/*********************************************************************************************
* function:Welding setup data
* input value:
* output:
* return value:
*
*********************************************************************************************/
private void WeldingSetupData(ref IntPtr weldingData, TraceSetup traceInfo, ProductParameter productParameter)
{
// trace method
int offset = 0;
int activeMethodId = -1;
foreach (S_TraceMethod method in traceInfo.TraceMehodList)
{
if (method.activeMethod)
{
activeMethodId = method.id;
}
}
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), activeMethodId);
// XF_1 to XF_3 motors and z motor
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.BottomMotor.motorLeft);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.BottomMotor.motorFront);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.BottomMotor.motorRight);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.BottomMotor.motorZ);
// XY_X to XY_Y motors
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.UpMotor.motorX);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (offset++) * sizeof(int)), traceInfo.MotorsInfo.UpMotor.motorY);
// Platform Point
double[] platformPoint = new double[10];
platformPoint[0] = traceInfo.PlatformPoint.stepX;
platformPoint[1] = traceInfo.PlatformPoint.stepY;
platformPoint[2] = traceInfo.PlatformPoint.stepLeft;
platformPoint[3] = traceInfo.PlatformPoint.stepRight;
platformPoint[4] = traceInfo.PlatformPoint.stepFront;
platformPoint[5] = traceInfo.PlatformPoint.stepZ;
platformPoint[6] = traceInfo.ZZeroPoint.stepLeft;
platformPoint[7] = traceInfo.ZZeroPoint.stepRight;
platformPoint[8] = traceInfo.ZZeroPoint.stepFront;
platformPoint[9] = traceInfo.ZZeroPoint.stepZ;
Marshal.Copy(platformPoint, 0, (IntPtr)((UInt32)weldingData + offset * sizeof(int)), 10);
offset = offset * sizeof(int) + 10 * sizeof(double);
// 限位
platformPoint[0] = traceInfo.MaxPosition.stepX;
platformPoint[1] = traceInfo.MaxPosition.stepY;
platformPoint[2] = traceInfo.MaxPosition.stepLeft;
platformPoint[3] = traceInfo.MaxPosition.stepRight;
platformPoint[4] = traceInfo.MaxPosition.stepFront;
platformPoint[5] = traceInfo.MaxPosition.stepMinX;
platformPoint[6] = traceInfo.MaxPosition.stepMinY;
platformPoint[7] = traceInfo.MaxPosition.stepZ;
Marshal.Copy(platformPoint, 0, (IntPtr)((UInt32)weldingData + offset), 8);
offset += 8 * sizeof(double);
//product parameter
float[] outputvalue = new float[1];
outputvalue[0] = productParameter.MinimumVpp;
Marshal.Copy(outputvalue, 0, (IntPtr)((UInt32)weldingData + offset), 1);
offset += sizeof(float);
int productParamOffset = 0;
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.DelayMoveOutReleaseColloidDIo);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.DelayReleaseColloid);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.ReleaseColloid.front);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.ReleaseColloid.left);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.ReleaseColloid.right);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.DelayMoveBackReleaseColloidDIo);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.BakeColloid);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.AdAdjust);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), Convert.ToInt32(productParameter.ReleaseColloidBeforeCoupling));
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), Convert.ToInt32(productParameter.FindCenter));
outputvalue[0] = productParameter.LxLyDownVoltage;
Marshal.Copy(outputvalue, 0, (IntPtr)((UInt32)weldingData + (productParamOffset) * sizeof(int) + offset), 1);
offset += sizeof(float);
outputvalue[0] = productParameter.LzDownVoltage;
Marshal.Copy(outputvalue, 0, (IntPtr)((UInt32)weldingData + (productParamOffset) * sizeof(int) + offset), 1);
offset += sizeof(float);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.LxLyMin);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.LxLyMax);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.LzMin);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.LzMax);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.ZMin);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.ZMax);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), (int)productParameter.VbrConfig);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.VbrMax);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), productParameter.VbrMin);
