#ifndef HSI_MOTION_INCLUDED_ #define HSI_MOTION_INCLUDED_ #pragma once #include "logger.h" #include "SevenOcean\CMMIO_SERIAL.H" #define TCPIP_THREAD_RUNNING 0 #define TCPIP_THREAD_PAUSED 1 #define TCPIP_THREAD_EXIT -1 #define TCPIP_MAX_DAT_SIZE 1024 #define THREAD_PAUSED 1 #define THREAD_EXIT -1 #define MAX_BUFF_SIZE 0x200 const double SCALE_UNITS = 1000.0; static CLogger* g_pLogger; static CLogger* g_pLogger2; static bool g_IsClose;//用于DoEvents()的退出，而不异常 enum E_SO7_MOTION_TYPE { E_SO7_MOTION_NONE, E_SO7_MOTION_JOG, E_SO7_MOTION_MOVETO, E_SO7_MOTION }; enum E_EF3_HOME_STATUS { E_EF3_HOME_NONE,//0表示从未回过回原点 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 { CT_MOTOR = 0x01, //MOTOR CT_LIGHT, //LIGHT CT_PORT, //PORT CT_ORDER, //ORDER CT_SOFTSTOP, //STOP CT_GLUEDISPENSER, //点胶 CT_TURNTABLE, }; enum MOTOR_CMD //第二级指令 { CT_MOTOR_SET = 0x01, CT_START_JOG_POS, // CT_START_JOG_NEG, CT_START_POSITION, //_POS, CT_STOP, CT_GOHOME, CT_TRIGGER_DATA, CT_SIX_LIGHT, CT_MDATA_INIT, CT_MDATA_COM, CT_POSFLAG_CLEAR, CT_START_LATCH, CT_ROCKER, CT_CIRCLERUN_POSITION, CT_GLUEDISPENSER_SET, CT_GLUEDISPENSER_CLEAR, CT_GLUEDISPENSER_START, CT_GLUEDISPENSER_STOP, //转盘时启用 CT_RTSET, CT_BINSDATA, CT_RTSTOP, // CT_MOTOR_UPDATE, // up date all the aixs }; enum MOTOR_START_POSOTION // { INTERPOLATION = 0x61,//插补 GANGED = 0x41,//独立 CIRCLER = 0x64, CIRCLEL = 0x65, }; enum MOTOR_AXISCHOOES_CMD //第三级指令 { AXIS_X = 0x01, AXIS_Y = 0x02, AXIS_Z = 0x04, AXIS_U = 0x08, AXIS_XY = 0x03, AXIS_XZ = 0x05, AXIS_XU = 0x09, AXIS_YZ = 0x06, AXIS_YU = 0x0a, AXIS_ZU = 0x0c, AXIS_XYZ = 0x07, AXIS_XYU = 0x0b, AXIS_XZU = 0x0d, AXIS_YZU = 0x0e, AXIS_XYZU = 0x0f, }; enum MOTOR_SET_KIND //第四级指令 { JOG_SPEED_ACC_DEC, POSITION_SPEED_ACC_DEC_POS, HOME_LIMIT_SPEED_ACC_DEC, HOME_ORG_SPEED_ACC_DEC, SOFT_LIMIT_POS_NEG, POS_CLEAR, HOME_CLEAR, ENC_POS_DIR, }; enum CMD_ORDER { IOSTATE, MOTORPOSITION, MOTORSTATE }; enum E_SO7_MOTION_READ_TYPE { E_DATA_TYPE_NONE, E_DATA_TYPE_GET_POS, E_DATA_TYPE_IO, }; typedef enum { TCPIP_CONNECT_OK = 0, TCPIP_INIT_WINSOCK_ERROR, TCPIP_INVAILD_SOCKET, TCPIP_INVAILD_IP_ADDRESS, TCPIP_INVAILD_PORT_NUMBER, TCPIP_CONNECT_SERVER_FAILED, TCPIP_SEND_REVC_ASYNC, TCPIP_TIMEOUT, TCPIP_WSAEWOULDBLOCK = 10035, TCPIP_CONNECT_STATUS_UNKNOWN } TCPIP_RETURN_CODE; class HSI_Motion : public HSI { public: HSI_Motion(); ~HSI_Motion(); HSI_STATUS IsSupported(UINT &Types); virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly); HSI_STATUS GetFirmwareVersion(byte *version); HSI_STATUS HomeMachine(bool bHomed); HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false); HSI_STATUS HomeFindIndex(); HSI_STATUS ZeroPos(bool bZeroPos); HSI_STATUS IsHomed(bool &bHomed); HSI_STATUS GetSpeedXyz(int AxisNum, double &Speed); HSI_STATUS SetSpeedXyz(double Speed); HSI_STATUS GetFocusSpeed(double &Speed); HSI_STATUS SetFocusSpeed(double Speed); HSI_STATUS GetAccelerationXyz(double &AccelX, double &AccelY, double &AccelZ); 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); HSI_STATUS Jog(UINT AxisTypes, double Speed); HSI_STATUS JoyStick(UINT AxisTypes, long