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引入ACS库，代码格式整理

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This commit is contained in:
zhengxuan.zhang
2022-10-12 10:18:46 +08:00
parent 6d2b284f36
commit 82115577c2
40 changed files with 9905 additions and 3556 deletions
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HSI_HexagonMI_EF3.sln
+19 -2
View File
@@ -1,7 +1,7 @@
Microsoft Visual Studio Solution File, Format Version 12.00 Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15 # Visual Studio Version 17
VisualStudioVersion = 15.0.28307.2017 VisualStudioVersion = 17.3.32922.545
MinimumVisualStudioVersion = 10.0.40219.1 MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_Sevenocean_EF1", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1\HSI_Sevenocean_EF1.vcxproj", "{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_Sevenocean_EF1", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1\HSI_Sevenocean_EF1.vcxproj", "{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}"
EndProject EndProject
@@ -18,6 +18,11 @@ EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WPFSerialAssistant", "SerialAssistant\WPFSerialAssistant\WPFSerialAssistant.csproj", "{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WPFSerialAssistant", "SerialAssistant\WPFSerialAssistant\WPFSerialAssistant.csproj", "{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_SEVENOCEAN_EF1_CsTest", "HSI_SEVENOCEAN_EF1_CsTest\HSI_SEVENOCEAN_EF1_CsTest.csproj", "{7ED499CB-651C-4154-9741-EEF347BDBFB5}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_SEVENOCEAN_EF1_CsTest", "HSI_SEVENOCEAN_EF1_CsTest\HSI_SEVENOCEAN_EF1_CsTest.csproj", "{7ED499CB-651C-4154-9741-EEF347BDBFB5}"
ProjectSection(ProjectDependencies) = postProject
{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B} = {ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ACSPL_VS2017", "C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\ACSC\C_CPP\Samples\Reciprocated\ACSPL\ACSPL_VS2017.vcxproj", "{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}"
EndProject EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -111,6 +116,18 @@ Global
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x64.Build.0 = Release|Any CPU {7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x64.Build.0 = Release|Any CPU
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.ActiveCfg = Release|x86 {7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.ActiveCfg = Release|x86
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.Build.0 = Release|x86 {7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.Build.0 = Release|x86
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.ActiveCfg = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.Build.0 = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x64.ActiveCfg = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x64.Build.0 = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.ActiveCfg = Debug|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.Build.0 = Debug|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.ActiveCfg = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.Build.0 = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.ActiveCfg = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.Build.0 = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.ActiveCfg = Release|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.Build.0 = Release|Win32
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE
HSI_HexagonMI_EF3/ACS/ACSC.h
+3683
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HSI_HexagonMI_EF3/HSI.cpp
+112 -78
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@@ -2,7 +2,7 @@
#include "HSI.h" #include "HSI.h"
#include "HSI_Motion.h" #include "HSI_Motion.h"
#include "HSI_Sevenocean_EF3.h" #include "HSI_Sevenocean_EF3.h"
#include "SevenOcean\CMMIO_SERIAL.h" #include "SevenOcean/CMMIO_SERIAL.h"
//#include "HSI_Illumination.h" //#include "HSI_Illumination.h"
//#include "HSI_Function.h" //#include "HSI_Function.h"
//#include "HSI_JoyStick.h" //#include "HSI_JoyStick.h"
@@ -14,102 +14,128 @@
static HWND g_hWnd = nullptr; static HWND g_hWnd = nullptr;
static bool g_bOfflineOnly = false; static bool g_bOfflineOnly = false;
////////////////////////////////////////////////////////////////////////////////////////////////////
// 开发说明
//初版 V0.1 2022/10/10
//---------------------------------------
//1、剥离 Metus初步所需函数（14个函数，包含是否回家，运动初始化，版本，JOG运动，运动到指定位置等）并生成dll
//
//
//
//
//
//
//
//
//
//
//
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////
#pragma region interface #pragma region interface
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT &APIVersionMajor, UINT &APIVersionMinor) HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT& APIVersionMajor, UINT& APIVersionMinor)
{ {
APIVersionMajor = HSI_APIVersionMajor; APIVersionMajor = HSI_APIVersionMajor; //HSI.dll 主版本号
APIVersionMinor = HSI_APIVersionMinor; APIVersionMinor = HSI_APIVersionMinor; //HSI.dll 小版本号
return HSI_STATUS_NORMAL; return HSI_STATUS_NORMAL;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly) HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (!g_pHSI_Sevenocean_EF3) if (!g_pHSI_Sevenocean_EF3)
{ {
g_pHSI_Sevenocean_EF3 = new HSI_Sevenocean_EF3(); g_pHSI_Sevenocean_EF3 = new HSI_Sevenocean_EF3();
} }
if (g_pHSI_Sevenocean_EF3) if (g_pHSI_Sevenocean_EF3)
{ {
g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly); g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly); //初始化EF3
} }
else else
{ {
rStatus = HSI_STATUS_FAILED; rStatus = HSI_STATUS_FAILED;
} }
g_hWnd = _hWnd; g_hWnd = _hWnd;
g_bOfflineOnly = _bOfflineOnly; g_bOfflineOnly = _bOfflineOnly;
return rStatus; return rStatus;
} }
//==========================获取机器控制器信息，3代表EF3================================================= //==========================获取机器控制器信息，3代表EF3=================================================
HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int &_NumMachineTypes) HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int& _NumMachineTypes)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3) if (g_pHSI_Sevenocean_EF3)
{ {
rStatus = g_pHSI_Sevenocean_EF3->GetMachineInfo(_NumMachineTypes); rStatus = g_pHSI_Sevenocean_EF3->GetMachineInfo(_NumMachineTypes);
} }
else else
{ {
rStatus = HSI_STATUS_FAILED; rStatus = HSI_STATUS_FAILED;
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback) HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Sevenocean_EF3) if (g_pHSI_Sevenocean_EF3)
{ {
rStatus = g_pHSI_Sevenocean_EF3->SetEventCallback(_pCallback); //设置事件 rStatus = g_pHSI_Sevenocean_EF3->SetEventCallback(_pCallback); //设置事件
} }
else else
{ {
rStatus = HSI_STATUS_FAILED; rStatus = HSI_STATUS_FAILED;
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM() HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pLogger) if (g_pLogger)
{ {
delete g_pLogger; delete g_pLogger;
g_pLogger = NULL; g_pLogger = nullptr;
} }
if (g_pLogger2) if (g_pLogger2)
{ {
delete g_pLogger2; delete g_pLogger2;
g_pLogger2 = NULL; g_pLogger2 = nullptr;
} }
//if (g_pHSI_Illumination) //if (g_pHSI_Illumination) //屏蔽光照
//{ //{
// rStatus = g_pHSI_Illumination->Shutdown(); // rStatus = g_pHSI_Illumination->Shutdown();
// delete g_pHSI_Illumination; // delete g_pHSI_Illumination;
// g_pHSI_Illumination = nullptr; // g_pHSI_Illumination = nullptr;
//} //}
if (g_pHSI_Motion) if (g_pHSI_Motion)
{ {
rStatus = g_pHSI_Motion->Shutdown(); rStatus = g_pHSI_Motion->Shutdown(); //运动终止
delete g_pHSI_Motion; delete g_pHSI_Motion;
g_pHSI_Motion = nullptr; g_pHSI_Motion = nullptr;
} }
//if (g_pHSI_JoyStick) //if (g_pHSI_JoyStick) //屏蔽摇杆
//{ //{
// g_pHSI_JoyStick->SuspendJoyStickThread(); // g_pHSI_JoyStick->SuspendJoyStickThread();
// delete g_pHSI_JoyStick; // delete g_pHSI_JoyStick;
// g_pHSI_JoyStick = nullptr; // g_pHSI_JoyStick = nullptr;
//} //}
if (g_pHSI_Sevenocean_EF3) if (g_pHSI_Sevenocean_EF3)
{ {
g_pHSI_Sevenocean_EF3->Shutdown(); g_pHSI_Sevenocean_EF3->Shutdown(); //EF3对象删除
delete g_pHSI_Sevenocean_EF3; delete g_pHSI_Sevenocean_EF3;
g_pHSI_Sevenocean_EF3 = nullptr; g_pHSI_Sevenocean_EF3 = nullptr;
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
#pragma endregion #pragma endregion
@@ -159,8 +185,9 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome)
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion) HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte* verion)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion) if (g_pHSI_Motion)
@@ -173,6 +200,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion)
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN() HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
{ {
@@ -189,6 +217,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed) HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
{ {
@@ -203,6 +232,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG() HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
{ {
@@ -217,8 +247,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time) HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& PositionX, double& PositionY,
double& PositionZ, double& Time)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion) if (g_pHSI_Motion)
@@ -231,8 +263,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &Po
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear) HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY,
double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion) if (g_pHSI_Motion)
@@ -245,6 +279,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double Po
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION() HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
{ {
@@ -259,8 +294,9 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed) HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool& bHomed)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (g_pHSI_Motion) if (g_pHSI_Motion)
@@ -1183,7 +1219,6 @@ HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_TESTLIGHT(bool flag)
#endif // USE_ILLUMINATION_API #endif // USE_ILLUMINATION_API
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Probe API 探针 // Probe API 探针
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
@@ -1383,4 +1418,3 @@ HSI_API HSI_STATUS WINAPI HSI_TP_SHUTDOWN()
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// 测试功能 // 测试功能
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
HSI_HexagonMI_EF3/HSI.h
+343 -249
View File
@@ -1,4 +1,3 @@
#ifndef HSI_H_INCLUDED_ #ifndef HSI_H_INCLUDED_
#define HSI_H_INCLUDED_ #define HSI_H_INCLUDED_
@@ -24,62 +23,63 @@
const int HSI_APIVersionMajor = 0; const int HSI_APIVersionMajor = 0;
const int HSI_APIVersionMinor = 1; const int HSI_APIVersionMinor = 1;
const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1) const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1)
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Interface API // Interface API
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
enum HSI_STATUS enum HSI_STATUS
{ {
HSI_STATUS_NOT_SUPPORTED = -1, HSI_STATUS_NOT_SUPPORTED = -1,
HSI_STATUS_NORMAL = 0, HSI_STATUS_NORMAL = 0,
HSI_STATUS_FAILED, HSI_STATUS_FAILED,
HSI_FAILED_DLL_LOAD, HSI_FAILED_DLL_LOAD,
HSI_STATUS_PORTLOCK_HSI_MISMATCH, HSI_STATUS_PORTLOCK_HSI_MISMATCH,
HSI_STATUS_FILE_NOT_FOUND, HSI_STATUS_FILE_NOT_FOUND,
HSI_STATUS_HARDWARE_NOT_FOUND, HSI_STATUS_HARDWARE_NOT_FOUND,
HSI_STATUS_INVALID_PARAMETERS, HSI_STATUS_INVALID_PARAMETERS,
HSI_STATUS_INVALID_POINTS, HSI_STATUS_INVALID_POINTS,
HSI_STATUS_PART_NOT_DETECTED, HSI_STATUS_PART_NOT_DETECTED,
HSI_STATUS_MEASURE_ERROR, HSI_STATUS_MEASURE_ERROR,
HSI_STATUS_TEMPERATURE_ERROR, HSI_STATUS_TEMPERATURE_ERROR,
HSI_STATUS_ILLUMINATION_COMM = 50, HSI_STATUS_ILLUMINATION_COMM = 50,
HSI_STATUS_OPTICS_COMM = 100, HSI_STATUS_OPTICS_COMM = 100,
HSI_STATUS_OPTICS_HOMING, HSI_STATUS_OPTICS_HOMING,
HSI_STATUS_OPTICS_TIMEOUT, HSI_STATUS_OPTICS_TIMEOUT,
HSI_STATUS_OPTICS_CALIBRATIONDATA, HSI_STATUS_OPTICS_CALIBRATIONDATA,
HSI_STATUS_OPTICS_CALIBRATIONDATADEFAULT, HSI_STATUS_OPTICS_CALIBRATIONDATADEFAULT,
HSI_STATUS_OPTICS_CALFILEDATACOUNTMISMATCH, HSI_STATUS_OPTICS_CALFILEDATACOUNTMISMATCH,
HSI_STATUS_MOTION_COMM = 150, HSI_STATUS_MOTION_COMM = 150,
HSI_STATUS_MOTION_HOMING, HSI_STATUS_MOTION_HOMING,
HSI_STATUS_MOTION_TIMEOUT, HSI_STATUS_MOTION_TIMEOUT,
HSI_STATUS_MOTION_EMERGENCY_STOP, HSI_STATUS_MOTION_EMERGENCY_STOP,
HSI_STATUS_MOTION_EXCEED_LIMIT, HSI_STATUS_MOTION_EXCEED_LIMIT,
HSI_STATUS_MOTION_UNKNOWN_ERROR, HSI_STATUS_MOTION_UNKNOWN_ERROR,
HSI_STATUS_MOTION_EXCEED_SW_LIMIT, HSI_STATUS_MOTION_EXCEED_SW_LIMIT,
HSI_STATUS_MOTION_POSITION_ERROR, HSI_STATUS_MOTION_POSITION_ERROR,
HSI_STATUS_MOTION_MOVING, HSI_STATUS_MOTION_MOVING,
HSI_STATUS_TP_UNEXPECTED_HIT = 200, HSI_STATUS_TP_UNEXPECTED_HIT = 200,
HSI_STATUS_TP_TIMEOUT = 201, HSI_STATUS_TP_TIMEOUT = 201,
HSI_STATUS_TP_APPROACH_TIMEOUT = 202, HSI_STATUS_TP_APPROACH_TIMEOUT = 202,
HSI_STATUS_TP_WRIST_ERROR, HSI_STATUS_TP_WRIST_ERROR,
HSI_STATUS_FG_COMM = 250, HSI_STATUS_FG_COMM = 250,
HSI_STATUS_FG_TIMEOUT, HSI_STATUS_FG_TIMEOUT,
HSI_STATUS_FG_DIRECTX, HSI_STATUS_FG_DIRECTX,
HSI_STATUS_FG_COLORDEPTH, HSI_STATUS_FG_COLORDEPTH,
HSI_STATUS_LP_TIMEOUT = 300, HSI_STATUS_LP_TIMEOUT = 300,
HSI_STATUS_LP_EXCEED_LIMIT = 301, HSI_STATUS_LP_EXCEED_LIMIT = 301,
HSI_STATUS_VP_TIMEOUT = 350, HSI_STATUS_VP_TIMEOUT = 350,
HSI_STATUS_VP_IMAGEPROCESS_FAIL HSI_STATUS_VP_IMAGEPROCESS_FAIL
}; };
enum HSI_MACHINE_TYPE enum HSI_MACHINE_TYPE
{ {
HSI_MACHINE_UNKNOWN = 0, HSI_MACHINE_UNKNOWN = 0,
@@ -89,120 +89,174 @@ enum HSI_MACHINE_TYPE
HSI_MACHINE_GOOGOL = 4, HSI_MACHINE_GOOGOL = 4,
HSI_MACHINE_TYPE_TOTAL, HSI_MACHINE_TYPE_TOTAL,
}; };
enum HSI_EVENT_TYPE enum HSI_EVENT_TYPE
{ {
HSI_EVENT_NONE = 0, HSI_EVENT_NONE = 0,
HSI_EVENT_ERROR = 1, HSI_EVENT_ERROR = 1,
HSI_EVENT_FUNCTION = 2, HSI_EVENT_FUNCTION = 2,
HSI_EVENT_NOTIFY = 3, HSI_EVENT_NOTIFY = 3,
HSI_EVENT_SAFETY = 4, HSI_EVENT_SAFETY = 4,
HSI_EVENT_SAFETY_KEEP = 5 HSI_EVENT_SAFETY_KEEP = 5
}; };
enum HSI_EVENT_FUNCTION_ID // EventData
{ // Send Receive
// V4.2 & V4.3 +
HSI_EVENT_DONE = 0, // N/A N/A
HSI_EVENT_TAKE_HIT = 1, // N/A N/A
HSI_EVENT_ERASE_HIT = 2, // N/A N/A
HSI_EVENT_TIME_CRITICAL = 3, // "ON", or "OFF" N/A
HSI_EVENT_ZOOM_IN = 4, // "MAX", "COARSE", or "FINE" N/A
HSI_EVENT_ZOOM_OUT = 5, // "MAX", "COARSE", or "FINE" N/A
HSI_EVENT_REFRESH_LIVE_VIEW = 6, // N/A N/A
HSI_EVENT_UPDATE_READOUTS = 7, // "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}" N/A
HSI_EVENT_READ_MC_POSITION = 8, // "AxisFlags" "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"
HSI_EVENT_MOVE_MC_POSITION = 9, // "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed},%1d{bWait}" N/A
HSI_EVENT_CONVERT_MC_TO_GLOBAL = 10, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_UPDATE_STATUS_MESSAGE = 11, // N/A N/A
HSI_EVENT_OPENFILE_DLG = 12, // N/A "FileName"
HSI_EVENT_DISPLAY_YESNO_MESSAGE = 13, // N/A N/A
HSI_EVENT_DISPLAY_OKCANCEL_MESSAGE = 14, // N/A N/A
HSI_EVENT_DISPLAY_OK_MESSAGE = 15, // N/A N/A
// V4.3 + Only enum HSI_EVENT_FUNCTION_ID // EventData
HSI_EVENT_DEBUG_LOG = 20, // "%s" N/A {
HSI_EVENT_MOVE_MC_POSITION_AND_SETTLE = 21, // "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed}" N/A // Send Receive
HSI_EVENT_CONVERT_GLOBAL_TO_MM = 22, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}" // V4.2 & V4.3 +
HSI_EVENT_CONVERT_ROT_TO_TABLE_POINT = 23, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}" HSI_EVENT_DONE = 0,
HSI_EVENT_CONVERT_ROT_OUT_TABLE_POINT = 24, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}" // N/A N/A
HSI_EVENT_CONVERT_ROT_TO_TABLE_VECTOR = 25, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}" HSI_EVENT_TAKE_HIT = 1,
HSI_EVENT_CONVERT_ROT_OUT_TABLE_VECTOR = 26, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}" // N/A N/A
HSI_EVENT_ILLUMINATION_REFRESH = 27, HSI_EVENT_ERASE_HIT = 2,
HSI_EVENT_ILLUMINATION_LOCK = 28, // N/A N/A
HSI_EVENT_ILLUMINATION_STORE_SET = 29, HSI_EVENT_TIME_CRITICAL = 3,
HSI_EVENT_ILLUMINATION_RESTORE_SET = 30, // "ON", or "OFF" N/A
HSI_EVENT_ILLUMINATION_DECREASE_ACTIVE = 31, // "%d" HSI_EVENT_ZOOM_IN = 4,
HSI_EVENT_ILLUMINATION_INCREASE_ACTIVE = 32, // "%d" // "MAX", "COARSE", or "FINE" N/A
HSI_EVENT_ILLUMINATION_DECREASE_ALL = 33, // "%d" HSI_EVENT_ZOOM_OUT = 5,
HSI_EVENT_ILLUMINATION_INCREASE_ALL = 34, // "%d" // "MAX", "COARSE", or "FINE" N/A
HSI_EVENT_ILLUMINATION_SELECT_LAMP = 35, // "%d" HSI_EVENT_REFRESH_LIVE_VIEW = 6,
HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY = 36, // "%d" // N/A N/A
HSI_EVENT_ILLUMINATION_GET_LAMP_INTENSITY = 37, // "%d" HSI_EVENT_UPDATE_READOUTS = 7,
HSI_EVENT_ILLUMINATION_SET_LAMP_CALIBRATION_OVERRIDE = 38, // "%d" // "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}" N/A
HSI_EVENT_ILLUMINATION_NEXT_RING = 39, HSI_EVENT_READ_MC_POSITION = 8,
HSI_EVENT_ILLUMINATION_PREV_RING = 40, // "AxisFlags" "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"
HSI_EVENT_ILLUMINATION_NEXT_SECTOR = 41, HSI_EVENT_MOVE_MC_POSITION = 9,
HSI_EVENT_ILLUMINATION_PREV_SECTOR = 42, // "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed},%1d{bWait}" N/A
HSI_EVENT_ILLUMINATION_NUM_LAMPS_INSTALLED = 43, HSI_EVENT_CONVERT_MC_TO_GLOBAL = 10,
HSI_EVENT_ILLUMINATION_IS_LAMP_INSTALLED = 44, // "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_ILLUMINATION_APPLY = 45, HSI_EVENT_UPDATE_STATUS_MESSAGE = 11,
HSI_EVENT_ILLUMINATION_ALLOFF = 46, // N/A N/A
HSI_EVENT_ILLUMINATION_ALLON = 47, HSI_EVENT_OPENFILE_DLG = 12,
HSI_EVENT_ILLUMINATION_UNLOCK = 48, // N/A "FileName"
HSI_EVENT_IS_PROGRAMMING_MODE = 49, // 1/0 HSI_EVENT_DISPLAY_YESNO_MESSAGE = 13,
HSI_EVENT_IS_PORTLOCK_DCC = 50, // 1/0 // N/A N/A
HSI_EVENT_IS_ROTAB_ENABLED = 51, // 1/0 HSI_EVENT_DISPLAY_OKCANCEL_MESSAGE = 14,
HSI_EVENT_IS_TIME_CRITICAL = 52, // 1/0 // N/A N/A
HSI_EVENT_CONVERT_MM_TO_GLOBAL = 53, HSI_EVENT_DISPLAY_OK_MESSAGE = 15,
HSI_EVENT_CONVERT_GLOBAL_TO_MC = 54, // N/A N/A
HSI_EVENT_LASER_FOCUS_ENABLE = 55, // "%d" 0 = not available, 1 = available
HSI_EVENT_MOVE_POINT = 56, // N/A N/A
HSI_EVENT_MAG_CHANGED = 57,
HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY_IN_MACHINE_LEVELx100 = 58, // "%d" //PR251359-- Instructed to "Please focus on slide" but it's rather unhelpfully turned the lights off for us.
HSI_EVENT_DCC_SCAN_POINTS_AVAILABLE = 59, // "%d" = more to come, 1 = last set N/A
HSI_EVENT_ILLUMINATION_IS_ALL_OFF = 60, // 1/0 //PR253777-- Sensilight does not work if the target has 'ALL OFF' for illum setting--4/16/2008
HSI_EVENT_ILLUMINATION_DECREASE_ALL_NONZERO = 61, // Sensilight command that wont change a lamp currently set to zero
HSI_EVENT_ILLUMINATION_INCREASE_ALL_NONZERO = 62, // Sensilight command that wont change a lamp currently set to zero22
HSI_EVENT_LP_QUALITY = 63, // "%d" 0-100% // V4.3 + Only
HSI_EVENT_TP_QUALITY = 64, // "%d" 0-100% HSI_EVENT_DEBUG_LOG = 20,
HSI_EVENT_VP_QUALITY = 65, // "%d" 0-100% // "%s" N/A
HSI_EVENT_MOVE_MC_POSITION_AND_SETTLE = 21,
// "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed}" N/A
HSI_EVENT_CONVERT_GLOBAL_TO_MM = 22,
// "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_CONVERT_ROT_TO_TABLE_POINT = 23,
// "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_CONVERT_ROT_OUT_TABLE_POINT = 24,
// "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_CONVERT_ROT_TO_TABLE_VECTOR = 25,
// "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_CONVERT_ROT_OUT_TABLE_VECTOR = 26,
// "%lf{x},%lf{y},%lf{z}" "%lf{x},%lf{y},%lf{z}"
HSI_EVENT_ILLUMINATION_REFRESH = 27,
HSI_EVENT_ILLUMINATION_LOCK = 28,
HSI_EVENT_ILLUMINATION_STORE_SET = 29,
HSI_EVENT_ILLUMINATION_RESTORE_SET = 30,
HSI_EVENT_ILLUMINATION_DECREASE_ACTIVE = 31,
// "%d"
HSI_EVENT_ILLUMINATION_INCREASE_ACTIVE = 32,
// "%d"
HSI_EVENT_ILLUMINATION_DECREASE_ALL = 33,
// "%d"
HSI_EVENT_ILLUMINATION_INCREASE_ALL = 34,
// "%d"
HSI_EVENT_ILLUMINATION_SELECT_LAMP = 35,
// "%d"
HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY = 36,
// "%d"
HSI_EVENT_ILLUMINATION_GET_LAMP_INTENSITY = 37,
// "%d"
HSI_EVENT_ILLUMINATION_SET_LAMP_CALIBRATION_OVERRIDE = 38,
// "%d"
HSI_EVENT_ILLUMINATION_NEXT_RING = 39,
HSI_EVENT_ILLUMINATION_PREV_RING = 40,
HSI_EVENT_ILLUMINATION_NEXT_SECTOR = 41,
HSI_EVENT_ILLUMINATION_PREV_SECTOR = 42,
HSI_EVENT_ILLUMINATION_NUM_LAMPS_INSTALLED = 43,
HSI_EVENT_ILLUMINATION_IS_LAMP_INSTALLED = 44,
HSI_EVENT_ILLUMINATION_APPLY = 45,
HSI_EVENT_ILLUMINATION_ALLOFF = 46,
HSI_EVENT_ILLUMINATION_ALLON = 47,
HSI_EVENT_ILLUMINATION_UNLOCK = 48,
HSI_EVENT_IS_PROGRAMMING_MODE = 49,
// 1/0
HSI_EVENT_IS_PORTLOCK_DCC = 50,
// 1/0
HSI_EVENT_IS_ROTAB_ENABLED = 51,
// 1/0
HSI_EVENT_IS_TIME_CRITICAL = 52,
// 1/0
HSI_EVENT_CONVERT_MM_TO_GLOBAL = 53,
HSI_EVENT_CONVERT_GLOBAL_TO_MC = 54,
HSI_EVENT_LASER_FOCUS_ENABLE = 55,
// "%d" 0 = not available, 1 = available
HSI_EVENT_MOVE_POINT = 56,
// N/A N/A
HSI_EVENT_MAG_CHANGED = 57,
HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY_IN_MACHINE_LEVELx100 = 58,
// "%d" //PR251359-- Instructed to "Please focus on slide" but it's rather unhelpfully turned the lights off for us.
