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LM-Middleware/HSI_HexagonMI_EF3/HSI_Motion.h
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#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_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 = 0x00,
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,
};
using TCPIP_RETURN_CODE = 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
};
struct Point3D {
double x;
double y;
double z;
};
// 定义运动模式枚举类型
enum MotionMode
{
JogMode,
PTPMode,
};
class HSI_Motion : public HSI
{
public:
HSI_Motion();
~HSI_Motion() override;
HSI_STATUS IsSupported(UINT& Types) override;
HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
/**
* \brief 获取EF3固件版本
* \param version
* \return
*/
HSI_STATUS GetFirmwareVersion(byte* version);
/**
* \brief 判断机台是否回家，如果没有，则执行回家动作
* \param bHomed
* \return
*/
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);
/**
* \brief 判断机台是否回家，仅获取是否回家的状态
* \param bHomed 是否回家标志位
* \return
*/
HSI_STATUS IsHomed(bool& bHomed);
HSI_STATUS IsHomedOld(bool& bHomed);
/**
* \brief 获取单轴运动速度
* \param AxisNum
* \param Speed
* \return
*/
HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
HSI_STATUS GetSpeedXyzOld(int AxisNum, double& Speed);
void SwitchMode(MotionMode newMode);
/**
* \brief 设置单轴运动速度
* \param AxisNum
* \param Speed
* \return
*/
HSI_STATUS SetSpeedXyz(double Speed);
// 获取变焦速度
HSI_STATUS GetFocusSpeedOld(double& Speed);
HSI_STATUS GetFocusSpeed(double& Speed);
// 设置变焦速度
HSI_STATUS SetFocusSpeedOld(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);
/**
* \brief Jog运动,挡位只有在JOG才有，CNC运行的速度是合成速度
* \param AxisTypes
* \param Speed
* \return
*/
HSI_STATUS Jog(UINT AxisTypes, double Speed);
HSI_STATUS JogOld(UINT AxisTypes, double Speed);
HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
/**
* \brief
* \return
*/
HSI_STATUS StopJog();
HSI_STATUS StopJogOld();
HSI_STATUS StopJogEx(UINT AxisTypes);
/**
* \brief
* \param AxisTypes
* \param EncPos
* \param PrfPos
* \param Count
* \return
*/
HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
HSI_STATUS GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
/**
* \brief 获取轴当前位置
* \param AxisTypes 轴号
* \param PositionX X坐标
* \param PositionY Y坐标
* \param PositionZ Z坐标
* \param Time
* \return
*/
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);//获取编码器位置
HSI_STATUS GetEncoderXyzOld(long* lEncoderVal);
HSI_STATUS JogProbe(UINT AxisTypes, double Speed);
void ProbeRetractManDist(int RetractManDist);
int CaculateStepMotorACC(int pos, int maxacc, int minacc);
/**
* \brief 求各轴运动配置参数
* \param AXIS
* \param motionParam
* \return
*/
HSI_STATUS GetSingleAxisParam(int AXIS, double motionParam[5]); //获取单轴运动参数
HSI_STATUS SetSingleAxisParam(int AXIS, double motionParam[5]); //设置单轴运动参数
/**
* \brief 运行到指定位置
* \param AxisTypes 轴号
* \param PositionX X坐标
* \param PositionY Y坐标
* \param PositionZ Z坐标
* \param eType 运动模式，
* \param dFlyRadius
* \return
*/
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_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 GetPositionXyzCache(unsigned char* CacheData, int& DataCount);
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 Load_EF3_Motion_Inifile(CString GoogolIniFile);
HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
/**
* \brief
* \return
*/
HSI_STATUS AbortMotion();
HSI_STATUS AbortMotionOld();
/**
* \brief
* \param IOChannel
* \param _Status
* \return
*/
HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status);
HSI_STATUS GetDIOOld(UINT IOChannel, UINT& _Status);
/**
* \brief
* \param IOChannel
* \param _Status
* \return
*/
HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
HSI_STATUS SetDIOOld(UINT IOChannel, UINT _Status);
HSI_STATUS GetAxisStatus(int* _Status);
HSI_STATUS GetAppPath(CString& Path);
/**
* \brief
* \return
*/
HSI_STATUS Shutdown() override;
