private void InitAxises()
{
if (!VsmdController.GetVsmdController().IsInitialized())
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
DisableAllControls();
return;
}
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
txtCidX.Text = ax.Cid.ToString();
txtPosX.Text = ax.curPos.ToString();
txtSpeedX.Text = ax.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdX.Text = ax.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
txtCidY.Text = ay.Cid.ToString();
txtPosY.Text = ay.curPos.ToString();
txtSpeedY.Text = ay.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdY.Text = ay.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
txtCidZ.Text = az.Cid.ToString();
txtPosZ.Text = az.curPos.ToString();
txtSpeedZ.Text = az.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdZ.Text = az.GetAttributeValue(VsmdAttribute.Zsd).ToString();
}
private async void GoHome()
{
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
var speedX = ax.GetAttributeValue(VsmdAttribute.Spd);
var zsdX = ax.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
var speedY = ay.GetAttributeValue(VsmdAttribute.Spd);
var zsdY = ay.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
var speedZ = az.GetAttributeValue(VsmdAttribute.Spd);
var zsdZ = az.GetAttributeValue(VsmdAttribute.Zsd);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Z, zsdZ);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Z);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.X, zsdX);
VsmdController.GetVsmdController().ZeroStart(VsmdAxis.X);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Y, zsdY);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Y);
//set positive limit register
ax.cfgPsr(3);
ay.cfgPsr(3);
az.cfgPsr(3);
}
public void Dispose()
{
if (m_vsmd != null)
{
m_axisX = null;
m_axisY = null;
m_axisZ = null;
m_vsmd.closeSerialPort();
m_initialized = false;
}
}
public VsmdInfoSync GetAxis(VsmdAxis axis)
{
VsmdInfoSync ret = null;
switch (axis)
{
case VsmdAxis.X:
ret = m_axisX;
break;
case VsmdAxis.Y:
ret = m_axisY;
break;
case VsmdAxis.Z:
ret = m_axisZ;
break;
default:
break;
}
return(ret);
}
public async Task <InitResult> Init(string port, int baudrate)
{
if (m_initialized && port == m_port && baudrate == m_baudrate)
{
return(new InitResult()
{
Message = "设备连接成功!", IsSuccess = true
});
}
m_port = port;
m_baudrate = baudrate;
if (m_initialized)
{
m_vsmd.closeSerialPort();
}
m_vsmd = new VsmdSync();
bool ret = m_vsmd.openSerialPort(port, baudrate);
if (!ret)
{
return(new InitResult()
{
Message = "打开串口失败!", IsSuccess = false
});
}
m_vsmd.OutputCommandLog = GeneralSettings.GetInstance().OutputCommandLog;
m_vsmd.OutputStsCommandLog = GeneralSettings.GetInstance().OutputStsCommandLog;
List <string> errAxis = new List <string>();
m_axisX = m_vsmd.createVsmdInfo(1);
await m_axisX.CheckAxisIsOnline();
if (m_axisX.isOnline)
{
await m_axisX.enable();
m_axisX.flgAutoUpdate = true;
await m_axisX.cfg();
}
else
{
errAxis.Add("X");
}
m_axisY = m_vsmd.createVsmdInfo(2);
await m_axisY.CheckAxisIsOnline();
if (m_axisY.isOnline)
{
await m_axisY.enable();
m_axisY.flgAutoUpdate = true;
await m_axisY.cfg();
}
else
{
errAxis.Add("Y");
}
m_axisZ = m_vsmd.createVsmdInfo(3);
await m_axisZ.CheckAxisIsOnline();
if (m_axisY.isOnline)
{
await m_axisZ.enable();
m_axisZ.flgAutoUpdate = true;
m_axisZ.SetMaxWaitTimeForMove(3);
await m_axisZ.cfg();
}
else
{
errAxis.Add("Z");
}
if (errAxis.Count <= 0)
{
m_initialized = true;
}
string errMsg = "";
if (errAxis.Count > 0)
{
errMsg = "设备 ";
for (int i = 0; i < errAxis.Count; i++)
{
if (i > 0)
{
errMsg += ", ";
}
errMsg += errAxis[i];
}
errMsg += "连接失败！";
}
if (!m_initialized)
{
m_vsmd.closeSerialPort();
m_vsmd = null;
}
return(new InitResult()
{
IsSuccess = m_initialized, Message = errMsg
});
}
