public int BuffAbsArc2CA(int axis1, int axis2, double center1, double center2, double angle, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "BuffAbsArc2CA");
_CheckAxisEnable(axis2, "BuffAbsArc2CA");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCa(axis1, axis2, center1, center2, angle, 1.0, HTM.MotionMode.AS | HTM.MotionMode.BUF, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
public int RelArc2CE_P(int axis1, int axis2, double center1, double center2, double pos1, double pos2, bool isPositive, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "AbsArc2CE_P");
_CheckAxisEnable(axis2, "AbsArc2CE_P");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCe(axis1, axis2, center1, center2, pos1, pos2, isPositive ? 1 : 0, 1.0, HTM.MotionMode.RS, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
bool HasAio()
{
bool isAioExisted = false;
HTM.IO_INFO ioInfo;
//int? ioMaxCount = dev.GetInitParamValue("最大IO数量") as int?;
//if (null == ioMaxCount)
// throw new Exception("HTM控制器初始化参数\"最大IO数量\"未设置！ ");
int ioCount = HTM.GetIoNum();
for (int i = 0; i < ioCount; i++)
{
int opt = HTM.GetIoInfo(i, out ioInfo);
if (0 == opt)
{
if ((int)HTM.IoCardType.AIO_HTNET == ioInfo.cardType)
{
isAioExisted = true;
break;
}
}
}
return(isAioExisted);
}
public int SetTrigMode(int encChn, JFCompareTrigMode mode)
{
if (!IsOpen)
{
return((int)ErrorDef.NotOpen);
}
if (encChn < 0 || encChn >= EncoderChannels)
{
throw new ArgumentOutOfRangeException("SetTrigMode(encChn ,...) fialed By:encChn = " + encChn + " is outof range:0~" + (EncoderChannels - 1));
}
int err = 0;
if (mode == trigModes[encChn])
{
return((int)ErrorDef.Success);
}
int ret = (int)ErrorDef.ParamError;
switch (mode)
{
case JFCompareTrigMode.disable:
err = HTM.SetLinTrigEnable(devIndexes[devIndexes[encChn]], 0);
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
if (trigType == TriggerType.PosTrig)
{
for (int i = 0; i < trigTables[encChn].Length; i++) //HTM点表触发只支持2个点
{
err = HTM.SetPtTrigEnable(devIndexes[encChn], i, 0);
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
}
ret = (int)ErrorDef.Success;
trigModes[encChn] = mode;
break;
case JFCompareTrigMode.liner:
err = HTM.SetLinTrigEnable(devIndexes[encChn], 1);
if (err != 0)
{
ret = (int)ErrorDef.InvokeFailed;
break;
}
if (trigType == TriggerType.PosTrig)
{
for (int i = 0; i < trigTables[encChn].Length; i++) //HTM点表触发只支持2个点
{
err = HTM.SetPtTrigEnable(devIndexes[encChn], i, 0);
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
}
ret = (int)ErrorDef.Success;
trigModes[encChn] = mode;
break;
case JFCompareTrigMode.table:
err = HTM.SetLinTrigEnable(devIndexes[encChn], 0); //先禁用线性触发
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
//if (trigType == TriggerType.PosTrig)
{
for (int i = 0; i < trigTables[encChn].Length; i++) //HTM点表触发只支持2个点
{
err = HTM.SetPtTrigEnable(devIndexes[encChn], i, 1);
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
}
ret = (int)ErrorDef.Success;
trigModes[encChn] = mode;
break;
default:
break;
}
return(ret);
}
static HtmDllManager()
