/// <summary>
/// 移动 -- 相对位置 （以当前步数为基础）
/// </summary>
/// <param name="axis">电机轴</param>
/// <param name="steps">步数</param>
/// <returns></returns>
public bool MoveRef(Axis axis, int steps)
{
int indexBoard = (int)axis / MAX_AXIS_CHANNEL; //板卡索引
int indexAxis = (int)axis % MAX_AXIS_CHANNEL; //板卡内轴号索引
if (!IsBoardConnected((Board)indexBoard))
{
return(false);
}
Message.MakeSendArrayByCode((byte)ArmCommandCode.SetAxisStepsRef, ref m_SendMeas);
int DataIndex = Message.MessageCommandIndex + 1;
m_SendMeas[DataIndex] = (byte)indexAxis;
m_SendMeas[DataIndex + 1] = (byte)(steps & 0xffU);
m_SendMeas[DataIndex + 2] = (byte)((steps >> 8) & 0xffU);
m_SendMeas[DataIndex + 3] = (byte)((steps >> 16) & 0xffU);
m_SendMeas[DataIndex + 4] = (byte)((steps >> 24) & 0xffU);
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[indexBoard].ClientWrite(m_SendMeas);
return(true);
}
public static void ProcessTcpServerMessage()
{
if (m_MyTcpServer != null)
{
while (m_MyTcpServer.m_RecvMeasQueue.Count != 0)
{
TcpMeas TempMeas = m_MyTcpServer.m_RecvMeasQueue.Dequeue();
if (TempMeas != null && TempMeas.Client != null)
{
if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_PLC) // 处理和PLC之间的消息
{
if (TempMeas.MeasCode == (byte)Message.MessageCodePLC.GetCurStationState)
{
NetworkStream stream = TempMeas.Client.GetStream();
TempMeas.Param[7] = GetStationCurState(); //工作站运行状态
TempMeas.Param[8] = GetStationSalverState(); //物料盘的状态
TempMeas.Param[TempMeas.Param.Length - 2] = MyMath.CalculateSum(TempMeas.Param, TempMeas.Param.Length); //校验和
stream.Write(TempMeas.Param, 0, TempMeas.Param.Length);
}
}
else if (TempMeas.MeasType == TcpMeasType.MEAS_TYPE_MIS) //处理和MIS之间的消息
{
}
}
}
}
}
//设置单片机控制板的IO
public bool SetArmControlBoardIo(Board board, ARM_OutputPoint Io, IOValue Value)
{
if (!IsBoardConnected(board))
{
return(false);
}
int data1 = 8; //1~8输出口使能控制字节, 最大是0x80
int data2 = 16;
int data3 = 24;
int data4 = 32;
const int CommandIndex = Message.MessageCommandIndex;
Message.MakeSendArrayByCode((byte)ArmCommandCode.SetOutput, ref m_SendMeas);
//根据Type， Value 设置使能位和数据
int TempIo = (int)Io;
int ControlIndex = CommandIndex + 1;
byte ControlValue = 0;
byte IoData = 0;
if (TempIo <= data1)
{
ControlIndex = CommandIndex + 1;
ControlValue = (byte)(0x01 << (TempIo - 1));
IoData = (byte)(((byte)Value) << (TempIo - 1));
}
else if (TempIo > data1 && TempIo <= data2)
{
ControlIndex = CommandIndex + 2;
ControlValue = (byte)(0x01 << (TempIo - data1 - 1));
IoData = (byte)(((byte)Value) << (TempIo - data1 - 1));
}
else if (TempIo > data2 && TempIo <= data3)
{
ControlIndex = CommandIndex + 3;
ControlValue = (byte)(0x01 << (TempIo - data2 - 1));
IoData = (byte)(((byte)Value) << (TempIo - data2 - 1));
}
else if (TempIo > data3 && TempIo <= data4)
{
ControlIndex = CommandIndex + 4;
ControlValue = (byte)(0x01 << (TempIo - data3 - 1));
IoData = (byte)(((byte)Value) << (TempIo - data3 - 1));
}
m_SendMeas[ControlIndex] = ControlValue;
m_SendMeas[ControlIndex + 4] = IoData;
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[(int)board].ClientWrite(m_SendMeas);
return(true);
}
//给单片机发送电机轴相关的指令，axis 轴号， code命令
public bool SendCommandToArmWithAxis(Axis axis, ArmCommandCode Code)
{
int indexBoard = (int)axis / MAX_AXIS_CHANNEL; //板卡索引
int indexAxis = (int)axis % MAX_AXIS_CHANNEL; //板卡内轴号索引
if (!IsBoardConnected((Board)indexBoard))
{
return(false);
}
Message.MakeSendArrayByCode((byte)Code, ref m_SendMeas);
m_SendMeas[Message.MessageCommandIndex + 1] = (byte)indexAxis;
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[indexBoard].ClientWrite(m_SendMeas);
return(true);
}
/// <summary>
/// 设置电机轴速度参数
/// </summary>
/// <param name="axis">轴号</param>
/// <param name="velLow">初速度</param>
/// <param name="velHigh">运行速度</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <param name="Default">是否为默认值</param>
public bool SetSpeedParam(Axis axis, int velLow, int velHigh, int acc, int dec, bool Default)
{
int indexBoard = (int)axis / MAX_AXIS_CHANNEL; //板卡索引
int indexAxis = (int)axis % MAX_AXIS_CHANNEL; //板卡内轴号索引
if (!IsBoardConnected((Board)indexBoard))
{
return(false);
}
ArmCommandCode Code = Default ? ArmCommandCode.SetAxisParametersDefault : ArmCommandCode.SetAxisParameters;
Message.MakeSendArrayByCode((byte)Code, ref m_SendMeas);
int DataIndex = Message.MessageCommandIndex + 1;
m_SendMeas[DataIndex] = (byte)indexAxis;
m_SendMeas[DataIndex + 1] = (byte)(velLow & 0xffU);
m_SendMeas[DataIndex + 2] = (byte)((velLow >> 8) & 0xffU);
m_SendMeas[DataIndex + 3] = (byte)((velLow >> 16) & 0xffU);
m_SendMeas[DataIndex + 4] = (byte)((velLow >> 24) & 0xffU);
m_SendMeas[DataIndex + 5] = (byte)(velHigh & 0xffU);
m_SendMeas[DataIndex + 6] = (byte)((velHigh >> 8) & 0xffU);
m_SendMeas[DataIndex + 7] = (byte)((velHigh >> 16) & 0xffU);
m_SendMeas[DataIndex + 8] = (byte)((velHigh >> 24) & 0xffU);
m_SendMeas[DataIndex + 9] = (byte)(acc & 0xffU);
m_SendMeas[DataIndex + 10] = (byte)((acc >> 8) & 0xffU);
m_SendMeas[DataIndex + 11] = (byte)((acc >> 16) & 0xffU);
m_SendMeas[DataIndex + 12] = (byte)((acc >> 24) & 0xffU);
m_SendMeas[DataIndex + 13] = (byte)(dec & 0xffU);
m_SendMeas[DataIndex + 14] = (byte)((dec >> 8) & 0xffU);
m_SendMeas[DataIndex + 15] = (byte)((dec >> 16) & 0xffU);
m_SendMeas[DataIndex + 16] = (byte)((dec >> 24) & 0xffU);
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[indexBoard].ClientWrite(m_SendMeas);
return(true);
}