protected override bool ActionGenuine(out string errorInfo)
{
string doName = GetMethodInputValue("DO通道名称") as string;
bool enabled = (bool)GetMethodInputValue("DO状态");
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDoName(doName))
{
errorInfo = "参数项:\"DO通道名称\"的值:\"" + doName + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DO, doName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).SetDO(ci.ChannelIndex, enabled);
if (errCode != 0)
{
errorInfo = (enabled ? "打开" : "关闭") + "DO = " + doName + " 失败，" + (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string diName = GetInitParamValue("DI通道名称") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDiName(diName))
{
errorInfo = "DI通道名称:" + diName + " 在设备命名表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DI, diName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isTurnOn = false;
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetDI(ci.ChannelIndex, out isTurnOn);
if (errCode != 0)
{
errorInfo = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
SetOutputParamValue("DI状态", isTurnOn);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int err = 0;
bool IsServoOn = (bool)GetInitParamValue("轴是否励磁");
if (IsServoOn)
{
err = md.ServoOn(ci.ChannelIndex);
}
else
{
err = md.ServoOff(ci.ChannelIndex);
}
if (err != 0)
{
errorInfo = (IsServoOn ? "励磁使能ON" : "励磁使能OFF") + "失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
//if(!md.IsSVO(ci.ChannelIndex)) //HTM控制卡在未上电时，调用Stop会异常退出
//{
// errorInfo = "\"轴ID\" = " + axisID + " 未励磁";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return true;
//}
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
errorInfo = md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
double dPos = Convert.ToDouble(GetInitParamValue("目标位置"));
bool IsAbsMove = Convert.ToBoolean(GetInitParamValue("绝对位置模式"));
if (IsAbsMove)
{
err = md.AbsMove(ci.ChannelIndex, dPos);
}
else
{
err = md.RelMove(ci.ChannelIndex, dPos);
}
if (err != 0)
{
errorInfo = (IsAbsMove?"绝对":"相对") + "位置运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string chnID = GetMethodInputValue("光源通道ID") as string;
int intensity = (int)GetMethodInputValue("光照强度");
if (string.IsNullOrEmpty(chnID))
{
errorInfo = "输入参数项:\"光源通道ID\" 为空字串";
return(false);
}
if (!JFHubCenter.Instance.MDCellNameMgr.ContainLightChannelName(chnID))
{
errorInfo = "输入参数项:\"光源通道ID\" = " + chnID + " 在设备名称表中不存在";
return(false);
}
if (intensity < 0)
{
errorInfo = "输入参数项:\"光照强度\" = " + intensity + " 为无效值（参数值必须>=0）";
return(false);
}
bool isAutoSwitchMode = (bool)GetInitParamValue("自动切换到开关模式");
bool isAutoEnable = (bool)GetInitParamValue("自动使能");
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string errInfo = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.LightCtrl, chnID, out dev, out ci, out errInfo))
{
errorInfo = errInfo;
return(false);
}
int errCode = 0;
IJFDevice_LightController devLight = dev as IJFDevice_LightController;
if (typeof(IJFDevice_LightControllerWithTrig).IsAssignableFrom(devLight.GetType())) //如果当前设备带有触发功能
{
IJFDevice_LightControllerWithTrig devLT = devLight as IJFDevice_LightControllerWithTrig;
JFLightWithTrigWorkMode wm;
errCode = devLT.GetWorkMode(out wm);
if (errCode != 0)
{
errorInfo = "获取光源控制器工作模式失败:" + devLT.GetErrorInfo(errCode);
return(false);
}
if (wm == JFLightWithTrigWorkMode.Trigger) //当前处于触发模式
{
if (!isAutoSwitchMode)
{
errorInfo = "控制器当前为触发模式";
return(false);
}
errCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.TurnOnOff);
if (errCode != 0)
{
errorInfo = "控制器切换工作模式失败:" + devLT.GetErrorInfo(errCode);
return(false);
}
}
}
bool isLightChnEnabled = false;
errCode = devLight.GetLightChannelEnable(ci.ChannelIndex, out isLightChnEnabled);
if (0 != errCode)
{
errorInfo = "获取通道使能状态失败:" + devLight.GetErrorInfo(errCode);
return(false);
}
if (!isLightChnEnabled)
{
if (!isAutoEnable)
{
errorInfo = "光源通道未使能";
return(false);
}
errCode = devLight.SetLightChannelEnable(ci.ChannelIndex, true);
if (errCode != 0)
{
errorInfo = "光源通道使能失败：" + devLight.GetErrorInfo(errCode);
return(false);
}
}
errCode = devLight.SetLightIntensity(ci.ChannelIndex, intensity);
if (errCode != 0)
{
errorInfo = "设置光照强度失败：" + devLight.GetErrorInfo(errCode);
return(false);
}
errorInfo = "Success";
