Exemplo n.º 1
0
        /// <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);
        }
Exemplo n.º 2
0
        /// <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);
        }