HSI_EVENT_DCC_SCAN_POINTS_AVAILABLE = 59,
// "%d" = more to come, 1 = last set N/A
HSI_EVENT_ILLUMINATION_IS_ALL_OFF = 60,
// 1/0 //PR253777-- Sensilight does not work if the target has 'ALL OFF' for illum setting--4/16/2008
HSI_EVENT_ILLUMINATION_DECREASE_ALL_NONZERO = 61,
// Sensilight command that wont change a lamp currently set to zero
HSI_EVENT_ILLUMINATION_INCREASE_ALL_NONZERO = 62,
// Sensilight command that wont change a lamp currently set to zero22
HSI_EVENT_FLYMODE_MOVE_COMPLETE = 66, // A queued flymode move has completed HSI_EVENT_LP_QUALITY = 63,
HSI_EVENT_PENDANT_SPEED_PERCENT = 67, // 108336 HMV : Add calls to HSI.H for Speed // "%d" 0-100%
HSI_EVENT_PENDANT_AXES_SELECTED = 68, // 108335 HMV : Need to add calls to the HSI.H for Stacked Rotary HSI_EVENT_TP_QUALITY = 64,
// "%d" 0-100%
HSI_EVENT_MOTION = 500, HSI_EVENT_VP_QUALITY = 65,
HSI_EVENT_MOTION_DCC_HOME = 501, // "%d" 0-100%
HSI_EVENT_MOTION_FOCUS_HOME = 502,
HSI_EVENT_MOTION_EMERGENT_STOP = 503, HSI_EVENT_FLYMODE_MOVE_COMPLETE = 66,
HSI_EVENT_SHUTDOWN_ = 999, // N/A N/A // A queued flymode move has completed
HSI_EVENT_MOTION_DRIVER_ALARM = 1000, HSI_EVENT_PENDANT_SPEED_PERCENT = 67,
HSI_EVENT_MOTION_PROBE = 1001, // 108336 HMV : Add calls to HSI.H for Speed
HSI_EVENT_PENDANT_AXES_SELECTED = 68,
// 108335 HMV : Need to add calls to the HSI.H for Stacked Rotary
HSI_EVENT_MOTION = 500,
HSI_EVENT_MOTION_DCC_HOME = 501,
HSI_EVENT_MOTION_FOCUS_HOME = 502,
HSI_EVENT_MOTION_EMERGENT_STOP = 503,
HSI_EVENT_SHUTDOWN_ = 999,
// N/A N/A
HSI_EVENT_MOTION_DRIVER_ALARM = 1000,
HSI_EVENT_MOTION_PROBE = 1001,
HSI_EVENT_MOTION_DISPENSER = 1002 HSI_EVENT_MOTION_DISPENSER = 1002
}; };
enum HSI_NOTIFY_TYPE enum HSI_NOTIFY_TYPE
{ {
HSI_NOTIFY_PROGRAM_EXECUTION_START = 0, HSI_NOTIFY_PROGRAM_EXECUTION_START = 0,
HSI_NOTIFY_PROGRAM_EXECUTION_STOP = 1, HSI_NOTIFY_PROGRAM_EXECUTION_STOP = 1,
HSI_NOTIFY_TIME_CRITICAL_EVENT_START = 2, HSI_NOTIFY_TIME_CRITICAL_EVENT_START = 2,
HSI_NOTIFY_TIME_CRITICAL_EVENT_STOP = 3, HSI_NOTIFY_TIME_CRITICAL_EVENT_STOP = 3,
HSI_NOTIFY_PROGRAM_OPEN = 4, HSI_NOTIFY_PROGRAM_OPEN = 4,
HSI_NOTIFY_PROGRAM_CLOSE = 5, HSI_NOTIFY_PROGRAM_CLOSE = 5,
HSI_NOTIFY_PCDMIS_SHUTDOWN = 6, HSI_NOTIFY_PCDMIS_SHUTDOWN = 6,
HSI_NOTIFY_CLEAR_ITERATIONS = 7, HSI_NOTIFY_CLEAR_ITERATIONS = 7,
HSI_NOTIFY_EMERGENCY_STATE = 9 HSI_NOTIFY_EMERGENCY_STATE = 9
}; };
enum HSI_EVENT_RESPONSE_TYPE enum HSI_EVENT_RESPONSE_TYPE
{ {
HSI_EVENT_CALLBACK = 0, HSI_EVENT_CALLBACK = 0,
HSI_EVENT_RESPONSE_OK = 1, HSI_EVENT_RESPONSE_OK = 1,
HSI_EVENT_RESPONSE_RETRY = 2, HSI_EVENT_RESPONSE_RETRY = 2,
HSI_EVENT_RESPONSE_CANCEL = 3, HSI_EVENT_RESPONSE_CANCEL = 3,
HSI_EVENT_RESPONSE_YES = 4, HSI_EVENT_RESPONSE_YES = 4,
HSI_EVENT_RESPONSE_NO = 5, HSI_EVENT_RESPONSE_NO = 5,
HSI_EVENT_FUNCTION_OK = 6, HSI_EVENT_FUNCTION_OK = 6,
HSI_EVENT_FUNCTION_FAILED = 7 HSI_EVENT_FUNCTION_FAILED = 7
}; };
const int HSI_THREAD_EXIT = -1; const int HSI_THREAD_EXIT = -1;
@@ -211,32 +265,34 @@ const int HSI_THREAD_PAUSED = 1;
struct sHSIEventProperties struct sHSIEventProperties
{ {
UINT EventID; UINT EventID;
UINT EventCallbackID; UINT EventCallbackID;
HSI_EVENT_TYPE EventType; HSI_EVENT_TYPE EventType;
HSI_EVENT_RESPONSE_TYPE EventResponse; HSI_EVENT_RESPONSE_TYPE EventResponse;
char EventData[HSI_MaxStringLength + 1]; char EventData[HSI_MaxStringLength + 1];
void Init()
{ void Init()
EventID = 0; {
EventCallbackID = 0; EventID = 0;
EventType = HSI_EVENT_NONE; EventCallbackID = 0;
EventResponse = HSI_EVENT_CALLBACK; EventType = HSI_EVENT_NONE;
memset(EventData, 0, (HSI_MaxStringLength + 1)*sizeof(char)); EventResponse = HSI_EVENT_CALLBACK;
}; memset(EventData, 0, (HSI_MaxStringLength + 1) * sizeof(char));
sHSIEventProperties() };
{
Init(); sHSIEventProperties()
} {
Init();
}
}; };
// >>>> In Interfaces // >>>> In Interfaces
typedef VOID(WINAPI *pEventCallback)(HSI_EVENT_TYPE EventType, HSI_EVENT_RESPONSE_TYPE ResponseType, UINT EventID, char EventData[HSI_MaxStringLength + 1], UINT &EventCallbackID); using pEventCallback = VOID(WINAPI *)(HSI_EVENT_TYPE EventType, HSI_EVENT_RESPONSE_TYPE ResponseType, UINT EventID,
char EventData[HSI_MaxStringLength + 1], UINT& EventCallbackID);
HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly); HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly);
HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT &APIVersionMajor, UINT &APIVersionMinor); HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT& APIVersionMajor, UINT& APIVersionMinor);
HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int &_NumMachineTypes); HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int& _NumMachineTypes);
HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback); HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback);
HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM(); HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM();
@@ -249,120 +305,145 @@ HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM();
enum HSI_MOTION_TYPE enum HSI_MOTION_TYPE
{ {
HSI_MOTION_SUPPORTS_DCC_CONTROL = 0x0001, HSI_MOTION_SUPPORTS_DCC_CONTROL = 0x0001,
HSI_MOTION_SUPPORTS_MANUAL_CONTROL = 0x0002, HSI_MOTION_SUPPORTS_MANUAL_CONTROL = 0x0002,
HSI_MOTION_SUPPORTS_HOMING = 0x0004, HSI_MOTION_SUPPORTS_HOMING = 0x0004,
HSI_MOTION_SUPPORTS_CIRCULAR_MOVES = 0x0008, HSI_MOTION_SUPPORTS_CIRCULAR_MOVES = 0x0008,
HSI_MOTION_SUPPORTS_CMM_WRIST = 0x0010, HSI_MOTION_SUPPORTS_CMM_WRIST = 0x0010,
HSI_MOTION_SUPPORTS_BUFFERED_MOVES = 0x0020, HSI_MOTION_SUPPORTS_BUFFERED_MOVES = 0x0020,
HSI_MOTION_SUPPORTS_FLY_MOVES = 0x0040, HSI_MOTION_SUPPORTS_FLY_MOVES = 0x0040,
HSI_MOTION_SUPPORTS_SCAN = 0x0080, HSI_MOTION_SUPPORTS_SCAN = 0x0080,
HSI_MOTION_SUPPORTS_ALL_AXIS_MOVE = 0x0100, HSI_MOTION_SUPPORTS_ALL_AXIS_MOVE = 0x0100,
HSI_MOTION_SUPPORTS_MEASPOINT_VW = 0x0200 HSI_MOTION_SUPPORTS_MEASPOINT_VW = 0x0200
}; };
enum HSI_MOTION_AXIS_TYPE enum HSI_MOTION_AXIS_TYPE
{ {
HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines HSI_MOTION_AXIS_X = 0x0001,
HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines // This is the default "Sensor level" X Axis - use on single X axis machines
HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines HSI_MOTION_AXIS_Y = 0x0002,
HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R axis machines // This is the default "Sensor level" Y Axis - use on single Y axis machines
HSI_MOTION_AXIS_X1 = 0x0010, // This is the 1st X Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_Z = 0x0004,
HSI_MOTION_AXIS_Y1 = 0x0020, // This is the 1st Y Axis - use on multiple axis machines when specific axis needed // This is the default "Sensor level" Z Axis - use on single Z axis machines
HSI_MOTION_AXIS_Z1 = 0x0040, // This is the 1st Z Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_R = 0x0008,
HSI_MOTION_AXIS_R1 = 0x0080, // This is the 1st R Axis - use on multiple axis machines when specific axis needed // This is the default "Sensor level" R Axis - use on single R axis machines
HSI_MOTION_AXIS_X2 = 0x0100, // This is the 2nd X Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_X1 = 0x0010,
HSI_MOTION_AXIS_Y2 = 0x0200, // This is the 2nd Y Axis - use on multiple axis machines when specific axis needed // This is the 1st X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z2 = 0x0400, // This is the 2nd Z Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_Y1 = 0x0020,
HSI_MOTION_AXIS_R2 = 0x0800, // This is the 2nd R Axis - use on multiple axis machines when specific axis needed // This is the 1st Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X3 = 0x1000, // This is the 3rd X Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_Z1 = 0x0040,
HSI_MOTION_AXIS_Y3 = 0x2000, // This is the 3rd Y Axis - use on multiple axis machines when specific axis needed // This is the 1st Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z3 = 0x4000, // This is the 3rd Z Axis - use on multiple axis machines when specific axis needed HSI_MOTION_AXIS_R1 = 0x0080,
HSI_MOTION_AXIS_R3 = 0x8000 // This is the 3rd R Axis - use on multiple axis machines when specific axis needed // This is the 1st R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X2 = 0x0100,
// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y2 = 0x0200,
// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z2 = 0x0400,
// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R2 = 0x0800,
// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X3 = 0x1000,
// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y3 = 0x2000,
// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z3 = 0x4000,
// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R3 = 0x8000 // This is the 3rd R Axis - use on multiple axis machines when specific axis needed
}; };
enum HSI_MOTION_IO_TYPE enum HSI_MOTION_IO_TYPE
{ {
HSI_MOTION_INPUT = 0x0001, HSI_MOTION_INPUT = 0x0001,
HSI_MOTION_INPUT_LIMIT_SWITCH, HSI_MOTION_INPUT_LIMIT_SWITCH,
HSI_MOTION_INPUT_CH1,//固高、众为兴、EF1输入 HSI_MOTION_INPUT_CH1,
HSI_MOTION_INPUT_CH2, //固高、众为兴、EF1输入
HSI_MOTION_INPUT_CH3,//串口控制器输入 HSI_MOTION_INPUT_CH2,
HSI_MOTION_INPUT_CH4,//众为兴运动控制卡测试输入 HSI_MOTION_INPUT_CH3,
HSI_MOTION_INPUT_ALARM,//驱动报警 //串口控制器输入
HSI_MOTION_INPUT_CH4,
//众为兴运动控制卡测试输入
HSI_MOTION_INPUT_ALARM,
//驱动报警
HSI_MOTION_OUTPUT = 0x0100, HSI_MOTION_OUTPUT = 0x0100,
HSI_MOTION_OUTPUT_LASER_PEN, HSI_MOTION_OUTPUT_LASER_PEN,
HSI_MOTION_OUTPUT_CH1,//固高、众为兴、EF1输出 HSI_MOTION_OUTPUT_CH1,
HSI_MOTION_OUTPUT_CH2, //固高、众为兴、EF1输出
HSI_MOTION_OUTPUT_CH3,//串口控制器输出 HSI_MOTION_OUTPUT_CH2,
HSI_MOTION_OUTPUT_CH4//众为兴运动控制卡测试输出 HSI_MOTION_OUTPUT_CH3,
//串口控制器输出
HSI_MOTION_OUTPUT_CH4 //众为兴运动控制卡测试输出
}; };
const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z; const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z;
enum HSI_MOTION_MOVE_TYPE enum HSI_MOTION_MOVE_TYPE
{ {
HSI_MOTION_MOVE_WAIT = 1, HSI_MOTION_MOVE_WAIT = 1,
HSI_MOTION_MOVE_NOWAIT = 2, HSI_MOTION_MOVE_NOWAIT = 2,
HSI_MOTION_MOVE_INTERMEDIATE_POSITION = 3, HSI_MOTION_MOVE_INTERMEDIATE_POSITION = 3,
HSI_MOTION_MOVE_FINAL_POSITION = 4, HSI_MOTION_MOVE_FINAL_POSITION = 4,
HSI_MOTION_IN_POSITION_EVENT = 5, HSI_MOTION_IN_POSITION_EVENT = 5,
HSI_MOTION_MOVE_FLYMODE = 6, HSI_MOTION_MOVE_FLYMODE = 6,
HSI_MOTION_MOVE_START_POSITION = 7, HSI_MOTION_MOVE_START_POSITION = 7,
HSI_MOTION_MOVE_START_FINAL_POSITION = 8 HSI_MOTION_MOVE_START_FINAL_POSITION = 8
}; };
enum HSI_MOTION_AXIS_R_MOVE_TYPE enum HSI_MOTION_AXIS_R_MOVE_TYPE
{ {
HSI_MOTION_AXIS_R_CLOCKWISE = 1, HSI_MOTION_AXIS_R_CLOCKWISE = 1,
HSI_MOTION_AXIS_R_ANTICLOCKWISE = 2, HSI_MOTION_AXIS_R_ANTICLOCKWISE = 2,
HSI_MOTION_AXIS_R_FASTEST = 3 HSI_MOTION_AXIS_R_FASTEST = 3
}; };
enum HSI_SCAN_MOTION_TYPE enum HSI_SCAN_MOTION_TYPE
{ {
HSI_SCAN_MOTION_LINEAR = 1, HSI_SCAN_MOTION_LINEAR = 1,
HSI_SCAN_MOTION_CIRCULAR, HSI_SCAN_MOTION_CIRCULAR,
HSI_SCAN_MOTION_SPEC_LOCA = 100,//EF1 HSI_SCAN_MOTION_SPEC_LOCA = 100,
HSI_SCAN_MOTION_EQ_DIS, //EF1
HSI_SCAN_MOTION_EQ_DIS_II, HSI_SCAN_MOTION_EQ_DIS,
HSI_SCAN_MOTION_LINEAR_TEST,//测试使用 HSI_SCAN_MOTION_EQ_DIS_II,
HSI_SCAN_MOTION_EQ_TEST,//测试使用 HSI_SCAN_MOTION_LINEAR_TEST,
HSI_SCAN_MOTION_MANUAL_TEST//测试使用 //测试使用
HSI_SCAN_MOTION_EQ_TEST,
//测试使用
HSI_SCAN_MOTION_MANUAL_TEST //测试使用
}; };
enum HSI_ZOOM_TYPE enum HSI_ZOOM_TYPE
{ {
HSI_ZOOM_MANUAL = 0, HSI_ZOOM_MANUAL = 0,
HSI_ZOOM_NAVITAR=3 HSI_ZOOM_NAVITAR=3
}; };
typedef struct using Point = struct
{ {
double x; double x;
double y; double y;
double z; double z;
}Point; };
const int HSI_MAX_POSITIONS_STORED = 500; const int HSI_MAX_POSITIONS_STORED = 500;
// >>>> In Interfaces // >>>> In Interfaces
// 第一阶段需要重写的API 函数 // 第一阶段需要重写的API 函数
HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome); HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome);
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion); HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte* verion);
HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN(); HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN();
HSI_API HSI_STATUS WINAPI HSI_EF3MOTION_GET_SPEED_XYZ(int axis, double &Speed); HSI_API HSI_STATUS WINAPI HSI_EF3MOTION_GET_SPEED_XYZ(int axis, double& Speed);
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_EX(UINT AxisTypes, double Speed); HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_EX(UINT AxisTypes, double Speed);
HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed); HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed);
HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG(); HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG();
HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time); HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& PositionX, double& PositionY,
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear); double& PositionZ, double& Time);
HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY,
double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION(); HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION();
HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed); HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool& bHomed);
//HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED(UINT &Types); //HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED(UINT &Types);
@@ -391,7 +472,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed);
//HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_STOP(); //HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_STOP();
//HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED_EX(UINT AxisTypes, UINT &Types); //HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED_EX(UINT AxisTypes, UINT &Types);
//HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP_EX(UINT AxisTypes, bool bHome); //HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP_EX(UINT AxisTypes, bool bHome);
//HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SCALE_RESOLUTION_EX(UINT AxisTypes, double &Scale); //HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SCALE_RESOLUTION_EX(UINT AxisTypes, double &Scale);
@@ -420,7 +500,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed);
#ifdef USE_Illumination_API #ifdef USE_Illumination_API
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Illumination API // Illumination API
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
@@ -505,19 +584,34 @@ HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_SHUTDOWN();
#endif // !USE_Illumination_API #endif // !USE_Illumination_API
class HSI class HSI
{ {
public: public:
HSI() : hWnd(nullptr), bOfflineOnly(false){} HSI() : hWnd(nullptr), bOfflineOnly(false)
virtual ~HSI(){} {
virtual HSI_STATUS IsSupported(UINT &Types){ Types = 0; return HSI_STATUS_NORMAL; } }
virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly){ hWnd = _hWnd; bOfflineOnly = _bOfflineOnly; return HSI_STATUS_NORMAL; }
virtual HSI_STATUS Shutdown(){ return HSI_STATUS_NORMAL; }
protected:
HWND hWnd;
bool bOfflineOnly;
sHSIEventProperties sEvenProp;
virtual ~HSI()
{
}
virtual HSI_STATUS IsSupported(UINT& Types)
{
Types = 0;
return HSI_STATUS_NORMAL;
}
virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly)
{
hWnd = _hWnd;
bOfflineOnly = _bOfflineOnly;
return HSI_STATUS_NORMAL;
}
virtual HSI_STATUS Shutdown() { return HSI_STATUS_NORMAL; }
protected:
HWND hWnd;
bool bOfflineOnly;
sHSIEventProperties sEvenProp;
}; };
#endif #endif
HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj
+5
View File
@@ -76,6 +76,7 @@
<LinkIncremental>true</LinkIncremental> <LinkIncremental>true</LinkIncremental>
<IncludePath>\DirectXLib\Include;$(IncludePath)</IncludePath> <IncludePath>\DirectXLib\Include;$(IncludePath)</IncludePath>
<OutDir>$(MSBuildProjectDirectory)\$(Platform)\$(Configuration)\</OutDir> <OutDir>$(MSBuildProjectDirectory)\$(Platform)\$(Configuration)\</OutDir>
<IntDir>$(MSBuildProjectDirectory)\obj</IntDir>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
<LinkIncremental>true</LinkIncremental> <LinkIncremental>true</LinkIncremental>
@@ -171,6 +172,7 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
</Link> </Link>
</ItemDefinitionGroup> </ItemDefinitionGroup>
<ItemGroup> <ItemGroup>
<ClInclude Include="ACS\ACSC.h" />
<ClInclude Include="HSI.h" /> <ClInclude Include="HSI.h" />
<ClInclude Include="SevenOcean\CMMIO_BASE.H" /> <ClInclude Include="SevenOcean\CMMIO_BASE.H" />
<ClInclude Include="logger.h" /> <ClInclude Include="logger.h" />
@@ -196,6 +198,9 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader> <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
</ClCompile> </ClCompile>
</ItemGroup> </ItemGroup>
<ItemGroup>
<Library Include="ACS\ACSCL_x64.LIB" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets"> <ImportGroup Label="ExtensionTargets">
</ImportGroup> </ImportGroup>
HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj.filters
+4
View File
@@ -20,5 +20,9 @@
<ClInclude Include="targetver.h" /> <ClInclude Include="targetver.h" />
<ClInclude Include="version.h" /> <ClInclude Include="version.h" />
<ClInclude Include="SevenOcean\CMMIO_SERIAL.H" /> <ClInclude Include="SevenOcean\CMMIO_SERIAL.H" />
<ClInclude Include="ACS\ACSC.h" />
</ItemGroup>
<ItemGroup>
<Library Include="ACS\ACSCL_x64.LIB" />
</ItemGroup> </ItemGroup>
</Project> </Project>
HSI_HexagonMI_EF3/HSI_Motion.cpp
+1995 -1694
View File
File diff suppressed because it is too large Load Diff
HSI_HexagonMI_EF3/HSI_Motion.h
+388 -370
View File
@@ -3,7 +3,7 @@
#pragma once #pragma once
#include "logger.h" #include "logger.h"
#include "SevenOcean\CMMIO_SERIAL.H" #include "SevenOcean/CMMIO_SERIAL.H"
#define TCPIP_THREAD_RUNNING 0 #define TCPIP_THREAD_RUNNING 0
#define TCPIP_THREAD_PAUSED 1 #define TCPIP_THREAD_PAUSED 1
@@ -16,114 +16,129 @@
const double SCALE_UNITS = 1000.0; const double SCALE_UNITS = 1000.0;
static CLogger* g_pLogger; static CLogger* g_pLogger;
static CLogger* g_pLogger2; static CLogger* g_pLogger2;
static bool g_IsClose;//用于DoEvents()的退出，而不异常 static bool g_IsClose; //用于DoEvents()的退出，而不异常
enum E_SO7_MOTION_TYPE enum E_SO7_MOTION_TYPE
{ {
E_SO7_MOTION_NONE, E_SO7_MOTION_NONE,
E_SO7_MOTION_JOG, E_SO7_MOTION_JOG,
E_SO7_MOTION_MOVETO, E_SO7_MOTION_MOVETO,
E_SO7_MOTION E_SO7_MOTION
}; };
enum E_EF3_HOME_STATUS enum E_EF3_HOME_STATUS
{ {
E_EF3_HOME_NONE,//0表示从未回过回原点 E_EF3_HOME_NONE,
E_EF3_HOME_ING,//1表示正在回原点 //0表示从未回过回原点
E_EF3_HOME_FINISHED,//2表示已经回过原点 E_EF3_HOME_ING,
//1表示正在回原点
E_EF3_HOME_FINISHED,
//2表示已经回过原点
}; };
enum FUN_CMD //第一级指令 enum FUN_CMD //第一级指令
{ {
CT_MOTOR = 0x01, //MOTOR CT_MOTOR = 0x01,
CT_LIGHT, //LIGHT //MOTOR
CT_PORT, //PORT CT_LIGHT,
CT_ORDER, //ORDER //LIGHT
CT_SOFTSTOP, //STOP CT_PORT,
CT_GLUEDISPENSER, //点胶 //PORT
CT_TURNTABLE, CT_ORDER,
//ORDER
CT_SOFTSTOP,
//STOP
CT_GLUEDISPENSER,
//点胶
CT_TURNTABLE,
}; };
enum MOTOR_CMD //第二级指令 enum MOTOR_CMD //第二级指令
{ {
CT_MOTOR_SET = 0x01, CT_MOTOR_SET = 0x01,
CT_START_JOG_POS, // CT_START_JOG_POS,
CT_START_JOG_NEG, //
CT_START_POSITION, //_POS, CT_START_JOG_NEG,
CT_STOP, CT_START_POSITION,
CT_GOHOME, //_POS,
CT_TRIGGER_DATA, CT_STOP,
CT_SIX_LIGHT, CT_GOHOME,
CT_MDATA_INIT, CT_TRIGGER_DATA,
CT_MDATA_COM, CT_SIX_LIGHT,
CT_POSFLAG_CLEAR, CT_MDATA_INIT,
CT_START_LATCH, CT_MDATA_COM,
CT_ROCKER, CT_POSFLAG_CLEAR,
CT_CIRCLERUN_POSITION, CT_START_LATCH,
CT_GLUEDISPENSER_SET, CT_ROCKER,
