public int GetEncoderCurrPos(int encChn, out double pos)
{
pos = 0;
if (!IsOpen)
{
return((int)ErrorDef.NotOpen);
}
if (encChn < 0 || encChn >= EncoderChannels)
{
throw new ArgumentOutOfRangeException("GetEncoderCurrPos(encChn ,...) fialed By:encChn = " + encChn + " is outof range:0~" + (EncoderChannels - 1));
}
if ((pulseFactors[encChn]) <= 0)
{
throw new ArgumentOutOfRangeException("GetEncoderCurrPos(encChn ,...) fialed By:factor<=0,factor=" + pulseFactors[encChn]);
}
int ret = APS168.APS_get_position_f(encChn, ref pos);
if (ret != 0)
{
return((int)ErrorDef.InvokeFailed);
}
pos = pos / ((double)pulseFactors[encChn]);
return((int)ErrorDef.Success);
}
/// <summary>
/// 读取反馈位置计数器计数值
/// </summary>
/// <param name="axisNo"></param>
/// <returns></returns>
public double GetFeedbackPosition(int axisNo)
{
var tmp = 0.0;
APS168.APS_get_position_f(axisNo, ref tmp);
return(tmp);
}
public override void GetAxisPosition(uint axisindex, ref double paramvalue)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
if (!m_isLoadConfigFile)
{
throw new Exception("未加载xml配置文件");
}
APS168.APS_get_position_f((int)axisindex, ref paramvalue);
}
private void btnSetInt_Click(object sender, EventArgs e)
{
// 开启1个DI上升沿中断
var board_id = 0;
var item = 9; // DI interrupt rising
// Step 1: set interrupt factor
var interruptId = APS168.APS_set_int_factor(board_id, item, 0, 1);
// Step 2: set interrupt main switch
var ret = APS168.APS_int_enable(board_id, 1); // Enable the interrupt main switch
BeginInvoke(new Action(() => { richTextBox2.Text += "Interrupt Enabled\r\n"; }));
//开启线程
Task.Factory.StartNew(() =>
{
var count = 0;
while (true)
{
if (APS168.APS_wait_single_int(interruptId, 0x0000ff) == 0) //Wait interrupt
{
double pos = 0;
APS168.APS_get_position_f(0, ref pos);
APS168.APS_reset_int(interruptId);
BeginInvoke(new Action(() =>
{
richTextBox2.Text += string.Format("Interrupt Postion[{0}] = {1}\r\n", count++, pos);
richTextBox2.SelectionStart = richTextBox2.TextLength;
richTextBox2.ScrollToCaret();
}));
}
}
});
}
public void GetPostionAbs(ref double x, ref double y)
{
APS168.APS_get_position_f(_selectAxisX, ref x);
APS168.APS_get_position_f(_selectAxisY, ref y);
}
private void tmrUpdateUi_Tick(object sender, EventArgs e)
{
if (_card0.IsLoadXmlFile)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double d = 0;
APS168.APS_get_position_f(_selectAxis, ref d);
txtFeedbackPos.Text = d.ToString("f0");
txtFeedbackPosition.Text = d.ToString("f0");
switch (tabControl1.SelectedTab.Name)
{
case "tabMotion":
int index;
bool status;
int motionIoStatus, motionStatus;
//刷新MotionIoStatus
motionIoStatus = APS168.APS_motion_io_status(_selectAxis);
foreach (var label in grpMotionIo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionIoStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新MotionStatus
motionStatus = APS168.APS_motion_status(_selectAxis);
foreach (var label in grpMotion.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新Feedback信息
double value = 0;
APS168.APS_get_command_f(_selectAxis, ref value);
txtCommandPosition.Text = value.ToString("f0");
//APS168.APS_get_position_f(_selectAxis, ref value);
//txtFeedbackPos.Text = value.ToString("f0");
//txtFeedbackPosition.Text = value.ToString("f0");
APS168.APS_get_target_position_f(_selectAxis, ref value);
txtTargetPosition.Text = value.ToString("f0");
APS168.APS_get_error_position_f(_selectAxis, ref value);
txtErrorPosition.Text = value.ToString("f0");
APS168.APS_get_command_velocity_f(_selectAxis, ref value);
txtCommandVelocity.Text = value.ToString("f0");
APS168.APS_get_feedback_velocity_f(_selectAxis, ref value);
txtFeedbackVelocity.Text = value.ToString("f0");
//刷新ServoOn, motionIoStatus第7位
status = (motionIoStatus & (1 << 7)) != 0;
lblServoOn.BackColor = status ? Color.LawnGreen : Color.DimGray;
//刷新JOG正 和 JOG负
var jogPostive = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) != 0;
var jogNegative = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) == 0;
lblJogPostive.BackColor = jogPostive ? Color.LawnGreen : Color.DimGray;
lblJogNegative.BackColor = jogNegative ? Color.LawnGreen : Color.DimGray;
break;
case "tabIo":
var diValue = 0;
APS168.APS_read_d_input(_card0.CardId, 0, ref diValue);
foreach (var label in grpDi.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (diValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
var doValue = 0;
APS168.APS_read_d_output(_card0.CardId, 0, ref doValue);
foreach (var label in grpDo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (doValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
break;
case "tabTrigger":
{
var count = 0;
APS168.APS_get_trigger_count(0, 0, ref count);
txtTriggerCount0.Text = count.ToString();
APS168.APS_get_trigger_count(0, 1, ref count);
txtTriggerCount1.Text = count.ToString();
}
break;
case "tabPtline":
{
if (_ptEnabled)
{
txtTotalPoint.Text = _bufTotalPoint.ToString();
txtBufFreeSpace.Text = _bufFreeSpace.ToString();
txtbufUsageSpace.Text = _bufUsageSpace.ToString();
txtRunningCnt.Text = _bufRunningCnt.ToString();
}
}
break;
}
}
}