public void SetOutputPoint(IO_OUT_Type Io, IOValue Value)
{
if (m_ControlerBoard != null)
{
m_ControlerBoard.SendCommandToSetControlBoardOutput(Io, Value);
}
}
//设置单片机控制板控制的按键灯
public void SetKeyLedByKey(Board board, ARM_InputPoint Key, LED_State LedState)
{
IOValue Value = LedState == (LED_State.LED_ON) ? IOValue.IOValueHigh : IOValue.IOValueLow;
ARM_OutputPoint KeyLed = ARM_OutputPoint.IO_OUT_LedKeyRun;
switch (Key)
{
case ARM_InputPoint.IO_IN_KeyRun:
KeyLed = ARM_OutputPoint.IO_OUT_LedKeyRun;
break;
case ARM_InputPoint.IO_IN_KeyPause:
KeyLed = ARM_OutputPoint.IO_OUT_LedKeyPause;
break;
case ARM_InputPoint.IO_IN_KeyStop:
KeyLed = ARM_OutputPoint.IO_OUT_LedKeyStop;
break;
case ARM_InputPoint.IO_IN_KeyReset:
KeyLed = ARM_OutputPoint.IO_OUT_LedKeyReset;
break;
default:
break;
}
SetArmControlBoardIo(board, KeyLed, Value);
}
/// <summary>
/// Gets the <see cref="IOValue"/> associated with the given <paramref name="valueID"/>.
/// </summary>
/// <param name="source"></param>
/// <param name="valueID">The ID corresponding to the <see cref="IOValue"/> to retrieve.</param>
/// <returns>The <see cref="IOValue"/> associated with the given <paramref name="valueID"/>.</returns>
public static IOValue GetIOValue(this IOValue source, int valueID)
{
if (Enum.GetValues(typeof(IOValue)).OfType <int>().Contains(valueID))
{
return((IOValue)valueID);
}
return(IOValue.UNKNOWN);
}
public void SetRobotIo(Robot_Out Io, IOValue Value)
{
if (m_IsConnected)
{
AxisNum axis = 0;
ushort channel = 0;
GetAxisAndChannelByRobotOut(Io, ref axis, ref channel);
m_MotionControler.SetMotionIo(axis, channel, (byte)Value);
}
}
//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);
}
public IOValue GetRobotIo(Robot_In Io)
{
IOValue Value = IOValue.IOValueLow;
if (m_IsConnected)
{
AxisNum axis = 0;
ushort channel = 0;
GetAxisAndChannelByRobotIn(Io, ref axis, ref channel);
Value = (IOValue)m_MotionControler.GetMotionIo(axis, channel);
}
return(Value);
}
public void SendCommandToSetControlBoardOutput(IO_OUT_Type Io, IOValue Value)
{
int BoardIndex = 0;
int IoOutIndex = 0;
GetIoOutBoardAndAxisIndexByIO_OUT_Type(Io, ref BoardIndex, ref IoOutIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
uint outputBuffer = 0; //输出口数据
uint outputEnable = 0; //输出口使能
if (Value == IOValue.High)
{
outputBuffer |= ((uint)1 << IoOutIndex);
}
outputEnable |= ((uint)1 << IoOutIndex);
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)ControlerCommandCode.SetOutput, ref temp);
const int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex + 0] = (byte)(outputEnable & 0xffU);
temp[DataIndex + 1] = (byte)((outputEnable >> 8) & 0xffU);
temp[DataIndex + 2] = (byte)((outputEnable >> 16) & 0xffU);
temp[DataIndex + 3] = (byte)((outputEnable >> 24) & 0xffU);
temp[DataIndex + 4] = (byte)(outputBuffer & 0xffU);
temp[DataIndex + 5] = (byte)((outputBuffer >> 8) & 0xffU);
temp[DataIndex + 6] = (byte)((outputBuffer >> 16) & 0xffU);
temp[DataIndex + 7] = (byte)((outputBuffer >> 24) & 0xffU);
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, ControlerCommandCode.SetOutput, ref temp);
}
public bool CheckGraspAndPutIo(GraspAndPutType type, IOValue value)
{
bool Re = false;
if (m_IsConnected)
{
if (type == GraspAndPutType.Device)
{
Re = (GetRobotIo(Robot_In.IO_IN_GraspDeviceNozzleCheck) == value);
}
else
{
Re = ((GetRobotIo(Robot_In.IO_IN_GraspSalverNozzleCheck1) == value) &&
(GetRobotIo(Robot_In.IO_IN_GraspSalverNozzleCheck2) == value) &&
(GetRobotIo(Robot_In.IO_IN_GraspSalverNozzleCheck3) == value) &&
(GetRobotIo(Robot_In.IO_IN_GraspSalverNozzleCheck4) == value));
}
}
return(Re);
}
public void SetRobotIo(Robot_IO_OUT Io, IOValue Value)
{
bool State = (Value == IOValue.IOValueLow ? true : false);
m_Robot.SetOutputState((int)Io, State);
}
/// <summary>
/// Gets the name of the IO value.
/// </summary>
/// <param name="source"></param>
/// <returns>The name of the IO value.</returns>
public static string GetName(this IOValue source)
{
return(source.ToString());
}
/// <summary>
/// Gets the ID of the IO value.
/// </summary>
/// <param name="source"></param>
/// <returns>The ID of the IO value</returns>
public static int GetID(this IOValue source)
{
return((int)source);
}
/// <summary>
/// Gets the name of the IO value.
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
public static string GetName(this IOValue value)
{
return(value.ToString());
}
/// <summary>
/// Gets the ID of the IO value.
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
public static int GetID(this IOValue value)
{
return((int)value);
}
/**
* Sets the digital value (high or low) to the provided IO line of this
* XBee device.
*
* @param ioLine The IO line to set its value.
* @param ioValue The IOValue to set to the IO line ({@code HIGH} or
* {@code LOW}).
*
* @throws InterfaceNotOpenException if this device connection is not open.
* @throws ArgumentNullException if {@code ioLine == null} or
* if {@code ioValue == null}.
* @throws TimeoutException if there is a timeout sending the set DIO
* command.
* @throws XBeeException if there is any other XBee related exception.
*
* @see #getIOConfiguration(IOLine)
* @see #setIOConfiguration(IOLine, IOMode)
* @see com.digi.xbee.api.io.IOLine
* @see com.digi.xbee.api.io.IOValue
* @see com.digi.xbee.api.io.IOMode#DIGITAL_OUT_HIGH
* @see com.digi.xbee.api.io.IOMode#DIGITAL_OUT_LOW
*/
public void setDIOValue(IOLine ioLine, IOValue ioValue)/*throws TimeoutException, XBeeException */{
// Check IO line.
if (ioLine == null)
throw new ArgumentNullException("IO line cannot be null.");
// Check IO value.
if (ioValue == null)
throw new ArgumentNullException("IO value cannot be null.");
// Check connection.
if (!connectionInterface.SerialPort.IsOpen)
throw new InterfaceNotOpenException();
SetParameter(ioLine.GetConfigurationATCommand(), new byte[] { (byte)ioValue.GetID() });
}
public void SetInputPointStateBackups(IO_IN_Type Point, IOValue Value)
{
m_InputPointStateBackups[(int)Point] = Value;
}
