From df5c6c7c3f48235e6224fea7696d49aab3409379 Mon Sep 17 00:00:00 2001 From: "zhengxuan.zhang" Date: Wed, 19 Oct 2022 20:20:52 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E8=BF=90=E5=8A=A8=E5=88=B0=E6=8C=87?= =?UTF-8?q?=E5=AE=9A=E7=82=B9=EF=BC=8CJOG=E8=BF=90=E5=8A=A8=EF=BC=8C?= =?UTF-8?q?=E8=BF=90=E5=8A=A8=E7=BB=93=E6=9D=9F=E7=9A=84=E5=88=A4=E6=96=AD?= =?UTF-8?q?=202=E3=80=81=E4=BC=98=E5=8C=96=E6=B5=8B=E8=AF=95=E7=94=A8?= =?UTF-8?q?=E4=BE=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HSI_HexagonMI_EF3/HSI.h | 47 +- HSI_HexagonMI_EF3/HSI_Motion.cpp | 627 +++++++++------- HSI_HexagonMI_EF3/HSI_Motion.h | 40 +- HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP | 2 +- HSI_HexagonMI_EF3/logger.cpp | 116 ++- HSI_HexagonMI_EF3/logger.h | 23 +- HSI_HexagonMI_EF3/version.h | 4 +- HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs | 9 +- HSI_SEVENOCEAN_EF1_CsTest/Program.cs | 135 ++-- .../bin/Debug/Config/EF3_Motion.ini | 18 +- Motion/ACS Motion/MainForm.Designer.cs | 680 +++++++++--------- Motion/ACS Motion/MainForm.cs | 2 +- 12 files changed, 958 insertions(+), 745 deletions(-) diff --git a/HSI_HexagonMI_EF3/HSI.h b/HSI_HexagonMI_EF3/HSI.h index b828134..e70c052 100644 --- a/HSI_HexagonMI_EF3/HSI.h +++ b/HSI_HexagonMI_EF3/HSI.h @@ -322,36 +322,21 @@ enum HSI_MOTION_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_Y = 0x0002, - // This is the default "Sensor level" Y Axis - use on single Y axis machines - HSI_MOTION_AXIS_Z = 0x0004, - // This is the default "Sensor level" Z Axis - use on single Z axis machines - HSI_MOTION_AXIS_R = 0x0008, - // This is the default "Sensor level" R Axis - use on single R 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_Y1 = 0x0020, - // This is the 1st Y Axis - use on multiple axis machines when specific axis needed - HSI_MOTION_AXIS_Z1 = 0x0040, - // This is the 1st Z Axis - use on multiple axis machines when specific axis needed - HSI_MOTION_AXIS_R1 = 0x0080, - // 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_X = 0x0001,// This is the default "Sensor level" X Axis - use on single X axis machines + HSI_MOTION_AXIS_Y = 0x0000,// This is the default "Sensor level" Y Axis - use on single Y axis machines + HSI_MOTION_AXIS_Z = 0x0004,// This is the default "Sensor level" Z Axis - use on single Z axis machines + HSI_MOTION_AXIS_R = 0x0008,// This is the default "Sensor level" R Axis - use on single R 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_Y1 = 0x0020,// This is the 1st Y Axis - use on multiple axis machines when specific axis needed + HSI_MOTION_AXIS_Z1 = 0x0040,// This is the 1st Z Axis - use on multiple axis machines when specific axis needed + HSI_MOTION_AXIS_R1 = 0x0080,// 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 }; @@ -373,7 +358,7 @@ enum HSI_MOTION_IO_TYPE }; //const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z; -const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_X | ACSC_AXIS_Y | ACSC_AXIS_Z; +const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_0 | ACSC_AXIS_1 | ACSC_AXIS_4; enum HSI_MOTION_MOVE_TYPE { HSI_MOTION_MOVE_WAIT = 1, diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp index e3fb752..28392c0 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.cpp +++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp @@ -91,8 +91,8 @@ void ErrorsHandler() )) { ErrorStr[Received] = '\0'; - printf("function returned error: %d (%s)\n", ErrorCode, ErrorStr); - g_pLogger->SendAndFlushWithTime(L"[ACS Motion] motion failed {%s}\n", ErrorStr); + printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr); + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error, {%s}\n", ErrorStr); } } else @@ -105,6 +105,7 @@ void ErrorsHandler() HSI_Motion::HSI_Motion() { TRACE0("HSI_Motion Constructor!\n"); + sEvenProp.Init(); sEvenProp.EventCallbackID = 0; sEvenProp.EventResponse = HSI_EVENT_FUNCTION_OK; @@ -230,11 +231,12 @@ HSI_Motion::HSI_Motion() //DeleteDirectory() CTime tm = CTime::GetCurrentTime(); - CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串 + //CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串 + CString csTime = tm.Format("%Y-%m-%d"); //构造时间字符串 CString dir = L"\\Log\\" + csTime += L"_EF3.Log"; g_pLogger = new CLogger(dir); g_pLogger2 = new CLogger(L"\\Log\\EF3_SumTime.Log"); - + //档位参数 for (int i = 0; i < 5; i++) { @@ -284,9 +286,13 @@ HSI_Motion::HSI_Motion() iCircleRunPnt[i] = 0; //圆弧插补时的圆心位置 m_ijk[i] = 0; } + + //是否启用日志 GetAppPath(m_AppPath); m_LogIsOpen[0] = GetPrivateProfileInt(L"LOG", L"LOG_IS_OPEN_0", 0, m_AppPath + _T("\\Config\\EF3_Motion.ini")); - g_pLogger->IsEnabledLog = m_LogIsOpen[0] == 1 ? true : false; //是否启用日志 + g_pLogger->IsEnabledLog = m_LogIsOpen[0] == 1 ? true : false; + g_pLogger->SendAndFlushWithTime(L"\n"); + g_pLogger->SendAndFlushWithTime(L"==========================================================\n"); m_Set_XYZA_Reserve = 0; //XYZA轴方向 m_motorType = 0; //电机类型 1为伺服电机 0为步进电机 @@ -408,14 +414,15 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) return HSI_STATUS_NORMAL; } g_pLogger->SendAndFlushWithTime(L"[Startup] In\n"); - g_pLogger->SendAndFlushWithTime(L"[Startup] HMQ HSI.dll version = %s, date = %s\n", HSI_VERSION_CSTRING, HSI_FILE_CSDESCRIPTION); //输出HSI.dll 版本号 + g_pLogger->SendAndFlushWithTime(L"[Startup] HMQ HSI.dll version = %s, date = %s\n", HSI_VERSION_CSTRING, + HSI_FILE_CSDESCRIPTION); //输出HSI.dll 版本号 GoogolMotionConfigFile = m_AppPath + _T("\\Config\\EF3_Config.ini"); Load_EF3_Config_Inifile(GoogolMotionConfigFile); //加载 EF3_Config.ini 配置项 GoogolMotionConfigFile = m_AppPath + _T("\\Config\\EF3_Motion.ini"); Load_EF3_Motion_Inifile(GoogolMotionConfigFile); // 加载 EF3_Motion.ini 配置项 - - if (m_IsUseEF3 == 1) //如果使用 EF3 + //如果使用 EF3 + if (m_IsUseEF3 == 1) { if (!m_bConnected) { @@ -434,7 +441,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) } m_SO7_Serial.SetTimeouts(1000, 1000); m_bConnected = true; - g_pLogger->SendAndFlushWithTime(L"[Startup] Serial: [%d] is open success\n", m_EF3COMPort); + g_pLogger->SendAndFlushWithTime(L"[Startup] Serial: [COM%d] is open success\n", m_EF3COMPort); } else { @@ -442,7 +449,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) } } - if (m_IsUseACS == 1) //如果启用ACS + //如果启用ACS + if (m_IsUseACS == 1) { if (!m_bACSConnected) { @@ -469,24 +477,41 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) EventCallback(sEvenProp); return HSI_STATUS_FAILED; } + + //使能电机 + int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1 }; + if(!acsc_EnableM(handleACS, Axes,NULL)) + { + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n"); + ErrorsHandler(); + }else + { + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n"); + } + m_bACSConnected = true; - g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Established Success!\n"); + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Initialization Success!\n"); + //获取ACS 控制器版本号, 待测试，2.70 - char Firmware[256]; + /*char Firmware[256]; int Received; if (!acsc_GetFirmwareVersion(handleACS, Firmware, 255, &Received, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[ACS Motion] GET ACS Controller Version failed!\n"); ErrorsHandler(); } - g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %s\n", - convertToString(Firmware, Received)); + Firmware[Received-1] = '\0'; + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %s\n", Firmware);*/ + //获取SPiiPlus C Library version unsigned int Ver = acsc_GetLibraryVersion(); - printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)), - LOBYTE(LOWORD(Ver))); - g_pLogger->SendAndFlushWithTime(L"[ACS Motion] SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)),LOBYTE(LOWORD(Ver))); + printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), + HIBYTE(LOWORD(Ver)), + LOBYTE(LOWORD(Ver))); + g_pLogger->SendAndFlushWithTime(L"[ACS Motion] SPiiPlus C Library version is %d.%d.%d.%d\n", + HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)), + LOBYTE(LOWORD(Ver))); } else { @@ -549,7 +574,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) Sleep(5); } - g_pLogger->SendAndFlushWithTime(L"[Startup] Connected scuuess\n"); + g_pLogger->SendAndFlushWithTime(L"[Startup] Connected success\n"); if (HSI_STATUS_FAILED == DriverAlarmStatus()) { @@ -600,7 +625,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) //m_cSendData[12] = m_IsCollectPos; //是否从串口打印位置 //m_cSendData[16] = m_IsLightDebug; //是否不回家也能调试灯光 - //if (m_IsStartInput == 1 && m_IsUseRocker == 2) //新摇杆,并启动脚踏功能 + //新摇杆,并启动脚踏功能 + //if (m_IsStartInput == 1 && m_IsUseRocker == 2) //{ // m_cSendData[14] = m_StartInputPort >> 8 & 0xff; //外部启动端口号 H // m_cSendData[15] = m_StartInputPort & 0xff; //外部启动端口号 L @@ -705,7 +731,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) g_pLogger->SendAndFlushWithTime(L"[Startup] Set Gears Success\n"); } - CreateThread(); //刷新位置状态线程 + //刷新位置状态线程 + CreateThread(); SetEvent(m_hTriggerEvent); m_Thread_State = HSI_THREAD_PAUSED; g_pLogger->SendAndFlushWithTime(L"[Startup] SetpositionXyz Enable\n"); @@ -722,7 +749,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) // m_Thread_StateJOGStop = HSI_THREAD_PAUSED; //} - if (m_IsIOFuntion == 1) //是否启用IO功能线程，通过配置文件启用 + //是否启用IO功能线程，通过配置文件启用 + if (m_IsIOFuntion == 1) { m_Thread_StateIO = HSI_THREAD_RUNNING; CreateThreadIO(); //IO发消息使用 @@ -731,7 +759,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly) SetDIO(HSI_MOTION_OUTPUT_CH1, 0xfffff); } - if (m_IsProbe == 1) //是否启用探针捕获功能，通过配置文件启用 + //是否启用探针捕获功能，通过配置文件启用 + if (m_IsProbe == 1) { CreateThreadProbe(); //探针捕获功能 m_Thread_StateProbe = HSI_THREAD_RUNNING; @@ -811,11 +840,14 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version) version[i] = m_SO7_Serial.m_RecvData[i]; } } + + g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %s\n", version); m_Thread_StateData = HSI_THREAD_RUNNING; SetEvent(m_hTriggerEventData); //触发事件，其中hEvent表示句柄，返回值：如果操作成功，则返回非零值，否则为0。 