{
HTM.GetInitPara(out _initParam);
}
public int GetFbkPos(int axis, out double fbkPos)
{
_CheckAxisEnable(axis, "GetFbkPos");
fbkPos = HTM.GetFbkPos(axis);
return((int)ErrorDef.Success);
}
public int GetPulseFactor(int axis, out double fact)
{
_CheckAxisEnable(axis, "GetPulseFactor");
fact = HTM.GetPulseFactor(axis);
return((int)ErrorDef.Success);
}
public bool IsORG(int axis)
{
_CheckAxisEnable(axis, "IsORG");
return(HTM.GetMotionIO(axis, HTM.MotionIO.ORG) == 1);
}
public bool IsSNL(int axis)
{
_CheckAxisEnable(axis, "IsSNL");
return(HTM.GetMotionIO(axis, HTM.MotionIO.SMEL) == 1);
}
public int OpenDevice()
{
if (!IsInitOK)
{
return((int)ErrorDef.InitFailedWhenOpenCard);
}
if (IsDeviceOpen)
{
return((int)ErrorDef.Success);
}
HTM.INIT_PARA initParam = new HTM.INIT_PARA();
initParam.para_file = config_file;
initParam.use_aps_card = (byte)(Array.IndexOf(yesnoRange, use_aps_card) == 0 ? 1 : 0);
initParam.use_htnet_card = (byte)(Array.IndexOf(yesnoRange, use_htnet_card) == 0 ? 1 : 0);
initParam.offline_mode = (byte)(Array.IndexOf(openModeRange, offline_mode));
initParam.max_axis_num = (ushort)max_axis_num;
initParam.max_io_num = (ushort)max_io_num;
initParam.max_dev_num = (ushort)max_dev_num;
initParam.max_module_num = (ushort)max_module_num;
initParam.language = 0;
lock (HtmDllManager.AsynLocker)
{
if (0 != HTM.Init(ref initParam))
{
HTM.Discard();
int nErr = 0;// HTM.Init(ref initParam);
for (int i = 0; i < 3; i++)
{
System.Threading.Thread.Sleep(500);
nErr = HTM.Init(ref initParam);
if (0 == nErr)
{
break;
}
}
if (nErr < 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
HtmDllManager.OpendDevCount++;
IsDeviceOpen = true;
}
if (HasAxis())
{
McCount = 1;
mc.Open();
}
else
{
McCount = 0;
}
if (HasDio())
{
DioCount = 1;
dio.Open();
}
else
{
DioCount = 0;
}
if (HasAio())
{
AioCount = 1;
aio.Open();
}
else
{
AioCount = 0;
}
//if (HasCompareTrigger())
//{
// cmpTrig.Open();
// CompareTriggerCount = 1;
//}
//else
// CompareTriggerCount = 0;
GenCompareTrigs();
return((int)ErrorDef.Success);
}
public bool IsINP(int axis)
{
_CheckAxisEnable(axis, "IsINP");
return(HTM.GetINP(axis) == 1);
}
public bool IsMDN(int axis)
{
_CheckAxisEnable(axis, "IsMDN");
return(HTM.OnceDone(axis) == 1);
}
public bool IsSVO(int axis)
{
_CheckAxisEnable(axis, "IsSVO");
return(HTM.GetSVON(axis) == 1);//GetMotionIO(axis, MotionIO.SVON) == 1;
}
public bool IsALM(int axis)
{
_CheckAxisEnable(axis, "IsAlarm");
return(HTM.GetAlarm(axis) == 1);//.GetMotionIO(axis, MotionIO.ALM) == 1;
}
internal void Open()
{
if (IsOpen)
{
return;
}
//devIndexes.Clear();
trigTables.Clear();
trigLiners.Clear();
trigModes.Clear();
//trigEnables.Clear();
int err, i, j;
//int devCount = HTM.GetDeviceNum();
//for (i = 0; i < devCount; i++)
//{
// HTM.DEVICE_INFO devInfo;
// if (0 == HTM.GetDeviceInfo(i, out devInfo))
// if (devInfo.devType == (byte)HTM.DeviceType.POSTRIG || devInfo.devType == (int)HTM.DeviceType.HTDHVD)
// {
// devIndexes.Add(i);
// }
//}
//if (devIndexes.Count == 0)
// return;
for (i = 0; i < TrigChannels; i++)
