// 获取轴信息的变量类型 布尔型
public bool AxisInfoGotItems(UInt32 AxisMask, ref string[] AxisName, ref Int32[] AxisId, ref Int32[] axisValue, ref Double[] loadValue, ref Double[] cmdVel, ref Double[] actVel, Int16 clientNo)
{
bool flag = true;
Int32 index = 0;
Int32 ret = 0; // 引用变量
if (AxisMask == 0)
{
flag = false;
return(flag);
}
for (Int32 i = 0; i < AxisTypesCount; i++)
{
if ((AxisMask >> i & 1) == 1) // 位与运算 i 与 1 都是 1 时 返回1 >> 右移 符号（转换为2进制向右移动第二个操作数的位数）
{
ret += HncApi.HNC_AxisGetValue((int)HncAxis.HNC_AXIS_NAME, i, ref AxisName[index], clientNo); // 类型 轴号 轴值 网络号 // 轴名
AxisId[index] = i;
ret += HncApi.HNC_AxisGetValue((Int32)HncAxis.HNC_AXIS_ACT_POS, AxisId[index], ref axisValue[index], ActiveClientNo); // 位置信息 是米度单位
ret += HncApi.HNC_AxisGetValue((Int32)HncAxis.HNC_AXIS_LOAD_CUR, AxisId[index], ref loadValue[index], ActiveClientNo); // 负载电流
ret += HncApi.HNC_AxisGetValue((Int32)HncAxis.HNC_AXIS_CMD_VEL, AxisId[index], ref cmdVel[index], ActiveClientNo); // 指令速度 是米度单位
ret += HncApi.HNC_AxisGetValue((Int32)HncAxis.HNC_AXIS_ACT_VEL, AxisId[index], ref actVel[index], ActiveClientNo); // 实际速度 是毫米每分钟 不用换算
index++;
if (ret != 0)
{
flag = false;
break;
}
}
}
return(flag);
}
// 测试获取当前警报信息
public void GetAlarmInfo()
{
Int32 index = 0;
string errTxt = string.Empty;
Int32 ret = 0;
ret = HncApi.HNC_AlarmGetNum((Int32)AlarmType.ALARM_TYPE_ALL, (Int32)AlarmLevel.ALARM_LEVEL_ALL, ref alarmNum, ActiveClientNo);
if (ret != 0)
{
Console.WriteLine("获取警报失败");
}
else
{
Console.WriteLine($"当前警报数量为{alarmNum}");
}
for (int i = 0; i < alarmNum; i++)
{
ret = HncApi.HNC_AlarmGetData((int)AlarmType.ALARM_TYPE_ALL, (int)AlarmLevel.ALARM_ERR, index, ref alarmNo, ref errTxt, ActiveClientNo);
if (ret == 0)
{
alarmInfo = index.ToString() + alarmNo.ToString() + errTxt + "\n";
Console.WriteLine(alarmInfo);
}
else
{
Console.WriteLine(" 无法读取警报信息!");
}
}
}
public void CancelToolBroken(bool bIsTrueBroken)
{
try
{
if (this._info != null)
{
String Redisip = System.Configuration.ConfigurationManager.AppSettings["RedisUri"];
Int32 Redisport = Convert.ToInt32(System.Configuration.ConfigurationManager.AppSettings["RedisPort_RealTime"]);
ServiceStack.Redis.RedisClient client = new ServiceStack.Redis.RedisClient(Redisip, Redisport);
client.Db = this._CloudDB;
HncMessage <ToolBrokenInfo> toolinfo = new HncMessage <ToolBrokenInfo>();
toolinfo.Header = "ToolBrokenFeedBack";
_info.IsBroken = bIsTrueBroken;
toolinfo.Body = _info;
String msg = Newtonsoft.Json.JsonConvert.SerializeObject(toolinfo);
client.Set <String>("ToolBrokenFeedBack", msg);
_info = null;
}
}
catch (Exception ex)
{
Console.WriteLine("CancelToolBroken:" + ex.Message);
}
HncApi.HNC_RegClrBit((int)HncRegType.REG_TYPE_G, 2626, 0, _ClientNo);
HncApi.HNC_RegClrBit((int)HncRegType.REG_TYPE_G, 3013, 15, _ClientNo);
}
// 初始化
private void Form1_Load(object sender, EventArgs e)
{
ShowMsgBox(HncApi.HNC_NetInit(GetLocalIpAddr(), localPort) == 0 ? true : false, "Initializing ");
AddCombox();
abbScanner(); // ABB 扫描
}
//public Int32 index = 0;
//// 获取报警信息
//private void GetAlarmInfo(ref Int32 AlarmNum, ref Int32 AlarmNo, ref string[] errText, Int16 clientNo)
//{
// Int32 alarmNum = 0; //报警数目
// Int32 alarmNo = 0; // 报警号
// Int32 ret = 0;
// // 获取报警数目
// ret = HncApi.HNC_AlarmGetNum((Int32)AlarmType.ALARM_TYPE_ALL, (Int32)AlarmLevel.ALARM_ERR, ref alarmNum, ActiveClientNo);
// if (ret != 0)
// {
// for (int i = 0; i < alarmCount; i++)
// {
// string[] items = new string[4];
// items[0] = "No index";
// items[1] = "No AlarmNo";
// items[2] = "No ErrorText";
// items[3] = DateTime.Now.ToString();
// ListViewItem item = new ListViewItem(items);
// this.AlarmlistView.Items.Add(item);
// }
// return;
// }
// // 获取报警类型 注意每一个报警对应的数据不同
// int index = 0;
// for (int i = 0; i < alarmNum; i++)
// {
// ret = HncApi.HNC_AlarmGetData((Int32)AlarmType.ALARM_TYPE_ALL, (Int32)AlarmLevel.ALARM_ERR, i, ref alarmNo, ref errText, ActiveClientNo);
// if (ret != 0)
// {
// //
// }
// index++;
// }
//}
// 位移单位转换