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFMotionParam mp = (JFMotionParam)GetInitParamValue("运动参数");
/*
* public double vs { get; set; }
* /// <summary>最大速度</summary>
* public double vm { get; set; }
* /// <summary>结束速度</summary>
* public double ve { get; set; }
* /// <summary>加速度</summary>
* public double acc { get; set; }
* /// <summary>减速度</summary>
* public double dec { get; set; }
* /// <summary>s曲线因子(0~1.0)</summary>
* public double curve { get; set; }
* /// <summary>加加速</summary>
* public double jerk { get; set; }
*/
if (mp.vs < 0)
{
errorInfo = "起始速度参数vs < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.vm <= 0)
{
errorInfo = "运行速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.ve < 0)
{
errorInfo = "终点速度参数ve < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.acc <= 0)
{
errorInfo = "加速度参数acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.dec <= 0)
{
errorInfo = "减速度参数dec <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.curve < 0 || mp.curve > 1)
{
errorInfo = "加速度曲线段系数不在允许范围0~1";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetMotionParam(ci.ChannelIndex, mp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string chnID = GetInitParamValue("触发通道ID") as string;
bool isAutoSwitchWorkMode = (bool)GetInitParamValue("自动切换到触发模式");
bool isAutoEnable = (bool)GetInitParamValue("自动使能");
int intensity = (int)GetInitParamValue("触发强度");
bool ignoreIntensity = (bool)GetInitParamValue("忽略不支持强度设置");
int duration = (int)GetInitParamValue("触发时长");
bool ignoreDuration = (bool)GetInitParamValue("忽略不支持时长设置");
int[] srcChannels = GetInitParamValue("输入源通道") as int[];
bool ignoreSrcChannels = (bool)GetInitParamValue("忽略不支持源通道设置");
IJFInitializable initor = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.LightTrig, chnID, out initor, out ci, out errorInfo))
{
return(false);
}
int errCode = 0;
IJFDevice_TrigController dev = initor as IJFDevice_TrigController;
if (typeof(IJFDevice_LightControllerWithTrig).IsAssignableFrom(dev.GetType())) //当前设备同时也是开关式光源控制器
{
IJFDevice_LightControllerWithTrig lightCtrlWithT = dev as IJFDevice_LightControllerWithTrig;
JFLightWithTrigWorkMode wm;
errCode = lightCtrlWithT.GetWorkMode(out wm);
if (errCode != 0)
{
errorInfo = "获取工作模式失败:" + lightCtrlWithT.GetErrorInfo(errCode);
return(false);
}
if (wm == JFLightWithTrigWorkMode.TurnOnOff) //当前处于开关模式
{
if (!isAutoSwitchWorkMode)
{
errorInfo = "当前工作模式为开关光源模式";
return(false);
}
errCode = lightCtrlWithT.SetWorkMode(JFLightWithTrigWorkMode.Trigger);
if (errCode != 0)
{
errorInfo = "未能将光源控制器切换为触发模式:" + lightCtrlWithT.GetErrorInfo(errCode);
return(false);
}
}
}
bool isChnEnabled = false;
errCode = dev.GetTrigChannelEnable(ci.ChannelIndex, out isChnEnabled);
if (0 != errCode)
{
errorInfo = "获取通道使能状态失败:" + dev.GetErrorInfo(errCode);
return(false);
}
if (!isChnEnabled)
{
if (!isAutoEnable)
{
errorInfo = "触发通道当前未使能";
return(false);
}
errCode = dev.SetTrigChannelEnable(ci.ChannelIndex, true);
if (errCode != 0)
{
errorInfo = "使能触发通道失败:" + dev.GetErrorInfo(errCode);
return(false);
}
}
if (null != srcChannels && srcChannels.Length != 0) //需要绑定输入源通道
{
int mask = 0; //输入通道掩码
foreach (int srcChn in srcChannels)
{
mask += 1 << mask;
}
errCode = dev.SetTrigChannelSrc(ci.ChannelIndex, mask);
if (errCode != 0 && !ignoreSrcChannels)
{
errorInfo = "绑定触发源通道失败:" + dev.GetErrorInfo(errCode);
return(false);
}
}
errCode = dev.SetTrigChannelIntensity(ci.ChannelIndex, intensity);
if (errCode != 0 && !ignoreIntensity)
{
errorInfo = "设置触发强度:" + intensity + " 失败：" + dev.GetErrorInfo(errCode);
return(false);
}
errCode = dev.SetTrigChannelDuration(ci.ChannelIndex, duration);
if (errCode != 0 && !ignoreDuration)
{
errorInfo = "设置触发时长:" + duration + " 失败：" + dev.GetErrorInfo(errCode);
return(false);
}
errorInfo = "Success";
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\"的值:\"" + axisID + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "归0前获取轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if (!AxisStatus[md.MSID_MDN])
//{
// errorInfo = "轴当前运动未完成";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return false;
//}
err = md.Home(ci.ChannelIndex);
if (err != 0)
{
errorInfo = "调用SDK失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