return HSI_STATUS_NORMAL; } + //=========================================================================== /** * \brief 回家 @@ -1042,9 +1074,9 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed) return HSI_STATUS_FAILED; } - CurrentHomeMachineState = E_EF3_HOME_ING; + CurrentHomeMachineState = E_EF3_HOME_ING; //正在回家中 - //运行 ACS 控制器内buffer0 自动回家动作 + //运行 ACS 控制器内 buffer6 自动回家动作 //回家后，启用正负限位 if (!acsc_RunBuffer(handleACS, ACSC_BUFFER_6, nullptr, ACSC_SYNCHRONOUS)) { @@ -1058,7 +1090,6 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed) if (home == true) { g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n"); - return HSI_STATUS_NORMAL; } g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n"); @@ -1797,7 +1828,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed) t_start = GetTickCount(); m_WriteByte = Send_Command(0, (const char*)m_cSendData, m_SendDataLength); jogMoving = true; - g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %d\n", bJOGDir); + g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %s\n", bJOGDir); } return rStatus; } @@ -1807,7 +1838,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) auto rStatus = HSI_STATUS_NORMAL; if (g_pHSI_Motion) { - if (m_DeviceType != 3) + if (m_DeviceType != 3) //非转盘设备 { m_Thread_StateJOGStop = HSI_THREAD_RUNNING; SetEvent(m_hTriggerEventJOGStop); @@ -1818,6 +1849,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) jogAxisNum = AxisNumber; jogDirFlag = bJOGDir; m_Thread_State = HSI_THREAD_PAUSED; + if (CurrentHomeMachineState == E_EF3_HOME_FINISHED) { //软限位 @@ -1826,14 +1858,13 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) { //无效软限位 } + + //是否回过家 if (m_Home_Machine_Axis[AxisNumber] == 0) { return rStatus; } - - //设置 JOG运动参数 加减速 JOG_SPEED_ACC_DEC - // 是否启用急停 //if ((StartSpeed < 250) && (DriveSpeed < 6)) //{ @@ -1844,15 +1875,19 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) // m_IsUseJerk = 0; //} + //设置 JOG运动参数 加减速 JOG_SPEED_ACC_DEC + + //开始JOG运动 - int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; + int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向 if (!acsc_Jog(handleACS, 0, AxisTypes, acsDirection, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[Jog] [%d] 轴 [%s] 方向移动失败", AxisTypes, bJOGDir ? "正" : "负"); + ErrorsHandler(); } jogMoving = true; - g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %d\n", bJOGDir); + g_pLogger->SendAndFlushWithTime(L"[Jog] Out, bJOGDir = %s\n", bJOGDir ? "positive":"negative"); } return rStatus; } @@ -2154,10 +2189,10 @@ HSI_STATUS HSI_Motion::JoyStick(UINT AxisTypes, long Speed) //=========================================================================== /** - * \brief + * \brief 停止Jog运动 * \return */ -HSI_STATUS HSI_Motion::StopJog() +HSI_STATUS HSI_Motion::StopJogOld() { WaitForSingleObject(g_Lock_JogAndTrigger, INFINITE); auto rStatus = HSI_STATUS_NORMAL; @@ -2173,7 +2208,7 @@ HSI_STATUS HSI_Motion::StopJog() g_pLogger->SendAndFlushWithTime(L"[StopJog] PushButtonTime = %d\n", t_use); Sleep(t_use); } - unsigned char m_SendJogData[64] = {0}; + unsigned char m_SendJogData[64] = { 0 }; if (m_IsUseJerk == 0) { m_SendJogData[0] = CT_MOTOR; @@ -2203,7 +2238,7 @@ HSI_STATUS HSI_Motion::StopJog() return rStatus; } -HSI_STATUS HSI_Motion::StopJogOld() +HSI_STATUS HSI_Motion::StopJog() { WaitForSingleObject(g_Lock_JogAndTrigger, INFINITE); auto rStatus = HSI_STATUS_NORMAL; @@ -2220,7 +2255,9 @@ HSI_STATUS HSI_Motion::StopJogOld() Sleep(t_use); } unsigned char m_SendJogData[64] = {0}; - if (m_IsUseJerk == 0) + + //是否启用急停 + /*if (m_IsUseJerk == 0) { m_SendJogData[0] = CT_MOTOR; m_SendJogData[1] = CT_STOP; @@ -2241,7 +2278,18 @@ HSI_STATUS HSI_Motion::StopJogOld() m_StopJogMode[3] == 0 ? m_SendJogData[3] = 0X4A : m_SendJogData[3] = 0X49; m_StopJogMode[4] == 0 ? m_SendJogData[3] = 0X4A : m_SendJogData[3] = 0X49; m_WriteByte = Send_Command(0, (const char*)m_SendJogData, m_SendDataLength); + }*/ + + int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1 }; + if(handleACS !=ACSC_INVALID) + { + if(!acsc_HaltM(handleACS, Axes, NULL))//停止JOG运动 + { + g_pLogger->SendAndFlushWithTime(L"[StopJog] ACS acsc_HaltM error!\n"); + ErrorsHandler(); + } } + m_Thread_StateJOGStop = HSI_THREAD_PAUSED; g_pLogger->SendAndFlushWithTime(L"[StopJog] Out\n"); ReleaseMutex(g_Lock_JogAndTrigger); @@ -2484,23 +2532,23 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double& CString tempStr; bool bGetPosition = true; - if (g_pHSI_Motion &&(handleACS!=ACSC_INVALID)) //句柄有效 + if (g_pHSI_Motion && (handleACS != ACSC_INVALID)) //句柄有效 { - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_0, &PositionX, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSC_AXIS_1, &PositionX, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionX failed\n"); ErrorsHandler(); bGetPosition = false; return HSI_ACS_ERROR; } - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_1, &PositionY, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSC_AXIS_0, &PositionY, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionY failed\n"); ErrorsHandler(); bGetPosition = false; return HSI_ACS_ERROR; } - if (!acsc_GetFPosition(handleACS, ACSC_AXIS_2, &PositionZ, nullptr)) + if (!acsc_GetFPosition(handleACS, ACSC_AXIS_4, &PositionZ, nullptr)) { g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionZ failed\n"); ErrorsHandler(); @@ -2518,7 +2566,9 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double& m_PosForAllAxis[2] = PositionY; m_PosForAllAxis[3] = PositionZ; - g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] GetPosition Success, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX, PositionY, PositionZ, m_PosForAllAxis[4]); + //g_pLogger->SendAndFlushWithTime( + // L"[GetPositionEncPrfMulti] GetPosition Success, Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", + // PositionX, PositionY, PositionZ); } else //读取将之前的值进行返回 { @@ -2529,8 +2579,10 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double& m_PosForAllAxis[2] = m_EncPos[2]; m_PosForAllAxis[3] = m_EncPos[3]; m_PosForAllAxis[4] = m_EncPos[4]; - - g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] GetPosition failed, return position record before, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", m_EncPos[1], m_EncPos[2], m_EncPos[3], m_PosForAllAxis[4]); + + g_pLogger->SendAndFlushWithTime( + L"[GetPositionEncPrfMulti] GetPosition failed, return position record before, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", + m_EncPos[1], m_EncPos[2], m_EncPos[3], m_PosForAllAxis[4]); } Time = set_end - set_start; @@ -3189,12 +3241,13 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P if (g_pHSI_Motion) { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n"); - g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,PositionY, PositionZ); - unsigned char send_pos_data[64] = {0}; + g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX, + PositionY, PositionZ); + axis_start = 0; unsigned char direct_pos = 0; unsigned char xyzAxis = 0; - if (CurrentMotionState != E_SO7_MOTION_MOVETO) + if (CurrentMotionState != E_SO7_MOTION_MOVETO) //当前运动状态 { CurrentMotionState = E_SO7_MOTION_MOVETO; //限位功能 @@ -3202,6 +3255,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P LimitOver(HSI_MOTION_AXIS_Y, PositionY); LimitOver(HSI_MOTION_AXIS_Z, PositionZ); LimitOver(HSI_MOTION_AXIS_R, m_PositionA); + g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] LimitOver, Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f, m_PositionA = %.4f\n",PositionX, PositionY, PositionZ, m_PositionA); //SetpositionXyz的目标位置 m_PosThread[1] = PositionX; @@ -3209,33 +3263,29 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_PosThread[3] = PositionZ; m_PosThread[4] = m_PositionA; - //打印当前位置，目标位置 - //g_pLogger->SendAndFlushWithTime( - // L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", - // NowPos[1] * m_Resolution[1], NowPos[2] * m_Resolution[2], NowPos[3] * m_Resolution[3], - // NowPos[4] * m_Resolution[4]); + /* g_pLogger->SendAndFlushWithTime( + L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n", + m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3], + m_PosThread[4] * m_Resolution[4], m_Resolution[1]); g_pLogger->SendAndFlushWithTime( - L"[SetPositionXyzTagPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX, - PositionY, PositionZ, m_PositionA); + L"[SetPositionXyzTagPos] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX, + PositionY, PositionZ);*/ //打印轴当前运动参数 - double motionParam[5] = {0}; - GetMotorParam(AXIS_X, motionParam); + double* motionParam[5] = {0}; + GetMotorParam(ACSC_AXIS_0, motionParam); g_pLogger->SendAndFlushWithTime( - L"[SetPositionXyz] axis= %d,GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n", + L"[SetPositionXyz] axis= %d, GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n", AXIS_X, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]); - //设置轴运动速度，TO-DO - - - //开始运动到指定位置 - int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1,-1}; //需要运动的轴 - double Points[] = {PositionX, PositionY,-1}; //目标位置点 - if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr)) + //开始运动到指定位置，多轴运动 + int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1,ACSC_AXIS_4, -1}; //需要运动的轴 + double Points[] = {PositionY, PositionX, PositionZ}; //目标位置点 + if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr))//移动到绝对位置 { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n"); ErrorsHandler(); @@ -3243,10 +3293,9 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P //启动插补和定位功能 - //圆弧插补 - + //状态更新 if (eType == HSI_MOTION_MOVE_NOWAIT) //非等待 { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait SetEvent\n"); @@ -3300,31 +3349,59 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc) * \param motionParam * \return */ -HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]) + +//&符号用来处理一个变量，但不是通常的 - 访问这个变量的内容，而是取出这个变量的地址 +// +//int* b；此时b是一个指向int空间的指针，也就是说它是一个未分配的地址 +//int* 只用来定义，定义的变量是一个地址（索引），可以通过这个变量来对这段空间操作 +// +//而 & 是对一个已存在的变量取地址，取完地址之后同样可以通过地址操作 +// +//* x是找到x地址的变量，取它的值，所以 * 和 & 是反操作， & x得到x的地址 * ， * x得到x的值x + +//———————————————— +//版权声明：本文为CSDN博主「nick__huang」的原创文章，遵循CC 4.0 BY - SA版权协议，转载请附上原文出处链接及本声明。 +//原文链接：https ://blog.csdn.net/u012610237/article/details/58599083 + +//void func3(void); //利用全局变量返回数组 +//void func2(uchar* s); //利用指针返回数组 +//uchar* func1(); //利用指针函数返回数组 +//void func0(uchar*& r); //利用引用返回数组 +HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5]) { auto rStatus = HSI_STATUS_NORMAL; if (handleACS != ACSC_INVALID) { //依次是 速度、加速度、减速、杀死速度、抖动 - if (!acsc_GetVelocity(handleACS, AXIS, motionParam, nullptr)) + if (!acsc_GetVelocity(handleACS, AXIS, motionParam[0], nullptr)) { + g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetVelocity error\n"); rStatus = HSI_ACS_ERROR; + ErrorsHandler(); } - if (!acsc_GetAcceleration(handleACS, AXIS, motionParam + 1, nullptr)) + if (!acsc_GetAcceleration(handleACS, AXIS, motionParam[1], nullptr)) { + g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetAcceleration error\n"); rStatus = HSI_ACS_ERROR; + ErrorsHandler(); } - if (!acsc_GetDeceleration(handleACS, AXIS, motionParam + 2, nullptr)) + if (!acsc_GetDeceleration(handleACS, AXIS, motionParam[2], nullptr)) { + g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetDeceleration error\n"); rStatus = HSI_ACS_ERROR; + ErrorsHandler(); } - if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam + 3, nullptr)) + if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam[3], nullptr)) { + g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetKillDeceleration error\n"); rStatus = HSI_ACS_ERROR; + ErrorsHandler(); } - if (!acsc_GetJerk(handleACS, AXIS, motionParam + 4, nullptr)) + if (!acsc_GetJerk(handleACS, AXIS, motionParam[4], nullptr)) { + g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetJerk error\n"); rStatus = HSI_ACS_ERROR; + ErrorsHandler(); } } @@ -3852,7 +3929,7 @@ void HSI_Motion::UpdateMotionState() bool interpolationflag = false; bool timeoutflag = false; int timeStart = GetTickCount(); - + //do //{ // if (g_IsClose) @@ -3861,11 +3938,6 @@ void HSI_Motion::UpdateMotionState() // break; // } // // - - // printf("wait for motion end\n"); - // acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE); - // printf("motion end\n"); - // if (m_SO7_Serial.m_RecvData[0] == 2) // { // if ((m_SO7_Serial.m_RecvData[39] & 0x10)) @@ -3899,6 +3971,201 @@ void HSI_Motion::UpdateMotionState() // } //} //while (true); + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Now wait Run End\n"); + + printf("\nWaiting for motion end\n"); + acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE); + acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE); + acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE); + printf("\nMotion end\n"); + + + //回家误差 + unsigned int tempPrecision[5] = { + 0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4] + }; + //用于启动时需要回原点的轴号选择,读取回家误差脉冲数 + tempPrecision[1] = m_Home_Machine_Axis[1] == 0 ? 10000000 : m_precisionCount[1]; + tempPrecision[2] = m_Home_Machine_Axis[2] == 0 ? 10000000 : m_precisionCount[2]; + tempPrecision[3] = m_Home_Machine_Axis[3] == 0 ? 10000000 : m_precisionCount[3]; + tempPrecision[4] = m_Home_Machine_Axis[4] == 0 ? 10000000 : m_precisionCount[4]; + int i = 0, j = 0; + unsigned long Count = 0; + double prfpos[5] = {0}; + + + interpolationflag = true; + if (interpolationflag && m_motorType) + { + while (Count < m_SetPotion_Count[1]) //到位次数判断, 读配置文件240 + { + Sleep(2); //延时2毫秒，1秒 =1000 毫秒 + //获取当前位置 + GetPositionXyz(HSI_MOTION_AXIS_ALL, prfpos[1], prfpos[2], prfpos[3], prfpos[0]); + + //-----------TEST Begin------------------ + g_pLogger->SendAndFlushWithTime( + L"[UpdateMotionState] Moving to target, TargetPos[1] = %.4f, NowPos[2] = %.4f, fabs[3] = %.4f\n", + m_PosThread[1], prfpos[1], fabs(m_PosThread[1] - prfpos[1])); + + //-----------TEST End-------------------- + //目标位置 和当前位置 小于回家误差脉冲数 + + if ((fabs(m_PosThread[1] - prfpos[1]) <= tempPrecision[1] * m_Resolution[1]) && ( + fabs(m_PosThread[2] - prfpos[2]) <= tempPrecision[2] * m_Resolution[2]) && ( + fabs(m_PosThread[3] - prfpos[3]) <= tempPrecision[3] * m_Resolution[3]) && (fabs( + m_PosThread[4] - m_PosForAllAxis[4]) <= tempPrecision[4] * m_Resolution[4])) + { + i++; + if (m_SetPotion_Count[1] > m_setPositionNum) + { + j = m_setPositionNum; + } + else + { + j = m_SetPotion_Count[1]; + } + if (i == j) + { + set_end = GetTickCount(); + break; + } + } + else + { + } + Count++; + //g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] m_SetPotion_Count = %d\n", Count); + } + //if (Count == m_SetPotion_Count[1]) //超时退出 + //{ + // if (g_IsClose == false) + // { + // g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n"); + // sEvenProp.Init(); + // sEvenProp.EventType = HSI_EVENT_ERROR; + // sEvenProp.EventID = HSI_EVENT_MOTION; + // sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK; + // strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_HSI定位超时!"); + // EventCallback(sEvenProp); + // } + // else + // { + // g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout Is AbortMotion\n"); + // } + //} + } + + //计算距离 + if (interpolationflag) + { + SpCompleteTEnd = GetTickCount(); + SpTimeCount = SpCompleteTEnd - SpCompleteTStart; + double dis = pow(m_PrfPos[1] - m_EncPos[1], 2.0) + pow(m_PrfPos[2] - m_EncPos[2], 2.0) + pow( + m_PrfPos[3] - m_EncPos[3], 2.0); + if (dis > 0) + { + PntToPntDistance = sqrt(dis); //欧氏距离 + } + else + { + PntToPntDistance = 0.0; + } + SetPotionRunEnd = true; + } + g_pLogger->SendAndFlushWithTime( + L"[UpdateMotionState] m_PosThread[1] = %.4f,m_PosThread[2] = %.4f,m_PosThread[3] = %.4f\n", + m_PosThread[1], m_PosThread[2], m_PosThread[3]); + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f PntToPntDistance = %.4f\n",prfpos[1], prfpos[2], prfpos[3], PntToPntDistance); + + if (timeoutflag) //定位超时 + { + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n"); + sEvenProp.Init(); + sEvenProp.EventType = HSI_EVENT_ERROR; + sEvenProp.EventID = HSI_EVENT_MOTION; + sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK; + strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_EF3定位超时!"); + EventCallback(sEvenProp); + } + switch (CurrentMotionState) + { + case E_SO7_MOTION_MOVETO: + { + g_pLogger->SendAndFlushWithTime( + L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n"); + m_Thread_State = HSI_THREAD_PAUSED; + CurrentMotionState = E_SO7_MOTION_NONE; + m_IsExMotion = 2; + SendMsgMotionFinished(); //定位完成 + break; + } + default: + { + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n"); + break; + } + } + } + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Out\n"); + } +} + +void HSI_Motion::UpdateMotionStateOld() +{ + if (g_pHSI_Motion && m_IsExMotion == 0) + { + g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] In\n"); + while (m_Thread_State == HSI_THREAD_RUNNING) + { + g_IsClose = false; + bool interpolationflag = false; + bool timeoutflag = false; + int timeStart = GetTickCount(); + // bool singleaxisflag_x = false; + // bool singleaxisflag_y = false; + // bool singleaxisflag_z = false; + // bool singleaxisflag_a = false; + do + { + if (g_IsClose) + { + g_IsClose = false; + break; + } + if (m_SO7_Serial.m_RecvData[0] == 2) + { + if ((m_SO7_Serial.m_RecvData[39] & 0x10)) + { + m_SO7_Serial.m_RecvData[39] = 0; + SpCompleteTStart = GetTickCount(); + interpolationflag = true; + break; + } + //else if ((m_SO7_Serial.m_RecvData[39] == 0x07))//axis_start + if ((m_SO7_Serial.m_RecvData[39] == axis_start)/* &&(m_motorType == 0)*/) + { + m_SO7_Serial.m_RecvData[39] = 0; + SpCompleteTStart = GetTickCount(); + interpolationflag = true; + break; + } + if (m_SO7_Serial.m_RecvData[39] & 0x20) + { + m_SO7_Serial.m_RecvData[39] = 0; + timeoutflag = true; + break; + } + } + Sleep(1); + int timeEnd = GetTickCount(); + if (timeStart - timeEnd > 10 * 1000) + { + timeoutflag = true; + break; + } + } + while (true); g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Run End\n"); unsigned int tempPrecision[5] = { 0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4] @@ -4005,7 +4272,7 @@ void HSI_Motion::UpdateMotionState() m_Thread_State = HSI_THREAD_PAUSED; CurrentMotionState = E_SO7_MOTION_NONE; m_IsExMotion = 2; - SendMsgMotionFinished();//定位完成 + SendMsgMotionFinished(); break; } default: @@ -4019,180 +4286,6 @@ void HSI_Motion::UpdateMotionState() } } -void HSI_Motion::UpdateMotionStateOld() -{ - if (g_pHSI_Motion && m_IsExMotion == 0) - { - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] In\n"); - while (m_Thread_State == HSI_THREAD_RUNNING) - { - g_IsClose = false; - bool interpolationflag = false; - bool timeoutflag = false; - int timeStart = GetTickCount(); - // bool singleaxisflag_x = false; - // bool singleaxisflag_y = false; - // bool singleaxisflag_z = false; - // bool singleaxisflag_a = false; - do - { - if (g_IsClose) - { - g_IsClose = false; - break; - } - if (m_SO7_Serial.m_RecvData[0] == 2) - { - if ((m_SO7_Serial.m_RecvData[39] & 0x10)) - { - m_SO7_Serial.m_RecvData[39] = 0; - SpCompleteTStart = GetTickCount(); - interpolationflag = true; - break; - } - //else if ((m_SO7_Serial.m_RecvData[39] == 0x07))//axis_start - if ((m_SO7_Serial.m_RecvData[39] == axis_start)/* &&(m_motorType == 0)*/) - { - m_SO7_Serial.m_RecvData[39] = 0; - SpCompleteTStart = GetTickCount(); - interpolationflag = true; - break; - } - if (m_SO7_Serial.m_RecvData[39] & 0x20) - { - m_SO7_Serial.m_RecvData[39] = 0; - timeoutflag = true; - break; - } - } - Sleep(1); - int timeEnd = GetTickCount(); - if (timeStart - timeEnd > 10 * 1000) - { - timeoutflag = true; - break; - } - } while (true); - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Run End\n"); - unsigned int tempPrecision[5] = { - 0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4] - }; - tempPrecision[1] = m_Home_Machine_Axis[1] == 0 ? 