CT_GLUEDISPENSER_CLEAR, CT_CIRCLERUN_POSITION,
CT_GLUEDISPENSER_START, CT_GLUEDISPENSER_SET,
CT_GLUEDISPENSER_STOP, CT_GLUEDISPENSER_CLEAR,
//转盘时启用 CT_GLUEDISPENSER_START,
CT_RTSET, CT_GLUEDISPENSER_STOP,
CT_BINSDATA, //转盘时启用
CT_RTSTOP, CT_RTSET,
// CT_MOTOR_UPDATE, // up date all the aixs CT_BINSDATA,
CT_RTSTOP,
// CT_MOTOR_UPDATE, // up date all the aixs
}; };
enum MOTOR_START_POSOTION // enum MOTOR_START_POSOTION //
{ {
INTERPOLATION = 0x61,//插补 INTERPOLATION = 0x61,
GANGED = 0x41,//独立 //插补
CIRCLER = 0x64, GANGED = 0x41,
CIRCLEL = 0x65, //独立
CIRCLER = 0x64,
CIRCLEL = 0x65,
}; };
enum MOTOR_AXISCHOOES_CMD //第三级指令 enum MOTOR_AXISCHOOES_CMD //第三级指令
{ {
AXIS_X = 0x01, AXIS_X = 0x01,
AXIS_Y = 0x02, AXIS_Y = 0x02,
AXIS_Z = 0x04, AXIS_Z = 0x04,
AXIS_U = 0x08, AXIS_U = 0x08,
AXIS_XY = 0x03, AXIS_XY = 0x03,
AXIS_XZ = 0x05, AXIS_XZ = 0x05,
AXIS_XU = 0x09, AXIS_XU = 0x09,
AXIS_YZ = 0x06, AXIS_YZ = 0x06,
AXIS_YU = 0x0a, AXIS_YU = 0x0a,
AXIS_ZU = 0x0c, AXIS_ZU = 0x0c,
AXIS_XYZ = 0x07, AXIS_XYZ = 0x07,
AXIS_XYU = 0x0b, AXIS_XYU = 0x0b,
AXIS_XZU = 0x0d, AXIS_XZU = 0x0d,
AXIS_YZU = 0x0e, AXIS_YZU = 0x0e,
AXIS_XYZU = 0x0f, AXIS_XYZU = 0x0f,
}; };
enum MOTOR_SET_KIND //第四级指令 enum MOTOR_SET_KIND //第四级指令
{ {
JOG_SPEED_ACC_DEC, JOG_SPEED_ACC_DEC,
POSITION_SPEED_ACC_DEC_POS, POSITION_SPEED_ACC_DEC_POS,
HOME_LIMIT_SPEED_ACC_DEC, HOME_LIMIT_SPEED_ACC_DEC,
HOME_ORG_SPEED_ACC_DEC, HOME_ORG_SPEED_ACC_DEC,
SOFT_LIMIT_POS_NEG, SOFT_LIMIT_POS_NEG,
POS_CLEAR, POS_CLEAR,
HOME_CLEAR, HOME_CLEAR,
ENC_POS_DIR, ENC_POS_DIR,
}; };
enum CMD_ORDER enum CMD_ORDER
{ {
IOSTATE, IOSTATE,
MOTORPOSITION, MOTORPOSITION,
MOTORSTATE MOTORSTATE
}; };
enum E_SO7_MOTION_READ_TYPE enum E_SO7_MOTION_READ_TYPE
{ {
E_DATA_TYPE_NONE, E_DATA_TYPE_NONE,
E_DATA_TYPE_GET_POS, E_DATA_TYPE_GET_POS,
E_DATA_TYPE_IO, E_DATA_TYPE_IO,
}; };
typedef enum { using TCPIP_RETURN_CODE = enum
{
TCPIP_CONNECT_OK = 0, TCPIP_CONNECT_OK = 0,
TCPIP_INIT_WINSOCK_ERROR, TCPIP_INIT_WINSOCK_ERROR,
TCPIP_INVAILD_SOCKET, TCPIP_INVAILD_SOCKET,
@@ -134,59 +149,58 @@ typedef enum {
TCPIP_TIMEOUT, TCPIP_TIMEOUT,
TCPIP_WSAEWOULDBLOCK = 10035, TCPIP_WSAEWOULDBLOCK = 10035,
TCPIP_CONNECT_STATUS_UNKNOWN TCPIP_CONNECT_STATUS_UNKNOWN
};
} TCPIP_RETURN_CODE;
class HSI_Motion : public HSI class HSI_Motion : public HSI
{ {
public: public:
HSI_Motion(); HSI_Motion();
~HSI_Motion(); ~HSI_Motion() override;
HSI_STATUS IsSupported(UINT &Types); HSI_STATUS IsSupported(UINT& Types) override;
HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly); HSI_STATUS GetFirmwareVersion(byte* version);
HSI_STATUS GetFirmwareVersion(byte *version);
HSI_STATUS HomeMachine(bool bHomed); HSI_STATUS HomeMachine(bool bHomed);
HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false); HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
HSI_STATUS HomeFindIndex(); HSI_STATUS HomeFindIndex();
HSI_STATUS ZeroPos(bool bZeroPos); HSI_STATUS ZeroPos(bool bZeroPos);
HSI_STATUS IsHomed(bool &bHomed); HSI_STATUS IsHomed(bool& bHomed);
HSI_STATUS GetSpeedXyz(int AxisNum, double &Speed); HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
HSI_STATUS SetSpeedXyz(double Speed); HSI_STATUS SetSpeedXyz(double Speed);
HSI_STATUS GetFocusSpeed(double &Speed); HSI_STATUS GetFocusSpeed(double& Speed);
HSI_STATUS SetFocusSpeed(double Speed); HSI_STATUS SetFocusSpeed(double Speed);
HSI_STATUS GetAccelerationXyz(double &AccelX, double &AccelY, double &AccelZ); HSI_STATUS GetAccelerationXyz(double& AccelX, double& AccelY, double& AccelZ);
HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ); HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ);
HSI_STATUS GetSpeedR(double &Speed); HSI_STATUS GetSpeedR(double& Speed);
HSI_STATUS SetSpeedR(double Speed); HSI_STATUS SetSpeedR(double Speed);
HSI_STATUS GetScaleResolution(double &_ScaleX, double &_ScaleY, double &_ScaleZ); HSI_STATUS GetScaleResolution(double& _ScaleX, double& _ScaleY, double& _ScaleZ);
HSI_STATUS SetScaleResolution(double _ScaleX, double _ScaleY, double _ScaleZ); HSI_STATUS SetScaleResolution(double _ScaleX, double _ScaleY, double _ScaleZ);
HSI_STATUS GetDeadBand(double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR); HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR);
HSI_STATUS GetRefreshDeadBand(double &Deadband); HSI_STATUS GetRefreshDeadBand(double& Deadband);
HSI_STATUS Jog(UINT AxisTypes, double Speed); HSI_STATUS Jog(UINT AxisTypes, double Speed);
HSI_STATUS JoyStick(UINT AxisTypes, long Speed); HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
HSI_STATUS StopJog(); HSI_STATUS StopJog();
HSI_STATUS StopJogEx(UINT AxisTypes); HSI_STATUS StopJogEx(UINT AxisTypes);
HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double *EncPos, double *PrfPos, int Count); HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
HSI_STATUS GetPositionXyz(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time); HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &PositionA); HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
HSI_STATUS GetEncoderXyz(long *lEncoderVal); double& PositionA);
HSI_STATUS GetEncoderXyz(long* lEncoderVal);
HSI_STATUS JogProbe(UINT AxisTypes, double Speed); HSI_STATUS JogProbe(UINT AxisTypes, double Speed);
void ProbeRetractManDist(int RetractManDist); void ProbeRetractManDist(int RetractManDist);
int CaculateStepMotorACC(int pos, int maxacc, int minacc); int CaculateStepMotorACC(int pos, int maxacc, int minacc);
HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point *CacheData); HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
HSI_STATUS GetPositionR(UINT AxisTypes, double &PositionR, double &Time); HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait); HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData);
HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ); 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);
HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile); HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile);
HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile); HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
HSI_STATUS AbortMotion(); HSI_STATUS AbortMotion();
@@ -194,280 +208,283 @@ public:
HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status); HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status);
HSI_STATUS SetDIO(UINT IOChannel, UINT _Status); HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
HSI_STATUS GetAxisStatus(int* _Status); HSI_STATUS GetAxisStatus(int* _Status);
HSI_STATUS GetAppPath(CString &Path); HSI_STATUS GetAppPath(CString& Path);
virtual HSI_STATUS Shutdown(); HSI_STATUS Shutdown() override;
HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT &Types); HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types);
HSI_STATUS StartupEx(UINT AxisTypes, bool bHome); HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double &Scale); HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double& Scale);
HSI_STATUS SetScaleResolutionEx(UINT AxisTypes, double Scale); HSI_STATUS SetScaleResolutionEx(UINT AxisTypes, double Scale);
HSI_STATUS GetPositionEx(UINT AxisTypes, double &Position, double &Time); HSI_STATUS GetPositionEx(UINT AxisTypes, double& Position, double& Time);
HSI_STATUS SetPositionStep(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear); HSI_STATUS SetPositionStep(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
HSI_STATUS SetPositionEx(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear); HSI_STATUS SetPositionEx(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
HSI_STATUS GetSpeedEx(UINT AxisTypes, double &Speed); HSI_STATUS GetSpeedEx(UINT AxisTypes, double& Speed);
HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed); HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);
HSI_STATUS GetAccelerationEx(UINT AxisTypes, double &Accel); HSI_STATUS GetAccelerationEx(UINT AxisTypes, double& Accel);
HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel); HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor,int triggleMode, double* Intensities); HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
HSI_STATUS DCCPPStartPoint(double *startPoint); double* Intensities);
HSI_STATUS DCCPPStartPoint(double* startPoint);
HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis); HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
HSI_STATUS DCCScanStart(); HSI_STATUS DCCScanStart();
HSI_STATUS DCCScanStop(); HSI_STATUS DCCScanStop();
HSI_STATUS DCCForLightPlate(); HSI_STATUS DCCForLightPlate();
HSI_STATUS IOStep(bool RunSts); HSI_STATUS IOStep(bool RunSts);
HSI_STATUS IOprogram(byte* SendData,int length); HSI_STATUS IOprogram(byte* SendData, int length);
HSI_STATUS FindOriginTest(bool state); HSI_STATUS FindOriginTest(bool state);
HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea,int filterTime1, int filterTime2,int pluseSumDis); HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2,
int pluseSumDis);
HSI_STATUS SendBinResult(int* BinResult); HSI_STATUS SendBinResult(int* BinResult);
HSI_STATUS GetTriggleCount(int* nCount, int& nArea); HSI_STATUS GetTriggleCount(int* nCount, int& nArea);
HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData, int num); HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData,
HSI_STATUS GlueDispenser(int* index, int* cirdirection , double* gluePos, int num); int num);
HSI_STATUS GlueDispenser(int* index, int* cirdirection, double* gluePos, int num);
HSI_STATUS GlueDispenserStart(double xOffset, double yOffset, double qOffset); HSI_STATUS GlueDispenserStart(double xOffset, double yOffset, double qOffset);
HSI_STATUS GetPntsDistance(double& ptpDistance,int& spTimeCount); HSI_STATUS GetPntsDistance(double& ptpDistance, int& spTimeCount);
public: public:
static int m_Thread_State; static int m_Thread_State;
static HANDLE m_Thread_Id; static HANDLE m_Thread_Id;
static HANDLE m_Thread_Mutex; static HANDLE m_Thread_Mutex;
static HANDLE m_hTriggerEvent; static HANDLE m_hTriggerEvent;
//用于IO发消息的线程 //用于IO发消息的线程
static int m_Thread_StateIO; static int m_Thread_StateIO;
static HANDLE m_Thread_IdIO; static HANDLE m_Thread_IdIO;
static HANDLE m_Thread_MutexIO; static HANDLE m_Thread_MutexIO;
static HANDLE m_hTriggerEventIO; static HANDLE m_hTriggerEventIO;
//读取EF3的数据状态 //读取EF3的数据状态
static int m_Thread_StateData; static int m_Thread_StateData;
static HANDLE m_Thread_IdData; static HANDLE m_Thread_IdData;
static HANDLE m_Thread_MutexData; static HANDLE m_Thread_MutexData;
static HANDLE m_hTriggerEventData; static HANDLE m_hTriggerEventData;
//读取EF3的探针状态 //读取EF3的探针状态
static int m_Thread_StateProbe; static int m_Thread_StateProbe;
static HANDLE m_Thread_IdProbe; static HANDLE m_Thread_IdProbe;
static HANDLE m_Thread_MutexProbe; static HANDLE m_Thread_MutexProbe;
static HANDLE m_hTriggerEventProbe; static HANDLE m_hTriggerEventProbe;
//点胶运行状态 //点胶运行状态
static int bRunGlueDispenser; static int bRunGlueDispenser;
//读取EF3的JOG stop 的状态 //读取EF3的JOG stop 的状态
static int m_Thread_StateJOGStop; static int m_Thread_StateJOGStop;
static HANDLE m_Thread_IdJOGStop; static HANDLE m_Thread_IdJOGStop;
static HANDLE m_Thread_MutexJOGStop; static HANDLE m_Thread_MutexJOGStop;
static HANDLE m_hTriggerEventJOGStop; static HANDLE m_hTriggerEventJOGStop;
static HANDLE g_RW_Data_Mutex; static HANDLE g_RW_Data_Mutex;
static HANDLE g_WR_ToMove_Mutex; static HANDLE g_WR_ToMove_Mutex;
static HANDLE g_Lock_JogAndTrigger; static HANDLE g_Lock_JogAndTrigger;
double m_Resolution[5];//从1开始,0不用 double m_Resolution[5]; //从1开始,0不用
double m_N_Work_Limit[5]; //负限位 double m_N_Work_Limit[5]; //负限位
double m_P_Work_Limit[5]; //正限位 double m_P_Work_Limit[5]; //正限位
int m_Home_AddJogGears[5]; int m_Home_AddJogGears[5];
int m_Home_DecJogGears[5]; int m_Home_DecJogGears[5];
int m_Home_Time[5]; int m_Home_Time[5];
int m_SetPotion_Count[5]; int m_SetPotion_Count[5];
//定位参数 //定位参数
int m_SetPotion_StartSpeed[5]; int m_SetPotion_StartSpeed[5];
int m_SetPotion_DriveSpeed[5]; int m_SetPotion_DriveSpeed[5];
int m_SetPotion_Line[5]; int m_SetPotion_Line[5];
int m_SetPotion_Buffer[5]; int m_SetPotion_Buffer[5];
int m_SetPotion_AccCurve[5]; int m_SetPotion_AccCurve[5];
int m_SetPotion_DecCurve[5]; int m_SetPotion_DecCurve[5];
int m_SpeedAdjustPeriod[5]; int m_SpeedAdjustPeriod[5];
int m_SpeedMax[5]; int m_SpeedMax[5];
int m_stepPosition_L_speed[10]; int m_stepPosition_L_speed[10];
int m_stepPosition_H_speed[10]; int m_stepPosition_H_speed[10];
int m_stepPosition_Load[10]; int m_stepPosition_Load[10];
int m_stepPosition_acc[10]; int m_stepPosition_acc[10];
double m_PositionA;//第四轴的地位位置 double m_PositionA; //第四轴的地位位置
//jog 参数 //jog 参数
int m_JogDriveSpeed[5][5];//5：轴号,从1开始；5：档位 int m_JogDriveSpeed[5][5]; //5：轴号,从1开始；5：档位
int m_JogStartSpeed[5][5]; int m_JogStartSpeed[5][5];
int m_JogAccLine[5][5]; int m_JogAccLine[5][5];
int m_JogDecLine[5][5]; int m_JogDecLine[5][5];
int m_JogAccCurve[5][5]; int m_JogAccCurve[5][5];
int m_JogDecCurve[5][5]; int m_JogDecCurve[5][5];
int m_Jog_Auto_Focus;//变焦使用的速度 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 int m_LogIsOpen[5]; //是否打开记录，0为打开，非0为关闭
unsigned int m_precisionCount[5]; unsigned int m_precisionCount[5]; //回家误差脉冲个数
unsigned int m_precisionTime[5]; unsigned int m_precisionTime[5]; //超时时间(0.1ms)
int m_StopJogMode[5];//JOG模式采用急停还是平滑停止 int m_StopJogMode[5]; //JOG模式采用急停还是平滑停止
double m_PosThread[5];//SetpositionXyz的目标位置 double m_PosThread[5]; //SetpositionXyz的目标位置
int m_PosNow[5];//调用SetpositionXyz时，读取当前位置 int m_PosNow[5]; //调用SetpositionXyz时，读取当前位置
double targetpos_n[5]; double targetpos_n[5];
double targetpos_l[5]; double targetpos_l[5];
short m_AxisThread; short m_AxisThread;
int m_IsExMotion; //0是xyz用的，1是单轴用的，2都不用 int m_IsExMotion; //0是xyz用的，1是单轴用的，2都不用
int m_Home_Machine_Axis[5];//用于启动时需要回原点的轴号选择 int m_Home_Machine_Axis[5]; //用于启动时需要回原点的轴号选择
int m_Home_Pos_Axis[5];//记住关闭电源时的位置，用于判断是否还需要回原点 int m_Home_Pos_Axis[5]; //记住关闭电源时的位置，用于判断是否还需要回原点
int m_IsHomeEncPos; //是否启动实际位置判断是否回家，默认0，1启用，0关闭 int m_IsHomeEncPos; //是否启动实际位置判断是否回家，默认0，1启用，0关闭
int m_IsHomePrfPos; //是否启动规划位置判断是否回家，默认1，1启用，0关闭 int m_IsHomePrfPos; //是否启动规划位置判断是否回家，默认1，1启用，0关闭
int m_IsIOFuntion;//是否启动IO功能，1为打开，0为关闭 int m_IsIOFuntion; //是否启动IO功能，1为打开，0为关闭
int m_IsStartInput;//是否启用脚踏开关功能，1为启用，0为关闭，默认0 int m_IsStartInput; //是否启用脚踏开关功能，1为启用，0为关闭，默认0
UINT m_StartInputPort;//外部输入按钮启动程序 UINT m_StartInputPort; //外部输入按钮启动程序
UINT m_InputStatus; UINT m_InputStatus;
UINT m_ForStatus; UINT m_ForStatus;
int m_Set_XYZA_Reserve;//XYZA轴方向 int m_Set_XYZA_Reserve; //XYZA轴方向
int m_motorType;//电机类型 1为伺服电机 0为步进电机 int m_motorType; //电机类型 1为伺服电机 0为步进电机
int m_setPositionDelay;//设置定位超时 int m_setPositionDelay; //设置定位超时
int m_setPositionPrecision;//设置定位精度 int m_setPositionPrecision; //设置定位精度
int m_setPositionNum; int m_setPositionNum;
CString m_AppPath; CString m_AppPath;
//MST软件运行标志，trueMST软件已经启动，falseMST软件停止 //MST软件运行标志，trueMST软件已经启动，falseMST软件停止
bool m_MSTRunFlag; 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_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 int m_Compensation_Pluse; //补偿脉冲数
int m_IsHardLimit; //设备轴硬限位设置 为0表示所有轴都为软限位 1为X轴为硬限位 2为Y轴 3为XY轴 4为Z轴 7为XYZ轴 默认为7 int m_IsHardLimit; //设备轴硬限位设置 为0表示所有轴都为软限位 1为X轴为硬限位 2为Y轴 3为XY轴 4为Z轴 7为XYZ轴 默认为7
int m_IsEnableAxis; //设备启用轴设置 为0表示所有轴不启用 1为X轴启用 2为Y轴启用 3为XY轴启用 4为Z轴启用 7为XYZ轴启用 默认为7 int m_IsEnableAxis; //设备启用轴设置 为0表示所有轴不启用 1为X轴启用 2为Y轴启用 3为XY轴启用 4为Z轴启用 7为XYZ轴启用 默认为7
int m_IsUseExternalTrigger; //是否启用外触发功能 0为不启用 1为启用 默认为1 int m_IsUseExternalTrigger; //是否启用外触发功能 0为不启用 1为启用 默认为1
int m_IsUseSixRingEightArea; //是否启用六环八区灯功能 0为不启用 1为启用 2为二环八区灯 默认为0 int m_IsUseSixRingEightArea; //是否启用六环八区灯功能 0为不启用 1为启用 2为二环八区灯 默认为0
int m_SixEightSubArea[8]; //六环八区分区功能 int m_SixEightSubArea[8]; //六环八区分区功能
int m_IsUseTwentySixLight;//是否启用26路灯光 0为不启用 1位启用 默认为0 int m_IsUseTwentySixLight; //是否启用26路灯光 0为不启用 1位启用 默认为0
int m_IsUseEF3;//是否启用EF3 int m_IsUseEF3; //是否启用EF3
int m_DeviceType;//设备类型，0为通用设备，1为三激光, 2为大视野，3为转盘设备 默认为0 int m_DeviceType; //设备类型，0为通用设备，1为三激光, 2为大视野，3为转盘设备 默认为0
int m_UseAxisNum;//转盘设备使用轴号 int m_UseAxisNum; //转盘设备使用轴号
int m_IbinCount;//记录获取到的分bin数 int m_IbinCount; //记录获取到的分bin数
bool m_IsUsePPS; bool m_IsUsePPS;
int m_iJoyStick;//遥感类型：0：无 1：老式摇杆 int m_iJoyStick; //摇杆类型：0：无 1：老式摇杆
int m_bISUseMoreLights; int m_bISUseMoreLights; //更多灯光
int m_EF3LightType; int m_EF3LightType;
int m_LightType; int m_LightType;
int m_IsUseFourthSpeed; int m_IsUseFourthSpeed;
CString m_IsOpenTCPIP[4];//可提供的tcp通信的ip CString m_IsOpenTCPIP[4]; //可提供的tcp通信的ip
bool m_tcpCntFlag[4]; bool m_tcpCntFlag[4];
int m_selectedIndex; int m_selectedIndex;
bool m_Led8MotionFlag[4];//是否为8路光源板 bool m_Led8MotionFlag[4]; //是否为8路光源板
int m_IsHavePattern;//是否有光栅 int m_IsHavePattern; //是否有光栅
int m_AxisHomeDirection;//轴回家时的方向 int m_AxisHomeDirection; //轴回家时的方向
int m_IsUseJerk;//是否启用急停 0为不启用 1为启用 int m_IsUseJerk; //是否启用急停 0为不启用 1为启用
DWORD t_start;//获取jog运行的开始时间 DWORD t_start; //获取jog运行的开始时间
DWORD t_end;//获取jog运行的结束时间 DWORD t_end; //获取jog运行的结束时间
DWORD set_start;//获取定位运行开始时间 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 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 //是否启用探针捕获功能，1启用，默认0关闭
int m_IsProbe; 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 //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; int m_ProbeAllAxis;
long m_ProbeCapturePos[5];//锁存各轴的位置 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 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
int m_ProbeReturnSpeed;//探针触发后，轴的回退速度 int m_ProbeReturnSpeed; //探针触发后，轴的回退速度
int m_isOKGlint; //是否开启ok/ng 闪烁 int m_isOKGlint; //是否开启ok/ng 闪烁
int m_ETIPort;//外部触发拍照输入端口号 int m_ETIPort; //外部触发拍照输入端口号
int m_axisStatus;//运动各轴的状态 int m_axisStatus; //运动各轴的状态
int m_axisAlarmStatus;//轴报警状态 int m_axisAlarmStatus; //轴报警状态
int m_EF3COMPort;//EF3板com口，默认为2 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_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_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_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_IsCollectPos; //是否通过串口打印位置，与摇杆2互斥
int m_IsCloseRocker; int m_IsCloseRocker;
int m_IsLightDebug;//是否不回家也能调试灯光 0为不启用 1为启用 默认为0 int m_IsLightDebug; //是否不回家也能调试灯光 0为不启用 1为启用 默认为0
int m_rockerHStartSpeed[4];//摇杆XYZ轴高初始速度 int m_rockerHStartSpeed[4]; //摇杆XYZ轴高初始速度
int m_rockerHDriveSpeed[4];//摇杆XYZ轴高驱动速度 int m_rockerHDriveSpeed[4]; //摇杆XYZ轴高驱动速度
int m_rockerLStartSpeed[4];//摇杆XYZ轴低初始速度 int m_rockerLStartSpeed[4]; //摇杆XYZ轴低初始速度
int m_rockerLDriveSpeed[4];//摇杆XYZ轴低驱动速度 int m_rockerLDriveSpeed[4]; //摇杆XYZ轴低驱动速度
int m_rockerASpeed[4]; //XYZ轴加减速1 int m_rockerASpeed[4]; //XYZ轴加减速1
int m_rockerDSpeed[4]; //XYZ轴加减速2 int m_rockerDSpeed[4]; //XYZ轴加减速2
int m_SaveAxisNum;//保存轴号 int m_SaveAxisNum; //保存轴号
int m_SaveAxisSpeed;//保存速度 int m_SaveAxisSpeed; //保存速度
bool bSaveSpeedFlag; bool bSaveSpeedFlag;
bool fourthAxisFlag; bool fourthAxisFlag;
bool bCircleRun;//圆弧插补 bool bCircleRun; //圆弧插补
int iCircleRunPnt[5];//圆弧插补时的圆心位置 int iCircleRunPnt[5]; //圆弧插补时的圆心位置
int jogAxisNum;//jog运动的轴号 int jogAxisNum; //jog运动的轴号
int jogspeed; int jogspeed;
bool jogMoving; bool jogMoving;
bool jogDirFlag; bool jogDirFlag;
bool m_bEmergencyState; bool m_bEmergencyState;
bool bUseGlueDispenser;//是否开启点胶 bool bUseGlueDispenser; //是否开启点胶
int m_iGlueStartSpeed; int m_iGlueStartSpeed;
int m_iGlueDriveSpeed; int m_iGlueDriveSpeed;
int m_iGlueAccSpeed; int m_iGlueAccSpeed;