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), Convert.ToInt32(productParameter.FNSR));
Marshal.WriteInt32((IntPtr)((UInt32)weldingData + (productParamOffset++) * sizeof(int) + offset), Convert.ToInt32(productParameter.TOCAN));
offset += productParamOffset * sizeof(int);
//
ProductParameter pm = ProductParameter.GetInstance();
float[] apdParams = new float[11];
apdParams[0] = pm.APDParam.Ir_AD_Zero_Value;
apdParams[1] = pm.APDParam.Ir_Calib_Value;
apdParams[2] = pm.APDParam.Ir_Calib_AD_Value;
apdParams[3] = pm.APDParam.Vapd_Max_Value;
apdParams[4] = pm.APDParam.Vapd_Max_DA_Value;
apdParams[5] = pm.APDParam.Vapd_Min_Value;
apdParams[6] = pm.APDParam.Vapd_Min_DA_Value;
apdParams[7] = pm.APDParam.Vapd_Upper_Limit;
apdParams[8] = pm.APDParam.Vapd_Lower_Limit;
apdParams[9] = pm.APDParam.Vbr_Judge;
apdParams[10] = pm.APDParam.VbrType;
Marshal.Copy(apdParams, 0, (IntPtr)((UInt32)weldingData + offset), 11);
offset += sizeof(float) * 11;
}
/*********************************************************************************************
* function: 发送命令
* input value:
* output:
* return value:
*
*********************************************************************************************/
public int SendCommands(CmdType command, ref RetData retData, object sendData)
{
IntPtr surData = Marshal.AllocHGlobal(1024);
int ret = 0;
try
{
switch (command)
{
case CmdType.CMD_WELDING_SETUP:
WeldingSetupData(ref surData, (TraceSetup)((List <object>)sendData)[0], (ProductParameter)((List <object>)sendData)[1]);
break;
// Test command
case CmdType.CMD_OPERATE_ANGLEMOVE:
{
double[] angleArray = new double[2];
angleArray[0] = ((AngleMove)sendData).angleA;
angleArray[1] = ((AngleMove)sendData).angleB;
Marshal.Copy(angleArray, 0, surData, 2);
}
break;
case CmdType.CMD_OPERATE_UPMOVE:
{
double[] upArray = new double[2];
upArray[0] = ((StepMove)sendData).xStep;
upArray[1] = ((StepMove)sendData).yStep;
Marshal.Copy(upArray, 0, surData, 2);
}
break;
case CmdType.CMD_OPERATE_BOTTOMMOVE:
{
double[] downArray = new double[4];
downArray[0] = ((StepMove)sendData).leftStep;
downArray[1] = ((StepMove)sendData).rightStep;
downArray[2] = ((StepMove)sendData).frontStep;
downArray[3] = ((StepMove)sendData).zStep;
Marshal.Copy(downArray, 0, surData, 4);
}
break;
case CmdType.CMD_SET_PRODUCT_PARAMETER:
{
int productParamOffset = 0;
ProductParameter productParameter = (ProductParameter)sendData;
float[] outputvalue = new float[1];
outputvalue[0] = productParameter.MinimumVpp;
Marshal.Copy(outputvalue, 0, surData, 1);
UInt32 startPos = (UInt32)surData + sizeof(float);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.DelayMoveOutReleaseColloidDIo);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.DelayReleaseColloid);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.ReleaseColloid.front);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.ReleaseColloid.left);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.ReleaseColloid.right);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.DelayMoveBackReleaseColloidDIo);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.BakeColloid);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.AdAdjust);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), Convert.ToInt32(productParameter.ReleaseColloidBeforeCoupling));
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), Convert.ToInt32(productParameter.FindCenter));
outputvalue[0] = productParameter.LxLyDownVoltage;
Marshal.Copy(outputvalue, 0, (IntPtr)(startPos + (productParamOffset) * sizeof(int)), 1);
startPos += sizeof(float);
outputvalue[0] = productParameter.LzDownVoltage;
Marshal.Copy(outputvalue, 0, (IntPtr)(startPos + (productParamOffset) * sizeof(int)), 1);