private void GetAxisStrInfo(int count, Int32[] AxisId, Int32[] axisValue, ref string[] AxisValueInfo)
{
Int32 ret = 0;
Int32 lax = 0;
Int32 axistype = 0;
Int32 metric = 0;
Int32 unit = 100000;
Int32 diameter = 0;
for (int i = 0; i < count; i++)
{
ret = HncApi.HNC_ChannelGetValue((int)HncChannel.HNC_CHAN_LAX, mch, AxisId[i], ref lax, ActiveClientNo);
// 直半径处理
ret = HncApi.HNC_ChannelGetValue((int)HncChannel.HNC_CHAN_DIAMETER, mch, 0, ref diameter, ActiveClientNo);
if (0 == lax && 1 == diameter)
{
axisValue[i] *= 2;
}
ret = HncApi.HNC_AxisGetValue((int)HncAxis.HNC_AXIS_TYPE, lax, ref axistype, ActiveClientNo);
if (axistype == 1)//直线轴
{
ret = HncApi.HNC_SystemGetValue((int)HncSystem.HNC_SYS_MOVE_UNIT, ref unit, ActiveClientNo);
ret = HncApi.HNC_SystemGetValue((int)HncSystem.HNC_SYS_METRIC_DISP, ref metric, ActiveClientNo);
if (0 == metric) // 英制
{
unit = (Int32)(unit * 25.4);
}
}
else
{
ret = HncApi.HNC_SystemGetValue((int)HncSystem.HNC_SYS_TURN_UNIT, ref unit, ActiveClientNo);
}
if (Math.Abs(unit) - 0.00001 <= 0.0) //除零保护
{
AxisValueInfo[i] = "0";
}
else
{
AxisValueInfo[i] = ((double)axisValue[i] / unit).ToString("F4"); // 实际输出的轴的位置 单位换算
}
if (axistype == 1)
{
if (0 == metric) // 英制
{
AxisValueInfo[i] += " inch";
}
else
{
AxisValueInfo[i] += " mm";
}
}
else
{
AxisValueInfo[i] += " D";
}
}
}
public void getclientnum(int num) //num 表示华中的第几台设备
{
UInt16 ret = HncApi.HNC_NetIsConnect(CGlbFunc.clientNo[num + 1]);
if (ret == 0)
{
clientno = CGlbFunc.clientNo[num + 1];
}
}
//历史报警数目
public void GetHisAlarmNum()
{
Int32 ret = HncApi.HNC_AlarmGetHistoryNum(ref hisAlarmNum, HNCCollector.ActiveClientNo);
if (ret != 0)
{
MessageBox.Show("failing to get the history alarmNum!");
}
}
public Int32 HNC_NetGetSDKVer(ref String dllPlusVer)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCNET.VERSION_LEN);
ret = HncApi.HNC_NetGetSDKVer(ptr);
dllPlusVer = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ChannelGetValue(Int32 type, Int32 ch, Int32 index, ref Double value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.doubleSize);
ret = HncApi.HNC_ChannelGetValue(type, ch, index, ptr, _ClientNo);
value = (Double)Marshal.PtrToStructure(ptr, typeof(Double));
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_SystemSetValue(Int32 type, String value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCSYS.MAX_SYS_STR_LEN);
ptr = Marshal.StringToCoTaskMemAnsi(value);
ret = HncApi.HNC_SystemSetValue(type, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_SystemGetValue(Int32 type, ref String value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCSYS.MAX_SYS_STR_LEN);
ret = HncApi.HNC_SystemGetValue(type, ptr, _ClientNo);
value = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_VarSetValue(Int32 type, Int32 no, Int32 index, Double value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.doubleSize);
Marshal.StructureToPtr(value, ptr, true);
ret = HncApi.HNC_VarSetValue(type, no, index, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ParamanSetItem(Int32 fileNo, Int32 subNo, Int32 index, Double value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(SParamValue)));
Marshal.StructureToPtr(value, ptr, true);
ret = HncApi.HNC_ParamanSetItem(fileNo, subNo, index, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ParamanGetFileName(Int32 fileNo, ref String buf)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCDATADEF.PARAMAN_LIB_TITLE_SIZE);
ret = HncApi.HNC_ParamanGetFileName(fileNo, ptr, _ClientNo);
buf = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ParamanGetParaProp(Int32 filetype, Int32 subid, Int32 index, Byte prop_type, ref String prop_value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.PAR_PROP_DATA_LEN);
ret = HncApi.HNC_ParamanGetParaProp(filetype, subid, index, prop_type, ptr, _ClientNo);
prop_value = Marshal.PtrToStringAnsi((IntPtr)(ptr.ToInt32() + HncApi.intSize));
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_CrdsSetValue(Int32 type, Int32 ax, Int32 value, Int32 ch, Int32 crds)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.intSize);