int GlueDispenserindexNum;//点胶段数 int GlueDispenserindexNum; //点胶段数
int GluerunCount; int GluerunCount;
int m_iSpeedType; int m_iSpeedType;
int m_axisDirX;//探针运动时X轴的运动方向 int m_axisDirX; //探针运动时X轴的运动方向
int m_axisDirY;//探针运动时Y轴的运动方向 int m_axisDirY; //探针运动时Y轴的运动方向
int m_axisDirZ;//探针运动时Z轴的运动方向 int m_axisDirZ; //探针运动时Z轴的运动方向
int m_probeSeekSpeed; int m_probeSeekSpeed;
int m_isUseAport;//A串口 int m_isUseAport; //A串口
int m_portAnum; int m_portAnum;
int m_isUseBport;//B串口 int m_isUseBport; //B串口
int m_portBnum; int m_portBnum;
int SpCompleteTStart; int SpCompleteTStart;
int SpCompleteTEnd; int SpCompleteTEnd;
int SpTimeCount; int SpTimeCount;
bool SetPotionRunEnd; bool SetPotionRunEnd;
double PntToPntDistance; double PntToPntDistance;
double m_LockPos[5]; double m_LockPos[5];
double m_ijk[5]; double m_ijk[5];
int m_AxisHex[5]; int m_AxisHex[5];
bool setLightFlag; bool setLightFlag;
double m_EncPos[5]; double m_EncPos[5];
double m_PrfPos[5]; double m_PrfPos[5];
double m_PosForAllAxis[5];//记录4轴位置 double m_PosForAllAxis[5]; //记录4轴位置
bool m_bConnected; bool m_bConnected;
int m_SendDataLength; int m_SendDataLength;
unsigned char m_cSendData[64]; unsigned char m_cSendData[64];
unsigned char m_direct_pos; unsigned char m_direct_pos;
unsigned char axis_start; unsigned char axis_start;
CPSerial m_SO7_Serial; CPSerial m_SO7_Serial;
DWORD m_WriteByte; DWORD m_WriteByte;
BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength); BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength);
BOOL Receive_Data(); BOOL Receive_Data();
bool PortInit(int iSerialComPort, int iBuadRate); bool PortInit(int iSerialComPort, int iBuadRate);
char m_RecvData[MAX_RECIEVE_BUFFER_SIZE]; char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
DWORD m_RecvDataSize; DWORD m_RecvDataSize;
E_EF3_HOME_STATUS CurrentHomeMachineState; E_EF3_HOME_STATUS CurrentHomeMachineState;
//刷新探针状态 //刷新探针状态
static unsigned __stdcall m_ThreadProbe(LPVOID pThis); static unsigned __stdcall m_ThreadProbe(LPVOID pThis);
void CreateThreadProbe(); void CreateThreadProbe();
void CloseThreadProbe(); void CloseThreadProbe();
void UpdateMotionStateProbe(); void UpdateMotionStateProbe();
//刷新位置状态 //刷新位置状态
static unsigned __stdcall m_Thread(LPVOID pThis); static unsigned __stdcall m_Thread(LPVOID pThis);
void CreateThread(); void CreateThread();
void CloseThread(); void CloseThread();
void UpdateMotionState(); void UpdateMotionState();
void UpdateMotionStateEx(); void UpdateMotionStateEx();
void GluedispenserDone(); void GluedispenserDone();
//IO发消息使用 //IO发消息使用
static unsigned __stdcall m_ThreadIO(LPVOID pThis); static unsigned __stdcall m_ThreadIO(LPVOID pThis);
void CreateThreadIO(); void CreateThreadIO();
void CloseThreadIO(); void CloseThreadIO();
void UpdateMotionStateIO(); void UpdateMotionStateIO();
//读取EF3的数据状态 //读取EF3的数据状态
static unsigned __stdcall m_ThreadData(LPVOID pThis); static unsigned __stdcall m_ThreadData(LPVOID pThis);
void CreateThreadData(); void CreateThreadData();
void CloseThreadData(); void CloseThreadData();
void UpdateMotionStateData(); void UpdateMotionStateData();
//读取EF3的JOG位置 以便停止JOG运动 //读取EF3的JOG位置 以便停止JOG运动
static unsigned __stdcall m_ThreadJOGStop(LPVOID pThis); static unsigned __stdcall m_ThreadJOGStop(LPVOID pThis);
void CreateThreadJOGStop(); void CreateThreadJOGStop();
void CloseThreadJOGStop(); void CloseThreadJOGStop();
@@ -476,12 +493,15 @@ public:
void SendMsgMotionFinished(); void SendMsgMotionFinished();
void SendMsgProbeFinished(); void SendMsgProbeFinished();
VOID EventCallback(sHSIEventProperties& sEventProp); VOID EventCallback(sHSIEventProperties& sEventProp);
int SpeedPercent(int AxisNum, double &Speed,int &DriveSpeed,int &StartSpeed, int &AccLine, int &DecLine,int &AccCurve,int &DecCurve); int SpeedPercent(int AxisNum, double& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
bool SpeedPercentJoyStick(int AxisNum, long &Speed, int &DriveSpeed, int &StartSpeed, int &AccLine, int &DecLine, int &AccCurve, int &DecCurve); int& AccCurve, int& DecCurve);
void HomeJogGearsChoice(int AxisType, int JogGears, int &DriveSpeed, int &StartSpeed, int &AccLine, int &DecLine, int &AccCurve, int &DecCurve); 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,
int& AccCurve, int& DecCurve);
short AxisConvertIndex(UINT AxisTypes); short AxisConvertIndex(UINT AxisTypes);
short IndexConvertAxis(int Index); short IndexConvertAxis(int Index);
double LimitOver(UINT AxisTypes, double &LimitPos); double LimitOver(UINT AxisTypes, double& LimitPos);
int P2P(short AxisNumber, long Pos, double Speed, double Acc); int P2P(short AxisNumber, long Pos, double Speed, double Acc);
void DoEvents(); void DoEvents();
HSI_STATUS DriverAlarmStatus(); HSI_STATUS DriverAlarmStatus();
@@ -490,46 +510,44 @@ public:
HSI_STATUS SpecialMotorMove(short AxisNum, double Position); HSI_STATUS SpecialMotorMove(short AxisNum, double Position);
private: private:
UINT ActiveAxis; UINT ActiveAxis;
int iaxisNum; int iaxisNum;
int iScanMotionType; int iScanMotionType;
int iTriggleNum; int iTriggleNum;
int iMotionDirection; int iMotionDirection;
int begin_position[5]; //外触发到初始点需要发送的脉冲数 int begin_position[5]; //外触发到初始点需要发送的脉冲数
HINSTANCE m_Hinst; HINSTANCE m_Hinst;
E_SO7_MOTION_TYPE CurrentMotionState; E_SO7_MOTION_TYPE CurrentMotionState;
E_SO7_MOTION_READ_TYPE CurrentReadDataType; E_SO7_MOTION_READ_TYPE CurrentReadDataType;
//网口通信添加 //网口通信添加
private: private:
TCPIP_RETURN_CODE TCPConnect(int index,char* Address, u_short port); TCPIP_RETURN_CODE TCPConnect(int index, char* Address, u_short port);
void DisConnect(); void DisConnect();
static unsigned __stdcall m_ThreadSendTCP(LPVOID pThis); static unsigned __stdcall m_ThreadSendTCP(LPVOID pThis);
static HANDLE m_ThreadTCP_Id; static HANDLE m_ThreadTCP_Id;
static int m_ThreadTCP_State; static int m_ThreadTCP_State;
TCPIP_RETURN_CODE TCPSend(); TCPIP_RETURN_CODE TCPSend();
unsigned char tReciveData[TCPIP_MAX_DAT_SIZE]; unsigned char tReciveData[TCPIP_MAX_DAT_SIZE];
bool first; bool first;
unsigned char IOdata[64]; unsigned char IOdata[64];
unsigned char Orderdata[64]; unsigned char Orderdata[64];
unsigned char IOCheck[64]; unsigned char IOCheck[64];
unsigned char TempData[64]; unsigned char TempData[64];
int OrderSend; int OrderSend;
int IOSend; int IOSend;
private: private:
void Create_Thread(); void Create_Thread();
void Exit_Thread(); void Exit_Thread();
int Init_Winsock(); int Init_Winsock();
public:
unsigned char lightdata[64];
int LightSend;
public: public:
HSI_STATUS CollectPos(bool isEnable, MOTOR_AXISCHOOES_CMD axis, short cycle); //位置采集打开/关闭 unsigned char lightdata[64];
int LightSend;
public:
HSI_STATUS CollectPos(bool isEnable, MOTOR_AXISCHOOES_CMD axis, short cycle); //位置采集打开/关闭
private: private:
HSI_STATUS SetAllGears(); //下发所有档位数据 HSI_STATUS SetAllGears(); //下发所有档位数据
}; };
extern HSI_Motion *g_pHSI_Motion; extern HSI_Motion* g_pHSI_Motion;
#endif #endif
HSI_HexagonMI_EF3/HSI_Sevenocean_EF3.cpp
+38 -32
View File
@@ -11,23 +11,24 @@
#endif #endif
//=========================================================================== //===========================================================================
HSI_Sevenocean_EF3 *g_pHSI_Sevenocean_EF3 = nullptr; HSI_Sevenocean_EF3* g_pHSI_Sevenocean_EF3 = nullptr;
pEventCallback HSI_Sevenocean_EF3::m_pEventCallback = nullptr; pEventCallback HSI_Sevenocean_EF3::m_pEventCallback = nullptr;
//=========================================================================== //===========================================================================
HSI_Sevenocean_EF3::HSI_Sevenocean_EF3() HSI_Sevenocean_EF3::HSI_Sevenocean_EF3()
{ {
hWnd = NULL; hWnd = nullptr;
bOfflineOnly = false; bOfflineOnly = false;
TRACE0("HSI_Sevenocean_EF3 Constructor!\n"); TRACE0("HSI_Sevenocean_EF3 Constructor!\n");
} }
//=========================================================================== //===========================================================================
HSI_Sevenocean_EF3::~HSI_Sevenocean_EF3() HSI_Sevenocean_EF3::~HSI_Sevenocean_EF3()
{ {
TRACE0("HSI_Sevenocean_EF3 Destructor!\n"); TRACE0("HSI_Sevenocean_EF3 Destructor!\n");
} }
//=========================================================================== //===========================================================================
/** /**
* HSI ³õʼ»¯ * HSI ³õʼ»¯
@@ -38,45 +39,50 @@ HSI_Sevenocean_EF3::~HSI_Sevenocean_EF3()
*/ */
HSI_STATUS HSI_Sevenocean_EF3::Startup(HWND _hWnd, bool _bOfflineOnly) HSI_STATUS HSI_Sevenocean_EF3::Startup(HWND _hWnd, bool _bOfflineOnly)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
hWnd = _hWnd; hWnd = _hWnd;
bOfflineOnly = _bOfflineOnly; bOfflineOnly = _bOfflineOnly;
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_STATUS HSI_Sevenocean_EF3::GetMachineInfo(int &_NumMachineTypes) HSI_STATUS HSI_Sevenocean_EF3::GetMachineInfo(int& _NumMachineTypes)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
_NumMachineTypes = HSI_MACHINE_EF3; _NumMachineTypes = HSI_MACHINE_EF3; //»úÆ÷ÀàÐÍEF3
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
HSI_STATUS HSI_Sevenocean_EF3::SetEventCallback(pEventCallback _pCallback) HSI_STATUS HSI_Sevenocean_EF3::SetEventCallback(pEventCallback _pCallback)
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
if (_pCallback) if (_pCallback)
{ {
m_pEventCallback = _pCallback; m_pEventCallback = _pCallback;
//sEvenProp.EventType = HSI_EVENT_FUNCTION; //sEvenProp.EventType = HSI_EVENT_FUNCTION;
//sEvenProp.EventID = HSI_EVENT_DEBUG_LOG; //sEvenProp.EventID = HSI_EVENT_DEBUG_LOG;
//sEvenProp.EventCallbackID = 0; //sEvenProp.EventCallbackID = 0;
//sEvenProp.EventResponse = HSI_EVENT_FUNCTION_OK; //sEvenProp.EventResponse = HSI_EVENT_FUNCTION_OK;
//strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Set callback succeed!"); //strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Set callback succeed!");
//EventCallback(sEvenProp); //EventCallback(sEvenProp);
} }
return rStatus; return rStatus;
} }
//=========================================================================== //===========================================================================
VOID HSI_Sevenocean_EF3::EventCallback(sHSIEventProperties& _sEventProp) VOID HSI_Sevenocean_EF3::EventCallback(sHSIEventProperties& _sEventProp)
{ {
if (m_pEventCallback) if (m_pEventCallback)
{ {
m_pEventCallback(_sEventProp.EventType, _sEventProp.EventResponse, _sEventProp.EventID, _sEventProp.EventData, _sEventProp.EventCallbackID); m_pEventCallback(_sEventProp.EventType, _sEventProp.EventResponse, _sEventProp.EventID, _sEventProp.EventData,
} _sEventProp.EventCallbackID);
}
} }
//=========================================================================== //===========================================================================
HSI_STATUS HSI_Sevenocean_EF3::Shutdown() HSI_STATUS HSI_Sevenocean_EF3::Shutdown()
{ {
auto rStatus = HSI_STATUS_NORMAL; auto rStatus = HSI_STATUS_NORMAL;
return rStatus; return rStatus;
} }
HSI_HexagonMI_EF3/HSI_Sevenocean_EF3.h
+10 -12
View File
@@ -11,20 +11,18 @@
#include <cstring> #include <cstring>
class HSI_Sevenocean_EF3 :public HSI class HSI_Sevenocean_EF3 : public HSI
{ {
public: public:
HSI_Sevenocean_EF3(); HSI_Sevenocean_EF3();
~HSI_Sevenocean_EF3(); ~HSI_Sevenocean_EF3() override;
virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly); HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
HSI_STATUS GetMachineInfo(int &_NumMachineTypes); HSI_STATUS GetMachineInfo(int& _NumMachineTypes);
HSI_STATUS SetEventCallback(pEventCallback _pCallback); HSI_STATUS SetEventCallback(pEventCallback _pCallback);
virtual HSI_STATUS Shutdown(); HSI_STATUS Shutdown() override;
static VOID EventCallback(sHSIEventProperties& sEventProp); static VOID EventCallback(sHSIEventProperties& sEventProp);
private: private:
static pEventCallback m_pEventCallback; static pEventCallback m_pEventCallback;
}; };
extern HSI_Sevenocean_EF3 *g_pHSI_Sevenocean_EF3; extern HSI_Sevenocean_EF3* g_pHSI_Sevenocean_EF3;
HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.CPP
+188 -186
View File
@@ -14,244 +14,247 @@
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
void CMMIO::Init() void CMMIO::Init()
{ {
m_RXTempPtr = NULL; m_RXTempPtr = nullptr;
m_RXHead=NULL; m_RXHead = nullptr;
m_RXTail=NULL; m_RXTail = nullptr;
m_SXTempPtr = NULL; m_SXTempPtr = nullptr;
m_SXHead=NULL; m_SXHead = nullptr;
m_SXTail=NULL; m_SXTail = nullptr;
CurrentPointer=0; CurrentPointer = 0;
m_iNbMsgWaiting=0; m_iNbMsgWaiting = 0;
m_terminator='\0'; m_terminator = '\0';
m_usesTerminator=FALSE; m_usesTerminator = FALSE;
m_pReceiveNotify = NULL; m_pReceiveNotify = nullptr;
} }
void CMMIO::SetCallback(CMMIO::p_fstr ptr) void CMMIO::SetCallback(p_fstr ptr)
{ {
m_pReceiveNotify = ptr; m_pReceiveNotify = ptr;
} }
DWORD CMMIO::Send(CString buffer, BOOL needsResponse/*=FALSE*/) DWORD CMMIO::Send(CString buffer, BOOL needsResponse/*=FALSE*/)
{ {
//ZH 12-12-05 EnterCriticalSection(&m_QueueLock); //ZH-122904 //ZH 12-12-05 EnterCriticalSection(&m_QueueLock); //ZH-122904
char LocBuffer[MAX_OUTPUT_BUFFER_SIZE]; char LocBuffer[MAX_OUTPUT_BUFFER_SIZE];
int length = buffer.GetLength (); int length = buffer.GetLength();
if (length >MAX_OUTPUT_BUFFER_SIZE) if (length > MAX_OUTPUT_BUFFER_SIZE)
{ {
length = MAX_OUTPUT_BUFFER_SIZE; length = MAX_OUTPUT_BUFFER_SIZE;
} }
unsigned short* ptr = (unsigned short*)buffer.GetBuffer (MAX_OUTPUT_BUFFER_SIZE); auto ptr = (unsigned short*)buffer.GetBuffer(MAX_OUTPUT_BUFFER_SIZE);
for (int i=0;i<length;i++) for (int i = 0; i < length; i++)
{ {
LocBuffer[i] = (char)(ptr[i] & 0xff); LocBuffer[i] = static_cast<char>(ptr[i] & 0xff);
} }
DWORD res = Send(LocBuffer,length, needsResponse); DWORD res = Send(LocBuffer, length, needsResponse);
//ZH 12-12-05 LeaveCriticalSection( &m_QueueLock ); //ZH-122904 //ZH 12-12-05 LeaveCriticalSection( &m_QueueLock ); //ZH-122904
return res; return res;
} }
// GetNextReceived() : Helper function, rreturns receives messages placed in the queue // GetNextReceived() : Helper function, rreturns receives messages placed in the queue
// by LineReceive() // by LineReceive()
// //
int CMMIO::GetNextReceived(char *inputBuf) int CMMIO::GetNextReceived(char* inputBuf)
{ {
struct SerialList *Free; struct SerialList* Free;
int cnt=0; int cnt = 0;
// If there is a previous block then delete it // If there is a previous block then delete it
if (NULL != m_RXTempPtr) if (nullptr != m_RXTempPtr)
delete[] m_RXTempPtr; delete[] m_RXTempPtr;
m_RXTempPtr = NULL; m_RXTempPtr = nullptr;
// We are messing with pointers so use the CriticalSection // We are messing with pointers so use the CriticalSection
// EnterCriticalSection(&m_QueueLock); // EnterCriticalSection(&m_QueueLock);
// If there any more to return // If there any more to return
if( m_RXHead ) if (m_RXHead)
{ {
Free = m_RXHead; Free = m_RXHead;
m_RXHead = m_RXHead->Next; m_RXHead = m_RXHead->Next;
// Point the temp pointer at the block // Point the temp pointer at the block
m_RXTempPtr = Free->Buffer; m_RXTempPtr = Free->Buffer;
cnt = Free->Bytes; cnt = Free->Bytes;
// delete the list entry // delete the list entry
delete Free; delete Free;
--m_iNbMsgWaiting; // mp --m_iNbMsgWaiting; // mp
// move over the data to the user's buffer // move over the data to the user's buffer
if (NULL != inputBuf) if (nullptr != inputBuf)
memcpy (inputBuf, m_RXTempPtr, cnt); memcpy(inputBuf, m_RXTempPtr, cnt);
} }
if( m_RXHead == NULL ) if (m_RXHead == nullptr)
m_RXTail = NULL; m_RXTail = nullptr;
// All done so out of the CriticalSection // All done so out of the CriticalSection
// LeaveCriticalSection( &m_QueueLock ); // LeaveCriticalSection( &m_QueueLock );
return(cnt); return (cnt);
} }
int CMMIO::AddReceived( const char *Buffer,DWORD Bytes) int CMMIO::AddReceived(const char* Buffer, DWORD Bytes)
{ {
DWORD index = 0; //primary buffer index DWORD index = 0; //primary buffer index
struct SerialList *Ptr; struct SerialList* Ptr;
static char Buffer2[MAX_RECIEVE_BUFFER_SIZE]; // result buffer static char Buffer2[MAX_RECIEVE_BUFFER_SIZE]; // result buffer
static char* pBuffer2 = &Buffer2[0]; static char* pBuffer2 = &Buffer2[0];
unsigned char c; unsigned char c;
bool bArmed; bool bArmed;
/************************************************************************/ /************************************************************************/
/* Greg Guilbeau - 2011/08/23 */ /* Greg Guilbeau - 2011/08/23 */
/* The following line(s) have been modified to handle x64 conversion */ /* The following line(s) have been modified to handle x64 conversion */
/************************************************************************/ /************************************************************************/
/* int count; */ /* int count; */
INT_PTR count; INT_PTR count;
static int escape = 0; static int escape = 0;
static int tilde = 0; static int tilde = 0;
static int tildeseqcount = 0; static int tildeseqcount = 0;
bool bDone = false; bool bDone = false;
bool bEventRequest = false; bool bEventRequest = false;
//TRACE(_T("AddReceived> pBuffer2 = %x\n"),pBuffer2); //TRACE(_T("AddReceived> pBuffer2 = %x\n"),pBuffer2);
// TRACE(_T("Content %s\n"),Buffer); // TRACE(_T("Content %s\n"),Buffer);
if (FALSE /*Bytes==0*/) if (FALSE /*Bytes==0*/)
{ {
TRACE(_T("CMMIO> Exiting , no real input")); TRACE(_T("CMMIO> Exiting , no real input"));
return TRUE; return TRUE;
} }
do do
{ {
bArmed = false; bArmed = false;
for (;index<Bytes;index++) for (; index < Bytes; index++)
{ {
c=Buffer[index] & 0xff; c = Buffer[index] & 0xff;
//TRACE(_T("== %02x% ==\n"),c); //copy char one by one //TRACE(_T("== %02x% ==\n"),c); //copy char one by one
*(pBuffer2++) = c ; //copy char one by one *(pBuffer2++) = c; //copy char one by one
// check for end of packet. ignore if this is the last char anyways // check for end of packet. ignore if this is the last char anyways
if (m_usesTerminator && c == m_terminator && (index < Bytes - 1)) if (m_usesTerminator && c == m_terminator && (index < Bytes - 1))
{ {
bArmed = TRUE; bArmed = TRUE;
index++; index++;
break; break;
} }
} }
if (index == Bytes) if (index == Bytes)
bArmed = bDone = true; bArmed = bDone = true;
// We are messing with pointers so use the CriticalSection // We are messing with pointers so use the CriticalSection
if (bArmed ) if (bArmed)
{ {
// EnterCriticalSection(&m_QueueLock); // EnterCriticalSection(&m_QueueLock);
//Allocate a new list and add it in //Allocate a new list and add it in
count = pBuffer2-(&Buffer2[0]); count = pBuffer2 - (&Buffer2[0]);
if (m_pReceiveNotify) if (m_pReceiveNotify)
{ // send a string to callback or, {
char* pLocalBuffer = new char[count+1]; // send a string to callback or,
if (pLocalBuffer) auto pLocalBuffer = new char[count + 1];
{ if (pLocalBuffer)
memcpy (pLocalBuffer,Buffer2,count); {
pLocalBuffer[count] = 0; memcpy(pLocalBuffer, Buffer2, count);
CString LocalStr(pLocalBuffer); pLocalBuffer[count] = 0;
(*m_pReceiveNotify)(LocalStr); CString LocalStr(pLocalBuffer);
delete pLocalBuffer; (*m_pReceiveNotify)(LocalStr);
} delete pLocalBuffer;
} }
else }
{ // add it as before to received data .... else
Ptr = new struct SerialList; {
Ptr->Buffer = new char[count + 1 ]; // add it as before to received data ....