Speed); HSI_STATUS StopJog(); HSI_STATUS StopJogEx(UINT AxisTypes); 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 GetPositionXyzaProbe(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &PositionA); HSI_STATUS GetEncoderXyz(long *lEncoderVal); HSI_STATUS JogProbe(UINT AxisTypes, double Speed); void ProbeRetractManDist(int RetractManDist); 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 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); HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile); HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile); HSI_STATUS AbortMotion(); HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status); HSI_STATUS SetDIO(UINT IOChannel, UINT _Status); HSI_STATUS GetAxisStatus(int* _Status); HSI_STATUS GetAppPath(CString &Path); virtual HSI_STATUS Shutdown(); HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT &Types); HSI_STATUS StartupEx(UINT AxisTypes, bool bHome); HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double &Scale); HSI_STATUS SetScaleResolutionEx(UINT AxisTypes, double Scale); 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 SetPositionEx(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear); HSI_STATUS GetSpeedEx(UINT AxisTypes, double &Speed); 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); HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis); 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,int pluseSumDis); HSI_STATUS SendBinResult(int* BinResult); HSI_STATUS GetTriggleCount(int* nCount, int& nArea); HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData, int num); HSI_STATUS GlueDispenser(int* index, int* cirdirection , double* gluePos, int num); HSI_STATUS GlueDispenserStart(double xOffset, double yOffset, double qOffset); HSI_STATUS GetPntsDistance(double& ptpDistance,int& spTimeCount); public: static int m_Thread_State; static HANDLE m_Thread_Id; static HANDLE m_Thread_Mutex; static HANDLE m_hTriggerEvent; //用于IO发消息的线程 static int m_Thread_StateIO; static HANDLE m_Thread_IdIO; static HANDLE m_Thread_MutexIO; static HANDLE m_hTriggerEventIO; //读取EF3的数据状态 static int m_Thread_StateData; static HANDLE m_Thread_IdData; static HANDLE m_Thread_MutexData; static HANDLE m_hTriggerEventData; //读取EF3的探针状态 static int m_Thread_StateProbe; static HANDLE m_Thread_IdProbe; static HANDLE m_Thread_MutexProbe; static HANDLE m_hTriggerEventProbe; //点胶运行状态 static int bRunGlueDispenser; //读取EF3的JOG stop 的状态 static int m_Thread_StateJOGStop; static HANDLE m_Thread_IdJOGStop; static HANDLE m_Thread_MutexJOGStop; static HANDLE m_hTriggerEventJOGStop; static HANDLE g_RW_Data_Mutex; static HANDLE g_WR_ToMove_Mutex; static HANDLE g_Lock_JogAndTrigger; double m_Resolution[5];//从1开始,0不用 double m_N_Work_Limit[5]; //负限位 double m_P_Work_Limit[5]; //正限位 int m_Home_AddJogGears[5]; int m_Home_DecJogGears[5]; int m_Home_Time[5]; int m_SetPotion_Count[5]; //定位参数 int m_SetPotion_StartSpeed[5]; int m_SetPotion_DriveSpeed[5]; int m_SetPotion_Line[5]; int m_SetPotion_Buffer[5]; int m_SetPotion_AccCurve[5]; int