10000000 : m_precisionCount[1]; //用于启动时需要回原点的轴号选择,读取回家误差脉冲数 - tempPrecision[2] = m_Home_Machine_Axis[2] == 0 ? 10000000 : m_precisionCount[2]; - tempPrecision[3] = m_Home_Machine_Axis[3] == 0 ? 10000000 : m_precisionCount[3]; - tempPrecision[4] = m_Home_Machine_Axis[4] == 0 ? 10000000 : m_precisionCount[4]; - int i = 0, j = 0; - unsigned long Count = 0; - double prfpos[5] = { 0 }; - - //GetPositionEncPrfMulti(1, m_EncPos, m_PrfPos, 4); - //double EncPos[5] = { 0.0 }; - // double ProPulse[5] = { 0.0 }; - if (interpolationflag && m_motorType) - { - while (Count < m_SetPotion_Count[1]) //到位次数判断 - { - Sleep(2); - GetPositionXyz(HSI_MOTION_AXIS_ALL, prfpos[1], prfpos[2], prfpos[3], prfpos[0]); - //目标位置 和当前位置 小于回家误差脉冲数 - if ((fabs(m_PosThread[1] - prfpos[1]) <= tempPrecision[1] * m_Resolution[1]) && ( - fabs(m_PosThread[2] - prfpos[2]) <= tempPrecision[2] * m_Resolution[2]) && ( - fabs(m_PosThread[3] - prfpos[3]) <= tempPrecision[3] * m_Resolution[3]) && (fabs( - m_PosThread[4] - m_PosForAllAxis[4]) <= tempPrecision[4] * m_Resolution[4])) - { - i++; - if (m_SetPotion_Count[1] > m_setPositionNum) - { - j = m_setPositionNum; - } - else - { - j = m_SetPotion_Count[1]; - } - if (i == j) - { - set_end = GetTickCount(); - break; - } - } - else - { - } - Count++; - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] m_SetPotion_Count = %d\n", Count); //打印到位轴数量 - } - //if (Count == m_SetPotion_Count[1]) //超时退出 - //{ - // if (g_IsClose == false) - // { - // g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n"); - // sEvenProp.Init(); - // sEvenProp.EventType = HSI_EVENT_ERROR; - // sEvenProp.EventID = HSI_EVENT_MOTION; - // sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK; - // strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_HSI定位超时!"); - // EventCallback(sEvenProp); - // } - // else - // { - // g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout Is AbortMotion\n"); - // } - //} - } - if (interpolationflag) - { - SpCompleteTEnd = GetTickCount(); - SpTimeCount = SpCompleteTEnd - SpCompleteTStart; - double dis = pow(m_PrfPos[1] - m_EncPos[1], 2.0) + pow(m_PrfPos[2] - m_EncPos[2], 2.0) + pow( - m_PrfPos[3] - m_EncPos[3], 2.0); - if (dis > 0) - { - PntToPntDistance = sqrt(dis); //欧氏距离 - } - else - { - PntToPntDistance = 0.0; - } - SetPotionRunEnd = true; - } - g_pLogger->SendAndFlushWithTime( - L"[UpdateMotionState] m_PosThread[1] = %.4f,m_PosThread[2] = %.4f,m_PosThread[3] = %.4f\n", - m_PosThread[1], m_PosThread[2], m_PosThread[3]); - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", - prfpos[1], prfpos[2], prfpos[3]); - if (timeoutflag) //定位超时 - { - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n"); - sEvenProp.Init(); - sEvenProp.EventType = HSI_EVENT_ERROR; - sEvenProp.EventID = HSI_EVENT_MOTION; - sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK; - strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_EF3定位超时!"); - EventCallback(sEvenProp); - } - switch (CurrentMotionState) - { - case E_SO7_MOTION_MOVETO: - { - g_pLogger->SendAndFlushWithTime( - L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n"); - m_Thread_State = HSI_THREAD_PAUSED; - CurrentMotionState = E_SO7_MOTION_NONE; - m_IsExMotion = 2; - SendMsgMotionFinished(); - break; - } - default: - { - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n"); - break; - } - } - } - g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Out\n"); - } -} - //=========================================================================== void HSI_Motion::UpdateMotionStateEx() { @@ -4371,7 +4464,8 @@ void HSI_Motion::DoEvents() MSG msg; //GetMessage:从系统获取消息，将消息从系统中移除，属于阻塞函数。当系统无消息时，GetMessage会等待下一条消息。 - //函数PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，是非阻塞函数；当系统无消息时，返回FALSE，继续执行后续代码 + //PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，是非阻塞函数； + //当系统无消息时，返回FALSE，继续执行后续代码 while (PeekMessage(&msg, nullptr, 0, 0, PM_REMOVE)) { __try @@ -4576,7 +4670,7 @@ HSI_STATUS HSI_Motion::GetAxisStatus(int* _Status) * \brief 暂停和关闭 * \return */ -HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现 +HSI_STATUS HSI_Motion::AbortMotionOld() //需要运动实现 { auto rStatus = HSI_STATUS_NORMAL; if (g_pHSI_Motion) @@ -4615,6 +4709,27 @@ HSI_STATUS HSI_Motion::AbortMotion() // return rStatus; } +HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现 +{ + auto rStatus = HSI_STATUS_NORMAL; + if (g_pHSI_Motion) + { + g_IsClose = true; + g_pLogger->SendAndFlushWithTime(L"[AbortMotion] In\n"); + + int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1 }; + if (handleACS != ACSC_INVALID) + { + if (!acsc_HaltM(handleACS, Axes, NULL))//停止JOG运动 + { + g_pLogger->SendAndFlushWithTime(L"[AbortMotion] ACS acsc_HaltM error!\n"); + ErrorsHandler(); + } + } + g_pLogger->SendAndFlushWithTime(L"[AbortMotion] Out\n"); + } + return rStatus; +} //=========================================================================== /** * \brief 关闭 @@ -7315,7 +7430,7 @@ unsigned __stdcall HSI_Motion::m_ThreadData(LPVOID pThis) case HSI_THREAD_RUNNING: { TRACE("HSI_THREAD_RUNNING.\r\n"); - //_This->UpdateMotionStateData();//获取运动状态命令 + _This->UpdateMotionStateData();//获取运动状态命令 break; } case HSI_THREAD_PAUSED: diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h index daefed5..81ae8e6 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.h +++ b/HSI_HexagonMI_EF3/HSI_Motion.h @@ -95,7 +95,7 @@ enum MOTOR_START_POSOTION // enum MOTOR_AXISCHOOES_CMD //第三级指令 { AXIS_X = 0x01, - AXIS_Y = 0x02, + AXIS_Y = 0x00, AXIS_Z = 0x04, AXIS_U = 0x08, AXIS_XY = 0x03, @@ -171,7 +171,6 @@ public: */ HSI_STATUS HomeMachine(bool bHomed); HSI_STATUS HomeMachineOld(bool bHomed); - HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false); HSI_STATUS HomeFindIndex(); HSI_STATUS ZeroPos(bool bZeroPos); @@ -183,7 +182,6 @@ public: */ HSI_STATUS IsHomed(bool& bHomed); HSI_STATUS IsHomedOld(bool& bHomed); - HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed); HSI_STATUS SetSpeedXyz(double Speed); HSI_STATUS GetFocusSpeed(double& Speed); @@ -192,10 +190,8 @@ public: HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ); HSI_STATUS GetSpeedR(double& Speed); HSI_STATUS SetSpeedR(double Speed); - HSI_STATUS GetScaleResolution(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 GetRefreshDeadBand(double& Deadband); /** @@ -206,7 +202,6 @@ public: */ HSI_STATUS Jog(UINT AxisTypes, double Speed); HSI_STATUS JogOld(UINT AxisTypes, double Speed); - HSI_STATUS JoyStick(UINT AxisTypes, long Speed); /** * \brief @@ -215,7 +210,6 @@ public: HSI_STATUS StopJog(); HSI_STATUS StopJogOld(); HSI_STATUS StopJogEx(UINT AxisTypes); - HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count); /** * \brief 获取轴当前位置 @@ -228,7 +222,6 @@ public: */ HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time); HSI_STATUS GetPositionXyzOld(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 GetEncoderXyz(long* lEncoderVal); @@ -241,7 +234,7 @@ public: * \param motionParam * \return */ - HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]); + HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5]); /** * \brief 运行到指定位置 @@ -256,17 +249,21 @@ public: HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, - HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); - + HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius); HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData); HSI_STATUS GetPositionR(UINT AxisTypes, double& PositionR, double& Time); HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait); - HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);//圆弧插补 + HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ); //圆弧插补 HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile); HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile); + /** + * \brief + * \return + */ HSI_STATUS AbortMotion(); + HSI_STATUS AbortMotionOld(); HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status); HSI_STATUS SetDIO(UINT IOChannel, UINT _Status); @@ -278,7 +275,6 @@ public: */ HSI_STATUS Shutdown() override; //HSI_STATUS ShutdownOld() override; - HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types); HSI_STATUS StartupEx(UINT AxisTypes, bool bHome); HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double& Scale); @@ -290,7 +286,6 @@ public: HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed); HSI_STATUS GetAccelerationEx(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 DCCPPStartPoint(double* startPoint); @@ -298,10 +293,8 @@ public: HSI_STATUS DCCScanStart(); HSI_STATUS DCCScanStop(); HSI_STATUS DCCForLightPlate(); - HSI_STATUS IOStep(bool RunSts); HSI_STATUS IOprogram(byte* SendData, int length); - HSI_STATUS FindOriginTest(bool state); HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2, @@ -476,7 +469,7 @@ public: bool bCircleRun; //圆弧插补 int iCircleRunPnt[5]; //圆弧插补时的圆心位置 int jogAxisNum; //jog运动的轴号 - int jogspeed;//jog 运动的速度 + int jogspeed; //jog 运动的速度 bool jogMoving; bool jogDirFlag; bool m_bEmergencyState; @@ -502,7 +495,7 @@ public: int SpCompleteTEnd; int SpTimeCount; bool SetPotionRunEnd; - double PntToPntDistance; + double PntToPntDistance; //欧氏距离 double m_LockPos[5]; double m_ijk[5]; @@ -538,10 +531,6 @@ public: static unsigned __stdcall m_Thread(LPVOID pThis); void CreateThread(); void CloseThread(); - /** - * \brief - * - */ void UpdateMotionState(); void UpdateMotionStateOld(); void UpdateMotionStateEx(); @@ -574,6 +563,11 @@ public: int& AccCurve, int& DecCurve); void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine, int& AccCurve, int& DecCurve); + /** + * \brief + * \param AxisTypes + * \return + */ short AxisConvertIndex(UINT AxisTypes); short IndexConvertAxis(int Index); double LimitOver(UINT AxisTypes, double& LimitPos); @@ -592,7 +586,7 @@ private: int iMotionDirection; int begin_position[5]; //外触发到初始点需要发送的脉冲数 HINSTANCE m_Hinst; - E_SO7_MOTION_TYPE CurrentMotionState; + E_SO7_MOTION_TYPE CurrentMotionState; //当前运动状态 E_SO7_MOTION_READ_TYPE CurrentReadDataType; //网口通信添加 diff --git a/HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP b/HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP index 3ce88c7..57d8111 100644 --- a/HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP +++ b/HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP @@ -843,7 +843,7 @@ int CPSerial::ProgramPort(int Port, int Baud, char Parity, int Bits, int StopBit } else { - TRACE(_T("CmmIO> Port was not OPEN ProgramPort not done \n")); + TRACE(_T("CmmIO> Port was not OPEN, Program Port not done!