{
trigTables.Add(new double[2] {
0, 0
});
if (trigType == TriggerType.PosTrig) //目前只有位置触发板卡支持点表模式
{
for (j = 0; j < 2; j++)
{
err = HTM.SetPtTrigPos(devIndexes[i], j, trigTables[i][j]);
if (err != 0)
{
throw new Exception(string.Format("HtmCompareTrigger.Open() failed By HTM.SetPtTrigPos(devIndexes = {0},ptIndex = {1},0) return Errorcode = {2}", devIndexes[i], j, err));
}
}
for (j = 0; j < 2; j++)
{
err = HTM.SetPtTrigEnable(devIndexes[i], j, 0);
if (0 != err)
{
throw new Exception(string.Format("HtmCompareTrigger.Open() failed By HTM.SetPtTrigEnable(devIndexes = {0},j = {1},0) return Errorcode = {2}", devIndexes[i], j, err));
}
}
}
HTM.TRIG_LINEAR tl = new HTM.TRIG_LINEAR()
{
startPos = 0, endPos = 0, interval = 1
};
err = HTM.SetLinTrigPos(devIndexes[i], ref tl);
//if (0 != err)
// throw new Exception(string.Format("HtmCompareTrigger.Open() failed By HTM.SetLinTrigPos(devIndexes = {0},TRIG_LINEAR =\"0,0,0\") return Errorcode = {1}", devIndexes[i], err));
err = HTM.SetLinTrigEnable(devIndexes[i], 0);
//if (0 != err)
// throw new Exception(string.Format("HtmCompareTrigger.Open() failed By HTM.SetLinTrigEnable(devIndexes = {0},0) return Errorcode = {1}", devIndexes[i], err));
trigModes.Add(JFCompareTrigMode.disable);
trigLiners.Add(new JFCompareTrigLinerParam()
{
start = 0, interval = 0, repeats = 0
});
//trigEnables.Add(false);
}
IsOpen = true;
}
/// <summary>
/// 打开设备
/// </summary>
public int OpenDevice()
{
lock (asynLocker)
{
if (!IsInitOK)
{
return((int)ErrorDef.InitFailedWhenOpen);
}
if (IsDeviceOpen)
{
return((int)ErrorDef.Success);
}
HTM.INIT_PARA initParam = new HTM.INIT_PARA();
initParam.para_file = config_file;
initParam.use_aps_card = (byte)(Array.IndexOf(yesnoRange, use_aps_card) == 0?1:0);
initParam.use_htnet_card = (byte)(Array.IndexOf(yesnoRange, use_htnet_card) == 0 ? 1 : 0);
initParam.offline_mode = (byte)(Array.IndexOf(openModeRange, offline_mode));
initParam.max_axis_num = (ushort)max_axis_num;
initParam.max_io_num = (ushort)max_io_num;
initParam.max_dev_num = (ushort)max_dev_num;
initParam.max_module_num = (ushort)max_module_num;
initParam.language = 0;
int nErr = 0;
lock (HtmDllManager.AsynLocker)
{
if (HtmDllManager.OpendDevCount == 0)
{
HTM.Discard();
nErr = HTM.Init(ref initParam);
if (nErr < 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
HtmDllManager.OpendDevCount++;//HtmDllManager.LightTrigOpend++;
IsDeviceOpen = true;
}
nErr = HTM.SetLightTrigSrc((int)devIndex, 0); //关闭所有通道
if (0 != nErr)
{
throw new Exception("Turn off all channels failed when open HtmLightTrig devIndex = " + devIndex);
}
for (int i = 0; i < TrigChannelCount; i++)
{
srcChannels[i] = 0;
channelEnables[i] = false;
}
nErr = HTM.SetLightTrigTime((int)devIndex, 0);
if (0 != nErr)
{
throw new Exception("SetLightTrigTime(devIndex, 0) failed when open HtmLightTrig devIndex = " + devIndex);
}
trigDuration = 0;
IsDeviceOpen = true;
return((int)ErrorDef.Success);
}
}
public bool IsNL(int axis)
{
_CheckAxisEnable(axis, "IsNL");
return(HTM.GetMEL(axis) == 1);
}
