wio
536 lines
17 KiB
C++
536 lines
17 KiB
C++
#ifndef HSI_MOTION_INCLUDED_
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#define HSI_MOTION_INCLUDED_
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#pragma once
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#include "logger.h"
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#include "SevenOcean\CMMIO_SERIAL.H"
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#define TCPIP_THREAD_RUNNING 0
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#define TCPIP_THREAD_PAUSED 1
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#define TCPIP_THREAD_EXIT -1
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#define TCPIP_MAX_DAT_SIZE 1024
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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#define MAX_BUFF_SIZE 0x200
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const double SCALE_UNITS = 1000.0;
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static CLogger* g_pLogger;
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static CLogger* g_pLogger2;
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static bool g_IsClose;//用于DoEvents()的退出，而不异常
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enum E_SO7_MOTION_TYPE
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{
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E_SO7_MOTION_NONE,
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E_SO7_MOTION_JOG,
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E_SO7_MOTION_MOVETO,
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E_SO7_MOTION
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};
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enum E_EF3_HOME_STATUS
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{
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E_EF3_HOME_NONE,//0表示从未回过回原点
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E_EF3_HOME_ING,//1表示正在回原点
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E_EF3_HOME_FINISHED,//2表示已经回过原点
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};
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enum FUN_CMD //第一级指令
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{
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CT_MOTOR = 0x01, //MOTOR
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CT_LIGHT, //LIGHT
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CT_PORT, //PORT
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CT_ORDER, //ORDER
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CT_SOFTSTOP, //STOP
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CT_GLUEDISPENSER, //点胶
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CT_TURNTABLE,
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};
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enum MOTOR_CMD //第二级指令
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{
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CT_MOTOR_SET = 0x01,
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CT_START_JOG_POS, //
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CT_START_JOG_NEG,
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CT_START_POSITION, //_POS,
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CT_STOP,
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CT_GOHOME,
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CT_TRIGGER_DATA,
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CT_SIX_LIGHT,
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CT_MDATA_INIT,
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CT_MDATA_COM,
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CT_POSFLAG_CLEAR,
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CT_START_LATCH,
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CT_ROCKER,
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CT_CIRCLERUN_POSITION,
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CT_GLUEDISPENSER_SET,
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CT_GLUEDISPENSER_CLEAR,
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CT_GLUEDISPENSER_START,
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CT_GLUEDISPENSER_STOP,
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//转盘时启用
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CT_RTSET,
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CT_BINSDATA,
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CT_RTSTOP,
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// CT_MOTOR_UPDATE, // up date all the aixs
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};
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enum MOTOR_START_POSOTION //
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{
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INTERPOLATION = 0x61,//插补
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GANGED = 0x41,//独立
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CIRCLER = 0x64,
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CIRCLEL = 0x65,
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};
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enum MOTOR_AXISCHOOES_CMD //第三级指令
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{
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AXIS_X = 0x01,
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AXIS_Y = 0x02,
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AXIS_Z = 0x04,
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AXIS_U = 0x08,
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AXIS_XY = 0x03,
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AXIS_XZ = 0x05,
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AXIS_XU = 0x09,
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AXIS_YZ = 0x06,
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AXIS_YU = 0x0a,
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AXIS_ZU = 0x0c,
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AXIS_XYZ = 0x07,
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AXIS_XYU = 0x0b,
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AXIS_XZU = 0x0d,
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AXIS_YZU = 0x0e,
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AXIS_XYZU = 0x0f,
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};
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enum MOTOR_SET_KIND //第四级指令
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{
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JOG_SPEED_ACC_DEC,
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POSITION_SPEED_ACC_DEC_POS,
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HOME_LIMIT_SPEED_ACC_DEC,
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HOME_ORG_SPEED_ACC_DEC,
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SOFT_LIMIT_POS_NEG,
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POS_CLEAR,
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HOME_CLEAR,
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ENC_POS_DIR,
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};
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enum CMD_ORDER
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{
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IOSTATE,
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MOTORPOSITION,
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MOTORSTATE
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};
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enum E_SO7_MOTION_READ_TYPE
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{
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E_DATA_TYPE_NONE,
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E_DATA_TYPE_GET_POS,
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E_DATA_TYPE_IO,
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};
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typedef enum {
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TCPIP_CONNECT_OK = 0,
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TCPIP_INIT_WINSOCK_ERROR,
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TCPIP_INVAILD_SOCKET,
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TCPIP_INVAILD_IP_ADDRESS,
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TCPIP_INVAILD_PORT_NUMBER,
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TCPIP_CONNECT_SERVER_FAILED,
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TCPIP_SEND_REVC_ASYNC,
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TCPIP_TIMEOUT,
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TCPIP_WSAEWOULDBLOCK = 10035,
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TCPIP_CONNECT_STATUS_UNKNOWN
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} TCPIP_RETURN_CODE;
