private void flowHome(TProcVar S)
{
switch (S.Step1)
{
#region flow init
case 0:
//關掉軟體極限，
DisableSoftLimit();
Stop(StopType.SlowDown, false);
ServoOn(CmdStatus.ON);
status.Home = false;
S.Step1 = 1;
S.Timeout = 30000;
if (HomeStarted != null)
{
HomeStarted(DeviceName);
}
break;
case 1:
if (!IsBusy)
{
switch (axisPara.HomeMode)
{
case HomeMode.OnePoint:
S.Step1 = 1000;
break;
case HomeMode.TwoPoint:
S.Step1 = 2000;
break;
case HomeMode.ThreePointWithZPhase:
S.Step1 = 2000;
break;
case HomeMode.ThreePoint:
S.Step1 = 3000;
break;
}
}
break;
#endregion flow init
#region OnePoint
case 1000:
//不在原點上
if (!status.ORG)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 1010;
break;
case 1010:
if (status.ORG)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 1020;
}
break;
case 1020:
if (S.TM1.ElapsedMilliseconds > 100)
{
JogM(5, RotationDirection.CW);
S.TM1.Restart();
S.Step1 = 1030;
}
break;
case 1030:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -1030;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfORG") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.ORG)
{
Stop(StopType.Emergency, false);
doHomeOrg();
S.TM1.Restart();
S.Step1 = 7000;
}
}
break;
#endregion OnePoint
#region TwoPoint
case 2000:
if (status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CW);
S.TM1.Restart();
S.Step1 = 2100;
}
else if (status.LimitP)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
S.TM1.Restart();
S.Step1 = 2100;
}
else
{
S.TM1.Restart();
S.Step1 = 2100;
}
break;
case 2100:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -2100;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.LimitN && !status.LimitP)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 2010;
}
}
break;
case 2010:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -2010;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 2020;
}
break;
case 2020:
if (status.LimitN)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 2030;
}
break;
case 2030:
if (S.TM1.ElapsedMilliseconds > 100)
{
if (axisPara.HomeMode == HomeMode.ThreePointWithZPhase)
{
doHomeLimWithZPhase();
}
else
{
doHomeLim();
}
S.Step1 = 7000;
}
break;
case 2040:
if (status.LimitN)
{
Stop(StopType.Emergency, false);
S.Step1 = 7000;
}
break;
#endregion TwoPoint
#region ThreePoint
case 3000:
if (!status.ORG && !status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 3010;
break;
case 3010:
if (status.ORG || status.LimitN)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 3020;
}
break;
case 3020:
if (S.TM1.ElapsedMilliseconds > 100)
{
JogM(axisPara.CreepDevVelH, RotationDirection.CW);
S.Step1 = 3030;
}
break;
case 3030:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -3030;
S.Result.Message = LanguageResourceManager.GetString("TimeoutEnterORG") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (status.ORG)
{
S.Step1 = 3040;
}
}
break;
case 3040:
if (!status.ORG)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 3050;
}
break;
case 3050:
if (S.TM1.ElapsedMilliseconds > 100)
{
doHomeOrg();
S.Step1 = 7000;
}
break;
#endregion ThreePoint
#region flow continue
case 7000:
if (S.TM1.ElapsedMilliseconds > 500 && !IsBusy)
{
S.Step1 = 7010;
}
break;
case 7010:
ResetPos();
Move(axisPara.OffsetH, SpeedMode.Manual);
S.Step1 = 7020;
break;
case 7020:
if (IsReached)
{
S.TM1.Restart();
S.Step1 = 7030;
}
break;
case 7030:
if (S.TM1.ElapsedMilliseconds >= axisPara.ClearDelay * 1000)
{
ResetPos();
S.Step1 = 8000;
}
break;
#endregion flow continue
#region flow end
//flow finish
case 8000:
if (HomeCompleted != null)
{
HomeCompleted(DeviceName);
}
status.Home = true;
homeTask.TurnOff(itemHome);
break;
//flow trip
case 9000:
if (HomeFailure != null)
{
HomeFailure(DeviceName);
}
status.Home = false;
homeTask.TurnOff(itemHome);
break;
#endregion flow end
}
}
protected void parameterInitialize()
{
bool isModulesParameterClassExisted = checkModulesParameterClass(modulesType);
bool isSerialModule = checkModuleIsSerial(modulesType);
bool isSocketModule = checkModuleIsSocket(modulesType);
//檢查所指定的參數資料夾是否存在
if (!Directory.Exists(this.ParameterFolderPath))
{
Directory.CreateDirectory(ParameterFolderPath);
}
string parameterFilePath = string.Format(@"{0}\{1}.ini", this.ParameterFolderPath, this.DeviceName);
//參數檔不存在--> 訊息提示 --> 顯示對應屬性修改視窗
if (!File.Exists(parameterFilePath))
{
ExceptionHelper.CommonMessageShow(LanguageResourceManager.GetString("DefaultParameter") + "(" + DeviceName + ")", "SystemHint");