/************************************************************************/ Ptr = new struct SerialList;
/* Greg Guilbeau - 2011/08/23 */ Ptr->Buffer = new char[count + 1];
/* The following line(s) have been modified to handle x64 conversion */ /************************************************************************/
/************************************************************************/ /* Greg Guilbeau - 2011/08/23 */
/* Ptr->Bytes = count; */ /* The following line(s) have been modified to handle x64 conversion */
/************************************************************************/
/* Ptr->Bytes = count; */
#ifdef _WIN64 #ifdef _WIN64
Ptr->Bytes = WAI64bit::to32bit(count,__FILE__,__LINE__); Ptr->Bytes = WAI64bit::to32bit(count,__FILE__,__LINE__);
#else #else
Ptr->Bytes = count,__FILE__,__LINE__; Ptr->Bytes = count,__FILE__,__LINE__;
#endif #endif
Ptr->Next = NULL; Ptr->Next = nullptr;
memcpy( Ptr->Buffer, Buffer2, count ); memcpy(Ptr->Buffer, Buffer2, count);
Ptr->Buffer[count] = 0; Ptr->Buffer[count] = 0;
memcpy(m_sLastMessage,Buffer2,count); //copy to last message memcpy(m_sLastMessage, Buffer2, count); //copy to last message
m_sLastMessage[count]=0; m_sLastMessage[count] = 0;
if( m_RXTail ) if (m_RXTail)
m_RXTail->Next = Ptr; m_RXTail->Next = Ptr;
else else
m_RXHead = Ptr; m_RXHead = Ptr;
m_RXTail = Ptr; m_RXTail = Ptr;
// All done so out of the CriticalSection // All done so out of the CriticalSection
++m_iNbMsgWaiting; ++m_iNbMsgWaiting;
} }
// LeaveCriticalSection( &m_QueueLock ); // LeaveCriticalSection( &m_QueueLock );
pBuffer2=&Buffer2[0]; // reset out buffer pBuffer2 = &Buffer2[0]; // reset out buffer
count = 0; count = 0;
bEventRequest = true; bEventRequest = true;
} }
} }
while (!bDone); while (!bDone);
//TRACE (_T("CMMIO> Done\n")); //TRACE (_T("CMMIO> Done\n"));
return(TRUE); return (TRUE);
} }
void CMMIO::LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter /*= FALSE*/) void CMMIO::LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter /*= FALSE*/)
{ {
if (nbCharAvail != -1) if (nbCharAvail != -1)
{ {
//TRACE(_T("LineReceive got %d chars \n"),nbCharAvail); //TRACE(_T("LineReceive got %d chars \n"),nbCharAvail);
char c; char c;
for (int i=0 ; i<nbCharAvail ; i++ ) for (int i = 0; i < nbCharAvail; i++)
{ {
c=s[i]; c = s[i];
m_InputBuffer[CurrentPointer++] = c; m_InputBuffer[CurrentPointer++] = c;
// only add a packet if we have a delimiter // only add a packet if we have a delimiter
if ((!m_usesTerminator && i == nbCharAvail -1) || (m_usesTerminator && c == m_terminator) || ignoreDelimiter) if ((!m_usesTerminator && i == nbCharAvail - 1) || (m_usesTerminator && c == m_terminator) ||
{ ignoreDelimiter)
m_InputBuffer[CurrentPointer] = '\0'; {
AddReceived(m_InputBuffer, CurrentPointer); m_InputBuffer[CurrentPointer] = '\0';
CurrentPointer = 0; AddReceived(m_InputBuffer, CurrentPointer);
} CurrentPointer = 0;
} }
} }
}
} }
//////////////////////////////////////////////////////// ////////////////////////////////////////////////////////
DWORD CMMIO::Close() DWORD CMMIO::Close()
{ {
struct SerialList *Free; struct SerialList* Free;
// Delete the contents of the temp rx pointer if any // Delete the contents of the temp rx pointer if any
delete[] m_RXTempPtr; delete[] m_RXTempPtr;
m_RXTempPtr = NULL; m_RXTempPtr = nullptr;
// Clear down all internal lists // Clear down all internal lists
// EnterCriticalSection( &m_QueueLock ); // EnterCriticalSection( &m_QueueLock );
while( m_RXHead ) while (m_RXHead)
{ {
Free = m_RXHead; Free = m_RXHead;
m_RXHead = m_RXHead->Next; m_RXHead = m_RXHead->Next;
delete[] Free->Buffer; delete[] Free->Buffer;
delete Free; delete Free;
} }
m_RXHead = NULL; m_RXHead = nullptr;
// for now we are not using the Transmit list // for now we are not using the Transmit list
#if 0 #if 0
while( m_TXHead ) while( m_TXHead )
@@ -263,11 +266,10 @@ DWORD CMMIO::Close()
} }
m_TXHead = NULL; m_TXHead = NULL;
#endif #endif
// LeaveCriticalSection( &m_QueueLock ); // LeaveCriticalSection( &m_QueueLock );
return(TRUE); return (TRUE);
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// END OF BASE CLASS CMMIO // END OF BASE CLASS CMMIO
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.H
+88 -77
View File
@@ -7,109 +7,120 @@
#define MAX_OUTPUT_BUFFER_SIZE 2048 #define MAX_OUTPUT_BUFFER_SIZE 2048
#define MAX_RECIEVE_BUFFER_SIZE 3000 #define MAX_RECIEVE_BUFFER_SIZE 3000
// TCP, serial style routines // TCP, serial style routines
struct SerialList struct SerialList
{ {
struct SerialList *Next; struct SerialList* Next;
DWORD Bytes; DWORD Bytes;
int Item; int Item;
char *Buffer; char* Buffer;
}; };
class CMMIO class CMMIO
{ {
private: private:
// For now we are not using the transmit list // For now we are not using the transmit list
// struct SerialList *m_TXHead; // struct SerialList *m_TXHead;
char m_terminator; char m_terminator;
BOOL m_usesTerminator; BOOL m_usesTerminator;
char m_InputBuffer[MAX_RECIEVE_BUFFER_SIZE]; char m_InputBuffer[MAX_RECIEVE_BUFFER_SIZE];
int CurrentPointer; int CurrentPointer;
char m_sLastMessage[MAX_RECIEVE_BUFFER_SIZE]; char m_sLastMessage[MAX_RECIEVE_BUFFER_SIZE];
struct SerialList *m_RXHead; struct SerialList* m_RXHead;
struct SerialList *m_RXTail; struct SerialList* m_RXTail;
char *m_RXTempPtr; char* m_RXTempPtr;
CString m_LastError; CString m_LastError;
BOOL m_hasError; BOOL m_hasError;
protected: protected:
CString m_lastErrMsg; CString m_lastErrMsg;
int m_iNbMsgWaiting; int m_iNbMsgWaiting;
BOOL m_UseBuffferedSend; BOOL m_UseBuffferedSend;
CRITICAL_SECTION m_QueueLock; CRITICAL_SECTION m_QueueLock; //ÁÙ½çÇø
CRITICAL_SECTION m_ReadLock; CRITICAL_SECTION m_ReadLock;
CRITICAL_SECTION m_WriteLock; CRITICAL_SECTION m_WriteLock;
struct SerialList *m_SXHead; struct SerialList* m_SXHead;
struct SerialList *m_SXTail; struct SerialList* m_SXTail;
char *m_SXTempPtr; char* m_SXTempPtr;
protected: protected:
virtual void Init(); virtual void Init();
int AddReceived( const char *Buffer,DWORD Bytes); // [7/30/2004] int AddReceived(const char* Buffer, DWORD Bytes); // [7/30/2004]
void Error(CString sErr) { void Error(CString sErr)
TRACE(sErr); {
m_LastError = sErr; TRACE(sErr);
m_hasError = TRUE; m_LastError = sErr;
} m_hasError = TRUE;
}
virtual DWORD Close(); virtual DWORD Close();
public: public:
CMMIO() CMMIO()
{ {
InitializeCriticalSection( &m_QueueLock ); // Sean Flynn mutex needs to be initialized prior to attempting to lock otherwise it will core InitializeCriticalSection(&m_QueueLock);
InitializeCriticalSection( &m_ReadLock ); // initializing here will ensure the mutex is always initialized // Sean Flynn mutex needs to be initialized prior to attempting to lock otherwise it will core
InitializeCriticalSection( &m_WriteLock ); InitializeCriticalSection(&m_ReadLock); // initializing here will ensure the mutex is always initialized
Init(); InitializeCriticalSection(&m_WriteLock);
}; Init();
};
virtual ~CMMIO() virtual ~CMMIO()
{ {
DeleteCriticalSection( &m_QueueLock ); // Clean up the mutexes resources when the destructor is called. DeleteCriticalSection(&m_QueueLock); // Clean up the mutexes resources when the destructor is called.
DeleteCriticalSection( &m_ReadLock ); DeleteCriticalSection(&m_ReadLock);
DeleteCriticalSection( &m_WriteLock ); DeleteCriticalSection(&m_WriteLock);
}; };
virtual DWORD Open() { virtual DWORD Open()
return 0; {
} return 0;
}
BOOL getError(CString& sErr) { BOOL getError(CString& sErr)
BOOL hasError = m_hasError; {
if (m_hasError) BOOL hasError = m_hasError;
{ if (m_hasError)
sErr = m_LastError; {
m_hasError = FALSE; sErr = m_LastError;
} m_hasError = FALSE;
return (hasError); }
} return (hasError);
}
virtual int GetNextReceived(char *inputBuf=NULL); virtual int GetNextReceived(char* inputBuf = nullptr);
virtual int HasNextReceived(void) { virtual int HasNextReceived(void)
return (m_RXHead ? m_RXHead->Bytes : FALSE); {
} return (m_RXHead ? m_RXHead->Bytes : FALSE);
virtual void SetTerminateChar(char ch) { }
m_terminator=ch;
m_usesTerminator=TRUE;
}
virtual void LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter = FALSE);
virtual CString GetLastErrStr() {
return m_lastErrMsg;
}
typedef void(*p_fstr)(CString); virtual void SetTerminateChar(char ch)
void SetCallback(p_fstr); {
m_terminator = ch;
m_usesTerminator = TRUE;
}
virtual DWORD Send(LPCSTR buffer, int l, BOOL needsResponse=FALSE) = 0; // [8/11/2004] virtual void LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter = FALSE);
virtual DWORD Send(CString buffer, BOOL needsResponse=FALSE); // [8/11/2004]
virtual bool IsValid() = 0; // pure virtual function virtual CString GetLastErrStr()
{
return m_lastErrMsg;
}
using p_fstr = void(*)(CString);
void SetCallback(p_fstr);
virtual DWORD Send(LPCSTR buffer, int l, BOOL needsResponse = FALSE) = 0; // [8/11/2004]
virtual DWORD Send(CString buffer, BOOL needsResponse = FALSE); // [8/11/2004]
virtual bool IsValid() = 0; // pure virtual function
protected: protected:
p_fstr m_pReceiveNotify; p_fstr m_pReceiveNotify;
}; };
#endif // CMMIO_BASE_H #endif // CMMIO_BASE_H
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP
+606 -591
View File
File diff suppressed because it is too large Load Diff
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.H
+126 -126
View File
@@ -31,166 +31,166 @@ unsigned int WINAPI CSerialTask(LPVOID CSerialPtr);
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Useful serial codes // Useful serial codes
const char CS_NUL = 0; const char CS_NUL = 0;
const char CS_SOH = 1; const char CS_SOH = 1;
const char CS_STX = 2; const char CS_STX = 2;
const char CS_ETX = 3; const char CS_ETX = 3;
const char CS_EOT = 4; const char CS_EOT = 4;
const char CS_ENQ = 5; const char CS_ENQ = 5;
const char CS_ACK = 6; const char CS_ACK = 6;
const char CS_BEL = 7; const char CS_BEL = 7;
const char CS_LF = 10; const char CS_LF = 10;
const char CS_DLE = 16; const char CS_DLE = 16;
const char CS_X_ON = 17; const char CS_X_ON = 17;
const char CS_X_OFF = 19; const char CS_X_OFF = 19;
const char CS_NAK = 21; const char CS_NAK = 21;
const char CS_ETB = 23; const char CS_ETB = 23;
const char CS_CAN = 24; const char CS_CAN = 24;
const char CS_ESC = 27; const char CS_ESC = 27;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Handshake settings // Handshake settings
const int CS_HANDSHAKE_RTSCTS = 1; const int CS_HANDSHAKE_RTSCTS = 1;
const int CS_HANDSHAKE_XONXOFF = 2; const int CS_HANDSHAKE_XONXOFF = 2;
const int CS_HANDSHAKE_NONE = 3; const int CS_HANDSHAKE_NONE = 3;
const int CS_HANDSHAKE_RTSCTS_DTRDSR = 4; const int CS_HANDSHAKE_RTSCTS_DTRDSR = 4;
const int CS_HANDSHAKE_FOR_SO7 = 5; const int CS_HANDSHAKE_FOR_SO7 = 5;
const int CS_HANDSHAKE_FOR_TRESASTR_E = 6; const int CS_HANDSHAKE_FOR_TRESASTR_E = 6;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Debug constants // Debug constants
const int CS_DEBUG_SIZE = 1024; const int CS_DEBUG_SIZE = 1024;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Timeouts (ms) // Timeouts (ms)
const int CS_DEFAULT_RX_TIMEOUT = 25; const int CS_DEFAULT_RX_TIMEOUT = 25;
const int CS_DEFAULT_TX_TIMEOUT = 1000; const int CS_DEFAULT_TX_TIMEOUT = 1000;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// The CPSerial class // The CPSerial class
class CPSerial : public CMMIO class CPSerial : public CMMIO
{ {
// Construction // Construction
public: public:
CPSerial(); CPSerial();
// Implementation // Implementation
public: public:
virtual ~CPSerial(); ~CPSerial() override;
// Attributes // Attributes
public: public:
// Operations
// Operations
public: public:
// Open the serial port ( if possible ) using the parameters set by SetPort() // Open the serial port ( if possible ) using the parameters set by SetPort()
DWORD Open(); DWORD Open() override;
// Setup the serial port prior to opening it // Setup the serial port prior to opening it
int SetPort( int Port, int Baud = 0, char Parity = 0, int Bits = 0, int SetPort(int Port, int Baud = 0, char Parity = 0, int Bits = 0,
int StopBits = 0, int HandShake = 0 ); int StopBits = 0, int HandShake = 0);
// Set up the port timeouts // Set up the port timeouts
void SetTimeouts( int RXTimeout = CS_DEFAULT_RX_TIMEOUT, void SetTimeouts(int RXTimeout = CS_DEFAULT_RX_TIMEOUT,
int TXTimeout = CS_DEFAULT_TX_TIMEOUT ); int TXTimeout = CS_DEFAULT_TX_TIMEOUT);
// Get the serial port settings // Get the serial port settings
void GetPortData( int *Port, int *Baud, char *Parity, int *Bits, void GetPortData(int* Port, int* Baud, char* Parity, int* Bits,
int *StopBits, int *HandShake ); int* StopBits, int* HandShake);
// Test if the serial port is open // Test if the serial port is open
bool IsValid() { bool IsValid() override
return IsOpen()!=0; {
} return IsOpen() != 0;
int IsOpen( void ); }
// Close the serial port
DWORD Close( void );
// Flush all data in any serial port buffers
int FlushPort( void );
// Attempt to read the specified number of bytes
DWORD ReadPort( char *Buffer, DWORD Bytes );
DWORD ReadPort( CString &Buffer, DWORD Bytes );
// Attempt to write the specified number of bytes
DWORD WritePort( const char *Buffer, DWORD Bytes );
DWORD SendWriteFile(const char *Buffer, DWORD Bytes);
// Send the specifed number of bytes out when possible
int Transmit( const char *Buffer, DWORD Bytes );
// Add a block of data to the internal list of receieved blocks
int AddReceived( const char *Buffer, DWORD Bytes );
// Get the next block of data added with AddReceived()
// char *GetNextReceived( void );
// Find the maximum port number available
int MaxPort( void );
// Add text to the debug output
void AddToDebug( const char *Ptr, DWORD BytesToCopy, int State );
// Attach this serial port to a debug window
//CSerialRaw *AttachWnd( CWnd *Wnd );
// Convert ascii hex into an int
int HexToInt( char *Data, int Bytes );
virtual DWORD Send(LPCSTR buffer, int l, BOOL needsResponse=FALSE); int IsOpen(void);
//virtual DWORD Send(CString what); // Close the serial port
DWORD Close(void) override;
// Flush all data in any serial port buffers
int FlushPort(void);
// Attempt to read the specified number of bytes
DWORD ReadPort(char* Buffer, DWORD Bytes);
DWORD ReadPort(CString& Buffer, DWORD Bytes);
// Attempt to write the specified number of bytes
DWORD WritePort(const char* Buffer, DWORD Bytes);
DWORD SendWriteFile(const char* Buffer, DWORD Bytes);
// Send the specifed number of bytes out when possible
int Transmit(const char* Buffer, DWORD Bytes);
// Add a block of data to the internal list of receieved blocks
int AddReceived(const char* Buffer, DWORD Bytes);
// Get the next block of data added with AddReceived()
// char *GetNextReceived( void );
// Find the maximum port number available
int MaxPort(void);
// Add text to the debug output
void AddToDebug(const char* Ptr, DWORD BytesToCopy, int State);
// Attach this serial port to a debug window
//CSerialRaw *AttachWnd( CWnd *Wnd );
// Convert ascii hex into an int
int HexToInt(char* Data, int Bytes);
// Called when data is received on the serial port DWORD Send(LPCSTR buffer, int l, BOOL needsResponse = FALSE) override;
virtual void OnReceive( void ); //virtual DWORD Send(CString what);
// Called when data has been sent using the Transmit() function
virtual void OnTransmit( int Item, DWORD Error ); // Called when data is received on the serial port
virtual void OnReceive(void);
// Called when data has been sent using the Transmit() function
virtual void OnTransmit(int Item, DWORD Error);
private: private:
// Private so no comment :-) // Private so no comment :-)
void RegisterDebugWindow(void); void RegisterDebugWindow(void);
void SendBuffer(int Next); void SendBuffer(int Next);
void ReceiveTask(void); void ReceiveTask(void);
int ProgramPort(int Port,int Baud,char Parity,int Bits,int StopBits,int HandShake); int ProgramPort(int Port, int Baud, char Parity, int Bits, int StopBits, int HandShake);
int ReadBlock(BYTE *abIn, int MaxLength); int ReadBlock(BYTE* abIn, int MaxLength);
// Attributes // Attributes
protected: protected:
int m_RXTimeout; int m_RXTimeout;
int m_TXTimeout; int m_TXTimeout;
// Attributes // Attributes
private: private:
char m_Parity; char m_Parity;
// char m_DebugData[CS_DEBUG_SIZE]; // char m_DebugData[CS_DEBUG_SIZE];
// char m_DebugState[CS_DEBUG_SIZE]; // char m_DebugState[CS_DEBUG_SIZE];
// char *m_RXTempPtr; // char *m_RXTempPtr;
int m_Port; int m_Port;
int m_Baud; int m_Baud;
int m_Bits; int m_Bits;
int m_StopBits; int m_StopBits;
int m_HandShake; int m_HandShake;
int m_MaxTXRetries; int m_MaxTXRetries;
int m_DebugInPtr; int m_DebugInPtr;
int m_DebugCount; int m_DebugCount;
int m_Item; int m_Item;
// struct SerialList *m_TXHead; // struct SerialList *m_TXHead;
// struct SerialList *m_TXTail; // struct SerialList *m_TXTail;
// struct SerialList *m_RXHead; // struct SerialList *m_RXHead;
// struct SerialList *m_RXTail; // struct SerialList *m_RXTail;
OVERLAPPED m_ReceiveOLap; OVERLAPPED m_ReceiveOLap;
OVERLAPPED m_TransmitOLap; OVERLAPPED m_TransmitOLap;
OVERLAPPED m_ReadOLap; OVERLAPPED m_ReadOLap;
OVERLAPPED m_WriteOLap; OVERLAPPED m_WriteOLap;
HANDLE m_PortHandle; HANDLE m_PortHandle;
HANDLE m_ThreadHandle; HANDLE m_ThreadHandle;
HANDLE m_ReceiveTaskEvent; HANDLE m_ReceiveTaskEvent;
private: private:
friend unsigned int WINAPI CSerialTask(LPVOID CSerialPtr); friend unsigned int WINAPI CSerialTask(LPVOID CSerialPtr);
//Buffer for incomming commands: //Buffer for incomming commands:
int CurrentPointer; int CurrentPointer;
BOOL m_IsWrtingData; BOOL m_IsWrtingData;
public: public:
HANDLE m_hWaitCMMResponse; HANDLE m_hWaitCMMResponse;
HANDLE m_hNewRx; HANDLE m_hNewRx;
// BV Nov 2001: Made public // BV Nov 2001: Made public
// CRITICAL_SECTION m_QueueLock; // CRITICAL_SECTION m_QueueLock;
BOOL m_iRecvState; BOOL m_iRecvState;
INT m_iRecvBytes; INT m_iRecvBytes;
INT m_iRecvCount; INT m_iRecvCount;
unsigned char m_RecvData[MAX_RECIEVE_BUFFER_SIZE]; unsigned char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
}; };
#endif // CMMIO_SERIAL_H #endif // CMMIO_SERIAL_H
HSI_HexagonMI_EF3/WAI64bit/.vs/WAI64Bit/v15/Browse.VC.db
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HSI_HexagonMI_EF3/WAI64bit/UpgradeLog.htm
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HSI_HexagonMI_EF3/WAI64bit/WAI64Bit.sln
+31
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@@ -0,0 +1,31 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15
VisualStudioVersion = 15.0.28307.2092
MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "WAI64Bit", "WAI64Bit.vcxproj", "{6936CAC7-384F-4EDC-BF1E-D549E2A37465}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x64.ActiveCfg = Debug|x64
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x64.Build.0 = Debug|x64
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x86.ActiveCfg = Debug|Win32
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x86.Build.0 = Debug|Win32
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x64.ActiveCfg = Release|x64
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x64.Build.0 = Release|x64
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x86.ActiveCfg = Release|Win32
{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {4ABC1E18-7BBA-419C-A745-5EBAF5089457}
EndGlobalSection
EndGlobal
HSI_HexagonMI_EF3/logger.cpp
+96 -92
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@@ -5,109 +5,113 @@
void CLogger::SendAtTime(const TCHAR* buffer) void CLogger::SendAtTime(const TCHAR* buffer)
{ {
EnterCriticalSection(&m_lockLogger); EnterCriticalSection(&m_lockLogger);
if (!m_File) if (!m_File)
{ {
m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
} }
if(m_File) if (m_File)
{ {
CTime _cTime=CTime::GetCurrentTime(); CTime _cTime = CTime::GetCurrentTime();
CString csTime=_cTime.Format("[%m/%d %H:%M] "); CString csTime = _cTime.Format("[%m/%d %H:%M] ");
_ftprintf(m_File,_T("%s"), csTime); _ftprintf(m_File,_T("%s"), csTime);
_ftprintf(m_File, _T("%s\r\n"), buffer); _ftprintf(m_File, _T("%s\r\n"), buffer);
} }
LeaveCriticalSection(&m_lockLogger); LeaveCriticalSection(&m_lockLogger);
} }
void CLogger::Send(LPCTSTR format, ...) void CLogger::Send(LPCTSTR format, ...)
