运动错误事件触发上层；回家功能移植到 ishomed函数中；对 EF3版本号读取测试；

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:

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

HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj

@@ -70,7 +70,8 @@
       <AdditionalLibraryDirectories>C:\Program Files (x86)\Windows Kits\10\Lib\10.0.17763.0\ucrt\x64;$(LocalDebuggerWorkingDirectory)\ACS;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <PostBuildEvent>
-      <Command>copy "$(TargetDir)$(ProjectName).dll" "$(SolutionDir)HSI_SEVENOCEAN_EF1_CsTest\bin\Debug\HSI.dll"</Command>
+      <Command>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" </Command>
     </PostBuildEvent>
     <PreBuildEvent>
       <Command>version.cmd</Command>

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(
+			g_pLogger->SendAndFlushWithTime(
-					L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n",
+					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(
+			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX,PositionY, PositionZ);
-					L"[SetPositionXyzTagPos] 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<byte>(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])
 				{

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 ´íÎó´òÓ¡
+//extern void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm); //ACS ´íÎó´òÓ¡
 
 #endif

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_DESCRIPTION          "2024.02.27 / 16:28 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2024.02.26 / 16:16 ")  
+#define HSI_FILE_CSDESCRIPTION        _T("2024.02.27 / 16:28 ")  

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: //´íÎó
+					MessageBox.Show(eventData, Resources.Interface_Tips,
+												msgBtn, MessageBoxIcon.Error);
 					break;
 				case HSI_EVENT_TYPE.HSI_EVENT_FUNCTION:
 					var eventFunctionId = (HSI_EVENT_FUNCTION_ID)eventId;

HSI_SEVENOCEAN_EF1_CsTest/Program.cs

@@ -43,33 +43,34 @@ 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];
+				var EF3Version = new byte[20];
-				//IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
+				IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
-				//rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
+				rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
-				//Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
+				Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
-				//Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
+				Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
-				//Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
+				Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
 
 				#region 扫描功能测试
-				//启动扫描
-				Motion.DCCScanStart();
-				
-				//扫描中
-				Thread.Sleep(10000);
 
-				//扫描结束
+				////启动扫描
-				Motion.DCCScanStop();
+				//Motion.DCCScanStart();
 
-				//获取扫描结果
+				////扫描中
-				var dataCache = Marshal.AllocHGlobal(1000);
+				//Thread.Sleep(10000);
-				var pointCount = 0;
-				var data = new byte[1000];
-				Motion.GetPositionXyzCache(dataCache, ref pointCount);
-				Console.WriteLine("pointCount = " + pointCount);
-				Marshal.Copy(dataCache, data, 0, pointCount);
 
-				//打印扫描点
+				////扫描结束
-				for (var i = 0; i < pointCount; i++) Console.WriteLine("Hex:{0} {1:X}", i, data[i]);
+				//Motion.DCCScanStop();
+
+				////获取扫描结果
+				//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);
+
+				////打印扫描点
+				//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
 				{