public static void checkInputStatus()
{
ulong axisStatus;
while (started)
{
Thread.Sleep(100);
if (mServoIo.check_flag != 0)
{
return;
}
//X轴
axisStatus = RFIDControl.dmc_axis_io_status(0, 0);//读取轴的状态
mServoIo.servo1_alm = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ALM);
mServoIo.servo1_el_b = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B);
mServoIo.servo1_el_f = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F);
mServoIo.servo1_emg = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EMG);
mServoIo.servo1_org = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG);
mServoIo.servo1_ez = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EZ);
mServoIo.servo1_inp = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_INP);
mServoIo.servo1_rdy = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_RDY);
mServoIo.servo1_home_flag = mAxis[0].m_home_flag; //原点状态
//Y轴
axisStatus = RFIDControl.dmc_axis_io_status(0, 1); //读取轴的状态
mServoIo.servo2_alm = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ALM);
mServoIo.servo2_el_b = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B);
mServoIo.servo2_el_f = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F);
mServoIo.servo2_emg = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EMG);
mServoIo.servo2_org = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG);
mServoIo.servo2_ez = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EZ);
mServoIo.servo2_inp = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_INP);
mServoIo.servo2_rdy = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_RDY);
mServoIo.servo2_home_flag = mAxis[1].m_home_flag;//原点状态
//not exist z axis
//Z轴
//各个轴的运动状态
mAxis[0].m_run_status = (ushort)RFIDControl.dmc_check_done(mAxis[0].m_card_num, mAxis[0].m_axis_num);
mAxis[1].m_run_status = (ushort)RFIDControl.dmc_check_done(mAxis[1].m_card_num, mAxis[1].m_axis_num);
mAxis[0].m_positon = RFIDControl.dmc_get_encoder(mAxis[0].m_card_num, mAxis[0].m_axis_num);
mAxis[1].m_positon = RFIDControl.dmc_get_encoder(mAxis[1].m_card_num, mAxis[1].m_axis_num);
mInpterplaType.run_flag = RFIDControl.dmc_check_done_multicoor(mInpterplaType.card_num, mInpterplaType.car_num);
if ((RFIDControl.dmc_read_inbit(0, 0) == LOW) && (key_emg_press_flag == false))
{
key_emg_press_flag = true;
emgStop();
}
else
{
key_emg_press_flag = false;
}
}
}
private void sendPos()
{
bool b = false;
bool b_break_able = false; //第一次进入不退出
long microSecond = 0;
if (RFIDMove.goHomeFlag != 0)
{
b = true;
}
int period = 10;
Thread.Sleep(period);
while (true)
{
//进入临界区
//获取位置信息 通过网络发送位置信息
lock (this)
{
if (enqueable)
{
xNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num);
yNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num);
xNowPosShow = xNowPos / RFIDMove.line_coefficient / 10; //mm
yNowPosShow = yNowPos / RFIDMove.cicle_coefficient / 10; //mm
microSecond = CurrentMillis.MicroSeconds;
posQueue.Enqueue(new DMCPosDto(xNowPosShow, yNowPosShow, microSecond));
}
}
//离开临界区
Thread.Sleep(10);
if (b_break_able) //第一次循环必须读取一个位置信息，以便发送到目标IP
{
if (b)
{
if (RFIDMove.goHomeFlag == 0)
{
break;
}
}
else if ((RFIDMove.mAxis[0].m_run_status != RFIDMove.RUN) && (RFIDMove.mAxis[1].m_run_status != RFIDMove.RUN))
{
RFIDControl.dmc_set_position(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num, xNowPos / 10);
RFIDControl.dmc_set_position(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num, yNowPos / 10);
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[0], xPos, RFIDMove.ABS_MODE);
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[1], yPos, RFIDMove.ABS_MODE);
Thread.Sleep(500);
break;
}
}
else
{
b_break_able = true;
}
}
lock (this)
{
if (enqueable)
{
xNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num);
yNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num);
xNowPosShow = xNowPos / RFIDMove.line_coefficient / 10; //mm
yNowPosShow = yNowPos / RFIDMove.cicle_coefficient / 10; //mm
microSecond = CurrentMillis.MicroSeconds;
posQueue.Enqueue(new DMCPosDto(xNowPosShow, yNowPosShow, microSecond));
}
}
RFIDControl.dmc_write_sevon_pin(0, 0, 1);
RFIDControl.dmc_write_sevon_pin(0, 1, 1);
rotatingEnabled = true;
horizontalEnabled = true;
}