\n")); Ok = TRUE; } } diff --git a/HSI_HexagonMI_EF3/logger.cpp b/HSI_HexagonMI_EF3/logger.cpp index eb5831f..80a5c7a 100644 --- a/HSI_HexagonMI_EF3/logger.cpp +++ b/HSI_HexagonMI_EF3/logger.cpp @@ -21,6 +21,7 @@ void CLogger::SendAtTime(const TCHAR* buffer) _ftprintf(m_File,_T("%s"), csTime); _ftprintf(m_File, _T("%s\r\n"), buffer); } + LeaveCriticalSection(&m_lockLogger); } @@ -39,6 +40,7 @@ void CLogger::Send(LPCTSTR format, ...) { _ftprintf(m_File, m_Str); } + va_end(list); LeaveCriticalSection(&m_lockLogger); } @@ -59,6 +61,7 @@ void CLogger::SendAndFlush(LPCTSTR format, ...) if (m_FileName.GetLength() > 0) m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); } + va_end(list); LeaveCriticalSection(&m_lockLogger); } @@ -71,16 +74,17 @@ void CLogger::SendAndFlushWithTime(LPCTSTR format, ...) } if (!m_File) { - m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO); + m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO); //追加 } if (m_File) { int length = 0; va_list list; + //在C中，当无法列出传递函数的所有实参的类型和数目时，可以用省略号指定参数表 va_start(list, format); length = vswprintf_s(m_Str2, 5000, format, list); CTime _cTime = CTime::GetCurrentTime(); - CString csTime = _cTime.Format("[%m/%d %H:%M:%S"); + CString csTime = _cTime.Format("[%Y%m/%d %H:%M:%S"); struct _timeb timebuffer; _ftime64_s(&timebuffer); if (m_File) @@ -96,7 +100,14 @@ void CLogger::SendAndFlushWithTime(LPCTSTR format, ...) fclose(m_File); m_File = nullptr; } + + va_end(list); } + /*放弃当前线程对锁定部分的所有权。一旦锁定部分的所有权被放弃，那么请求访问临界区的下一个线程，将可以对锁定部分进行操作。每一个调用EnterCriticalSection的线程，都应该调用一次LeaveCriticalSection。 + + 使一个线程可以使用一个临界段对象来进行互斥同步。这个过程需要优先创建一个临界区结构体变量（分配使用内存）。在使用临界区之前, 待操作临界区的进程必须调用InitializeCriticalSection 或者 InitializeCriticalSectionAndSpinCount函数来初始化临界区。 + 一个线程使用EnterCriticalSection 或TryEnterCriticalSection函数来获得关键部分对象的所有权时，该线程必须在离开临界区时调用LeaveCriticalSection。*/ + LeaveCriticalSection(&m_lockLogger); } @@ -117,31 +128,96 @@ void CLogger::SendAndFlushPerMode(LPCTSTR format, ...) if (m_FileName.GetLength() > 0) m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR); } + va_end(list); LeaveCriticalSection(&m_lockLogger); } -//void Getfilepath(const char* path, const char* filename, char* filepath) -//{ -// strcpy(filepath, path); -// if (filepath[strlen(path) - 1] != '/') -// strcat(filepath, "/"); -// strcat(filepath, filename); -// printf("path is = %s\n", filepath); -//} - -//删除当前目录下txt文件 -void DeleteOldFile() -{ - -} - -string convertToString(char* a, int size) +string ConvertCharToString(char* a, int size) { int i; string s = ""; - for (i = 0; i < size; i++) { + for (i = 0; i < size; i++) + { s = s + a[i]; } return s; -} \ No newline at end of file +} + + +//删除指定目录以及目录下的所有文件 +#include +#include +#include + +using namespace std; + + +void DelFiles(string path) +{ + //在目录后面加上"\\*.*"进行第一次搜索 + string newDir = path + "\\*.*"; + //用于查找的句柄 + intptr_t handle; + struct _finddata_t fileinfo; + //第一次查找 + handle = _findfirst(newDir.c_str(), &fileinfo); + + if (handle == -1) + { + cout << "无文件" << endl; + system("pause"); + return; + } + + do + { + if (fileinfo.attrib & _A_SUBDIR) + { + //如果为文件夹，加上文件夹路径，再次遍历 + if (strcmp(fileinfo.name, ".") == 0 || strcmp(fileinfo.name, "..") == 0) + continue; + + // 在目录后面加上"\\"和搜索到的目录名进行下一次搜索 + newDir = path + "\\" + fileinfo.name; + DelFiles(newDir.c_str()); //先遍历删除文件夹下的文件，再删除空的文件夹 + cout << newDir.c_str() << endl; + if (_rmdir(newDir.c_str()) == 0) + { + //删除空文件夹 + cout << "delete empty dir success" << endl; + } + else + { + cout << "delete empty dir error" << endl; + } + } + else + { + string file_path = path + "\\" + fileinfo.name; + cout << file_path.c_str() << endl; + if (remove(file_path.c_str()) == 0) + { + //删除文件 + cout << "delete file success" << endl; + } + else + { + cout << "delete file error" << endl; + } + } + } + while (!_findnext(handle, &fileinfo)); + + _findclose(handle); + return; +} + +string ByteArrayToString(byte byteArray[]) +{ + char str[sizeof(byteArray) + 1]; + memcpy(str, byteArray, sizeof(byteArray)); + str[sizeof(byteArray)] = '\0'; + + return str; +} diff --git a/HSI_HexagonMI_EF3/logger.h b/HSI_HexagonMI_EF3/logger.h index 14f50db..2a3f801 100644 --- a/HSI_HexagonMI_EF3/logger.h +++ b/HSI_HexagonMI_EF3/logger.h @@ -10,12 +10,18 @@ #include #include -using namespace std; +using namespace std; const long LOGINIT = 0x0001; const long LOGACTIONS = 0x0002; const long LOGCOMM = 0x0004; const long LOGFLUSH = 0x0008; +extern string ConvertCharToString(char* a, int size); +extern void DelFiles(string path); +extern string ByteArrayToString(byte byteArray[]); + + + class CLogger { public: @@ -37,6 +43,13 @@ public: tmpPath.Empty(); Path = tmpPath; } + else //鏂囦欢澶逛笉涓虹┖ + { + TRACE0("Log File Path: \n", CStringA()); + //DelFiles(CT2A(m_Name.GetString())); + } + + m_FileName = Path + m_Name; //_T("\\SO7_SSILog.txt"); m_lLogMask = 0; InitializeCriticalSection(&m_lockLogger); @@ -53,8 +66,8 @@ public: void SendAndFlush(LPCTSTR, ...); void SendAndFlushPerMode(LPCTSTR, ...); void SendAndFlushWithTime(LPCTSTR, ...); - void DeleteOldFile(); - + + bool IsEnabledLog/* = false*/; //鏄惁鍚敤鏃ュ織 CString m_FileName; @@ -62,8 +75,8 @@ public: FILE* m_File; _TCHAR m_Str[20000]; _TCHAR m_Str2[20000]; - CRITICAL_SECTION m_lockLogger; + CRITICAL_SECTION m_lockLogger;//涓寸晫鍖 }; -extern string convertToString(char* a, int size); + #endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_) diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h index 4146657..64155d7 100644 --- a/HSI_HexagonMI_EF3/version.h +++ b/HSI_HexagonMI_EF3/version.h @@ -12,5 +12,5 @@ #define HSI_VERSION_REVNUM #define HSI_VERSION_BUILD_DATE _T(__DATE__ ) #define HSI_VERSION_BUILD_TIME _T(__TIME__ ) -#define HSI_FILE_DESCRIPTION "2022.10.17 / 20:19 " -#define HSI_FILE_CSDESCRIPTION _T("2022.10.17 / 20:19 ") +#define HSI_FILE_DESCRIPTION "2022.10.19 / 20:17 " +#define HSI_FILE_CSDESCRIPTION _T("2022.10.19 / 20:17 ") diff --git a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs index 6467468..69a3f69 100644 --- a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs +++ b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs @@ -430,9 +430,12 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI public 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_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines - HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines + //HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines + //HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines + //HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines + HSI_MOTION_AXIS_X = 0x0001, //对应ACS 0轴 X + HSI_MOTION_AXIS_Y = 0x0000, //对应ACS 1轴 Y + HSI_MOTION_AXIS_Z = 0x0004, //对应ACS 4轴 Z HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R 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_Y1 = 0x0020, // This is the 1st Y Axis - use on multiple axis machines when specific axis needed diff --git a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs index ef78ff7..6893533 100644 --- a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs +++ b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs @@ -41,17 +41,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest Console.WriteLine("Motion.Startup:{0}", rStatus); //5 鑾峰彇EF3鍥轰欢鐗堟湰鍙,寰呮祴璇 - var EF3Version = new byte[20]; - //IntPtr intPtrEF3Version = IntPtr.Zero; - IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi(""); - rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version); - Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus); - Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length); - Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version)); + //var EF3Version = new byte[20]; + ////IntPtr intPtrEF3Version = IntPtr.Zero; + //IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi(""); + //rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version); + //Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus); + //Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length); + //Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version)); - var bHomed = true; - rStatus = Motion.IsHomed(ref bHomed); - Console.WriteLine("Motion.IsHomed:{0}", rStatus); + //6 鏄惁鍥炲 + //var bHomed = true; + //rStatus = Motion.IsHomed(ref bHomed); + //Console.WriteLine("Motion.IsHomed:{0}", rStatus); var bexit = false; var SpeedGear = 1.0; var dPos = new double[3]; @@ -62,18 +63,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest switch (info.Key) { case ConsoleKey.P: - dPos[0] += 10.0; - dPos[1] += 10.0; - rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2], - Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0); - Console.WriteLine("Motion.SetPositionXyz:{0},{1},{2} {3}", dPos[0], dPos[1], dPos[2],rStatus); - + dPos[0] += 10.0; //X杞 + dPos[1] += 20.0; //Y杞 + dPos[2] += 30.0; //Y杞 + rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_WAIT, 0.0); + Console.WriteLine("Motion.SetPositionXyz:{0:f4},{1:f4},{2:f4} {3}", dPos[0], dPos[1], + dPos[2], + rStatus); break; case ConsoleKey.Enter: - rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], - ref dPos[2], ref dTime); + rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], ref