{ {
EnterCriticalSection(&m_lockLogger); EnterCriticalSection(&m_lockLogger);
if (!m_File) if (!m_File)
{ {
m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
} }
int length = 0; int length = 0;
va_list list; va_list list;
va_start(list, format); va_start(list, format);
length = vswprintf_s(m_Str,5000, format, list); length = vswprintf_s(m_Str, 5000, format, list);
if(m_File) if (m_File)
{ {
_ftprintf(m_File, m_Str); _ftprintf(m_File, m_Str);
} }
LeaveCriticalSection(&m_lockLogger); LeaveCriticalSection(&m_lockLogger);
} }
void CLogger::SendAndFlush(LPCTSTR format, ...) void CLogger::SendAndFlush(LPCTSTR format, ...)
{ {
EnterCriticalSection(&m_lockLogger); EnterCriticalSection(&m_lockLogger);
int length = 0; int length = 0;
va_list list; va_list list;
va_start(list, format); va_start(list, format);
length = vswprintf_s(m_Str2,5000, format, list); length = vswprintf_s(m_Str2, 5000, format, list);
Send(m_Str2); Send(m_Str2);
if(m_File) if (m_File)
{ {
fclose(m_File); fclose(m_File);
m_File = NULL; m_File = nullptr;
if(m_FileName.GetLength() > 0) if (m_FileName.GetLength() > 0)
m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
} }
LeaveCriticalSection(&m_lockLogger); LeaveCriticalSection(&m_lockLogger);
} }
void CLogger::SendAndFlushWithTime(LPCTSTR format, ...) void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
{ {
EnterCriticalSection(&m_lockLogger); EnterCriticalSection(&m_lockLogger);
if (!IsEnabledLog) if (!IsEnabledLog)
{ {
return; return;
} }
if (!m_File) if (!m_File)
{ {
m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO); m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO);
} }
if(m_File) if (m_File)
{ {
int length = 0; int length = 0;
va_list list; va_list list;
va_start(list, format); va_start(list, format);
length = vswprintf_s(m_Str2,5000, format, list); length = vswprintf_s(m_Str2, 5000, format, list);
CTime _cTime=CTime::GetCurrentTime(); CTime _cTime = CTime::GetCurrentTime();
CString csTime=_cTime.Format("[%m/%d %H:%M:%S"); CString csTime = _cTime.Format("[%m/%d %H:%M:%S");
struct _timeb timebuffer; struct _timeb timebuffer;
_ftime64_s(&timebuffer); _ftime64_s(&timebuffer);
if (m_File) if (m_File)
{ {
_ftprintf(m_File, _T("%s:%03d] "), csTime, timebuffer.millitm); _ftprintf(m_File, _T("%s:%03d] "), csTime, timebuffer.millitm);
} }
if (m_File) if (m_File)
{ {
_ftprintf(m_File, m_Str2); _ftprintf(m_File, m_Str2);
} }
if (m_File) if (m_File)
{ {
fclose(m_File); fclose(m_File);
m_File = NULL; m_File = nullptr;
} }
} }
LeaveCriticalSection(&m_lockLogger); LeaveCriticalSection(&m_lockLogger);
} }
void CLogger::SendAndFlushPerMode(LPCTSTR format, ...) void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
{ {
EnterCriticalSection(&m_lockLogger); EnterCriticalSection(&m_lockLogger);
int length = 0; int length = 0;
va_list list; va_list list;
va_start(list, format); va_start(list, format);
length = vswprintf_s(m_Str2,5000, format, list); length = vswprintf_s(m_Str2, 5000, format, list);
Send(m_Str2); Send(m_Str2);
if((m_lLogMask & LOGFLUSH) && m_File) if ((m_lLogMask & LOGFLUSH) && m_File)
{ {
fclose(m_File); fclose(m_File);
m_File = NULL; m_File = nullptr;
if(m_FileName.GetLength() > 0) if (m_FileName.GetLength() > 0)
m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
} }
LeaveCriticalSection(&m_lockLogger); LeaveCriticalSection(&m_lockLogger);
} }
HSI_HexagonMI_EF3/logger.h
+43 -42
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@@ -9,54 +9,55 @@
#include <stdio.h> #include <stdio.h>
#include <stdarg.h> #include <stdarg.h>
const long LOGINIT = 0x0001; const long LOGINIT = 0x0001;
const long LOGACTIONS = 0x0002; const long LOGACTIONS = 0x0002;
const long LOGCOMM = 0x0004; const long LOGCOMM = 0x0004;
const long LOGFLUSH = 0x0008; const long LOGFLUSH = 0x0008;
class CLogger class CLogger
{ {
public: public:
CLogger(CString m_Name)
{
IsEnabledLog = false;
m_File = nullptr;
CString Path = _T(""); // Speed optimization - noticed slow in GlowCode
if (Path.IsEmpty())
{
CString tmpPath;
GetModuleFileName(nullptr, tmpPath.GetBuffer(255), 255);
tmpPath.ReleaseBuffer();
tmpPath.TrimRight();
int nLastSlash = tmpPath.ReverseFind('\\');
if (nLastSlash >= 0)
tmpPath = tmpPath.Left(nLastSlash);
else
tmpPath.Empty();
Path = tmpPath;
}
m_FileName = Path + m_Name; //_T("\\SO7_SSILog.txt");
m_lLogMask = 0;
InitializeCriticalSection(&m_lockLogger);
};
CLogger(CString m_Name) ~CLogger()
{ {
IsEnabledLog = false; if (m_File)
m_File = NULL; fclose(m_File);
CString Path=_T(""); // Speed optimization - noticed slow in GlowCode DeleteCriticalSection(&m_lockLogger);
if (Path.IsEmpty()) { };
CString tmpPath; void SendAtTime(const TCHAR* buffer);
GetModuleFileName(NULL,tmpPath.GetBuffer(255),255); void Send(LPCTSTR, ...);
tmpPath.ReleaseBuffer(); void SendAndFlush(LPCTSTR, ...);
tmpPath.TrimRight(); void SendAndFlushPerMode(LPCTSTR, ...);
int nLastSlash = tmpPath.ReverseFind('\\'); void SendAndFlushWithTime(LPCTSTR, ...);
if (nLastSlash >= 0) bool IsEnabledLog/* = false*/; //是否启用日志
tmpPath = tmpPath.Left(nLastSlash); CString m_FileName;
else long m_lLogMask;
tmpPath.Empty(); FILE* m_File;
Path=tmpPath; _TCHAR m_Str[20000];
} _TCHAR m_Str2[20000];
m_FileName=Path + m_Name;//_T("\\SO7_SSILog.txt"); CRITICAL_SECTION m_lockLogger;
m_lLogMask=0;
InitializeCriticalSection(&m_lockLogger);
};
~CLogger()
{
if (m_File)
fclose(m_File);
DeleteCriticalSection(&m_lockLogger);
};
void SendAtTime(const TCHAR* buffer);
void Send(LPCTSTR, ...);
void SendAndFlush(LPCTSTR, ...);
void SendAndFlushPerMode(LPCTSTR, ...);
void SendAndFlushWithTime(LPCTSTR, ...);
bool IsEnabledLog/* = false*/;//是否启用日志
CString m_FileName;
long m_lLogMask;
FILE *m_File;
_TCHAR m_Str[20000];
_TCHAR m_Str2[20000];
CRITICAL_SECTION m_lockLogger;
}; };
#endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_) #endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_)
HSI_HexagonMI_EF3/x64/Debug/HSI_Hexa.ECCF081D.tlog/CL.command.1.tlog → HSI_HexagonMI_EF3/obj/HSI_Hexa.ECCF081D.tlog/CL.command.1.tlog
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HSI_HexagonMI_EF3/obj/HSI_Hexa.ECCF081D.tlog/HSI_HexagonMI_EF3.lastbuildstate
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@@ -0,0 +1,2 @@
#TargetFrameworkVersion=:PlatformToolSet=v141:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native64Bit:WindowsTargetPlatformVersion=10.0.19041.0
Debug|x64|E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\|
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HSI_HexagonMI_EF3/version.h
+2 -2
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@@ -12,5 +12,5 @@
#define HSI_VERSION_REVNUM #define HSI_VERSION_REVNUM
#define HSI_VERSION_BUILD_DATE _T(__DATE__ ) #define HSI_VERSION_BUILD_DATE _T(__DATE__ )
#define HSI_VERSION_BUILD_TIME _T(__TIME__ ) #define HSI_VERSION_BUILD_TIME _T(__TIME__ )
#define HSI_FILE_DESCRIPTION "2022.10.10 / 11:34 " #define HSI_FILE_DESCRIPTION "2022.10.12 / 9:29 "
#define HSI_FILE_CSDESCRIPTION _T("2022.10.10 / 11:34 ") #define HSI_FILE_CSDESCRIPTION _T("2022.10.12 / 9:29 ")
HSI_HexagonMI_EF3/x64/Debug/HSI_Hexa.ECCF081D.tlog/HSI_HexagonMI_EF3.lastbuildstate
-2
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@@ -1,2 +0,0 @@
#TargetFrameworkVersion=v4.0:PlatformToolSet=v141:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=10.0.19041.0
Debug|x64|E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\|
HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
+1 -1
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@@ -32,7 +32,7 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
public static extern Def.HSI_STATUS Shutdown(); public static extern Def.HSI_STATUS Shutdown();
// <<<< Out Interfacess // <<<< Out Interfacess
//事件回调函数
public static void EventCallback(Def.HSI_EVENT_TYPE eventType, Def.HSI_EVENT_RESPONSE_TYPE responseType, public static void EventCallback(Def.HSI_EVENT_TYPE eventType, Def.HSI_EVENT_RESPONSE_TYPE responseType,
uint eventId, string eventData, ref uint eventCallbackId) uint eventId, string eventData, ref uint eventCallbackId)
{ {
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/DMC2410_Motion.ini
+86
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@@ -0,0 +1,86 @@
[JOG_SPEED]
JOG_SPEED_0=200.0
JOG_STARTV_0=5.0
JOG_ACC_TIME_0=0.2
JOG_DEC_TIME_0=0.2
JOG_SPEED_1=150.0
JOG_STARTV_1=5.0
JOG_ACC_TIME_1=0.2
JOG_DEC_TIME_1=0.2
JOG_SPEED_2=100.0
JOG_STARTV_2=5.0
JOG_ACC_TIME_2=0.2
JOG_DEC_TIME_2=0.2
JOG_SPEED_3=10.0
JOG_STARTV_3=5.0
JOG_ACC_TIME_3=0.2
JOG_DEC_TIME_3=0.2
JOG_SPEED_4=1.0
JOG_STARTV_4=5.0
JOG_ACC_TIME_4=0.2
JOG_DEC_TIME_4=0.2
[RESOLUTION]
SCALE_RESOLUTION_1=0.0004
SCALE_RESOLUTION_2=0.0004
SCALE_RESOLUTION_3=0.0004
SCALE_RESOLUTION_4=0.0004
[LIMIT]
NEG_WORKING_LIMIT_1=-260.0
POS_WORKING_LIMIT_1=40.0
NEG_WORKING_LIMIT_2=-40.0
POS_WORKING_LIMIT_2=160.0
NEG_WORKING_LIMIT_3=-40.0
POS_WORKING_LIMIT_3=160.0
NEG_WORKING_LIMIT_4=-40.0
POS_WORKING_LIMIT_4=200.0
[HOME]
HOME_HIGH_SPEED_1=200.0
HOME_HIGH_ACC_TIME_1=0.2
HOME_LOW_SPEED_1=180.0
HOME_LOW_ACC_TIME_1=0.2
HOME_TIME_1=1000
HOME_MACHINE_AXIS_1=1
HOME_HIGH_SPEED_2=200.0
HOME_HIGH_ACC_TIME_2=0.2
HOME_LOW_SPEED_2=180.0
HOME_LOW_ACC_TIME_2=0.2
HOME_TIME_2=1000
HOME_MACHINE_AXIS_2=1
HOME_HIGH_SPEED_3=200.0
HOME_HIGH_ACC_TIME_3=0.2
HOME_LOW_SPEED_3=180.0
HOME_LOW_ACC_TIME_3=0.2
HOME_TIME_3=1000
HOME_MACHINE_AXIS_3=1
HOME_HIGH_SPEED_4=200.0
HOME_HIGH_ACC_TIME_4=0.2
HOME_LOW_SPEED_4=180.0
HOME_LOW_ACC_TIME_4=0.2
HOME_TIME_4=1000
HOME_MACHINE_AXIS_4=0
[PRECISION]
PRECISION_COUNT_1=8
PRECISION_TIME_1=20000
PRECISION_COUNT_2=8
PRECISION_TIME_2=20000
PRECISION_COUNT_3=8
PRECISION_TIME_3=20000
PRECISION_COUNT_4=8
PRECISION_TIME_4=20000
[SET_POSITION_SPEED]
SET_POTION_SPEED_1=500.0
SET_POTION_ACC_TIME_1=0.2
SET_POTION_DEC_TIME_1=0.2
SET_POSITION_COUNT_1=240
SET_POTION_SPEED_2=500.0
SET_POTION_ACC_TIME_2=0.2
SET_POTION_DEC_TIME_2=0.2
SET_POSITION_COUNT_2=240
SET_POTION_SPEED_3=500.0
SET_POTION_ACC_TIME_3=0.2
SET_POTION_DEC_TIME_3=0.2
SET_POSITION_COUNT_3=240
SET_POTION_SPEED_4=500.0
SET_POTION_ACC_TIME_4=0.2
SET_POTION_DEC_TIME_4=0.2
SET_POSITION_COUNT_4=240
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini
+337
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[JOG_SPEED]
JOG速度(pulse/ms)
JOG_SPEED_0=200.0
JOG_SPEED_1=150.0
JOG_SPEED_2=50
JOG_SPEED_3=10
JOG_SPEED_4=1
;JOG加速度(pulse/ms^2)
JOG_ACC_0=2.0
JOG_ACC_1=2.0
JOG_ACC_2=2.0
JOG_ACC_3=1.0
JOG_ACC_4=1.0
;JOG减速度(pulse/ms^2)
JOG_DEC_0=2.0
JOG_DEC_1=2.0
JOG_DEC_2=2.0
JOG_DEC_3=1.0
JOG_DEC_4=1.0
;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
JOG_STOP_MODE_1=0
JOG_STOP_MODE_2=0
JOG_STOP_MODE_3=0
JOG_STOP_MODE_4=0
JOG_STOP_MODE_5=0
JOG_STOP_MODE_6=0
JOG_STOP_MODE_7=0
JOG_STOP_MODE_8=0
JOG_STOP_MODE=0
JOG_SPEED_GEAR0_1=200.0
JOG_ACC_GEAR0_1=2.0
JOG_DEC_GEAR0_1=2.0
JOG_SPEED_GEAR0_2=200.0
JOG_ACC_GEAR0_2=2.0
JOG_DEC_GEAR0_2=2.0
JOG_SPEED_GEAR0_3=150.0
JOG_ACC_GEAR0_3=2.0
JOG_DEC_GEAR0_3=2.0
JOG_SPEED_GEAR0_4=200.0
JOG_ACC_GEAR0_4=2.0
JOG_DEC_GEAR0_4=2.0
JOG_SPEED_GEAR1_1=100.0
JOG_ACC_GEAR1_1=2.0
JOG_DEC_GEAR1_1=2.0
JOG_SPEED_GEAR1_2=100.0
JOG_ACC_GEAR1_2=2.0
JOG_DEC_GEAR1_2=2.0
JOG_SPEED_GEAR1_3=80.0
JOG_ACC_GEAR1_3=2.0
JOG_DEC_GEAR1_3=2.0
JOG_SPEED_GEAR1_4=100.0
JOG_ACC_GEAR1_4=2.0
JOG_DEC_GEAR1_4=2.0
JOG_SPEED_GEAR2_1=50.0
JOG_ACC_GEAR2_1=2.0
JOG_DEC_GEAR2_1=2.0
JOG_SPEED_GEAR2_2=50.0
JOG_ACC_GEAR2_2=2.0
JOG_DEC_GEAR2_2=2.0
JOG_SPEED_GEAR2_3=50.0
JOG_ACC_GEAR2_3=2.0
JOG_DEC_GEAR2_3=2.0
JOG_SPEED_GEAR2_4=50.0
JOG_ACC_GEAR2_4=2.0
JOG_DEC_GEAR2_4=2.0
JOG_SPEED_GEAR3_1=10.0
JOG_ACC_GEAR3_1=1.0
JOG_DEC_GEAR3_1=1.0
JOG_SPEED_GEAR3_2=10.0
JOG_ACC_GEAR3_2=1.0
JOG_DEC_GEAR3_2=1.0
JOG_SPEED_GEAR3_3=10.0
JOG_ACC_GEAR3_3=1.0
JOG_DEC_GEAR3_3=1.0
JOG_SPEED_GEAR3_4=10.0
JOG_ACC_GEAR3_4=1.0
JOG_DEC_GEAR3_4=1.0
JOG_SPEED_GEAR4_1=1.0
JOG_ACC_GEAR4_1=1.0
JOG_DEC_GEAR4_1=1.0
JOG_SPEED_GEAR4_2=1.0
JOG_ACC_GEAR4_2=1.0
JOG_DEC_GEAR4_2=1.0
JOG_SPEED_GEAR4_3=1.0
JOG_ACC_GEAR4_3=1.0
JOG_DEC_GEAR4_3=1.0
JOG_SPEED_GEAR4_4=1.0
JOG_ACC_GEAR4_4=1.0
JOG_DEC_GEAR4_4=1.0
;0:都使用(正常情况) 1:只使用灯，而不使用控制器;默认0
[USE_LIGHT]
ONLY_USE_LIGHT=0
[RESOLUTION]
;光栅尺的分辨率(mm)
SCALE_RESOLUTION_1=0.0004
SCALE_RESOLUTION_2=0.0004
SCALE_RESOLUTION_3=0.0004
SCALE_RESOLUTION_4=0.0004
SCALE_RESOLUTION_5=0.0004
SCALE_RESOLUTION_6=0.0004
SCALE_RESOLUTION_7=0.0004
SCALE_RESOLUTION_8=0.0004
[LIMIT]
;负限位(mm)，必须是负数
NEG_WORKING_LIMIT_1=-260.0
NEG_WORKING_LIMIT_2=-40.0
NEG_WORKING_LIMIT_3=-40.0
NEG_WORKING_LIMIT_4=-40.0
NEG_WORKING_LIMIT_5=-40.0
NEG_WORKING_LIMIT_6=-40.0
NEG_WORKING_LIMIT_7=-40.0
NEG_WORKING_LIMIT_8=-40.0
;正限位(mm)，必须是正数
POS_WORKING_LIMIT_1=40.0
POS_WORKING_LIMIT_2=160.0
POS_WORKING_LIMIT_3=160.0
POS_WORKING_LIMIT_4=200.0
POS_WORKING_LIMIT_5=200.0
POS_WORKING_LIMIT_6=200.0
POS_WORKING_LIMIT_7=200.0
POS_WORKING_LIMIT_8=200.0
[HOME]
;选择需要回家的轴号，改为1
HOME_MACHINE_AXIS_1=1
HOME_MACHINE_AXIS_2=1
HOME_MACHINE_AXIS_3=1
HOME_MACHINE_AXIS_4=0
HOME_MACHINE_AXIS_5=0
HOME_MACHINE_AXIS_6=0
HOME_MACHINE_AXIS_7=0
HOME_MACHINE_AXIS_8=0
;是否启动实际位置判断是否回家，默认0，1启用，0关闭
IS_HOME_ENC_POS=0
;是否启动规划位置判断是否回家，默认1，1启用，0关闭
IS_HOME_PRF_POS=1
;关闭电源时记住当前的位置，用于判断是否需要回家
HOME_POS_AXIS_1=0
HOME_POS_AXIS_2=0
HOME_POS_AXIS_3=0
HOME_POS_AXIS_4=0
HOME_POS_AXIS_5=0
HOME_POS_AXIS_6=0
HOME_POS_AXIS_7=0
HOME_POS_AXIS_8=0
;回家第一段速度(pulse/ms)
HOME_HIGH_SPEED_1=200.0
HOME_HIGH_SPEED_2=200.0
HOME_HIGH_SPEED_3=200.0
HOME_HIGH_SPEED_4=200.0
HOME_HIGH_SPEED_5=200.0
HOME_HIGH_SPEED_6=200.0
HOME_HIGH_SPEED_7=200.0
HOME_HIGH_SPEED_8=200.0
;回家第一段加速度(pulse/ms^2)
HOME_HIGH_ACC_1=2.0
HOME_HIGH_ACC_2=2.0
HOME_HIGH_ACC_3=2.0
HOME_HIGH_ACC_4=2.0
HOME_HIGH_ACC_5=2.0
HOME_HIGH_ACC_6=2.0
HOME_HIGH_ACC_7=2.0
HOME_HIGH_ACC_8=2.0
;回家第二段速度(pulse/ms)
HOME_LOW_SPEED_1=180.0
HOME_LOW_SPEED_2=180.0
HOME_LOW_SPEED_3=180.0
HOME_LOW_SPEED_4=180.0
HOME_LOW_SPEED_5=180.0
HOME_LOW_SPEED_6=180.0
HOME_LOW_SPEED_7=180.0
HOME_LOW_SPEED_8=180.0
;回家第二段加速度(pulse/ms^2)
HOME_LOW_ACC_1=2.0
HOME_LOW_ACC_2=2.0
HOME_LOW_ACC_3=2.0
HOME_LOW_ACC_4=2.0
HOME_LOW_ACC_5=2.0
HOME_LOW_ACC_6=2.0
HOME_LOW_ACC_7=2.0
HOME_LOW_ACC_8=2.0
;回家延时时间(ms)
HOME_TIME_1=1000
HOME_TIME_2=1000
HOME_TIME_3=1000
HOME_TIME_4=1000
HOME_TIME_5=1000
HOME_TIME_6=1000
HOME_TIME_7=1000
HOME_TIME_8=1000
[PID]
;PID比例调节,应从0.01递增开始调试
PID_KP_1=1.20
PID_KP_2=1.20
PID_KP_3=1.20
PID_KP_4=1.20
PID_KP_5=1.20
PID_KP_6=1.20
PID_KP_7=1.20
PID_KP_8=1.20
[PRECISION]
;超时时间(0.1ms)
PRECISION_TIME_1=20000
PRECISION_TIME_2=20000
PRECISION_TIME_3=20000
PRECISION_TIME_4=20000
PRECISION_TIME_5=20000
PRECISION_TIME_6=20000
PRECISION_TIME_7=20000
PRECISION_TIME_8=20000
;回家误差脉冲个数
PRECISION_COUNT_1=8
PRECISION_COUNT_2=8
PRECISION_COUNT_3=8
PRECISION_COUNT_4=8
PRECISION_COUNT_5=8
PRECISION_COUNT_6=8
PRECISION_COUNT_7=8
PRECISION_COUNT_8=8
[SET_POSITION_SPEED]
;XYZ定位的合成速度(pulse/ms)
SET_POTION_SPEED_1=500.0
SET_POTION_SPEED_2=500.0
SET_POTION_SPEED_3=500.0
SET_POTION_SPEED_4=500.0
SET_POTION_SPEED_5=500.0
SET_POTION_SPEED_6=500.0
SET_POTION_SPEED_7=500.0
SET_POTION_SPEED_8=500.0
;XYZ定位的合成加速度(pulse/ms^2)
SET_POTION_ACC_1=2.5
SET_POTION_ACC_2=2.5
SET_POTION_ACC_3=2.5
SET_POTION_ACC_4=2.5
SET_POTION_ACC_5=2.5
SET_POTION_ACC_6=2.5
SET_POTION_ACC_7=2.5
SET_POTION_ACC_8=2.5
;XYZ定位的终点速度(pulse/ms)
SET_POTION_DEC_1=1.0
SET_POTION_DEC_2=1.0
SET_POTION_DEC_3=1.0
SET_POTION_DEC_4=1.0
SET_POTION_DEC_5=1.0
SET_POTION_DEC_6=1.0
SET_POTION_DEC_7=1.0
SET_POTION_DEC_8=1.0
;XYZ定到位判断次数
SET_POSITION_COUNT_1=240
SET_POSITION_COUNT_2=240
SET_POSITION_COUNT_3=240
SET_POSITION_COUNT_4=240
SET_POSITION_COUNT_5=240
SET_POSITION_COUNT_6=240
SET_POSITION_COUNT_7=240
SET_POSITION_COUNT_8=240
[COMPORT]
;灯光控制器类型选择
;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
;1:wpf直接调用;
;2:DP光源控制器;
;3:旧的6环8区为3(环形可调);
;4:新的6环8区为4(扇区可调);
;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
COM_PORT_CPP_WPF=0
;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
IS_STM32_USB=0
;是否打开第一个串，1为打开，0为关闭，默认0
IS_COM_PORT_A=0
COM_PORT_A=2
COM_PORT_A_LED_1=1
COM_PORT_A_LED_2=1
COM_PORT_A_LED_3=1
COM_PORT_A_LED_4=1
;是否打开第二个串，1为打开，0为关闭，默认0
IS_COM_PORT_B=0
COM_PORT_B=6
COM_PORT_B_LED_1=1
COM_PORT_B_LED_2=1
COM_PORT_B_LED_3=1
COM_PORT_B_LED_4=1
[TRRIGER]
;线性点触发的脉冲宽度
LINEAR_PULSE_WIDTH=500
;等间距触发的脉冲宽度
INTERVAL_PULSE_WIDTH=500
;手动触发
HOLD_TIME=150
[LOG]
;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
LOG_IS_OPEN_0=1
LOG_IS_OPEN_1=1
LOG_IS_OPEN_2=1
LOG_IS_OPEN_3=1
LOG_IS_OPEN_4=0
LOG_IS_OPEN_5=0
LOG_IS_OPEN_6=0
LOG_IS_OPEN_7=0
LOG_IS_OPEN_8=0
;是否启用统计定位函数的时间日志，1：启用，默认0关闭
LOG2_IS_OPEN=0
;定位几次后，计算这几次总共用时mm，默认4次
LOG_SUM_COUNT=0
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini
BIN
View File
Binary file not shown.
