diff --git a/HSI_HexagonMI_EF3/HSI.cpp b/HSI_HexagonMI_EF3/HSI.cpp
index 456bd73..f401e15 100644
--- a/HSI_HexagonMI_EF3/HSI.cpp
+++ b/HSI_HexagonMI_EF3/HSI.cpp
@@ -165,7 +165,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome)
{
return HSI_STATUS_FAILED;
}
- //rStatus = g_pHSI_Motion->HomeMachine(bHome);
switch (g_pHSI_Motion->m_iJoyStick) //摇杆设置
{
case 0:
diff --git a/HSI_HexagonMI_EF3/HSI.h b/HSI_HexagonMI_EF3/HSI.h
index 95c2440..f197f61 100644
--- a/HSI_HexagonMI_EF3/HSI.h
+++ b/HSI_HexagonMI_EF3/HSI.h
@@ -21,7 +21,7 @@
#endif
const int HSI_APIVersionMajor = 1;
-const int HSI_APIVersionMinor = 10;
+const int HSI_APIVersionMinor = 9;
const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1)
///////////////////////////////////////////////////////////////////////////////
// Interface API
diff --git a/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj b/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj
index b7ec8ed..1cda703 100644
--- a/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj
+++ b/HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj
@@ -70,7 +70,8 @@
C:\Program Files (x86)\Windows Kits\10\Lib\10.0.17763.0\ucrt\x64;$(LocalDebuggerWorkingDirectory)\ACS;%(AdditionalLibraryDirectories)
- copy "$(TargetDir)$(ProjectName).dll" "$(SolutionDir)HSI_SEVENOCEAN_EF1_CsTest\bin\Debug\HSI.dll"
+ 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"
version.cmd
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index 64c5fdd..dea9ad6 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -67,7 +67,7 @@ int HSI_Motion::m_ThreadTCP_State = TCPIP_THREAD_PAUSED;
SOCKET m_socket[4] = {0};
-void ErrorsHandler()
+ void HSI_Motion::ErrorsHandler()
{
if (handleACS != ACSC_INVALID)
{
@@ -85,6 +85,15 @@ void ErrorsHandler()
ErrorStr[Received] = '\0';
printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr);
g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error,Code: %d, %S\n", ErrorCode, ErrorStr);
+
+
+ //向上层发送错误信息
+ sEvenProp.Init();
+ sEvenProp.EventType = HSI_EVENT_FUNCTION;
+ sEvenProp.EventID = HSI_EVENT_DEBUG_LOG;
+ sEvenProp.EventResponse = HSI_EVENT_FUNCTION_FAILED;
+ EventCallback(sEvenProp);
+ g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error Event Set\n");
}
}
else
@@ -245,7 +254,7 @@ HSI_Motion::HSI_Motion()
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
+ //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++)
{
m_N_Work_Limit[i] = -40; //负限位
@@ -1071,7 +1080,7 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] bHomed No Need Reture\n");
return HSI_STATUS_NORMAL;
}
- if (m_IsUseEF3 == 0)
+ if (m_IsUseEF3 == 0) //不启用EF3的情况
{
return HSI_STATUS_NORMAL;
}
@@ -1542,6 +1551,9 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
g_pLogger->SendAndFlushWithTime(L"[IsHomed] Is No Go Home E_GTS_HOME_NONE\n");
CurrentHomeMachineState = E_EF3_HOME_NONE;
bHomed = false;
+
+ //如果各个轴标志位 未回过家，需要回家
+ rStatus = g_pHSI_Motion->HomeMachine(TRUE); //执行回家
}
g_pLogger->SendAndFlushWithTime(L"[IsHomed] Out\n");
}
@@ -3552,7 +3564,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
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,
+ g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] AxisTypes = %d, PositionX = %.4f,PositionY = %.4f,PositionZ = %.4f\n", AxisTypes,PositionX,
PositionY, PositionZ);
axis_start = 0;
@@ -3577,18 +3589,16 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
m_PosThread[4] = m_PositionA;
//打印当前位置，目标位置
- /* g_pLogger->SendAndFlushWithTime(
- L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n",
+ g_pLogger->SendAndFlushWithTime(
+ L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n",
m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3],
m_PosThread[4] * m_Resolution[4], m_Resolution[1]);
- g_pLogger->SendAndFlushWithTime(
- L"[SetPositionXyzTagPos] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX,
- PositionY, PositionZ);*/
+ g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX,PositionY, PositionZ);
//打印轴当前运动参数
byte AxisNumber = static_cast(AxisConvertIndex(AxisTypes)); //轴号换算
double motionParam[5] = {0};
- GetMotorParam(AxisNumber, motionParam);
+ GetMotorParam(AxisNumber, motionParam); //获取单轴运动参数