dPos[2], ref dTime); Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus); - Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]); + Console.WriteLine("Motion.XYZ:{0:f4},{1:f4},{2:f4}", dPos[0], dPos[1], dPos[2]); break; case ConsoleKey.Escape: bexit = true; @@ -82,50 +83,71 @@ namespace HSI_SEVENOCEAN_EF1_CsTest rStatus = Motion.StopJog(); Console.WriteLine("Motion.StopJog:{0}", rStatus); break; + + // Z杞磋繍鍔 case ConsoleKey.NumPad1: case ConsoleKey.D1: - SpeedGear = 1.0; - Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); - break; - case ConsoleKey.NumPad2: - case ConsoleKey.D2: - SpeedGear = 2.0; - Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); - break; - case ConsoleKey.NumPad3: - case ConsoleKey.D3: - SpeedGear = 3.0; - Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); - break; - case ConsoleKey.NumPad4: - case ConsoleKey.D4: - SpeedGear = 4.0; - Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); - break; - case ConsoleKey.LeftArrow: - rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear); - Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear); - break; - case ConsoleKey.RightArrow: - rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear); - Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear); - break; - case ConsoleKey.DownArrow: - rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear); - Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear); - break; - case ConsoleKey.UpArrow: - rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear); - Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear); - break; - case ConsoleKey.PageUp: rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear); Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear); break; - case ConsoleKey.PageDown: + case ConsoleKey.NumPad3: + case ConsoleKey.D3: rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear); - Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear); + Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, -SpeedGear); break; + + //Y杞磋繍鍔 + case ConsoleKey.NumPad2: + case ConsoleKey.D2: + rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear); + Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, -SpeedGear); + break; + case ConsoleKey.NumPad8: + case ConsoleKey.D8: + rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear); + Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear); + break; + + // X杞磋繍鍔 + case ConsoleKey.NumPad4: + case ConsoleKey.D4: + rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear); + Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, -SpeedGear); + break; + case ConsoleKey.NumPad6: + case ConsoleKey.D6: + rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear); + Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear); + break; + + //鍔犲噺閫 + case ConsoleKey.Add: + SpeedGear += 1.0; + Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); + break; + + case ConsoleKey.Subtract: + SpeedGear -= 1.0; + if (SpeedGear < 1.0) + { + SpeedGear = 1.0; + } + + Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear); + break; + + //case ConsoleKey.LeftArrow: + // break; + //case ConsoleKey.RightArrow: + // break; + //case ConsoleKey.DownArrow: + // break; + //case ConsoleKey.UpArrow: + // break; + //case ConsoleKey.PageUp: + // break; + //case ConsoleKey.PageDown: + // break; default: Console.WriteLine("Invalid"); break; @@ -137,7 +159,6 @@ namespace HSI_SEVENOCEAN_EF1_CsTest Console.WriteLine("Motion.Startup:{0}", rStatus); } - rStatus = Interface.Shutdown(); Console.WriteLine("Interface.Shutdown:{0}", rStatus); diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini index cab782f..741befc 100644 --- a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini +++ b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini @@ -108,9 +108,12 @@ 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_1=-260.0 +;NEG_WORKING_LIMIT_2=-40.0 +;NEG_WORKING_LIMIT_3=-40.0 +NEG_WORKING_LIMIT_1=-1.0 +NEG_WORKING_LIMIT_2=-1.0 +NEG_WORKING_LIMIT_3=-1.0 NEG_WORKING_LIMIT_4=-40.0 NEG_WORKING_LIMIT_5=-40.0 NEG_WORKING_LIMIT_6=-40.0 @@ -118,9 +121,12 @@ 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_1=40.0 +;POS_WORKING_LIMIT_2=160.0 +;POS_WORKING_LIMIT_3=160.0 +POS_WORKING_LIMIT_1=500.0 +POS_WORKING_LIMIT_2=500.0 +POS_WORKING_LIMIT_3=250.0 POS_WORKING_LIMIT_4=200.0 POS_WORKING_LIMIT_5=200.0 POS_WORKING_LIMIT_6=200.0 diff --git a/Motion/ACS Motion/MainForm.Designer.cs b/Motion/ACS Motion/MainForm.Designer.cs index 66e8e50..1c3e51e 100644 --- a/Motion/ACS Motion/MainForm.Designer.cs +++ b/Motion/ACS Motion/MainForm.Designer.cs @@ -174,42 +174,42 @@ this.btnSend = new System.Windows.Forms.Button(); this.txtCommand = new System.Windows.Forms.TextBox(); this.groupBox5 = new System.Windows.Forms.GroupBox(); - this.groupBox6 = new System.Windows.Forms.GroupBox(); - this.button1 = new System.Windows.Forms.Button(); - this.button2 = new System.Windows.Forms.Button(); - this.button3 = new System.Windows.Forms.Button(); - this.groupBox7 = new System.Windows.Forms.GroupBox(); - this.button4 = new System.Windows.Forms.Button(); - this.button5 = new System.Windows.Forms.Button(); - this.button6 = new System.Windows.Forms.Button(); - this.button7 = new System.Windows.Forms.Button(); - this.groupBox8 = new System.Windows.Forms.GroupBox(); - this.label44 = new System.Windows.Forms.Label(); - this.label45 = new System.Windows.Forms.Label(); - this.label46 = new System.Windows.Forms.Label(); - this.textBox1 = new System.Windows.Forms.TextBox(); - this.textBox2 = new System.Windows.Forms.TextBox(); - this.textBox3 = new System.Windows.Forms.TextBox(); - this.checkBox1 = new System.Windows.Forms.CheckBox(); - this.button8 = new System.Windows.Forms.Button(); this.groupBox9 = new System.Windows.Forms.GroupBox(); - this.groupBox10 = new System.Windows.Forms.GroupBox(); - this.checkBox2 = new System.Windows.Forms.CheckBox(); - this.checkBox3 = new System.Windows.Forms.CheckBox(); - this.checkBox4 = new System.Windows.Forms.CheckBox(); - this.button9 = new System.Windows.Forms.Button(); - this.button10 = new System.Windows.Forms.Button(); - this.textBox4 = new System.Windows.Forms.TextBox(); - this.label48 = new System.Windows.Forms.Label(); - this.label47 = new System.Windows.Forms.Label(); - this.label49 = new System.Windows.Forms.Label(); - this.label50 = new System.Windows.Forms.Label(); - this.label51 = new System.Windows.Forms.Label(); - this.label52 = new System.Windows.Forms.Label(); - this.label53 = new System.Windows.Forms.Label(); - this.label54 = new System.Windows.Forms.Label(); - this.label55 = new System.Windows.Forms.Label(); this.label56 = new System.Windows.Forms.Label(); + this.label55 = new System.Windows.Forms.Label(); + this.label54 = new System.Windows.Forms.Label(); + this.label53 = new System.Windows.Forms.Label(); + this.label52 = new System.Windows.Forms.Label(); + this.label51 = new System.Windows.Forms.Label(); + this.label50 = new System.Windows.Forms.Label(); + this.label49 = new System.Windows.Forms.Label(); + this.label47 = new System.Windows.Forms.Label(); + this.groupBox8 = new System.Windows.Forms.GroupBox(); + this.button8 = new System.Windows.Forms.Button(); + this.checkBox1 = new System.Windows.Forms.CheckBox(); + this.textBox3 = new System.Windows.Forms.TextBox(); + this.textBox2 = new System.Windows.Forms.TextBox(); + this.textBox1 = new System.Windows.Forms.TextBox(); + this.label46 = new System.Windows.Forms.Label(); + this.label45 = new System.Windows.Forms.Label(); + this.label44 = new System.Windows.Forms.Label(); + this.groupBox7 = new System.Windows.Forms.GroupBox(); + this.button7 = new System.Windows.Forms.Button(); + this.button6 = new System.Windows.Forms.Button(); + this.button5 = new System.Windows.Forms.Button(); + this.button4 = new System.Windows.Forms.Button(); + this.groupBox6 = new System.Windows.Forms.GroupBox(); + this.button3 = new System.Windows.Forms.Button(); + this.button2 = new System.Windows.Forms.Button(); + this.button1 = new System.Windows.Forms.Button(); + this.groupBox10 = new System.Windows.Forms.GroupBox(); + this.label48 = new System.Windows.Forms.Label(); + this.textBox4 = new System.Windows.Forms.TextBox(); + this.button10 = new System.Windows.Forms.Button(); + this.button9 = new System.Windows.Forms.Button(); + this.checkBox4 = new System.Windows.Forms.CheckBox(); + this.checkBox3 = new System.Windows.Forms.CheckBox(); + this.checkBox2 = new System.Windows.Forms.CheckBox(); this.groupBox1.SuspendLayout(); this.grpMotionTest.SuspendLayout(); this.grpMst.SuspendLayout(); @@ -223,10 +223,10 @@ this.groupBox3.SuspendLayout(); this.groupBox4.SuspendLayout(); this.groupBox5.SuspendLayout(); - this.groupBox6.SuspendLayout(); - this.groupBox7.SuspendLayout(); - this.groupBox8.SuspendLayout(); this.groupBox9.SuspendLayout(); + this.groupBox8.SuspendLayout(); + this.groupBox7.SuspendLayout(); + this.groupBox6.SuspendLayout(); this.groupBox10.SuspendLayout(); this.SuspendLayout(); // @@ -1713,178 +1713,6 @@ this.groupBox5.TabStop = false; this.groupBox5.Text = "XYZ杞磋繍鍔"; // - // groupBox6 - // - this.groupBox6.Controls.Add(this.button3); - this.groupBox6.Controls.Add(this.button2); - this.groupBox6.Controls.Add(this.button1); - this.groupBox6.Location = new System.Drawing.Point(6, 24); - this.groupBox6.Name = "groupBox6"; - this.groupBox6.Size = new System.Drawing.Size(283, 70); - this.groupBox6.TabIndex = 0; - this.groupBox6.TabStop = false; - this.groupBox6.Text = "鍔ㄤ綔"; - // - // button1 - // - this.button1.Location = new System.Drawing.Point(10, 24); - this.button1.Name = "button1"; - this.button1.Size = new System.Drawing.Size(75, 30); - this.button1.TabIndex = 0; - this.button1.Text = "寮濮"; - this.button1.UseVisualStyleBackColor = true; - // - // button2 - // - this.button2.Location = new