m_SetPotion_DecCurve[5]; int m_SpeedAdjustPeriod[5]; int m_SpeedMax[5]; int m_stepPosition_L_speed[10]; int m_stepPosition_H_speed[10]; int m_stepPosition_Load[10]; int m_stepPosition_acc[10]; double m_PositionA;//第四轴的地位位置 //jog 参数 int m_JogDriveSpeed[5][5];//5：轴号,从1开始；5：档位 int m_JogStartSpeed[5][5]; int m_JogAccLine[5][5]; int m_JogDecLine[5][5]; int m_JogAccCurve[5][5]; int m_JogDecCurve[5][5]; int m_Jog_Auto_Focus;//变焦使用的速度 int m_LogIsOpen[5];//是否打开记录，0为打开，非0为关闭 unsigned int m_precisionCount[5]; unsigned int m_precisionTime[5]; 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 int m_PosNow[5];//调用SetpositionXyz时，读取当前位置 double targetpos_n[5]; double targetpos_l[5]; short m_AxisThread; 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_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_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_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_InputStatus; UINT m_ForStatus; 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_setPositionDelay;//设置定位超时 int m_setPositionPrecision;//设置定位精度 int m_setPositionNum; CString m_AppPath; //MST软件运行标志，trueMST软件已经启动，falseMST软件停止 bool m_MSTRunFlag; int m_IsUse_HSICompensation;//是否启用HSI进行定位补偿 0为不启用 1为启用 默认为0 int m_Compensation_Pluse;//补偿脉冲数 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_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_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_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_UseAxisNum;//转盘设备使用轴号 int m_IbinCount;//记录获取到的分bin数 bool m_IsUsePPS; int m_iJoyStick;//遥感类型：0：无 1：老式摇杆 int m_bISUseMoreLights; int m_EF3LightType; int m_LightType; int m_IsUseFourthSpeed; CString m_IsOpenTCPIP[4];//可提供的tcp通信的ip bool m_tcpCntFlag[4]; int m_selectedIndex; bool m_Led8MotionFlag[4];//是否为8路光源板 int m_IsHavePattern;//是否有光栅 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 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 set_start;//获取定位运行开始时间 DWORD set_end;//获取定位运行结束时间 //是否启用探针捕获功能，1启用，默认0关闭 int m_IsProbe; //探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴 int m_ProbeAllAxis; long m_ProbeCapturePos[5];//锁存各轴的位置 double m_ProbeReturnPos;//探针触发时，调试时返回的距离mm，点击启动按钮时不起作用,默认10.0mm 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_ETIPort;//外部触发拍照输入端口号 int m_axisStatus;//运动各轴的状态 int m_axisAlarmStatus;//轴报警状态 int m_EF3COMPort;//EF3板com口，默认为2 int m_ForSoft;//针对使用软件 0为MST 1为Metus int m_IsUseManualRunin;//是否开启手动插补（只针对步进电机） int m_IsUseRocker; //是否启用摇杆 0为不启用 1为启用旧摇杆，2为新摇杆， 默认为0 int m_IsCollectPos; //是否通过串口打印位置，与摇杆2互斥 int m_IsCloseRocker; 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_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_rockerLDriveSpeed[4];//摇杆XYZ轴低驱动速度 int m_rockerASpeed[4]; //XYZ轴加减速1 int m_rockerDSpeed[4]; //XYZ轴加减速2 int m_SaveAxisNum;//保存轴号 int m_SaveAxisSpeed;//保存速度 bool bSaveSpeedFlag; bool fourthAxisFlag; 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; bool jogMoving; bool jogDirFlag; bool m_bEmergencyState; bool bUseGlueDispenser;//是否开启点胶 int m_iGlueStartSpeed; int m_iGlueDriveSpeed; int m_iGlueAccSpeed; int