int SpeedPercent(int AxisNum, double& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine, int& AccCurve, int& DecCurve); + /** + * \brief 摇杆切换的运动速度, 与上面那个互锁，动了界面的 摇杆就会失能; + * \param AxisNum + * \param Speed + * \param DriveSpeed + * \param StartSpeed + * \param AccLine + * \param DecLine + * \param AccCurve + * \param DecCurve + * \return + */ bool SpeedPercentJoyStick(int AxisNum, long& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine, int& AccCurve, int& DecCurve); void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine, diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h index a07bec4..e5c2648 100644 --- a/HSI_HexagonMI_EF3/version.h +++ b/HSI_HexagonMI_EF3/version.h @@ -12,5 +12,5 @@ #define HSI_VERSION_REVNUM #define HSI_VERSION_BUILD_DATE _T(__DATE__ ) #define HSI_VERSION_BUILD_TIME _T(__TIME__ ) -#define HSI_FILE_DESCRIPTION "2022.11.01 / 20:15 " -#define HSI_FILE_CSDESCRIPTION _T("2022.11.01 / 20:15 ") +#define HSI_FILE_DESCRIPTION "2022.11.02 / 13:33 " +#define HSI_FILE_CSDESCRIPTION _T("2022.11.02 / 13:33 ") diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini index 88ddcdd..797f0af 100644 --- a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini +++ b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini @@ -1,3 +1,3 @@ [Default] MotionControlSpeed=1 -ControllerType=1 +ControllerType=3