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);//设置单轴运动速度
HSI_STATUS SetSpeedExOld(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);// 下发触发间距,轴、等间距或者等时间、触发数量、间距
HSI_STATUS DCCScanSetDataOld(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
HSI_STATUS DCCScanStart(); //开始扫描
HSI_STATUS DCCScanStartOld();
HSI_STATUS DCCScanStop(); //停止扫描
HSI_STATUS DCCScanStopOld();
HSI_STATUS DCCScanSetDataWithPoints(UINT AxisTypes, double speed, Point3D* points, UINT numPoints); // 直线电机平台新增，三轴轨迹规划
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);
HSI_STATUS SetMotionDirectionFlag(int CurrentDirection); //特殊需求：向ACS层写入运动方向标志位，用于触发相机拍照
// 获取当前运动方向标志位
HSI_STATUS GetMotionDirectionFlag(int& CurrentDirection); //特殊需求：向ACS层读取运动方向标志位，用于触发相机拍照
//
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[9];
int m_SetPotion_DriveSpeed[9];
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];
double 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]; //回家误差脉冲个数
unsigned int m_precisionTime[5]; //超时时间(0.1ms)
int m_StopJogMode[5]; //JOG模式采用急停还是平滑停止
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[10]; //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_IsUseACS; //是否用ACS运动控制
int m_IsUseSimulator; //是否启用模拟器
char m_ACS_IPAddresses[50]; // 定义字符串，存储ACS IP地址
int m_isSynchronized ; //是否启用同步 0为不启用 1为启用 默认为0
int m_IsHomeEveryTime; //是否每次都回原点 0为不启用 1为启用 默认为0
int m_DeviceType; //设备类型，0为通用设备，1为三激光, 2为大视野，3为转盘设备 默认为0
int m_UseAxisNum; //转盘设备使用轴号
int m_IbinCount; //记录获取到的分bin数
bool m_IsUsePPS;
int m_iJoyStick; //摇杆类型：0：无 1：老式摇杆
int m_bISUseMoreLights; //更多灯光
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_axisLatchFrequency; //轴锁存频率
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; //jog 运动的速度
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; //欧氏距离
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;
bool m_bACSConnected; // ACS是否连接成功
int m_SendDataLength;
unsigned char m_cSendData[64];
unsigned char m_direct_pos;
unsigned char axis_start;
// ACS轴号定义
static const int MAX_AXES = 10; // 定义轴的最大数量
// ACS轴号
int ACSAxisDefault[MAX_AXES] =
{
ACSC_AXIS_0, // 默认值
ACSC_AXIS_1, // 默认值
ACSC_AXIS_2, // 默认值
ACSC_AXIS_3, // 默认值
ACSC_AXIS_4, // 默认值
ACSC_AXIS_5, // 默认值
ACSC_AXIS_6, // 默认值
ACSC_AXIS_7, // 默认值
ACSC_AXIS_8, // 默认值
ACSC_AXIS_9, // 默认值
};
int ACSAxisNumbers[3];
CPSerial m_SO7_Serial;
DWORD m_WriteByte;
int IS_DEBUG; //是否启用调试模式
// 变量来存储当前的运动模式
MotionMode m_CurrentMode;
BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength);
BOOL Send_Command(int com, const char* _SendData, DWORD SendDataLength, int expectType);// 带期望返回值的发送命令
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 UpdateMotionStateOld();
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);
/**
* \brief 界面挡位获取速度
* \param AxisNum
* \param Speed
* \param DriveSpeed
* \param StartSpeed
* \param AccLine
* \param DecLine
* \param AccCurve
* \param DecCurve
* \return
*/
int SpeedPercent(int AxisNum, double& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
int& AccCurve, int& DecCurve);
/**
* \brief 摇杆切换的运动速度, 与上面那个互锁，动了界面的 摇杆就会失能;
* \param AxisNum
* \param Speed
* \param DriveSpeed
* \param StartSpeed
* \param AccLine
* \param DecLine
* \param AccCurve
* \param DecCurve
* \return
*/
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);
/**
* \brief
* \param AxisTypes
* \return
*/
short AxisConvertIndex(UINT AxisTypes);
short IndexConvertAxis(int Index);
void SetSingleAxisMotionParams(UINT AxisTypes, double SetMotionParam[5]);//单轴运动参数设置
double LimitOver(UINT AxisTypes, double& LimitPos);//限位判断
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);
void ErrorsHandler();
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; //当前运动状态
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;
//extern void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm); //ACS 错误打印
#endif
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