GlueDispenserindexNum;//点胶段数 int GluerunCount; int m_iSpeedType; 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_axisDirZ;//探针运动时Z轴的运动方向 int m_probeSeekSpeed; int m_isUseAport;//A串口 int m_portAnum; int m_isUseBport;//B串口 int m_portBnum; int SpCompleteTStart; int SpCompleteTEnd; int SpTimeCount; bool SetPotionRunEnd; double PntToPntDistance; double m_LockPos[5]; double m_ijk[5]; int m_AxisHex[5]; bool setLightFlag; double m_EncPos[5]; double m_PrfPos[5]; double m_PosForAllAxis[5];//记录4轴位置 bool m_bConnected; int m_SendDataLength; unsigned char m_cSendData[64]; unsigned char m_direct_pos; unsigned char axis_start; CPSerial m_SO7_Serial; DWORD m_WriteByte; BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength); BOOL Receive_Data(); bool PortInit(int iSerialComPort, int iBuadRate); char m_RecvData[MAX_RECIEVE_BUFFER_SIZE]; DWORD m_RecvDataSize; E_EF3_HOME_STATUS CurrentHomeMachineState; //刷新探针状态 static unsigned __stdcall m_ThreadProbe(LPVOID pThis); void CreateThreadProbe(); void CloseThreadProbe(); void UpdateMotionStateProbe(); //刷新位置状态 static unsigned __stdcall m_Thread(LPVOID pThis); void CreateThread(); void CloseThread(); void UpdateMotionState(); void UpdateMotionStateEx(); void GluedispenserDone(); //IO发消息使用 static unsigned __stdcall m_ThreadIO(LPVOID pThis); void CreateThreadIO(); void CloseThreadIO(); void UpdateMotionStateIO(); //读取EF3的数据状态 static unsigned __stdcall m_ThreadData(LPVOID pThis); void CreateThreadData(); void CloseThreadData(); void UpdateMotionStateData(); //读取EF3的JOG位置 以便停止JOG运动 static unsigned __stdcall m_ThreadJOGStop(LPVOID pThis); void CreateThreadJOGStop(); void CloseThreadJOGStop(); void UpdateMotionStateJOGStop(); void SendMsgMotionFinished(); void SendMsgProbeFinished(); VOID EventCallback(sHSIEventProperties& sEventProp); int SpeedPercent(int AxisNum, double &Speed,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 IndexConvertAxis(int Index); double LimitOver(UINT AxisTypes, double &LimitPos); int P2P(short AxisNumber, long Pos, double Speed, double Acc); void DoEvents(); HSI_STATUS DriverAlarmStatus(); HSI_STATUS FirstHome(); HSI_STATUS SpecialMotorHome(short AxisNum); HSI_STATUS SpecialMotorMove(short AxisNum, double Position); private: UINT ActiveAxis; int iaxisNum; int iScanMotionType; int iTriggleNum; 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_READ_TYPE CurrentReadDataType; //网口通信添加 private: TCPIP_RETURN_CODE TCPConnect(int index,char* Address, u_short port); void DisConnect(); static unsigned __stdcall m_ThreadSendTCP(LPVOID pThis); static HANDLE m_ThreadTCP_Id; static int m_ThreadTCP_State; TCPIP_RETURN_CODE TCPSend(); unsigned char tReciveData[TCPIP_MAX_DAT_SIZE]; bool first; unsigned char IOdata[64]; unsigned char Orderdata[64]; unsigned char IOCheck[64]; unsigned char TempData[64]; int OrderSend; int IOSend; private: void Create_Thread(); void Exit_Thread(); int Init_Winsock(); public: 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: HSI_STATUS SetAllGears(); //下发所有档位数据 }; extern HSI_Motion *g_pHSI_Motion; #endif