LM-Middleware/HSI_SEVENOCEAN_EF1_CsTest/Program.cs

using System;
using System.Runtime.InteropServices;
using System.Text;
using HSI_SEVENOCEAN_EF1_CsTest.HSI;

namespace HSI_SEVENOCEAN_EF1_CsTest
{
	internal class Program
	{
		//private static Interface.PEventCallback _eventCallback;


		private static void Main(string[] args)
		{
			
			//1 获取HSI Dll版本
			uint major = Def.HSI_APIVersionMajor;
			uint minjor = Def.HSI_APIVersionMinor;
			var rStatus = Interface.GetInterfaceVersion(ref major, ref minjor);
			Console.WriteLine("Interface.GetInterfaceVersion: {0}", rStatus);
			Console.WriteLine("HSI.dll Version: {0}.{1}", major, minjor);

			//2 HSI 初始化
			var mainIntPtr = User32Api.GetCurrentWindowHandle();
			rStatus = Interface.Startup(mainIntPtr, false);
			Console.WriteLine("Interface.Startup: {0}", rStatus);

			//3 获取机器类型
			var machineVersion = Def.HSI_EF3Version;
			rStatus = Interface.GetMachineInfo(ref machineVersion);
			Console.WriteLine("Interface.GetMachineInfo: {0}", rStatus);
			Console.WriteLine("HSI EF3 Version: {0}", machineVersion);

			//4 设置回调，方便根据回调结果进行提醒
			Interface.HsiCallback = Interface.EventCallback;
			rStatus = Interface.SetEventCallback(Interface.HsiCallback);
			Console.WriteLine("SetEventCallback:{0}", rStatus); //事件回调成功

			//if (Motion.IsActive(true))
			{
				rStatus = Motion.Startup(true); //运动初始化，回家判断
				Console.WriteLine("Motion.Startup:{0}", rStatus);


				IntPtr dataCache = IntPtr.Zero;
				int pointCount = 0;
				Motion.GetPositionXyzCache(dataCache, pointCount);
				Console.WriteLine("pointCount = " + pointCount);

				
				//5 获取EF3固件版本号,待测试
				//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));

				//6 是否回家
				//var bHomed = true;
				//rStatus = Motion.IsHomed(ref bHomed);
				//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
				var bexit = false;
				var SpeedGear = 0.2;
				var dPos = new double[3];
				do
				{
					var info = Console.ReadKey();
					double dTime = 0;
					switch (info.Key)
					{
						case ConsoleKey.P:
							dPos[0] += 10.0; //X轴
							dPos[1] += 20.0; //Y轴
							dPos[2] += 30.0; //Y轴
							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);
							Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
							Console.WriteLine("Motion.XYZ:{0:f4},{1:f4},{2:f4}", dPos[0], dPos[1], dPos[2]);
							break;
						case ConsoleKey.Escape:
							bexit = true;
							break;
						case ConsoleKey.Spacebar:
							rStatus = Motion.StopJog();
							Console.WriteLine("Motion.StopJog:{0}", rStatus);
							break;

						// Z轴运动
						case ConsoleKey.NumPad1:
						case ConsoleKey.D1:
							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.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);
							break;

						//Y轴运动
						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轴运动
						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;

						//加减速
						case ConsoleKey.Add:
							SpeedGear += 0.2;
							if (SpeedGear > 1.1)
							{
								SpeedGear = 1.1;
							}
							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
							break;

						case ConsoleKey.Subtract:
							SpeedGear -= 0.2;
							if (SpeedGear < 0.1)
							{
								SpeedGear = 0.1;
							}
							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
							break;

						case ConsoleKey.NumPad5:
							Motion.DCCScanStart();
							break;
						case ConsoleKey.NumPad7:
							Motion.DCCScanStop();
							break;
						case ConsoleKey.NumPad9:
							var dPos1 = new double[3];
							dPos1[0] = 100;
							Motion.DCCScanSetData(1, Def.HSI_SCAN_MOTION_TYPE.HSI_SCAN_MOTION_EQ_DIS,7, dPos1);
							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;
					}
				} while (!bexit);


				rStatus = Motion.Shutdown();
				Console.WriteLine("Motion.Startup:{0}", rStatus);
			}

			rStatus = Interface.Shutdown();
			Console.WriteLine("Interface.Shutdown:{0}", rStatus);

			Console.WriteLine();
			Console.WriteLine("Press any key to exit...");
			Console.ReadKey();
		}
	}
}