startPos += sizeof(float);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.LxLyMin);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.LxLyMax);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.LzMin);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.LzMax);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.ZMin);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.ZMax);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), (int)productParameter.VbrConfig);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.VbrMax);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), productParameter.VbrMin);
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), Convert.ToInt32(productParameter.FNSR));
Marshal.WriteInt32((IntPtr)(startPos + (productParamOffset++) * sizeof(int)), Convert.ToInt32(productParameter.TOCAN));
}
break;
case CmdType.CMD_SET_OUTPUT_IO:
{
int outPutIoOffset = 0;
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), retData.axisNum);
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), retData.cardNum);
}
break;
case CmdType.CMD_OPERATE_RESETPLATFORMPOINT:
{
TraceSetup traceInfo = (TraceSetup)sendData;
double[] platformPoint = new double[10];
platformPoint[0] = traceInfo.PlatformPoint.stepX;
platformPoint[1] = traceInfo.PlatformPoint.stepY;
platformPoint[2] = traceInfo.PlatformPoint.stepLeft;
platformPoint[3] = traceInfo.PlatformPoint.stepRight;
platformPoint[4] = traceInfo.PlatformPoint.stepFront;
platformPoint[5] = traceInfo.PlatformPoint.stepZ;
platformPoint[6] = traceInfo.ZZeroPoint.stepLeft;
platformPoint[7] = traceInfo.ZZeroPoint.stepRight;
platformPoint[8] = traceInfo.ZZeroPoint.stepFront;
platformPoint[9] = traceInfo.ZZeroPoint.stepZ;
Marshal.Copy(platformPoint, 0, surData, 10);
}
break;
case CmdType.CMD_ADJUST_BAKE_COLLOID:
{
int outPutIoOffset = 0;
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), retData.axisNum);
}
break;
case CmdType.CMD_ADJUST_RELEASE_COLLOID:
case CmdType.CMD_ADJUST_RELEASE_COLLOID2:
{
int outPutIoOffset = 0;
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), ((int)retData.coordinate.stepFront));
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), ((int)retData.coordinate.stepLeft));
Marshal.WriteInt32((IntPtr)((UInt32)surData + (outPutIoOffset++) * sizeof(int)), ((int)retData.coordinate.stepRight));
}
break;
case CmdType.CMD_ADJUST_VAL_OUTPUT:
{
float[] outputvalue = new float[1];
outputvalue[0] = (float)retData.coordinate.stepFront;
Marshal.Copy(outputvalue, 0, surData, 1);
}
break;
case CmdType.CMD_ADJUST_VBR_CURRENT:
{
float[] current = new float[1];
current[0] = (float)retData.coordinate.stepFront;
Marshal.Copy(current, 0, surData, 1);
}
break;
case CmdType.CMD_APD_PARM:
{
ProductParameter pm = ProductParameter.GetInstance();
float[] apdParams = new float[11];
apdParams[0] = pm.APDParam.Ir_AD_Zero_Value;
apdParams[1] = pm.APDParam.Ir_Calib_Value;
apdParams[2] = pm.APDParam.Ir_Calib_AD_Value;
apdParams[3] = pm.APDParam.Vapd_Max_Value;
apdParams[4] = pm.APDParam.Vapd_Max_DA_Value;
apdParams[5] = pm.APDParam.Vapd_Min_Value;
apdParams[6] = pm.APDParam.Vapd_Min_DA_Value;
apdParams[7] = pm.APDParam.Vapd_Upper_Limit;
apdParams[8] = pm.APDParam.Vapd_Lower_Limit;
apdParams[9] = pm.APDParam.Vbr_Judge;
apdParams[10] = (float)pm.APDParam.VbrType;
Marshal.Copy(apdParams, 0, surData, 11);
}
break;
default:
break;
}
ret = UICommands(Convert.ToInt32(command), surData);
switch (command)
{
case CmdType.CMD_INIT_MPC2810:
DealWithInitMPCData(ref retData, ref surData, ret);
break;
case CmdType.CMD_GET_TRACE_METHOD:
DealWithTraceMethodsData(ref retData, ref surData, ret);
break;
case CmdType.CMD_WELDING_SETUP:
if (ret < 0)
{
retData.errMsg = "耦合配置错误,ID=" + ret.ToString();
}
break;
case CmdType.CMD_GET_COORDINATE:
DealWithInitCoordinateData(ref retData, ref surData);
break;
case CmdType.CMD_GET_VERSION:
retData.str = Marshal.PtrToStringAnsi(surData);
break;
case CmdType.CMD_SET_PRODUCT_PARAMETER:
if (ret < 0)
{
retData.errMsg = "工艺参数配置错误,ID=" + ret.ToString();
}
break;
case CmdType.CMD_GET_VPP:
float[] vpp = new float[1];
Marshal.Copy(surData, vpp, 0, 1);
retData.coordinate.stepFront = vpp[0];
break;
default:
break;
}
}
catch (Exception ee)
{
string error = ee.Message;
}
Marshal.FreeHGlobal(surData);
return(ret);
}