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini
+337
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[JOG_SPEED]
JOG速度(pulse/ms)
JOG_SPEED_0=200.0
JOG_SPEED_1=150.0
JOG_SPEED_2=50
JOG_SPEED_3=10
JOG_SPEED_4=1
;JOG加速度(pulse/ms^2)
JOG_ACC_0=2.0
JOG_ACC_1=2.0
JOG_ACC_2=2.0
JOG_ACC_3=1.0
JOG_ACC_4=1.0
;JOG减速度(pulse/ms^2)
JOG_DEC_0=2.0
JOG_DEC_1=2.0
JOG_DEC_2=2.0
JOG_DEC_3=1.0
JOG_DEC_4=1.0
;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
JOG_STOP_MODE_1=0
JOG_STOP_MODE_2=0
JOG_STOP_MODE_3=0
JOG_STOP_MODE_4=0
JOG_STOP_MODE_5=0
JOG_STOP_MODE_6=0
JOG_STOP_MODE_7=0
JOG_STOP_MODE_8=0
JOG_STOP_MODE=0
JOG_SPEED_GEAR0_1=200.0
JOG_ACC_GEAR0_1=2.0
JOG_DEC_GEAR0_1=2.0
JOG_SPEED_GEAR0_2=200.0
JOG_ACC_GEAR0_2=2.0
JOG_DEC_GEAR0_2=2.0
JOG_SPEED_GEAR0_3=150.0
JOG_ACC_GEAR0_3=2.0
JOG_DEC_GEAR0_3=2.0
JOG_SPEED_GEAR0_4=200.0
JOG_ACC_GEAR0_4=2.0
JOG_DEC_GEAR0_4=2.0
JOG_SPEED_GEAR1_1=100.0
JOG_ACC_GEAR1_1=2.0
JOG_DEC_GEAR1_1=2.0
JOG_SPEED_GEAR1_2=100.0
JOG_ACC_GEAR1_2=2.0
JOG_DEC_GEAR1_2=2.0
JOG_SPEED_GEAR1_3=80.0
JOG_ACC_GEAR1_3=2.0
JOG_DEC_GEAR1_3=2.0
JOG_SPEED_GEAR1_4=100.0
JOG_ACC_GEAR1_4=2.0
JOG_DEC_GEAR1_4=2.0
JOG_SPEED_GEAR2_1=50.0
JOG_ACC_GEAR2_1=2.0
JOG_DEC_GEAR2_1=2.0
JOG_SPEED_GEAR2_2=50.0
JOG_ACC_GEAR2_2=2.0
JOG_DEC_GEAR2_2=2.0
JOG_SPEED_GEAR2_3=50.0
JOG_ACC_GEAR2_3=2.0
JOG_DEC_GEAR2_3=2.0
JOG_SPEED_GEAR2_4=50.0
JOG_ACC_GEAR2_4=2.0
JOG_DEC_GEAR2_4=2.0
JOG_SPEED_GEAR3_1=10.0
JOG_ACC_GEAR3_1=1.0
JOG_DEC_GEAR3_1=1.0
JOG_SPEED_GEAR3_2=10.0
JOG_ACC_GEAR3_2=1.0
JOG_DEC_GEAR3_2=1.0
JOG_SPEED_GEAR3_3=10.0
JOG_ACC_GEAR3_3=1.0
JOG_DEC_GEAR3_3=1.0
JOG_SPEED_GEAR3_4=10.0
JOG_ACC_GEAR3_4=1.0
JOG_DEC_GEAR3_4=1.0
JOG_SPEED_GEAR4_1=1.0
JOG_ACC_GEAR4_1=1.0
JOG_DEC_GEAR4_1=1.0
JOG_SPEED_GEAR4_2=1.0
JOG_ACC_GEAR4_2=1.0
JOG_DEC_GEAR4_2=1.0
JOG_SPEED_GEAR4_3=1.0
JOG_ACC_GEAR4_3=1.0
JOG_DEC_GEAR4_3=1.0
JOG_SPEED_GEAR4_4=1.0
JOG_ACC_GEAR4_4=1.0
JOG_DEC_GEAR4_4=1.0
;0:都使用(正常情况) 1:只使用灯，而不使用控制器;默认0
[USE_LIGHT]
ONLY_USE_LIGHT=0
[RESOLUTION]
;光栅尺的分辨率(mm)
SCALE_RESOLUTION_1=0.0004
SCALE_RESOLUTION_2=0.0004
SCALE_RESOLUTION_3=0.0004
SCALE_RESOLUTION_4=0.0004
SCALE_RESOLUTION_5=0.0004
SCALE_RESOLUTION_6=0.0004
SCALE_RESOLUTION_7=0.0004
SCALE_RESOLUTION_8=0.0004
[LIMIT]
;负限位(mm)，必须是负数
NEG_WORKING_LIMIT_1=-260.0
NEG_WORKING_LIMIT_2=-40.0
NEG_WORKING_LIMIT_3=-40.0
NEG_WORKING_LIMIT_4=-40.0
NEG_WORKING_LIMIT_5=-40.0
NEG_WORKING_LIMIT_6=-40.0
NEG_WORKING_LIMIT_7=-40.0
NEG_WORKING_LIMIT_8=-40.0
;正限位(mm)，必须是正数
POS_WORKING_LIMIT_1=40.0
POS_WORKING_LIMIT_2=160.0
POS_WORKING_LIMIT_3=160.0
POS_WORKING_LIMIT_4=200.0
POS_WORKING_LIMIT_5=200.0
POS_WORKING_LIMIT_6=200.0
POS_WORKING_LIMIT_7=200.0
POS_WORKING_LIMIT_8=200.0
[HOME]
;选择需要回家的轴号，改为1
HOME_MACHINE_AXIS_1=1
HOME_MACHINE_AXIS_2=1
HOME_MACHINE_AXIS_3=1
HOME_MACHINE_AXIS_4=0
HOME_MACHINE_AXIS_5=0
HOME_MACHINE_AXIS_6=0
HOME_MACHINE_AXIS_7=0
HOME_MACHINE_AXIS_8=0
;是否启动实际位置判断是否回家，默认0，1启用，0关闭
IS_HOME_ENC_POS=0
;是否启动规划位置判断是否回家，默认1，1启用，0关闭
IS_HOME_PRF_POS=1
;关闭电源时记住当前的位置，用于判断是否需要回家
HOME_POS_AXIS_1=0
HOME_POS_AXIS_2=0
HOME_POS_AXIS_3=0
HOME_POS_AXIS_4=0
HOME_POS_AXIS_5=0
HOME_POS_AXIS_6=0
HOME_POS_AXIS_7=0
HOME_POS_AXIS_8=0
;回家第一段速度(pulse/ms)
HOME_HIGH_SPEED_1=200.0
HOME_HIGH_SPEED_2=200.0
HOME_HIGH_SPEED_3=200.0
HOME_HIGH_SPEED_4=200.0
HOME_HIGH_SPEED_5=200.0
HOME_HIGH_SPEED_6=200.0
HOME_HIGH_SPEED_7=200.0
HOME_HIGH_SPEED_8=200.0
;回家第一段加速度(pulse/ms^2)
HOME_HIGH_ACC_1=2.0
HOME_HIGH_ACC_2=2.0
HOME_HIGH_ACC_3=2.0
HOME_HIGH_ACC_4=2.0
HOME_HIGH_ACC_5=2.0
HOME_HIGH_ACC_6=2.0
HOME_HIGH_ACC_7=2.0
HOME_HIGH_ACC_8=2.0
;回家第二段速度(pulse/ms)
HOME_LOW_SPEED_1=180.0
HOME_LOW_SPEED_2=180.0
HOME_LOW_SPEED_3=180.0
HOME_LOW_SPEED_4=180.0
HOME_LOW_SPEED_5=180.0
HOME_LOW_SPEED_6=180.0
HOME_LOW_SPEED_7=180.0
HOME_LOW_SPEED_8=180.0
;回家第二段加速度(pulse/ms^2)
HOME_LOW_ACC_1=2.0
HOME_LOW_ACC_2=2.0
HOME_LOW_ACC_3=2.0
HOME_LOW_ACC_4=2.0
HOME_LOW_ACC_5=2.0
HOME_LOW_ACC_6=2.0
HOME_LOW_ACC_7=2.0
HOME_LOW_ACC_8=2.0
;回家延时时间(ms)
HOME_TIME_1=1000
HOME_TIME_2=1000
HOME_TIME_3=1000
HOME_TIME_4=1000
HOME_TIME_5=1000
HOME_TIME_6=1000
HOME_TIME_7=1000
HOME_TIME_8=1000
[PID]
;PID比例调节,应从0.01递增开始调试
PID_KP_1=1.20
PID_KP_2=1.20
PID_KP_3=1.20
PID_KP_4=1.20
PID_KP_5=1.20
PID_KP_6=1.20
PID_KP_7=1.20
PID_KP_8=1.20
[PRECISION]
;超时时间(0.1ms)
PRECISION_TIME_1=20000
PRECISION_TIME_2=20000
PRECISION_TIME_3=20000
PRECISION_TIME_4=20000
PRECISION_TIME_5=20000
PRECISION_TIME_6=20000
PRECISION_TIME_7=20000
PRECISION_TIME_8=20000
;回家误差脉冲个数
PRECISION_COUNT_1=8
PRECISION_COUNT_2=8
PRECISION_COUNT_3=8
PRECISION_COUNT_4=8
PRECISION_COUNT_5=8
PRECISION_COUNT_6=8
PRECISION_COUNT_7=8
PRECISION_COUNT_8=8
[SET_POSITION_SPEED]
;XYZ定位的合成速度(pulse/ms)
SET_POTION_SPEED_1=500.0
SET_POTION_SPEED_2=500.0
SET_POTION_SPEED_3=500.0
SET_POTION_SPEED_4=500.0
SET_POTION_SPEED_5=500.0
SET_POTION_SPEED_6=500.0
SET_POTION_SPEED_7=500.0
SET_POTION_SPEED_8=500.0
;XYZ定位的合成加速度(pulse/ms^2)
SET_POTION_ACC_1=2.5
SET_POTION_ACC_2=2.5
SET_POTION_ACC_3=2.5
SET_POTION_ACC_4=2.5
SET_POTION_ACC_5=2.5
SET_POTION_ACC_6=2.5
SET_POTION_ACC_7=2.5
SET_POTION_ACC_8=2.5
;XYZ定位的终点速度(pulse/ms)
SET_POTION_DEC_1=1.0
SET_POTION_DEC_2=1.0
SET_POTION_DEC_3=1.0
SET_POTION_DEC_4=1.0
SET_POTION_DEC_5=1.0
SET_POTION_DEC_6=1.0
SET_POTION_DEC_7=1.0
SET_POTION_DEC_8=1.0
;XYZ定到位判断次数
SET_POSITION_COUNT_1=240
SET_POSITION_COUNT_2=240
SET_POSITION_COUNT_3=240
SET_POSITION_COUNT_4=240
SET_POSITION_COUNT_5=240
SET_POSITION_COUNT_6=240
SET_POSITION_COUNT_7=240
SET_POSITION_COUNT_8=240
[COMPORT]
;灯光控制器类型选择
;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
;1:wpf直接调用;
;2:DP光源控制器;
;3:旧的6环8区为3(环形可调);
;4:新的6环8区为4(扇区可调);
;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
COM_PORT_CPP_WPF=0
;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
IS_STM32_USB=0
;是否打开第一个串，1为打开，0为关闭，默认0
IS_COM_PORT_A=0
COM_PORT_A=2
COM_PORT_A_LED_1=1
COM_PORT_A_LED_2=1
COM_PORT_A_LED_3=1
COM_PORT_A_LED_4=1
;是否打开第二个串，1为打开，0为关闭，默认0
IS_COM_PORT_B=0
COM_PORT_B=6
COM_PORT_B_LED_1=1
COM_PORT_B_LED_2=1
COM_PORT_B_LED_3=1
COM_PORT_B_LED_4=1
[TRRIGER]
;线性点触发的脉冲宽度
LINEAR_PULSE_WIDTH=500
;等间距触发的脉冲宽度
INTERVAL_PULSE_WIDTH=500
;手动触发
HOLD_TIME=150
[LOG]
;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
LOG_IS_OPEN_0=1
LOG_IS_OPEN_1=1
LOG_IS_OPEN_2=1
LOG_IS_OPEN_3=1
LOG_IS_OPEN_4=0
LOG_IS_OPEN_5=0
LOG_IS_OPEN_6=0
LOG_IS_OPEN_7=0
LOG_IS_OPEN_8=0
;是否启用统计定位函数的时间日志，1：启用，默认0关闭
LOG2_IS_OPEN=0
;定位几次后，计算这几次总共用时mm，默认4次
LOG_SUM_COUNT=0
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Config.ini
+186
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@@ -0,0 +1,186 @@
[IO]
;是否启用IO功能，1为启用，0为关闭，默认0
IS_IO_FUNTION=1
;是否启用脚踏开关功能，1为启用，0为关闭，默认0
IS_START_INPUT=0
;启动软件运行的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15默认1
START_INPUT_PORT=1
;是否启用急停功能，1为启用，0为关闭，默认0
IS_QUICK_STOP=0
;急停的输入端口号，EXI15:32768，EXI14:16384，EXI13:8192，EXI7:128，默认128
QUICK_STOP_IN_PORT=128
;急停对应的输出端口号，是关闭Robot的传送带使能，EXO15:EXO15:32768，，EXO14:16384，EXO13:8192 默认32768
QUICK_STOP_OUT_PORT=32768
;是否启用安全光栅功能，1为启用，0为关闭，默认0
IS_SAFE_STOP=0
;安全光栅的端口号
;EXI15:32768，EXI14:16384，EXI13:8192，EXI12:4096，默认32768
SAFE_STOP_PORT=32768
;安全光栅采用停止模式0，还是暂停模式1，默认0停止模式
SAFE_STOP_MODE=0
;是否启用外部驱动器报警输出功能，1为启用，0为关闭，默认0
IS_ALARM_OUTPUT_PORT=0
;驱动器报警输出的端口号
;EXO15:32767，EXO14:49151，EXO13:57343 默认32767
ALARM_OUTPUT_PORT=32767
;是否启用回家之前发信号给机械手，1为启用，0为关闭，默认0
IS_HOME_TO_ROBOT=0
;给机械手的输出端口号,获取优先启动权,不使用改为65535
;EXO15:32767，EXO14:49151，EXO13:57343，EXO12:61439，EXO11:63487，EXO7:65407 默认65407
HOME_TO_ROBOT_FIRST_OUT_PORT=65535
;给机械手的输出端口号，机械手需要的复位信号，默认57343，不使用改为65535，一般只用这个输出
HOME_TO_ROBOT_RESET_OUT_PORT=57343
;给机械手的输出端口号，机械手真正启动信号，默认63487，不使用改为65535
HOME_TO_ROBOT_START_OUT_PORT=65535
;给机械手的输出端口号，机械手停止信号，默认49151，不使用改为65535
HOME_TO_ROBOT_STOP_OUT_PORT=65535
;给机械手停止信号的ON电平的时间，默认500ms,不使用改为0
HOME_TO_ROBOT_FIRST_TIME=0
;给机械手真正启动的ON时间，默认200ms,不使用改为0
HOME_TO_ROBOT_START_TIME=0
;给机械手停止信号的OFF电平的时间，默认500ms,不使用改为0
HOME_TO_ROBOT_STOP_TIME=0
;读取机械手发来的输入端口号，准许回家，不使用改为0，一般只用这个输入
;EXI15:32767，EXI14:49151，EXI13:57343，EXI12:61439，EXI11:63487,默认32767
HOME_TO_ROBOT_OK_IN_PORT=57343
;读取机械手发来的输入端口号，需要复位,默认49151，不使用改为0
HOME_TO_ROBOT_RESET_IN_PORT=0
;是否启用第四轴为传送带功能，1为启用，0为关闭，默认0
IS_TRANSPORER=0
;启动传送带输入端口号,当该端口号为低电平时启动传送带
;EXI15:32768，EXI14:16384，EXI15:32768，EXI10:1024，EXI9:512，EXI8:256，默认16384
TRANSPORER_START_PORT=16384
;停止传送带输入端口号,当该端口号为低电平时停止传送带
;EXI15:32768，EXI14:16384，EXI15:32768，EXI10:1024，EXI9:512，EXI8:256，默认32768
TRANSPORER_STOP_PORT=32768
;给机械手的输出端口号,当停止传送带时，该端口号为高电平,EXO15：16，默认16
TRANSPORER_TO_ROBOOT_PORT=16
;传送带运行速度JOG档位和方向，要改变方向在前面加个负号即可
;第四档：1.0，第三档：0.8，第二档：0.6，第一档：0.4，第零档：0.2，默认3档,正方向
TRANSPORER_SPEED_GEAR=0.2
;传送带使用的轴号，8表示第4轴，默认8
TRANSPORER_AXIS=8
;是否启用点击停止按钮时输出特定的端口号，可多个同时输出，1为启用，0为关闭，默认0
IS_ABORT_MOTION_OUT_PORT=0
;输出特定的端口号,默认65535(关闭所有)，只关闭EXO15:32767,只关闭EXO15和EXO14：16383
ABORT_MOTION_OUT_PORT=65471
;是否启用某一轴先回家，即先跑到限位的一边，最后还是一起找原点的，1为启用，0为关闭，默认0
IS_AXIS_FIRST_HOME=0
;启用的轴号，默认3：1轴，2:2轴，3:3轴，4:4轴
AXIS_NUM_FIRST_HOME=3
;是否启用XY轴插补，默认0关闭，1启用
IS_SET_POS_XY=0
;是否启用IO的顺序控制(搬运部分)，默认0关闭，1启用,为1时会启动该线程
IS_IO_STEP=0
;第四轴在上面取完料位置mm，默认0.0
IO_STEP_UP_4=-62.0
;第四轴在左边下面取料位置mm，默认0.0
IO_STEP_LEFT_DOWN_4=-103.0
;第四轴在右边下面取料位置mm，默认0.0
IO_STEP_RIGHT_DOWN_4=-87.5
;第三轴左边位置mm，默认0.0
IO_STEP_LEFT_3=-3.8
;第三轴右边位置mm，默认0.0
IO_STEP_RIGHT_3=-564.2
;左边可以下去取料输出端口，端口为开时，启动4轴下去取料,信号关闭时，不下去取料，默认65531：EXO2，65534：EXO0
IO_STEP_LEFT_LOAD_OUT_PORT=65531
;左边第4轴取完料后，输出信号为开时，告诉第一台电脑可以继续出去测量,14：EXO14,自动+1
IO_STEP_LEFT_CONTINUE_OUT_PORT=14
;右边可以下去放料的输入端口，端口为开时，启动4轴下去放料，默认16384:EXI14,32768:EXI15
IO_STEP_RIGHT_UPLOAD_IN_PORT=16384
;右边第4轴放完料后，端口为开时，告诉第二台电脑可以继续出去测量的输出信号，默认15：EXO15，14：EXO14,自动+1
IO_STEP_RIGHT_CONTINUE_OUT_PORT=15
;第三轴的搬运吸盘的输出端口，默认4：EXO4，5：EXO5，内部按位输出，自动+1(从1到16)
IO_STEP_SUCKER_OUT_PORT=4
;模具上是否有料的输入端口(上料感应)，默认1：EXI0，8：EXI3
IO_STEP_LOADING_IN_PORT=32768
[SAFETY_LOCK]
;是否启用轴之间的安全互锁，1启用，默认0关闭
IS_SAFETY_LOCK=0
;当互锁条件成立时需要锁住的轴号A，默认3轴
SAFETY_LOCK_AXIS_A=2
;当互锁条件成立时需要锁住的轴号B，默认3轴
SAFETY_LOCK_AXIS_B=3
;当互锁条件的输入端口号A，默认32768为EXI15,1为EXI0,2为EXI1，4为EXI2,8为EXI3
SAFETY_LOCK_INPORT_A=32768
;当互锁条件的输入端口号B，默认32768为EXI15,1为EXI0,2为EXI1，4为EXI2,8为EXI3
SAFETY_LOCK_INPORT_B=32768
[SERIAL_PORT]
;是否打开串口控制器，1启用，默认0关闭
IS_SERIAL_PORT=0
;使用的端口号，默认端口号3
SERIAL_PORT_NUM=5
[PROBE]
;是否启用探针捕获功能，1启用，默认0关闭
IS_PROBE=0
;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
PROBE_ALL_AXIS=3
;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
PROBE_RETURN_POS=5.0
[OK_NG]
;是否启用软件内部OK/NG判断功能，1启用，默认0关闭
IS_OK_NG=0
;工位1输出端口号,EXO0:65534，EXO1:65533，EXO2:65531，EXO3:65527，不输出为65535，默认65535
OK_NG_OUT_PORT1=65533
;工位2输出端口号,EXO0:65534，EXO1:65533，EXO2:65531，EXO3:65527，不输出为65535，默认65535
OK_NG_OUT_PORT2=65534
[HOME]
;回家精度判断，默认4个脉冲
HOME_PULSE_1=4
HOME_PULSE_2=4
HOME_PULSE_3=4
HOME_PULSE_4=4
HOME_PULSE_5=4
HOME_PULSE_6=4
HOME_PULSE_7=4
HOME_PULSE_8=4
[JOG]
;是否启用Z轴JOG速度独立,1启用，默认0关闭
IS_JOG_AXIS_3=0
;Z轴JOG速度是XY的几倍，默认1.0
JOG_AXIS_3_GEAR=0.5
[SPECIAL_MOTOR]
;是否启用第4轴步进电机控制，该电机没有编码器和光栅尺反馈，回家采用限位当做原点，1启用，默认0关闭
IS_SPECIAL_MOTOR=0
[DOUBLE_SWITCH]
;是否启用2个脚踏开关，1启用，默认0关闭
IS_DOUBLE_SWITCH=0
;2个开关的间隔时间ms，超过间隔时间，即使2个开关都已按下也无效，默认500ms
DOUBLE_SWITCH_TIME=500
;第一个开关的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15，默认1
DOUBLE_SWITCH_INPUT_PORT_A=1
;第二个开关的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15，默认2
DOUBLE_SWITCH_INPUT_PORT_B=2
[SEND_OUTPUT]
;是否启用满足输出信号和位置高度时，输出对应端口，1启用，默认0关闭
IS_OUTPUT_HIGH=0
;判断是否满足条件的输出端口号,1为EXO0,2为EXO1，4为EXO2,8为EXO3，32768为EXO15，默认1
OUTPUT_HIGH_ENABLE_OUT=1
;轴号,默认1：1轴
OUTPUT_HIGH_AXIS=1
;位置,默认0.0，单位mm
OUTPUT_HIGH_POS=0.0
;输出对应的端口号,EXO0:0，EXO1:1，EXO2:2，EXO3:3，默认0
OUTPUT_HIGH_OUTPORT=0
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Motion.cfg
+839
View File
@@ -0,0 +1,839 @@
[profile1]
active=1
decSmoothStop=3.000000
decAbruptStop=1000.000000
[profile2]
active=1
decSmoothStop=5.000000
decAbruptStop=1000.000000
[profile3]
active=1
decSmoothStop=5.000000
decAbruptStop=1000.000000
[profile4]
active=1
decSmoothStop=1.000000
decAbruptStop=1000.000000
[profile5]
active=1
decSmoothStop=1.000000
decAbruptStop=1000.000000
[profile6]
active=1
decSmoothStop=1.000000
decAbruptStop=1000.000000
[profile7]
active=1
decSmoothStop=1.000000
decAbruptStop=1000.000000
[profile8]
active=1
decSmoothStop=1.000000
decAbruptStop=1000.000000
[axis1]
active=1
alarmType=2
alarmIndex=1
limitPositiveType=0
limitPositiveIndex=1
limitNegativeType=1
limitNegativeIndex=1
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x1
encMap=0x1
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis2]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=2
limitNegativeType=1
limitNegativeIndex=2
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x2
encMap=0x2
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis3]
active=1
alarmType=2
alarmIndex=3
limitPositiveType=1
limitPositiveIndex=3
limitNegativeType=0
limitNegativeIndex=3
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x4
encMap=0x4
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis4]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=4
limitNegativeType=1
limitNegativeIndex=4
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x8
encMap=0x8
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis5]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=5
limitNegativeType=1
limitNegativeIndex=5
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x10
encMap=0x10
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis6]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=6
limitNegativeType=1
limitNegativeIndex=6
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x20
encMap=0x20
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis7]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=7