g_pLogger->SendAndFlushWithTime(
L"[SetPositionXyz] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
jogAxisNum, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]);
@@ -3605,9 +3615,6 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
ErrorsHandler();
}
- //启动插补和定位功能
-
- //圆弧插补
//状态更新
if (eType == HSI_MOTION_MOVE_NOWAIT) //非等待
@@ -3676,7 +3683,7 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc)
//void func0(uchar*& r); //利用引用返回数组
/**
- * \brief 求各轴运动配置参数
+ * \brief 获取单轴运动参数
* \param AXIS
* \param motionParam
* \return
@@ -3688,32 +3695,35 @@ HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5])
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] In\n");
- //依次是 速度、加速度、减速、杀死速度、抖动
+ //依次是 速度
if (!acsc_GetVelocity(handleACS, AXIS, motionParam + 0, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetVelocity error\n");
rStatus = HSI_ACS_ERROR;
ErrorsHandler();
}
-
+ // 加速度
if (!acsc_GetAcceleration(handleACS, AXIS, motionParam + 1, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetAcceleration error\n");
rStatus = HSI_ACS_ERROR;
ErrorsHandler();
}
+ //减速、
if (!acsc_GetDeceleration(handleACS, AXIS, motionParam + 2, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetDeceleration error\n");
rStatus = HSI_ACS_ERROR;
ErrorsHandler();
}
+ // 杀死速度
if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam + 3, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetKillDeceleration error\n");
rStatus = HSI_ACS_ERROR;
ErrorsHandler();
}
+ //抖动
if (!acsc_GetJerk(handleACS, AXIS, motionParam + 4, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetJerk error\n");
@@ -7571,6 +7581,7 @@ HSI_STATUS HSI_Motion::GetPntsDistance(double& pDistance, int& spTimeCount)
int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
int& AccCurve, int& DecCurve)
{
+ g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] AxisNum: [%d]\n", AxisNum);
int MovetoSpeedGear = 0;
int flag = 1;
if (fabs(Speed) > 1.01)
@@ -7847,14 +7858,14 @@ HSI_STATUS HSI_Motion::SetAccelerationXyz(double AccelX, double AccelY, double A
}
//===========================================================================
-double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos)
+double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) //单轴软限位
{
short AxisNumber = AxisConvertIndex(AxisTypes);
if (g_pHSI_Motion)
{
switch (AxisNumber)
{
- case 1: //轴1
+ case 1: // X 轴
{
if (LimitPos >= m_P_Work_Limit[1])
{
@@ -7866,7 +7877,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos)
}
break;
}
- case 2:
+ case 2: //Y 轴
{
if (LimitPos >= m_P_Work_Limit[2])
{
@@ -7890,7 +7901,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos)
}
break;
}
- case 4:
+ case 4: //Z轴
{
if (LimitPos >= m_P_Work_Limit[4])
{
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h
index 13b9ff7..eaf0f01 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.h
+++ b/HSI_HexagonMI_EF3/HSI_Motion.h
@@ -644,6 +644,7 @@ public:
HSI_STATUS SpecialMotorHome(short AxisNum);
HSI_STATUS SpecialMotorMove(short AxisNum, double Position);
+ void ErrorsHandler();
private:
UINT ActiveAxis;
int iaxisNum;
@@ -685,6 +686,6 @@ private:
};
extern HSI_Motion* g_pHSI_Motion;
-extern void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm); //ACS 错误打印
+//extern void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm); //ACS 错误打印
#endif
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index 793f7ff..3183bc3 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 "2024.02.26 / 16:16 "
-#define HSI_FILE_CSDESCRIPTION _T("2024.02.26 / 16:16 ")
+#define HSI_FILE_DESCRIPTION "2024.02.27 / 16:28 "
+#define HSI_FILE_CSDESCRIPTION _T("2024.02.27 / 16:28 ")
diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll
index 24e38d9..e976bf5 100644
Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll differ
diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb
index 7988b88..f2e708b 100644
Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
index 0fb00cf..25390d7 100644
--- a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
+++ b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
@@ -63,7 +63,9 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
