public int CaputreOneImage(string cmrName, string imageType, out HObject hObject, out string errMsg, int timeoutMilSwconds = -1)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
IJFImage image = null;
hObject = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
cmr.ClearBuff();
int errCode = cmr.GrabOne(out image, timeoutMilSwconds);
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
if (GenImgObject(imageType, image, out hObject, out errMsg) != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 软触发
/// </summary>
/// <param name="TrigChnName"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int SWPosTrig(string[] TrigChnName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (TrigChnName.Length == 0)
{
errMsg = "触发通道名称为空";
return((int)ErrorDef.InvokeFailed);
}
int[] trigChns = new int[TrigChnName.Length];
for (int i = 0; i < TrigChnName.Length; i++)
{
if (!JFCMFunction.CheckDevCellName(JFCMFunction.CmpTrig, TrigChnName[i], out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
trigChns[i] = ci.ChannelIndex;
}
IJFModule_CmprTrigger md = (dev as IJFDevice_MotionDaq).GetCompareTrigger(ci.ModuleIndex);
int errCode = md.SoftTrigge(trigChns);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="AxisName"></param>
/// <param name="distance"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int AxisAbsMove(string AxisName, double distance, out string errMsg)
{
errMsg = "";
IJFInitializable dev;
JFDevCellInfo ci;
string errInfo = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, AxisName, out dev, out ci, out errInfo))
{
return((int)ErrorDef.InvokeFailed);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.AbsMove(ci.ChannelIndex, distance);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
errCode = MotionDone(AxisName, out errMsg);
if (errCode != 0)
{
return(errCode);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 轴动作完成
/// </summary>
/// <param name="AxisName"></param>
/// <param name="errMsg"></param>
/// <param name="timeoutSelSecond"></param>
/// <returns></returns>
private int MotionDone(string AxisName, out string errMsg, int timeoutSelSecond = 60000)
{
DateTime starttime = new DateTime();
errMsg = "";
IJFInitializable dev;
JFDevCellInfo ci;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, AxisName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
while (true)
{
if (md.IsMDN(ci.ChannelIndex))
{
break;
}
DateTime nowtime = new DateTime();
if (nowtime.Subtract(starttime).TotalMilliseconds > timeoutSelSecond)
{
return((int)ErrorDef.Timeout);
}
Thread.Sleep(10);
}
return((int)ErrorDef.Success);
}
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);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.Jog(ci.ChannelIndex, isPositive);
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);
}
public int ClearImageQueue(string cmrName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
int errCode = cmr.ClearBuff();
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 获取轴反馈坐标
/// </summary>
/// <param name="AxisName"></param>
/// <param name="pos"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int GetAxisFbkPos(string AxisName, out double pos, out string errMsg)
{
pos = 0;
errMsg = "";
IJFInitializable dev;
JFDevCellInfo ci;
double UV2xy = 0;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, AxisName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.GetFbkPos(ci.ChannelIndex, out UV2xy);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
pos = UV2xy;
return((int)ErrorDef.Success);
}
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);
}
JFHomeParam hp = (JFHomeParam)GetInitParamValue("轴归零参数");
/*
* 归零模式 0:使用Org（原点）作为归零参考 1：使用限位信号作为归零参考 2：仅使用EZ信号作为归零参考
*/
if (hp.mode != 0 && hp.mode != 1 && hp.mode != 2 && hp.mode != -1 && hp.mode != -2)
{
errorInfo = "归零模式设置错误,mode=" + hp.mode;
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.acc <= 0)
{
errorInfo = "加速度/减速度acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vm <= 0)
{
errorInfo = "最大速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vo <= 0)
{
errorInfo = "寻找原点速度vo <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.va <= 0)
{
errorInfo = "接近速度va <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.shift < 0)
{
errorInfo = "回零偏移量sift < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.offset < 0)
{
errorInfo = "回零补偿值offset < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetHomeParam(ci.ChannelIndex, hp);
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)
{
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);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
double velocity = Convert.ToDouble(GetInitParamValue("移动速度"));
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);
}
int errCode = md.VelMove(ci.ChannelIndex, velocity, isPositive);
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[] axisIDList = GetInitParamValue("轴ID列表") as string[];
double[] dPosList = GetMethodInputValue("目标位置列表") as double[];
bool IsAbsMove = (bool)GetMethodInputValue("绝对位置模式");
if (axisIDList == null || dPosList == null)
{
errorInfo = "轴ID列表长度或者目标位置列表长度为空";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int[] iaxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (dPosList.Length <= 0)
{
errorInfo = "目标位置列表<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (axisIDList.Length != dPosList.Length)
{
errorInfo = "轴ID列表长度为" + axisIDList.ToString() + "与目标列表长度" + dPosList.Length.ToString() + "不一致。";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
IJFInitializable devbuff = null;
JFDevCellInfo ci = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
for (int m = 0; m < axisIDList.Length; m++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[m]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[m] + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisIDList[m], out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
iaxisIDList[m] = ci.ChannelIndex;
if (devbuff != null)
{
if (devbuff != dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
}
devbuff = dev;
if (cibuffList.Contains(ci))
{
errorInfo = "轴ID列表中存在重复的轴名称";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
cibuffList.Add(ci);
}
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);
}
if (IsAbsMove)
{
err = md.AbsLine(iaxisIDList, dPosList);
}
else
{
err = md.RelLine(iaxisIDList, dPosList);
}
if (err != 0)
{
errorInfo = (IsAbsMove ? "绝对" : "相对") + "直线插补运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
