/// <summary>
/// 关闭板卡。先关从卡再关主卡。
/// </summary>
/// <returns></returns>
public EM_RES Close()
{
if (!isInit)
{
return(EM_RES.OK);
}
int ret;
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (type == TYPE.MOTION)
{
//axis dec stop
for (int n = 0; n < ax_num; n++)
{
LTDMC.dmc_stop((ushort)card_id, (ushort)n, 0);
Thread.Sleep(10);
}
ret = LTDMC.dmc_board_close();
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭成功", disc));
isInit = false;
return(EM_RES.OK);
}
else if (type == TYPE.CAN_IO)
{
//连接IO卡
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 0, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}断开失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}断开成功", disc));
isInit = false;
return(EM_RES.OK);
}
#if LEADSHINE_IO
else if (type == TYPE.IO)
{
IOC0640.ioc_board_close();
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}关闭成功", disc));
return(EM_RES.OK);
}
#endif
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
if (handle != (IntPtr)0)
{
ret = zmcaux.ZAux_Close(handle);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
handle = (IntPtr)0;
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}关闭成功", disc));
return(EM_RES.OK);
}
return(EM_RES.OK);
}
#endif
#if ADVANTTECK
if (brand == BRAND.ADVANTTECH)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, "研华库未添加!");
return(EM_RES.ERR);
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
if (AZD.Motor.Close())
{
isInit = false;
return(EM_RES.OK);
}
else
{
return(EM_RES.ERR);
}
}
#endif
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("未定义异常，BRAND={0}，TYPE={1}", brand, type));
return(EM_RES.ERR);
}
/// <summary>
/// 初始化板卡。
/// 如有主次卡之分，请先初始化主卡。关闭则相反，先关从卡再关主卡。
/// </summary>
/// <param name="id">卡ID</param>
/// <param name="maincard_id">主卡ID</param>
/// <param name="ip">卡IP</param>
/// <param name="filename">配置文件路径</param>
/// <returns></returns>
public EM_RES Init(int card_id = -1, int maincard_id = -1, string ip = "", string filename = "")
{
if (isReady)
{
return(EM_RES.OK);
}
int ret = 0;
EM_RES res = EM_RES.OK;
//update id
if (card_id >= 0)
{
this.card_id = card_id;
}
else
{
card_id = this.card_id;
}
//update ip
if (ip.Length > 7)
{
this.ip = ip;
}
else
{
ip = this.ip;
}
//update maincard_id
if (maincard_id >= 0)
{
this.maincard_id = maincard_id;
}
else
{
maincard_id = this.maincard_id;
}
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (type == TYPE.MOTION)
{
//init card
ret = LTDMC.dmc_board_init();
if (ret < 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}ID有重复，请检查确认!0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//get card list
ushort cardnum = 0;
ushort[] cardid = new ushort[64];
uint[] cardtype = new uint[64];
ret = LTDMC.dmc_get_CardInfList(ref cardnum, cardtype, cardid);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("获取{0}列表错误，0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//search card list
bool bfound = false;
for (int n = 0; n < cardnum; n++)
{
if (card_id == cardid[n])
{
bfound = true;
break;
}
}
if (!bfound)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}列表找不到ID为{1}的板卡!", disc, card_id));
return(EM_RES.ERR);
}
//download config
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else if (type == TYPE.CAN_IO)
{
//连接IO卡
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}连接失败,Err:0x{1:X8},重新连接...", disc, ret));
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}重新连接失败,请确认卡连接是否正确!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
#if LEADSHINE_IO
else if (type == TYPE.IO)
{
ret = IOC0640.ioc_board_init();
if (ret > 0)
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else
{
IOC0640.ioc_board_close();
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
#endif
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//check ip
if (ip.Length < 7)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} IP异常,{1}", disc, ip));
return(EM_RES.CAM_PARA_ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} 连接...", disc));
////search and open,多网卡时，搜索异常
//for (int n = 0; n < 10; n++)
//{
// ret = zmcaux.ZAux_SearchEth(ip, 100);
// if (ret == 0) break;
// Application.DoEvents();
//}
ret = 0;
if (ret == 0)
{
ret = zmcaux.ZAux_OpenEth(ip, out handle);
if (ret != 0)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败,IP={1},Err:{2}", disc, ip, ret));
return(EM_RES.ERR);
}
else
{
//check param
int ftemp = 0;
bool bdownload = false;
foreach (AXIS ax in AxList)
{
zmcaux.ZAux_Direct_GetMaxSpeed(handle, ax.num, ref ftemp);
if (Math.Abs((ax.max_spd * ax.pul_per_mm) - ftemp) > 100)
{
bdownload = true;
break;
}
}
//download config
if (bdownload)
{
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
}
isInit = true;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
}
else
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}找不到，IP={1}", disc, ip));
return(EM_RES.ERR);
}
}
#endif
#if ADVANTTECH
if (brand == BRAND.ADVANTTECH)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, "研华库未添加!");
return(EM_RES.ERR);
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
//get config
if (filename.Length < 3)
{
filename = Path.GetFullPath("..") + "\\syscfg\\ORIENTALMOTOR.ini";
}
if (File.Exists(filename))
{
IniFile inf = new IniFile(filename);
int temp = inf.ReadInteger("COM", "PORT", -1);
if (temp >= 0 && temp < 100)
{
PortName = string.Format("COM{0}", temp);
}
temp = inf.ReadInteger("COM", "BAUD", -1);
if (temp > 0)
{
Baudrate = temp;
}
}
if (0 == AZD.Motor.InitRs485(PortName, Baudrate))
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
else
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("InitRs485异常，BRAND={0}，TYPE={1},Port={2}/{3}", brand, type, PortName, Baudrate));
return(EM_RES.ERR);
}
}
#endif
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("未定义异常，BRAND={0}，TYPE={1}", brand, type));
return(EM_RES.ERR);
}