Marshal.WriteInt32(ptr, value);
ret = HncApi.HNC_CrdsSetValue(type, ax, ptr, ch, crds, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_CrdsSetValue(Int32 type, Int32 ax, Double value, Int32 ch, Int32 crds)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.doubleSize);
Marshal.StructureToPtr(value, ptr, true);
ret = HncApi.HNC_CrdsSetValue(type, ax, ptr, ch, crds, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_AxisGetValue(Int32 type, Int32 ax, ref String value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCAXIS.MOTOR_TYPE_LEN);
ret = HncApi.HNC_AxisGetValue(type, ax, ptr, _ClientNo);
value = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_RegSetValue(Int32 type, Int32 index, Byte value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.byteSize);
Marshal.WriteByte(ptr, value);
ret = HncApi.HNC_RegSetValue(type, index, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_RegGetValue(Int32 type, Int32 index, ref Int16 value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.shortSize);
ret = HncApi.HNC_RegGetValue(type, index, ptr, _ClientNo);
value = Marshal.ReadInt16(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_SystemSetValue(Int32 type, Int32 value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.intSize);
Marshal.WriteInt32(ptr, value);
ret = HncApi.HNC_SystemSetValue(type, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_EventPut(SEventElement ev)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(SEventElement)));
Marshal.StructureToPtr(ev, ptr, true);
ret = HncApi.HNC_EventPut(ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ParamanGetParaPropEx(Int32 parmId, Byte propType, ref String propValue)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.PAR_PROP_DATA_LEN);
ret = HncApi.HNC_ParamanGetParaPropEx(parmId, propType, ptr, _ClientNo);
propValue = Marshal.PtrToStringAnsi((IntPtr)(ptr.ToInt32() + HncApi.intSize));
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ToolSetToolPara(Int32 toolNo, Int32 index, Int32 value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.intSize);
Marshal.WriteInt32(ptr, value);
ret = HncApi.HNC_ToolSetToolPara(toolNo, index, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_AlarmGetData(Int32 type, Int32 level, Int32 index, ref Int32 alarmNo, ref String alarmText)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCALARM.ALARM_TXT_LEN);
ret = HncApi.HNC_AlarmGetData(type, level, index, ref alarmNo, ptr, _ClientNo);
alarmText = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ToolSetToolPara(Int32 toolNo, Int32 index, Double value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.doubleSize);
Marshal.StructureToPtr(value, ptr, true);
ret = HncApi.HNC_ToolSetToolPara(toolNo, index, ptr, _ClientNo);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ParamanGetStr(Int32 fileNo, Int32 subNo, Int32 index, ref String value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.PAR_PROP_DATA_LEN);
ret = HncApi.HNC_ParamanGetStr(fileNo, subNo, index, ptr, _ClientNo);
value = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_VarGetValue(Int32 type, Int32 no, Int32 index, ref Int32 value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.intSize);
ret = HncApi.HNC_VarGetValue(type, no, index, ptr, _ClientNo);
value = Marshal.ReadInt32(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_ToolGetToolPara(Int32 toolNo, Int32 index, ref Double value)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HncApi.doubleSize);
ret = HncApi.HNC_ToolGetToolPara(toolNo, index, ptr, _ClientNo);
value = (Double)Marshal.PtrToStructure(ptr, typeof(Double));
Marshal.FreeHGlobal(ptr);
return(ret);
}
public Int32 HNC_FprogGetProgPathByIdx(Int32 pindex, ref String progName)
{
Int32 ret = -1;
IntPtr ptr = Marshal.AllocHGlobal(HNCFPROGMAN.PROG_PATH_SIZE);
ret = HncApi.HNC_FprogGetProgPathByIdx(pindex, ptr, _ClientNo);
progName = Marshal.PtrToStringAnsi(ptr);
Marshal.FreeHGlobal(ptr);
return(ret);
}