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class HSI_Motion : public HSI
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{
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public:
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HSI_Motion();
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~HSI_Motion();
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HSI_STATUS IsSupported(UINT &Types);
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virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly);
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HSI_STATUS GetFirmwareVersion(byte *version);
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HSI_STATUS HomeMachine(bool bHomed);
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HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
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HSI_STATUS HomeFindIndex();
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HSI_STATUS ZeroPos(bool bZeroPos);
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HSI_STATUS IsHomed(bool &bHomed);
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HSI_STATUS GetSpeedXyz(int AxisNum, double &Speed);
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HSI_STATUS SetSpeedXyz(double Speed);
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HSI_STATUS GetFocusSpeed(double &Speed);
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HSI_STATUS SetFocusSpeed(double Speed);
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HSI_STATUS GetAccelerationXyz(double &AccelX, double &AccelY, double &AccelZ);
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HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ);
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HSI_STATUS GetSpeedR(double &Speed);
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HSI_STATUS SetSpeedR(double Speed);
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HSI_STATUS GetScaleResolution(double &_ScaleX, double &_ScaleY, double &_ScaleZ);
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HSI_STATUS SetScaleResolution(double _ScaleX, double _ScaleY, double _ScaleZ);
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HSI_STATUS GetDeadBand(double &DeadbandX, double &DeadbandY, double &DeadbandZ, double &DeadbandR);
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HSI_STATUS GetRefreshDeadBand(double &Deadband);
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HSI_STATUS Jog(UINT AxisTypes, double Speed);
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HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
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HSI_STATUS StopJog();
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HSI_STATUS StopJogEx(UINT AxisTypes);
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HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double *EncPos, double *PrfPos, int Count);
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HSI_STATUS GetPositionXyz(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time);
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HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &PositionA);
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HSI_STATUS GetEncoderXyz(long *lEncoderVal);
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HSI_STATUS JogProbe(UINT AxisTypes, double Speed);
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void ProbeRetractManDist(int RetractManDist);
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int CaculateStepMotorACC(int pos, int maxacc, int minacc);
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HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
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HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
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HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point *CacheData);
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HSI_STATUS GetPositionR(UINT AxisTypes, double &PositionR, double &Time);
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HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
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HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);
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HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile);
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HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
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HSI_STATUS AbortMotion();
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HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status);
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HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
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HSI_STATUS GetAxisStatus(int* _Status);
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HSI_STATUS GetAppPath(CString &Path);
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virtual HSI_STATUS Shutdown();
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HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT &Types);
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HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
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HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double &Scale);
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HSI_STATUS SetScaleResolutionEx(UINT AxisTypes, double Scale);
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HSI_STATUS GetPositionEx(UINT AxisTypes, double &Position, double &Time);
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HSI_STATUS SetPositionStep(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
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HSI_STATUS SetPositionEx(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
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HSI_STATUS GetSpeedEx(UINT AxisTypes, double &Speed);
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HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);
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HSI_STATUS GetAccelerationEx(UINT AxisTypes, double &Accel);
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HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
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HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor,int triggleMode, double* Intensities);
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HSI_STATUS DCCPPStartPoint(double *startPoint);
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HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
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HSI_STATUS DCCScanStart();
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HSI_STATUS DCCScanStop();
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HSI_STATUS DCCForLightPlate();
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HSI_STATUS IOStep(bool RunSts);
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HSI_STATUS IOprogram(byte* SendData,int length);
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HSI_STATUS FindOriginTest(bool state);
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HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea,int filterTime1, int filterTime2,int pluseSumDis);
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HSI_STATUS SendBinResult(int* BinResult);
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HSI_STATUS GetTriggleCount(int* nCount, int& nArea);
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HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData, int num);
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HSI_STATUS GlueDispenser(int* index, int* cirdirection , double* gluePos, int num);
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HSI_STATUS GlueDispenserStart(double xOffset, double yOffset, double qOffset);
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HSI_STATUS GetPntsDistance(double& ptpDistance,int& spTimeCount);
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public:
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static int m_Thread_State;
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static HANDLE m_Thread_Id;
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static HANDLE m_Thread_Mutex;
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static HANDLE m_hTriggerEvent;
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//用于IO发消息的线程
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static int m_Thread_StateIO;
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static HANDLE m_Thread_IdIO;
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static HANDLE m_Thread_MutexIO;