//在LibraryResource中有找到對應的Parameter參數資源
if (isModulesParameterClassExisted)
{
//[底層] 此部份要測試，可能會有型別問題
//如果有自訂參數檔且是Serial模組 用FrmParameterSerialSetting設定屬性
if (isSerialModule)
{
parameter = createGeneralSerialParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
ParameterSerialSettingForm parameterSerialSettingForm = new ParameterSerialSettingForm(parameter, this.DeviceName);
parameterSerialSettingForm.ShowDialog();
((ParameterINI)parameter).Save();
}
else if (isSocketModule)
{
parameter = createGeneralSocketParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
ParameterSocketSettingForm parameterSocketSettingForm = new ParameterSocketSettingForm(parameter, this.DeviceName);
parameterSocketSettingForm.ShowDialog();
((ParameterINI)parameter).Save();
}
else
{
parameter = createCustomParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
ParameterINIForm propertyGridForm = new ParameterINIForm(parameter, this.DeviceName);
propertyGridForm.ShowDialog();
((ParameterINI)parameter).Save();
}
}
//在LibraryResource中沒有對應的參數資源
else
{
//確認是否為serialModule 有些serial通訊模組不會另外自訂參數檔
//從LibraryResource讀取預設的ParameterSerial
if (isSerialModule)
{
parameter = createGeneralSerialParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
ParameterSerialSettingForm frmParameterSerialSetting = new ParameterSerialSettingForm(parameter, this.DeviceName);
frmParameterSerialSetting.ShowDialog();
((ParameterINI)parameter).Save();
}
else if (isSocketModule)
{
parameter = createGeneralSocketParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
ParameterSocketSettingForm frmParameterSocketSetting = new ParameterSocketSettingForm(parameter, this.DeviceName);
frmParameterSocketSetting.ShowDialog();
((ParameterINI)parameter).Save();
}
//沒有自訂的參數檔 也不是serialModule 先傳回exception 日後依照需要去修正
else
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongClassName") + "(" + this.DeviceName + ")"));
}
}
}
//參數檔存在--> 直接讀回該檔案之屬性值
else
{
if (isModulesParameterClassExisted)
{
parameter = createCustomParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
((ParameterINI)parameter).Load();
}
else
{
if (isSerialModule)
{
parameter = createGeneralSerialParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
((ParameterINI)parameter).Load();
}
else if (isSocketModule)
{
parameter = createGeneralSocketParameter(modulesType, this.ParameterFolderPath, this.DeviceName);
((ParameterINI)parameter).Load();
}
else
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongClassName") + "(" + this.DeviceName + ")"));
}
}
}
}
private void slaveModuleInitialize()
{
uint mask = 0x00000001;
uint[] deviceTable = DeviceTable;
if ((deviceTable[0] == 0) && (deviceTable[1] == 0))
{
throw new Exception("Can't find slave A180, there is not any device !!! \n func = [_mnet_get_ring_active_table, deviceTable=0]");
}
for (int i = 0; i < 64; i++)
{
if (adcPara.SlaveIP > 63)
{
throw new Exception("Wrong SlaveIP, SlaveIP must less than 63!!!");
}
if (adcPara.SlaveIP == i)
{
if (i < 32)
{
if ((deviceTable[0] & mask) == 0)
{
throw new Exception("Have not found A180 !!!\n" + "SlaveIP = " + adcPara.SlaveIP);
}
}
else
{
if (i == 32)
{
mask = 0x00000001;
}
if ((deviceTable[1] & mask) == 0)
{
throw new Exception("Have not found A180 !!!\n" + "SlaveIP = " + adcPara.SlaveIP);
}
}
}
mask = mask << 1;
}
I16 retOfStartRing = CCMNet.CS_mnet_start_ring(RingNoOfMNet);
if (retOfStartRing != 0)
{
throw new Exception("Error occur when start ring !!! \n func = [_mnet_start_ring]");
}
U8 slaveType = 0;
I16 retOfGetSlaveType = CCMNet.CS_mnet_get_slave_type(RingNoOfMNet, adcPara.SlaveIP, ref slaveType);
if (retOfGetSlaveType == 0)
{
if (slaveType != 0xD1)
{
throw new Exception("deviec type is not A180!!!\n" + "SlaveIP = " + adcPara.SlaveIP);
}
}
else
{
throw new Exception("Error occur when get device type !!! \n func = [_mnet_get_slave_type]");
}
I16 rc = CADC_A180.CS_mnet_ai8_initial((U16)adcPara.CardSwitchNo, (U16)adcPara.SlaveIP);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(LanguageResourceManager.GetString("InitializeErrorA180ADC") + "(" + DeviceName + ")"));
}
rc = CADC_A180.CS_mnet_ai8_set_cycle_time((U16)adcPara.CardSwitchNo, (U16)adcPara.SlaveIP, 0);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(LanguageResourceManager.GetString("SetCycleErrorA180ADC") + "(" + DeviceName + ")"));
}
}