{
case HSI_EVENT_TYPE.HSI_EVENT_NONE:
break;
- case HSI_EVENT_TYPE.HSI_EVENT_ERROR:
+ case HSI_EVENT_TYPE.HSI_EVENT_ERROR: //错误
+ MessageBox.Show(eventData, Resources.Interface_Tips,
+ msgBtn, MessageBoxIcon.Error);
break;
case HSI_EVENT_TYPE.HSI_EVENT_FUNCTION:
var eventFunctionId = (HSI_EVENT_FUNCTION_ID)eventId;
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
index 2cf12d7..211f1fb 100644
--- a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+++ b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
@@ -43,33 +43,34 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
Console.WriteLine("Motion.Startup:{0}", rStatus);
//5 鑾峰彇EF3鍥轰欢鐗堟湰鍙,寰呮祴璇
- //var EF3Version = new byte[20];
- //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 = 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));
#region 鎵弿鍔熻兘娴嬭瘯
- //鍚姩鎵弿
- Motion.DCCScanStart();
-
- //鎵弿涓
- Thread.Sleep(10000);
- //鎵弿缁撴潫
- Motion.DCCScanStop();
+ ////鍚姩鎵弿
+ //Motion.DCCScanStart();
- //鑾峰彇鎵弿缁撴灉
- var dataCache = Marshal.AllocHGlobal(1000);
- var pointCount = 0;
- var data = new byte[1000];
- Motion.GetPositionXyzCache(dataCache, ref pointCount);
- Console.WriteLine("pointCount = " + pointCount);
- Marshal.Copy(dataCache, data, 0, pointCount);
+ ////鎵弿涓
+ //Thread.Sleep(10000);
- //鎵撳嵃鎵弿鐐
- for (var i = 0; i < pointCount; i++) Console.WriteLine("Hex:{0} {1:X}", i, data[i]);
+ ////鎵弿缁撴潫
+ //Motion.DCCScanStop();
+
+ ////鑾峰彇鎵弿缁撴灉
+ //var dataCache = Marshal.AllocHGlobal(1000);
+ //var pointCount = 0;
+ //var data = new byte[1000];
+ //Motion.GetPositionXyzCache(dataCache, ref pointCount);
+ //Console.WriteLine("pointCount = " + pointCount);
+ //Marshal.Copy(dataCache, data, 0, pointCount);
+
+ ////鎵撳嵃鎵弿鐐
+ //for (var i = 0; i < pointCount; i++) Console.WriteLine("Hex:{0} {1:X}", i, data[i]);
#endregion
@@ -78,7 +79,7 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
rStatus = Motion.IsHomed(ref bHomed);
Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bexit = false;
- var SpeedGear = 0.2;
+ var SpeedGear = 0.3;
var dPos = new double[3];
do
{
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini
index 7ccb5bd..7bce798 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll
index 24e38d9..e976bf5 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe
index 33233c6..cc4d063 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb
index f31fb13..8ede891 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb differ
diff --git a/SerialAssistant/WPFSerialAssistant.zip b/SerialAssistant/WPFSerialAssistant.zip
deleted file mode 100644
index e7831f8..0000000
Binary files a/SerialAssistant/WPFSerialAssistant.zip and /dev/null differ
diff --git a/x64/Debug/ACSPL_VS2017.exe b/x64/Debug/ACSPL_VS2017.exe
deleted file mode 100644
index 21e9b76..0000000
Binary files a/x64/Debug/ACSPL_VS2017.exe and /dev/null differ
diff --git a/x64/Debug/ACSPL_VS2017.ilk b/x64/Debug/ACSPL_VS2017.ilk
deleted file mode 100644
index 74943f5..0000000
Binary files a/x64/Debug/ACSPL_VS2017.ilk and /dev/null differ
diff --git a/x64/Debug/ACSPL_VS2017.pdb b/x64/Debug/ACSPL_VS2017.pdb
deleted file mode 100644
index 3638af3..0000000
Binary files a/x64/Debug/ACSPL_VS2017.pdb and /dev/null differ
diff --git a/x64/Debug/HSI_Sevenocean_EF1.dll b/x64/Debug/HSI_Sevenocean_EF1.dll
deleted file mode 100644
index b7d42c7..0000000
Binary files a/x64/Debug/HSI_Sevenocean_EF1.dll and /dev/null differ
diff --git a/x64/Debug/HSI_Sevenocean_EF1.exp b/x64/Debug/HSI_Sevenocean_EF1.exp
deleted file mode 100644
index 6ffb170..0000000
Binary files a/x64/Debug/HSI_Sevenocean_EF1.exp and /dev/null differ
diff --git a/x64/Debug/HSI_Sevenocean_EF1.ilk b/x64/Debug/HSI_Sevenocean_EF1.ilk
deleted file mode 100644
index cd17b7b..0000000
Binary files a/x64/Debug/HSI_Sevenocean_EF1.ilk and /dev/null differ
diff --git a/x64/Debug/HSI_Sevenocean_EF1.lib b/x64/Debug/HSI_Sevenocean_EF1.lib
deleted file mode 100644
index feb3ee9..0000000
Binary files a/x64/Debug/HSI_Sevenocean_EF1.lib and /dev/null differ
diff --git a/x64/Debug/HSI_Sevenocean_EF1.pdb b/x64/Debug/HSI_Sevenocean_EF1.pdb
deleted file mode 100644
index e312789..0000000
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