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static HANDLE m_hTriggerEventIO;
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//读取EF3的数据状态
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static int m_Thread_StateData;
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static HANDLE m_Thread_IdData;
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static HANDLE m_Thread_MutexData;
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static HANDLE m_hTriggerEventData;
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//读取EF3的探针状态
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static int m_Thread_StateProbe;
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static HANDLE m_Thread_IdProbe;
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static HANDLE m_Thread_MutexProbe;
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static HANDLE m_hTriggerEventProbe;
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//点胶运行状态
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static int bRunGlueDispenser;
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//读取EF3的JOG stop 的状态
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static int m_Thread_StateJOGStop;
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static HANDLE m_Thread_IdJOGStop;
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static HANDLE m_Thread_MutexJOGStop;
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static HANDLE m_hTriggerEventJOGStop;
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static HANDLE g_RW_Data_Mutex;
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static HANDLE g_WR_ToMove_Mutex;
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static HANDLE g_Lock_JogAndTrigger;
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double m_Resolution[5];//从1开始,0不用
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double m_N_Work_Limit[5]; //负限位
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double m_P_Work_Limit[5]; //正限位
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int m_Home_AddJogGears[5];
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int m_Home_DecJogGears[5];
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int m_Home_Time[5];
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int m_SetPotion_Count[5];
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//定位参数
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int m_SetPotion_StartSpeed[5];
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int m_SetPotion_DriveSpeed[5];
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int m_SetPotion_Line[5];
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int m_SetPotion_Buffer[5];
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int m_SetPotion_AccCurve[5];
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int m_SetPotion_DecCurve[5];
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int m_SpeedAdjustPeriod[5];
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int m_SpeedMax[5];
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int m_stepPosition_L_speed[10];
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int m_stepPosition_H_speed[10];
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int m_stepPosition_Load[10];
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int m_stepPosition_acc[10];
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double m_PositionA;//第四轴的地位位置
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//jog 参数
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int m_JogDriveSpeed[5][5];//5：轴号,从1开始；5：档位
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int m_JogStartSpeed[5][5];
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int m_JogAccLine[5][5];
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int m_JogDecLine[5][5];
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int m_JogAccCurve[5][5];
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int m_JogDecCurve[5][5];
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int m_Jog_Auto_Focus;//变焦使用的速度
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int m_LogIsOpen[5];//是否打开记录，0为打开，非0为关闭
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unsigned int m_precisionCount[5];
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unsigned int m_precisionTime[5];
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int m_StopJogMode[5];//JOG模式采用急停还是平滑停止
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double m_PosThread[5];//SetpositionXyz的目标位置
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int m_PosNow[5];//调用SetpositionXyz时，读取当前位置
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double targetpos_n[5];
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double targetpos_l[5];
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short m_AxisThread;
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int m_IsExMotion; //0是xyz用的，1是单轴用的，2都不用
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int m_Home_Machine_Axis[5];//用于启动时需要回原点的轴号选择
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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
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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
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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
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int m_IsIOFuntion;//是否启动IO功能，1为打开，0为关闭
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int m_IsStartInput;//是否启用脚踏开关功能，1为启用，0为关闭，默认0
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UINT m_StartInputPort;//外部输入按钮启动程序
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UINT m_InputStatus;
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UINT m_ForStatus;
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int m_Set_XYZA_Reserve;//XYZA轴方向
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int m_motorType;//电机类型 1为伺服电机 0为步进电机
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int m_setPositionDelay;//设置定位超时
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int m_setPositionPrecision;//设置定位精度
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int m_setPositionNum;
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CString m_AppPath;
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//MST软件运行标志，trueMST软件已经启动，falseMST软件停止
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bool m_MSTRunFlag;
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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
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int m_Compensation_Pluse;//补偿脉冲数
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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
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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
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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
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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
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int m_SixEightSubArea[8]; //六环八区分区功能
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int m_IsUseTwentySixLight;//是否启用26路灯光 0为不启用 1位启用 默认为0
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int m_IsUseEF3;//是否启用EF3
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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
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int m_UseAxisNum;//转盘设备使用轴号
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int m_IbinCount;//记录获取到的分bin数
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bool m_IsUsePPS;
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int m_iJoyStick;//遥感类型：0：无 1：老式摇杆
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int m_bISUseMoreLights;
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int m_EF3LightType;
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int m_LightType;
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int m_IsUseFourthSpeed;
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CString m_IsOpenTCPIP[4];//可提供的tcp通信的ip
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bool m_tcpCntFlag[4];
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int m_selectedIndex;
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bool m_Led8MotionFlag[4];//是否为8路光源板
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int m_IsHavePattern;//是否有光栅
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int m_AxisHomeDirection;//轴回家时的方向
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int m_IsUseJerk;//是否启用急停 0为不启用 1为启用
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DWORD t_start;//获取jog运行的开始时间
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DWORD t_end;//获取jog运行的结束时间