limitNegativeType=1
limitNegativeIndex=7
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x40
encMap=0x40
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[axis8]
active=1
alarmType=2
alarmIndex=-1
limitPositiveType=0
limitPositiveIndex=8
limitNegativeType=1
limitNegativeIndex=8
smoothStopType=4
smoothStopIndex=-1
abruptStopType=4
abruptStopIndex=-1
prfMap=0x80
encMap=0x80
prfMapAlpha1=1
prfMapBeta1=1
prfMapAlpha2=1
prfMapBeta2=1
encMapAlpha1=1
encMapBeta1=1
encMapAlpha2=1
encMapBeta2=1
[control1]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=2000
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control2]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control3]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=52767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control4]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control5]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control6]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control7]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[control8]
active=0
axis=-1
encoder1=-1
encoder2=-1
errorLimit=32767
filterType1=0
filterType2=0
filterType3=0
encoderSmooth=8
controlSmooth=8
[dac1]
active=0
control=-1
reverse=1
bias=0
limit=32767
[dac2]
active=0
control=-1
reverse=0
bias=0
limit=32767
[dac3]
active=0
control=-1
reverse=1
bias=0
limit=32767
[dac4]
active=0
control=-1
reverse=0
bias=0
limit=32767
[dac5]
active=0
control=-1
reverse=1
bias=0
limit=32767
[dac6]
active=0
control=-1
reverse=0
bias=0
limit=32767
[dac7]
active=0
control=-1
reverse=1
bias=0
limit=32767
[dac8]
active=0
control=-1
reverse=1
bias=0
limit=32767
[step1]
active=1
axis=1
mode=0
parameter=0
reverse=0
[step2]
active=1
axis=2
mode=0
parameter=0
reverse=0
[step3]
active=1
axis=3
mode=0
parameter=0
reverse=0
[step4]
active=1
axis=4
mode=0
parameter=0
reverse=0
[step5]
active=1
axis=5
mode=0
parameter=0
reverse=0
[step6]
active=1
axis=6
mode=0
parameter=0
reverse=0
[step7]
active=1
axis=7
mode=0
parameter=0
reverse=0
[step8]
active=1
axis=8
mode=0
parameter=0
reverse=0
[encoder1]
active=1
reverse=0
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder2]
active=1
reverse=1
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder3]
active=1
reverse=0
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder4]
active=1
reverse=1
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder5]
active=1
reverse=0
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder6]
active=1
reverse=1
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder7]
active=1
reverse=0
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder8]
active=1
reverse=0
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[encoder9]
active=1
reverse=1
filterType=0
captureSource=0
captureHomeSense=0
captureIndexSense=0
[enable1]
active=1
axis=1
axisItem=-1
reverse=1
[enable2]
active=1
axis=2
axisItem=-1
reverse=1
[enable3]
active=1
axis=3
axisItem=-1
reverse=1
[enable4]
active=1
axis=4
axisItem=-1
reverse=1
[enable5]
active=1
axis=5
axisItem=-1
reverse=1
[enable6]
active=1
axis=6
axisItem=-1
reverse=1
[enable7]
active=1
axis=7
axisItem=-1
reverse=1
[enable8]
active=1
axis=8
axisItem=-1
reverse=1
[clear1]
active=1
axis=-1
axisItem=-1
reverse=0
[clear2]
active=1
axis=-1
axisItem=-1
reverse=0
[clear3]
active=1
axis=-1
axisItem=-1
reverse=0
[clear4]
active=1
axis=-1
axisItem=-1
reverse=0
[clear5]
active=1
axis=-1
axisItem=-1
reverse=0
[clear6]
active=1
axis=-1
axisItem=-1
reverse=0
[clear7]
active=1
axis=-1
axisItem=-1
reverse=0
[clear8]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo1]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo2]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo3]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo4]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo5]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo6]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo7]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo8]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo9]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo10]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo11]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo12]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo13]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo14]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo15]
active=1
axis=-1
axisItem=-1
reverse=0
[gpo16]
active=1
axis=-1
axisItem=-1
reverse=0
[limitPositive1]
active=1
reverse=1
filterTime=3
[limitPositive2]
active=1
reverse=1
filterTime=3
[limitPositive3]
active=1
reverse=1
filterTime=3
[limitPositive4]
active=1
reverse=1
filterTime=3
[limitPositive5]
active=1
reverse=1
filterTime=3
[limitPositive6]
active=1
reverse=1
filterTime=3
[limitPositive7]
active=1
reverse=1
filterTime=3
[limitPositive8]
active=1
reverse=1
filterTime=3
[limitNegative1]
active=1
reverse=1
filterTime=3
[limitNegative2]
active=1
reverse=1
filterTime=3
[limitNegative3]
active=1
reverse=1
filterTime=3
[limitNegative4]
active=1
reverse=1
filterTime=3
[limitNegative5]
active=1
reverse=1
filterTime=3
[limitNegative6]
active=1
reverse=1
filterTime=3
[limitNegative7]
active=1
reverse=1
filterTime=3
[limitNegative8]
active=1
reverse=1
filterTime=3
[alarm1]
active=1
reverse=0
filterTime=3
[alarm2]
active=1
reverse=0
filterTime=3
[alarm3]
active=1
reverse=0
filterTime=3
[alarm4]
active=1
reverse=1
filterTime=3
[alarm5]
active=1
reverse=1
filterTime=3
[alarm6]
active=1
reverse=1
filterTime=3
[alarm7]
active=1
reverse=1
filterTime=3
[alarm8]
active=1
reverse=1
filterTime=3
[home1]
active=1
reverse=1
filterTime=3
[home2]
active=1
reverse=1
filterTime=3
[home3]
active=1
reverse=1
filterTime=3
[home4]
active=1
reverse=1
filterTime=3
[home5]
active=1
reverse=1
filterTime=3
[home6]
active=1
reverse=1
filterTime=3
[home7]
active=1
reverse=1
filterTime=3
[home8]
active=1
reverse=1
filterTime=3
[gpi1]
active=1
reverse=0
filterTime=3
[gpi2]
active=1
reverse=0
filterTime=3
[gpi3]
active=1
reverse=0
filterTime=3
[gpi4]
active=1
reverse=0
filterTime=3
[gpi5]
active=1
reverse=0
filterTime=3
[gpi6]
active=1
reverse=0
filterTime=3
[gpi7]
active=1
reverse=0
filterTime=3
[gpi8]
active=1
reverse=0
filterTime=3
[gpi9]
active=1
reverse=0
filterTime=3
[gpi10]
active=1
reverse=0
filterTime=3
[gpi11]
active=1
reverse=0
filterTime=3
[gpi12]
active=1
reverse=0
filterTime=3
[gpi13]
active=1
reverse=0
filterTime=3
[gpi14]
active=1
reverse=0
filterTime=3
[gpi15]
active=1
reverse=0
filterTime=3
[gpi16]
active=1
reverse=0
filterTime=3
[arrive1]
active=1
reverse=1
filterTime=8
[arrive2]
active=1
reverse=1
filterTime=8
[arrive3]
active=1
reverse=1
filterTime=8
[arrive4]
active=1
reverse=1
filterTime=9
[arrive5]
active=1
reverse=1
filterTime=8
[arrive6]
active=1
reverse=0
filterTime=3
[arrive7]
active=1
reverse=1
filterTime=8
[arrive8]
active=1
reverse=1
filterTime=8
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Motion.ini
+337
View File
@@ -0,0 +1,337 @@
[JOG_SPEED]
JOG速度(pulse/ms)
JOG_SPEED_0=200.0
JOG_SPEED_1=150.0
JOG_SPEED_2=50
JOG_SPEED_3=10
JOG_SPEED_4=1
;JOG加速度(pulse/ms^2)
JOG_ACC_0=2.0
JOG_ACC_1=2.0
JOG_ACC_2=2.0
JOG_ACC_3=1.0
JOG_ACC_4=1.0
;JOG减速度(pulse/ms^2)
JOG_DEC_0=2.0
JOG_DEC_1=2.0
JOG_DEC_2=2.0
JOG_DEC_3=1.0
JOG_DEC_4=1.0
;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
JOG_STOP_MODE_1=0
JOG_STOP_MODE_2=0
JOG_STOP_MODE_3=0
JOG_STOP_MODE_4=0
JOG_STOP_MODE_5=0
JOG_STOP_MODE_6=0
JOG_STOP_MODE_7=0
JOG_STOP_MODE_8=0
JOG_STOP_MODE=0
JOG_SPEED_GEAR0_1=200.0
JOG_ACC_GEAR0_1=2.0
JOG_DEC_GEAR0_1=2.0
JOG_SPEED_GEAR0_2=200.0
JOG_ACC_GEAR0_2=2.0
JOG_DEC_GEAR0_2=2.0
JOG_SPEED_GEAR0_3=150.0
JOG_ACC_GEAR0_3=2.0
JOG_DEC_GEAR0_3=2.0
JOG_SPEED_GEAR0_4=200.0
JOG_ACC_GEAR0_4=2.0
JOG_DEC_GEAR0_4=2.0
JOG_SPEED_GEAR1_1=100.0
JOG_ACC_GEAR1_1=2.0
JOG_DEC_GEAR1_1=2.0
JOG_SPEED_GEAR1_2=100.0
JOG_ACC_GEAR1_2=2.0
JOG_DEC_GEAR1_2=2.0
JOG_SPEED_GEAR1_3=80.0
JOG_ACC_GEAR1_3=2.0
JOG_DEC_GEAR1_3=2.0
JOG_SPEED_GEAR1_4=100.0
JOG_ACC_GEAR1_4=2.0
JOG_DEC_GEAR1_4=2.0
JOG_SPEED_GEAR2_1=50.0
JOG_ACC_GEAR2_1=2.0
JOG_DEC_GEAR2_1=2.0
JOG_SPEED_GEAR2_2=50.0
JOG_ACC_GEAR2_2=2.0
JOG_DEC_GEAR2_2=2.0
JOG_SPEED_GEAR2_3=50.0
JOG_ACC_GEAR2_3=2.0
JOG_DEC_GEAR2_3=2.0
JOG_SPEED_GEAR2_4=50.0
JOG_ACC_GEAR2_4=2.0
JOG_DEC_GEAR2_4=2.0
JOG_SPEED_GEAR3_1=10.0
JOG_ACC_GEAR3_1=1.0
JOG_DEC_GEAR3_1=1.0
JOG_SPEED_GEAR3_2=10.0
JOG_ACC_GEAR3_2=1.0
JOG_DEC_GEAR3_2=1.0
JOG_SPEED_GEAR3_3=10.0
JOG_ACC_GEAR3_3=1.0
JOG_DEC_GEAR3_3=1.0
JOG_SPEED_GEAR3_4=10.0
JOG_ACC_GEAR3_4=1.0
JOG_DEC_GEAR3_4=1.0
JOG_SPEED_GEAR4_1=1.0
JOG_ACC_GEAR4_1=1.0
JOG_DEC_GEAR4_1=1.0
JOG_SPEED_GEAR4_2=1.0
JOG_ACC_GEAR4_2=1.0
JOG_DEC_GEAR4_2=1.0
JOG_SPEED_GEAR4_3=1.0
JOG_ACC_GEAR4_3=1.0
JOG_DEC_GEAR4_3=1.0
JOG_SPEED_GEAR4_4=1.0
JOG_ACC_GEAR4_4=1.0
JOG_DEC_GEAR4_4=1.0
;0:都使用(正常情况) 1:只使用灯，而不使用控制器;默认0
[USE_LIGHT]
ONLY_USE_LIGHT=0
[RESOLUTION]
;光栅尺的分辨率(mm)
SCALE_RESOLUTION_1=0.0004
SCALE_RESOLUTION_2=0.0004
SCALE_RESOLUTION_3=0.0004
SCALE_RESOLUTION_4=0.0004
SCALE_RESOLUTION_5=0.0004
SCALE_RESOLUTION_6=0.0004
SCALE_RESOLUTION_7=0.0004
SCALE_RESOLUTION_8=0.0004
[LIMIT]
;负限位(mm)，必须是负数
NEG_WORKING_LIMIT_1=-260.0
NEG_WORKING_LIMIT_2=-40.0
NEG_WORKING_LIMIT_3=-40.0
NEG_WORKING_LIMIT_4=-40.0
NEG_WORKING_LIMIT_5=-40.0
NEG_WORKING_LIMIT_6=-40.0
NEG_WORKING_LIMIT_7=-40.0
NEG_WORKING_LIMIT_8=-40.0
;正限位(mm)，必须是正数
POS_WORKING_LIMIT_1=40.0
POS_WORKING_LIMIT_2=160.0
POS_WORKING_LIMIT_3=160.0
POS_WORKING_LIMIT_4=200.0
POS_WORKING_LIMIT_5=200.0
POS_WORKING_LIMIT_6=200.0
POS_WORKING_LIMIT_7=200.0
POS_WORKING_LIMIT_8=200.0
[HOME]
;选择需要回家的轴号，改为1
HOME_MACHINE_AXIS_1=1
HOME_MACHINE_AXIS_2=1
HOME_MACHINE_AXIS_3=1
HOME_MACHINE_AXIS_4=0
HOME_MACHINE_AXIS_5=0
HOME_MACHINE_AXIS_6=0
HOME_MACHINE_AXIS_7=0
HOME_MACHINE_AXIS_8=0
;是否启动实际位置判断是否回家，默认0，1启用，0关闭
IS_HOME_ENC_POS=0
;是否启动规划位置判断是否回家，默认1，1启用，0关闭
IS_HOME_PRF_POS=1
;关闭电源时记住当前的位置，用于判断是否需要回家
HOME_POS_AXIS_1=0
HOME_POS_AXIS_2=0
HOME_POS_AXIS_3=0
HOME_POS_AXIS_4=0
HOME_POS_AXIS_5=0
HOME_POS_AXIS_6=0
HOME_POS_AXIS_7=0
HOME_POS_AXIS_8=0
;回家第一段速度(pulse/ms)
HOME_HIGH_SPEED_1=200.0
HOME_HIGH_SPEED_2=200.0
HOME_HIGH_SPEED_3=200.0
HOME_HIGH_SPEED_4=200.0
HOME_HIGH_SPEED_5=200.0
HOME_HIGH_SPEED_6=200.0
HOME_HIGH_SPEED_7=200.0
HOME_HIGH_SPEED_8=200.0
;回家第一段加速度(pulse/ms^2)
HOME_HIGH_ACC_1=2.0
HOME_HIGH_ACC_2=2.0
HOME_HIGH_ACC_3=2.0
HOME_HIGH_ACC_4=2.0
HOME_HIGH_ACC_5=2.0
HOME_HIGH_ACC_6=2.0
HOME_HIGH_ACC_7=2.0
HOME_HIGH_ACC_8=2.0
;回家第二段速度(pulse/ms)
HOME_LOW_SPEED_1=180.0
HOME_LOW_SPEED_2=180.0
HOME_LOW_SPEED_3=180.0
HOME_LOW_SPEED_4=180.0
HOME_LOW_SPEED_5=180.0
HOME_LOW_SPEED_6=180.0
HOME_LOW_SPEED_7=180.0
HOME_LOW_SPEED_8=180.0
;回家第二段加速度(pulse/ms^2)
HOME_LOW_ACC_1=2.0
HOME_LOW_ACC_2=2.0
HOME_LOW_ACC_3=2.0
HOME_LOW_ACC_4=2.0
HOME_LOW_ACC_5=2.0
HOME_LOW_ACC_6=2.0
HOME_LOW_ACC_7=2.0
HOME_LOW_ACC_8=2.0
;回家延时时间(ms)
HOME_TIME_1=1000
HOME_TIME_2=1000
HOME_TIME_3=1000
HOME_TIME_4=1000
HOME_TIME_5=1000
HOME_TIME_6=1000
HOME_TIME_7=1000
HOME_TIME_8=1000
[PID]
;PID比例调节,应从0.01递增开始调试
PID_KP_1=1.20
PID_KP_2=1.20
PID_KP_3=1.20
PID_KP_4=1.20
PID_KP_5=1.20
PID_KP_6=1.20
PID_KP_7=1.20
PID_KP_8=1.20
[PRECISION]
;超时时间(0.1ms)
PRECISION_TIME_1=20000
PRECISION_TIME_2=20000
PRECISION_TIME_3=20000
PRECISION_TIME_4=20000
PRECISION_TIME_5=20000
PRECISION_TIME_6=20000
PRECISION_TIME_7=20000
PRECISION_TIME_8=20000
;回家误差脉冲个数
PRECISION_COUNT_1=8
PRECISION_COUNT_2=8
PRECISION_COUNT_3=8
PRECISION_COUNT_4=8
PRECISION_COUNT_5=8
PRECISION_COUNT_6=8
PRECISION_COUNT_7=8
PRECISION_COUNT_8=8
[SET_POSITION_SPEED]
;XYZ定位的合成速度(pulse/ms)
SET_POTION_SPEED_1=500.0
SET_POTION_SPEED_2=500.0
SET_POTION_SPEED_3=500.0
SET_POTION_SPEED_4=500.0
SET_POTION_SPEED_5=500.0
SET_POTION_SPEED_6=500.0
SET_POTION_SPEED_7=500.0
SET_POTION_SPEED_8=500.0
;XYZ定位的合成加速度(pulse/ms^2)
SET_POTION_ACC_1=2.5
SET_POTION_ACC_2=2.5
SET_POTION_ACC_3=2.5
SET_POTION_ACC_4=2.5
SET_POTION_ACC_5=2.5
SET_POTION_ACC_6=2.5
SET_POTION_ACC_7=2.5
SET_POTION_ACC_8=2.5
;XYZ定位的终点速度(pulse/ms)
SET_POTION_DEC_1=1.0
SET_POTION_DEC_2=1.0
SET_POTION_DEC_3=1.0
SET_POTION_DEC_4=1.0
SET_POTION_DEC_5=1.0
SET_POTION_DEC_6=1.0
SET_POTION_DEC_7=1.0
SET_POTION_DEC_8=1.0
;XYZ定到位判断次数
SET_POSITION_COUNT_1=240
SET_POSITION_COUNT_2=240
SET_POSITION_COUNT_3=240
SET_POSITION_COUNT_4=240
SET_POSITION_COUNT_5=240
SET_POSITION_COUNT_6=240
SET_POSITION_COUNT_7=240
SET_POSITION_COUNT_8=240
[COMPORT]
;灯光控制器类型选择
;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
;1:wpf直接调用;
;2:DP光源控制器;
;3:旧的6环8区为3(环形可调);
;4:新的6环8区为4(扇区可调);
;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
COM_PORT_CPP_WPF=0
;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
IS_STM32_USB=0
;是否打开第一个串，1为打开，0为关闭，默认0
IS_COM_PORT_A=0
COM_PORT_A=2
COM_PORT_A_LED_1=1
COM_PORT_A_LED_2=1
COM_PORT_A_LED_3=1
COM_PORT_A_LED_4=1
;是否打开第二个串，1为打开，0为关闭，默认0
IS_COM_PORT_B=0
COM_PORT_B=6
COM_PORT_B_LED_1=1
COM_PORT_B_LED_2=1
COM_PORT_B_LED_3=1
COM_PORT_B_LED_4=1
[TRRIGER]
;线性点触发的脉冲宽度
LINEAR_PULSE_WIDTH=500
;等间距触发的脉冲宽度
INTERVAL_PULSE_WIDTH=500
;手动触发
HOLD_TIME=150
[LOG]
;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
LOG_IS_OPEN_0=1
LOG_IS_OPEN_1=1
LOG_IS_OPEN_2=1
LOG_IS_OPEN_3=1
LOG_IS_OPEN_4=0
LOG_IS_OPEN_5=0
LOG_IS_OPEN_6=0
LOG_IS_OPEN_7=0
LOG_IS_OPEN_8=0
;是否启用统计定位函数的时间日志，1：启用，默认0关闭
LOG2_IS_OPEN=0
;定位几次后，计算这几次总共用时mm，默认4次
LOG_SUM_COUNT=0
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini
+3
View File
@@ -0,0 +1,3 @@
[Default]
MotionControlSpeed=1
ControllerType=1
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Log/2022-10-11_16
View File