System.Drawing.Point(104, 24); - this.button2.Name = "button2"; - this.button2.Size = new System.Drawing.Size(75, 30); - this.button2.TabIndex = 1; - this.button2.Text = "鍋滄"; - this.button2.UseVisualStyleBackColor = true; - // - // button3 - // - this.button3.Location = new System.Drawing.Point(198, 24); - this.button3.Name = "button3"; - this.button3.Size = new System.Drawing.Size(75, 30); - this.button3.TabIndex = 2; - this.button3.Text = "鍥炲師鐐"; - this.button3.UseVisualStyleBackColor = true; - // - // groupBox7 - // - this.groupBox7.Controls.Add(this.button7); - this.groupBox7.Controls.Add(this.button6); - this.groupBox7.Controls.Add(this.button5); - this.groupBox7.Controls.Add(this.button4); - this.groupBox7.Location = new System.Drawing.Point(6, 100); - this.groupBox7.Name = "groupBox7"; - this.groupBox7.Size = new System.Drawing.Size(283, 160); - this.groupBox7.TabIndex = 1; - this.groupBox7.TabStop = false; - this.groupBox7.Text = "Jog"; - // - // button4 - // - this.button4.Location = new System.Drawing.Point(104, 12); - this.button4.Name = "button4"; - this.button4.Size = new System.Drawing.Size(75, 35); - this.button4.TabIndex = 0; - this.button4.Text = "Y鍓嶈繘"; - this.button4.UseVisualStyleBackColor = true; - // - // button5 - // - this.button5.Location = new System.Drawing.Point(10, 61); - this.button5.Name = "button5"; - this.button5.Size = new System.Drawing.Size(75, 35); - this.button5.TabIndex = 1; - this.button5.Text = "X宸︾Щ"; - this.button5.UseVisualStyleBackColor = true; - // - // button6 - // - this.button6.Location = new System.Drawing.Point(198, 61); - this.button6.Name = "button6"; - this.button6.Size = new System.Drawing.Size(75, 35); - this.button6.TabIndex = 2; - this.button6.Text = "X鍙崇Щ"; - this.button6.UseVisualStyleBackColor = true; - // - // button7 - // - this.button7.Location = new System.Drawing.Point(104, 107); - this.button7.Name = "button7"; - this.button7.Size = new System.Drawing.Size(75, 35); - this.button7.TabIndex = 3; - this.button7.Text = "Y鍚庨"; - this.button7.UseVisualStyleBackColor = true; - // - // groupBox8 - // - this.groupBox8.Controls.Add(this.button8); - this.groupBox8.Controls.Add(this.checkBox1); - this.groupBox8.Controls.Add(this.textBox3); - this.groupBox8.Controls.Add(this.textBox2); - this.groupBox8.Controls.Add(this.textBox1); - this.groupBox8.Controls.Add(this.label46); - this.groupBox8.Controls.Add(this.label45); - this.groupBox8.Controls.Add(this.label44); - this.groupBox8.Location = new System.Drawing.Point(6, 268); - this.groupBox8.Name = "groupBox8"; - this.groupBox8.Size = new System.Drawing.Size(283, 163); - this.groupBox8.TabIndex = 2; - this.groupBox8.TabStop = false; - this.groupBox8.Text = "瀹氫綅"; - // - // label44 - // - this.label44.AutoSize = true; - this.label44.Location = new System.Drawing.Point(39, 24); - this.label44.Name = "label44"; - this.label44.Size = new System.Drawing.Size(59, 12); - this.label44.TabIndex = 0; - this.label44.Text = "X浣嶇疆(mm)"; - // - // label45 - // - this.label45.AutoSize = true; - this.label45.Location = new System.Drawing.Point(39, 57); - this.label45.Name = "label45"; - this.label45.Size = new System.Drawing.Size(59, 12); - this.label45.TabIndex = 1; - this.label45.Text = "Y浣嶇疆(mm)"; - // - // label46 - // - this.label46.AutoSize = true; - this.label46.Location = new System.Drawing.Point(39, 90); - this.label46.Name = "label46"; - this.label46.Size = new System.Drawing.Size(59, 12); - this.label46.TabIndex = 2; - this.label46.Text = "Z浣嶇疆(mm)"; - // - // textBox1 - // - this.textBox1.Location = new System.Drawing.Point(149, 21); - this.textBox1.Name = "textBox1"; - this.textBox1.Size = new System.Drawing.Size(100, 21); - this.textBox1.TabIndex = 3; - // - // textBox2 - // - this.textBox2.Location = new System.Drawing.Point(149, 87); - this.textBox2.Name = "textBox2"; - this.textBox2.Size = new System.Drawing.Size(100, 21); - this.textBox2.TabIndex = 4; - // - // textBox3 - // - this.textBox3.Location = new System.Drawing.Point(149, 54); - this.textBox3.Name = "textBox3"; - this.textBox3.Size = new System.Drawing.Size(100, 21); - this.textBox3.TabIndex = 5; - // - // checkBox1 - // - this.checkBox1.AutoSize = true; - this.checkBox1.Location = new System.Drawing.Point(39, 133); - this.checkBox1.Name = "checkBox1"; - this.checkBox1.Size = new System.Drawing.Size(48, 16); - this.checkBox1.TabIndex = 6; - this.checkBox1.Text = "绛夊緟"; - this.checkBox1.UseVisualStyleBackColor = true; - // - // button8 - // - this.button8.Location = new System.Drawing.Point(129, 122); - this.button8.Name = "button8"; - this.button8.Size = new System.Drawing.Size(120, 37); - this.button8.TabIndex = 7; - this.button8.Text = "绉诲姩鍒扮洰鏍囦綅缃"; - this.button8.UseVisualStyleBackColor = true; - // // groupBox9 // this.groupBox9.Controls.Add(this.label56); @@ -1903,6 +1731,259 @@ this.groupBox9.TabStop = false; this.groupBox9.Text = "褰撳墠瀹為檯浣嶇疆/瑙勫垝浣嶇疆(mm)"; // + // label56 + // + this.label56.AutoSize = true; + this.label56.Location = new System.Drawing.Point(197, 95); + this.label56.Name = "label56"; + this.label56.Size = new System.Drawing.Size(11, 12); + this.label56.TabIndex = 8; + this.label56.Text = "0"; + // + // label55 + // + this.label55.AutoSize = true; + this.label55.Location = new System.Drawing.Point(197, 65); + this.label55.Name = "label55"; + this.label55.Size = new System.Drawing.Size(11, 12); + this.label55.TabIndex = 7; + this.label55.Text = "0"; + // + // label54 + // + this.label54.AutoSize = true; + this.label54.Location = new System.Drawing.Point(197, 34); + this.label54.Name = "label54"; + this.label54.Size = new System.Drawing.Size(11, 12); + this.label54.TabIndex = 6; + this.label54.Text = "0"; + // + // label53 + // + this.label53.AutoSize = true; + this.label53.Location = new System.Drawing.Point(127, 95); + this.label53.Name = "label53"; + this.label53.Size = new System.Drawing.Size(11, 12); + this.label53.TabIndex = 5; + this.label53.Text = "0"; + // + // label52 + // + this.label52.AutoSize = true; + this.label52.Location = new System.Drawing.Point(127, 65); + this.label52.Name = "label52"; + this.label52.Size = new System.Drawing.Size(11, 12); + this.label52.TabIndex = 4; + this.label52.Text = "0"; + // + // label51 + // + this.label51.AutoSize = true; + this.label51.Location = new System.Drawing.Point(127, 34); + this.label51.Name = "label51"; + this.label51.Size = new System.Drawing.Size(11, 12); + this.label51.TabIndex = 3; + this.label51.Text = "0"; + // + // label50 + // + this.label50.AutoSize = true; + this.label50.Location = new System.Drawing.Point(50, 95); + this.label50.Name = "label50"; + this.label50.Size = new System.Drawing.Size(17, 12); + this.label50.TabIndex = 2; + this.label50.Text = "Z:"; + // + // label49 + // + this.label49.AutoSize = true; + this.label49.Location = new System.Drawing.Point(50, 65); + this.label49.Name = "label49"; + this.label49.Size = new System.Drawing.Size(17, 12); + this.label49.TabIndex = 1; + this.label49.Text = "Y:"; + // + // label47 + // + this.label47.AutoSize = true; + this.label47.Location = new System.Drawing.Point(50, 34); + this.label47.Name = "label47"; + this.label47.Size = new System.Drawing.Size(17, 12); + this.label47.TabIndex = 0; + this.label47.Text = "X:"; + // + // groupBox8 + // + this.groupBox8.Controls.Add(this.button8); + this.groupBox8.Controls.Add(this.checkBox1); + this.groupBox8.Controls.Add(this.textBox3); + this.groupBox8.Controls.Add(this.textBox2); + this.groupBox8.Controls.Add(this.textBox1); + this.groupBox8.Controls.Add(this.label46); + this.groupBox8.Controls.Add(this.label45); + this.groupBox8.Controls.Add(this.label44); + this.groupBox8.Location = new System.Drawing.Point(6, 268); + this.groupBox8.Name = "groupBox8"; + this.groupBox8.Size = new System.Drawing.Size(283, 163); + this.groupBox8.TabIndex = 2; + this.groupBox8.TabStop = false; + this.groupBox8.Text = "瀹氫綅"; + // + // button8 + // + this.button8.Location = new System.Drawing.Point(129, 122); + this.button8.Name = "button8"; + this.button8.Size = new System.Drawing.Size(120, 37); + this.button8.TabIndex = 7; + this.button8.Text = "绉诲姩鍒扮洰鏍囦綅缃"; + this.button8.UseVisualStyleBackColor = true; + // + // checkBox1 + // + this.checkBox1.AutoSize = true; + this.checkBox1.Location = new System.Drawing.Point(39, 133); + this.checkBox1.Name = "checkBox1"; + this.checkBox1.Size = new System.Drawing.Size(48, 16); + this.checkBox1.TabIndex = 6; + this.checkBox1.Text = "绛夊緟"; + this.checkBox1.UseVisualStyleBackColor = true; + // + // textBox3 + // + this.textBox3.Location = new System.Drawing.Point(149, 54); + this.textBox3.Name = "textBox3"; + this.textBox3.Size = new System.Drawing.Size(100, 21); + this.textBox3.TabIndex = 5; + // + // textBox2 + // + this.textBox2.Location = new System.Drawing.Point(149, 87); + this.textBox2.Name = "textBox2"; + this.textBox2.Size = new System.Drawing.Size(100, 21); + this.textBox2.TabIndex = 4; + // + // textBox1 + // + this.textBox1.Location = new System.Drawing.Point(149, 21); + this.textBox1.Name = "textBox1"; + this.textBox1.Size = new System.Drawing.Size(100, 21); + this.textBox1.TabIndex = 3; + // + // label46 + // + this.label46.AutoSize = true; + this.label46.Location = new System.Drawing.Point(39, 90); + this.label46.Name = "label46"; + this.label46.Size = new System.Drawing.Size(59, 12); + this.label46.TabIndex = 2; + this.label46.Text = "Z浣嶇疆(mm)"; + // + // label45 + // + this.label45.AutoSize = true; + this.label45.Location = new System.Drawing.Point(39, 57); + this.label45.Name = "label45"; + this.label45.Size = new System.Drawing.Size(59, 12); + this.label45.TabIndex = 1; + this.label45.Text = "Y浣嶇疆(mm)"; + // + // label44 + // + this.label44.AutoSize = true; + this.label44.Location = new System.Drawing.Point(39, 24); + this.label44.Name = "label44"; + this.label44.Size = new