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DWORD set_start;//获取定位运行开始时间
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DWORD set_end;//获取定位运行结束时间
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//是否启用探针捕获功能，1启用，默认0关闭
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int m_IsProbe;
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//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
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int m_ProbeAllAxis;
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long m_ProbeCapturePos[5];//锁存各轴的位置
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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
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int m_ProbeReturnSpeed;//探针触发后，轴的回退速度
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int m_isOKGlint; //是否开启ok/ng 闪烁
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int m_ETIPort;//外部触发拍照输入端口号
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int m_axisStatus;//运动各轴的状态
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int m_axisAlarmStatus;//轴报警状态
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int m_EF3COMPort;//EF3板com口，默认为2
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int m_ForSoft;//针对使用软件 0为MST 1为Metus
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int m_IsUseManualRunin;//是否开启手动插补（只针对步进电机）
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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
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int m_IsCollectPos; //是否通过串口打印位置，与摇杆2互斥
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int m_IsCloseRocker;
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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
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int m_rockerHStartSpeed[4];//摇杆XYZ轴高初始速度
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int m_rockerHDriveSpeed[4];//摇杆XYZ轴高驱动速度
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int m_rockerLStartSpeed[4];//摇杆XYZ轴低初始速度
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int m_rockerLDriveSpeed[4];//摇杆XYZ轴低驱动速度
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int m_rockerASpeed[4]; //XYZ轴加减速1
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int m_rockerDSpeed[4]; //XYZ轴加减速2
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int m_SaveAxisNum;//保存轴号
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int m_SaveAxisSpeed;//保存速度
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bool bSaveSpeedFlag;
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bool fourthAxisFlag;
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bool bCircleRun;//圆弧插补
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int iCircleRunPnt[5];//圆弧插补时的圆心位置
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int jogAxisNum;//jog运动的轴号
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int jogspeed;
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bool jogMoving;
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bool jogDirFlag;
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bool m_bEmergencyState;
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bool bUseGlueDispenser;//是否开启点胶
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int m_iGlueStartSpeed;
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int m_iGlueDriveSpeed;
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int m_iGlueAccSpeed;
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int GlueDispenserindexNum;//点胶段数
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int GluerunCount;
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int m_iSpeedType;
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int m_axisDirX;//探针运动时X轴的运动方向
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int m_axisDirY;//探针运动时Y轴的运动方向
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int m_axisDirZ;//探针运动时Z轴的运动方向
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int m_probeSeekSpeed;
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int m_isUseAport;//A串口
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int m_portAnum;
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int m_isUseBport;//B串口
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int m_portBnum;
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int SpCompleteTStart;
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int SpCompleteTEnd;
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int SpTimeCount;
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bool SetPotionRunEnd;
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double PntToPntDistance;
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|
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double m_LockPos[5];
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double m_ijk[5];
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int m_AxisHex[5];
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bool setLightFlag;
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double m_EncPos[5];
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double m_PrfPos[5];
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double m_PosForAllAxis[5];//记录4轴位置
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bool m_bConnected;
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int m_SendDataLength;
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unsigned char m_cSendData[64];
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unsigned char m_direct_pos;
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unsigned char axis_start;
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CPSerial m_SO7_Serial;
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DWORD m_WriteByte;
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BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength);
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BOOL Receive_Data();
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bool PortInit(int iSerialComPort, int iBuadRate);
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char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
|
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DWORD m_RecvDataSize;
|
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E_EF3_HOME_STATUS CurrentHomeMachineState;
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|
|
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//刷新探针状态
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static unsigned __stdcall m_ThreadProbe(LPVOID pThis);
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void CreateThreadProbe();
|
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void CloseThreadProbe();
|
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void UpdateMotionStateProbe();
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|
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//刷新位置状态
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static unsigned __stdcall m_Thread(LPVOID pThis);
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void CreateThread();
|
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void CloseThread();
|
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void UpdateMotionState();
|
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void UpdateMotionStateEx();
|
|
void GluedispenserDone();
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|
|
|
//IO发消息使用
|
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static unsigned __stdcall m_ThreadIO(LPVOID pThis);
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void CreateThreadIO();
|
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void CloseThreadIO();
|
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void UpdateMotionStateIO();
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|
|
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//读取EF3的数据状态
|
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static unsigned __stdcall m_ThreadData(LPVOID pThis);
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void CreateThreadData();
|
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void CloseThreadData();
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void UpdateMotionStateData();
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|
|
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//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();
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|
|
|
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);
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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);
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|
|
|
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
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