System.Drawing.Size(59, 12); + this.label44.TabIndex = 0; + this.label44.Text = "X浣嶇疆(mm)"; + // + // groupBox7 + // + this.groupBox7.Controls.Add(this.button7); + this.groupBox7.Controls.Add(this.button6); + this.groupBox7.Controls.Add(this.button5); + this.groupBox7.Controls.Add(this.button4); + this.groupBox7.Location = new System.Drawing.Point(6, 100); + this.groupBox7.Name = "groupBox7"; + this.groupBox7.Size = new System.Drawing.Size(283, 160); + this.groupBox7.TabIndex = 1; + this.groupBox7.TabStop = false; + this.groupBox7.Text = "Jog"; + // + // button7 + // + this.button7.Location = new System.Drawing.Point(104, 107); + this.button7.Name = "button7"; + this.button7.Size = new System.Drawing.Size(75, 35); + this.button7.TabIndex = 3; + this.button7.Text = "Y鍚庨"; + this.button7.UseVisualStyleBackColor = true; + // + // button6 + // + this.button6.Location = new System.Drawing.Point(198, 61); + this.button6.Name = "button6"; + this.button6.Size = new System.Drawing.Size(75, 35); + this.button6.TabIndex = 2; + this.button6.Text = "X鍙崇Щ"; + this.button6.UseVisualStyleBackColor = true; + // + // button5 + // + this.button5.Location = new System.Drawing.Point(10, 61); + this.button5.Name = "button5"; + this.button5.Size = new System.Drawing.Size(75, 35); + this.button5.TabIndex = 1; + this.button5.Text = "X宸︾Щ"; + this.button5.UseVisualStyleBackColor = true; + // + // button4 + // + this.button4.Location = new System.Drawing.Point(104, 12); + this.button4.Name = "button4"; + this.button4.Size = new System.Drawing.Size(75, 35); + this.button4.TabIndex = 0; + this.button4.Text = "Y鍓嶈繘"; + this.button4.UseVisualStyleBackColor = true; + // + // groupBox6 + // + this.groupBox6.Controls.Add(this.button3); + this.groupBox6.Controls.Add(this.button2); + this.groupBox6.Controls.Add(this.button1); + this.groupBox6.Location = new System.Drawing.Point(6, 24); + this.groupBox6.Name = "groupBox6"; + this.groupBox6.Size = new System.Drawing.Size(283, 70); + this.groupBox6.TabIndex = 0; + this.groupBox6.TabStop = false; + this.groupBox6.Text = "鍔ㄤ綔"; + // + // button3 + // + this.button3.Location = new System.Drawing.Point(198, 24); + this.button3.Name = "button3"; + this.button3.Size = new System.Drawing.Size(75, 30); + this.button3.TabIndex = 2; + this.button3.Text = "鍥炲師鐐"; + this.button3.UseVisualStyleBackColor = true; + // + // button2 + // + this.button2.Location = new System.Drawing.Point(104, 24); + this.button2.Name = "button2"; + this.button2.Size = new System.Drawing.Size(75, 30); + this.button2.TabIndex = 1; + this.button2.Text = "鍋滄"; + this.button2.UseVisualStyleBackColor = true; + // + // button1 + // + this.button1.Location = new System.Drawing.Point(10, 24); + this.button1.Name = "button1"; + this.button1.Size = new System.Drawing.Size(75, 30); + this.button1.TabIndex = 0; + this.button1.Text = "寮濮"; + this.button1.UseVisualStyleBackColor = true; + // // groupBox10 // this.groupBox10.Controls.Add(this.label48); @@ -1919,25 +2000,39 @@ this.groupBox10.TabStop = false; this.groupBox10.Text = "XYZ寰幆"; // - // checkBox2 + // label48 // - this.checkBox2.AutoSize = true; - this.checkBox2.Location = new System.Drawing.Point(16, 21); - this.checkBox2.Name = "checkBox2"; - this.checkBox2.Size = new System.Drawing.Size(30, 16); - this.checkBox2.TabIndex = 0; - this.checkBox2.Text = "X"; - this.checkBox2.UseVisualStyleBackColor = true; + this.label48.AutoSize = true; + this.label48.Location = new System.Drawing.Point(220, 65); + this.label48.Name = "label48"; + this.label48.Size = new System.Drawing.Size(17, 12); + this.label48.TabIndex = 7; + this.label48.Text = "娆"; // - // checkBox3 + // textBox4 // - this.checkBox3.AutoSize = true; - this.checkBox3.Location = new System.Drawing.Point(100, 21); - this.checkBox3.Name = "checkBox3"; - this.checkBox3.Size = new System.Drawing.Size(30, 16); - this.checkBox3.TabIndex = 1; - this.checkBox3.Text = "Y"; - this.checkBox3.UseVisualStyleBackColor = true; + this.textBox4.Location = new System.Drawing.Point(179, 61); + this.textBox4.Name = "textBox4"; + this.textBox4.Size = new System.Drawing.Size(35, 21); + this.textBox4.TabIndex = 5; + // + // button10 + // + this.button10.Location = new System.Drawing.Point(94, 60); + this.button10.Name = "button10"; + this.button10.Size = new System.Drawing.Size(60, 23); + this.button10.TabIndex = 4; + this.button10.Text = "鍋滄"; + this.button10.UseVisualStyleBackColor = true; + // + // button9 + // + this.button9.Location = new System.Drawing.Point(13, 60); + this.button9.Name = "button9"; + this.button9.Size = new System.Drawing.Size(60, 23); + this.button9.TabIndex = 3; + this.button9.Text = "杩愯"; + this.button9.UseVisualStyleBackColor = true; // // checkBox4 // @@ -1949,120 +2044,25 @@ this.checkBox4.Text = "Z"; this.checkBox4.UseVisualStyleBackColor = true; // - // button9 + // checkBox3 // - this.button9.Location = new System.Drawing.Point(13, 60); - this.button9.Name = "button9"; - this.button9.Size = new System.Drawing.Size(60, 23); - this.button9.TabIndex = 3; - this.button9.Text = "杩愯"; - this.button9.UseVisualStyleBackColor = true; + this.checkBox3.AutoSize = true; + this.checkBox3.Location = new System.Drawing.Point(100, 21); + this.checkBox3.Name = "checkBox3"; + this.checkBox3.Size = new System.Drawing.Size(30, 16); + this.checkBox3.TabIndex = 1; + this.checkBox3.Text = "Y"; + this.checkBox3.UseVisualStyleBackColor = true; // - // button10 + // checkBox2 // - this.button10.Location = new System.Drawing.Point(94, 60); - this.button10.Name = "button10"; - this.button10.Size = new System.Drawing.Size(60, 23); - this.button10.TabIndex = 4; - this.button10.Text = "鍋滄"; - this.button10.UseVisualStyleBackColor = true; - // - // textBox4 - // - this.textBox4.Location = new System.Drawing.Point(179, 61); - this.textBox4.Name = "textBox4"; - this.textBox4.Size = new System.Drawing.Size(35, 21); - this.textBox4.TabIndex = 5; - // - // label48 - // - this.label48.AutoSize = true; - this.label48.Location = new System.Drawing.Point(220, 65); - this.label48.Name = "label48"; - this.label48.Size = new System.Drawing.Size(17, 12); - this.label48.TabIndex = 7; - this.label48.Text = "娆"; - // - // label47 - // - this.label47.AutoSize = true; - this.label47.Location = new System.Drawing.Point(50, 34); - this.label47.Name = "label47"; - this.label47.Size = new System.Drawing.Size(17, 12); - this.label47.TabIndex = 0; - this.label47.Text = "X:"; - // - // label49 - // - this.label49.AutoSize = true; - this.label49.Location = new System.Drawing.Point(50, 65); - this.label49.Name = "label49"; - this.label49.Size = new System.Drawing.Size(17, 12); - this.label49.TabIndex = 1; - this.label49.Text = "Y:"; - // - // label50 - // - this.label50.AutoSize = true; - this.label50.Location = new System.Drawing.Point(50, 95); - this.label50.Name = "label50"; - this.label50.Size = new System.Drawing.Size(17, 12); - this.label50.TabIndex = 2; - this.label50.Text = "Z:"; - // - // label51 - // - this.label51.AutoSize = true; - this.label51.Location = new System.Drawing.Point(127, 34); - this.label51.Name = "label51"; - this.label51.Size = new System.Drawing.Size(11, 12); - this.label51.TabIndex = 3; - this.label51.Text = "0"; - // - // label52 - // - this.label52.AutoSize = true; - this.label52.Location = new System.Drawing.Point(127, 65); - this.label52.Name = "label52"; - this.label52.Size = new System.Drawing.Size(11, 12); - this.label52.TabIndex = 4; - this.label52.Text = "0"; - // - // label53 - // - this.label53.AutoSize = true; - this.label53.Location = new System.Drawing.Point(127, 95); - this.label53.Name = "label53"; - this.label53.Size = new System.Drawing.Size(11, 12); - this.label53.TabIndex = 5; - this.label53.Text = "0"; - // - // label54 - // - this.label54.AutoSize = true; - this.label54.Location = new System.Drawing.Point(197, 34); - this.label54.Name = "label54"; - this.label54.Size = new System.Drawing.Size(11, 12); - this.label54.TabIndex = 6; - this.label54.Text = "0"; - // - // label55 - // - this.label55.AutoSize = true; - this.label55.Location = new System.Drawing.Point(197, 65); - this.label55.Name = "label55"; - this.label55.Size = new System.Drawing.Size(11, 12); - this.label55.TabIndex = 7; - this.label55.Text = "0"; - // - // label56 - // - this.label56.AutoSize = true; - this.label56.Location = new System.Drawing.Point(197, 95); - this.label56.Name = "label56"; - this.label56.Size = new System.Drawing.Size(11, 12); - this.label56.TabIndex = 8; - this.label56.Text = "0"; + this.checkBox2.AutoSize = true; + this.checkBox2.Location = new System.Drawing.Point(16, 21); + this.checkBox2.Name = "checkBox2"; + this.checkBox2.Size = new System.Drawing.Size(30, 16); + this.checkBox2.TabIndex = 0; + this.checkBox2.Text = "X"; + this.checkBox2.UseVisualStyleBackColor = true; // // MainForm // @@ -2106,12 +2106,12 @@ this.groupBox4.ResumeLayout(false); this.groupBox4.PerformLayout(); this.groupBox5.ResumeLayout(false); - this.groupBox6.ResumeLayout(false); - this.groupBox7.ResumeLayout(false); - this.groupBox8.ResumeLayout(false); - this.groupBox8.PerformLayout(); this.groupBox9.ResumeLayout(false); this.groupBox9.PerformLayout(); + this.groupBox8.ResumeLayout(false); + this.groupBox8.PerformLayout(); + this.groupBox7.ResumeLayout(false); + this.groupBox6.ResumeLayout(false); this.groupBox10.ResumeLayout(false); this.groupBox10.PerformLayout(); this.ResumeLayout(false); diff --git a/Motion/ACS Motion/MainForm.cs b/Motion/ACS Motion/MainForm.cs index 1386eb5..40d05b4 100644 --- a/Motion/ACS Motion/MainForm.cs +++ b/Motion/ACS Motion/MainForm.cs @@ -812,7 +812,7 @@ namespace ACS_DotNET_Library_Advanced_Demo lstLog.Items.Add("PROGRAM_END event enabled"); } - void _ACS_PROGRAMEND(BufferMasks buffer) + void _ACS_PROGRAMEND(BufferMasks buffer) { int bit = 0x01; int bufferNo = 0;