/// <summary>
/// Posts a Leave instruction to the island thread.
/// Called by debugger manager thread
/// If location is provided, verifies that the state being left is the state that was entered.
/// Stack may already be empty, in which case it is not modified.
/// </summary>
internal void LeaveState(ElementLocation location)
{
ErrorUtilities.VerifyThrow(location == null || location == _virtualStack.Peek().State.Location, "Mismatched leave was {0} expected {1}", location.LocationString, _virtualStack.Peek().State.Location.LocationString);
_debugAction = DebugAction.Leave;
if (_virtualStack.Count > 0) // May be falling out of the first enter
{
_virtualStack.Pop();
}
_workToDoEvent.Set();
_workDoneEvent.WaitOne();
}
/// <summary>
/// Posts a Break instruction to the island thread.
/// Called by debugger manager thread.
/// </summary>
internal void Break()
{
_debugAction = DebugAction.Break;
_workToDoEvent.Set();
_workDoneEvent.WaitOne();
((IDisposable)this).Dispose();
}
/// <summary>
/// 根据Z轴的速度限制，计算出合理的最大速度
/// </summary>
/// <param name="pNext">下一道工序的起始点</param>
/// <param name="newVel">变速前的的最大速度</param>
/// <param name="debugAction">试教动作</param>
/// <param name="portValue">io状态</param>
/// <returns></returns>
private static int getSpeed(Point pNext, int newVel, DebugAction debugAction, int portValue)
{
//由铣型类型决定的比例系数1 //由档位决定的比例系数2
double coeOne = 1.0, coeTwo = 1.0;
//根据档位选择速度增益coeTwo
switch (portValue & 0x70)
{
//“X1”档
case 0x10:
coeTwo = 0.5;
break;
//“X10”档
case 0x20:
coeTwo = 1;
break;
//“X100”档
default:
coeTwo = 1.5;
break;
}
switch (debugAction)
{
case DebugAction.DrillIn:
coeOne = 0.5;
break;
case DebugAction.DrillOut:
break;
case DebugAction.Cut:
break;
case DebugAction.MillCir:
coeOne = 0.1;
break;
case DebugAction.MillRec:
//如果是铣矩形,这返回0.8背的z轴速度限制
return newVel * coeTwo > zSpeedLimit ? (int)(zSpeedLimit * 0.8) : (int)(newVel * coeTwo);
case DebugAction.Move:
break;
}
int newSpeed = (int)(newVel * coeOne * coeTwo);
int[] cmdPulse = new int[3];
//取得铣入点的位置脉冲
for (ushort i = 0; i < Servo.NumOfServo - 2; i++)
{
//取得当前位置四个的轴脉冲值
DMC.CS_DMC_01_get_command(0, Servo.LstOfServo[i], 0, ref cmdPulse[i]);
}
int zSpeed = 0;
long disX = (pNext.XPulse - cmdPulse[0]) / 100;
long disY = (pNext.YPulse - cmdPulse[1]) / 100;
long disZ = (pNext.ZPulse - cmdPulse[2]) / 100 + 1;
long dis = (long)Math.Sqrt(disX * disX + disY * disY + disZ * disZ) + 3;
//计算出z轴方向的速度向量
zSpeed = (int)Math.Abs((newSpeed * disZ) / dis);
//如果速度超过了z轴的极限
if (zSpeed >= zSpeedLimit)
{
//则返回Z轴达到速度极限时的最大速度
return (int)Math.Abs(zSpeedLimit * dis / disZ);
}
else
{
return newSpeed;
}
}
/// <summary>
/// Posts an Enter instruction to the island thread.
/// Called by debugger manager thread
/// </summary>
internal void EnterState(DebuggerState state, IDictionary<string, object> locals)
{
_debugAction = DebugAction.Enter;
_virtualStack.Push(new VirtualStackFrame(state, locals));
_workToDoEvent.Set();
// Block until Island executes NOP,
// giving BPs a chance to be hit.
// Must block here if the island is stopped at a breakpoint.
_workDoneEvent.WaitOne();
}
/// <summary>
/// 停止试教监视器
/// </summary>
public static int StopDebugMonitor()
{
lock (debugMonitorLock)
{
if (IsDebugMonitorStarted)
{
IsDebugMonitorStarted = false;
debugMonitor.Abort();
//重设试教动作为Move
debugingAction = DebugAction.Move;
return 0;
}
else
{
return -1;
}
}
}
/// <summary>
/// 改变定位信息
/// </summary>
/// <param name="station">要改变定位信息的工序列表</param>
/// <param name="noOfProcessing">正在信息工序的工序号</param>
/// <param name="pointOld">改变前的定位信息</param>
/// <param name="typeOfAction">执行的试教动作</param>
private static void changePosition(Station station, int noOfProcessing, Point pointOld, DebugAction typeOfAction)
{
//取得当前点的脉冲
Point _pointNew = Servo.GetPosition();
//根据试教的运动类型选择处理的方式
switch (typeOfAction)
{
#region DrillIn
case DebugAction.DrillIn:
//如果是正面和背面，则改变除了Y轴以外的其余轴的绝对定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
station[noOfProcessing].StartPoint.XPulse = station[noOfProcessing].IntoPoint.XPulse;
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse - pointOld.YPulse + station[noOfProcessing].IntoPoint.YPulse;
}
//否则改变X轴以外的其余轴的定位信息
else
{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
station[noOfProcessing].StartPoint.YPulse = station[noOfProcessing].IntoPoint.YPulse;
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse - pointOld.XPulse + station[noOfProcessing].IntoPoint.XPulse;
}
station[noOfProcessing].IntoPoint.ZPulse = _pointNew.ZPulse;
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse;
station[noOfProcessing].StartPoint.ZPulse = station[noOfProcessing].IntoPoint.ZPulse;
station[noOfProcessing].StartPoint.WPulse = station[noOfProcessing].IntoPoint.WPulse;
break;
#endregion
#region DrillOut
case DebugAction.DrillOut:
//如果是正面和背面，则Y轴StartPoint的定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].StartPoint.YPulse = _pointNew.YPulse - pointOld.YPulse + station[noOfProcessing].StartPoint.YPulse;
}
//否则改变X轴StartPoint的定位信息
else
{
station[noOfProcessing].StartPoint.XPulse = _pointNew.XPulse - pointOld.XPulse + station[noOfProcessing].StartPoint.XPulse;
}
break;
#endregion
#region Cut
case DebugAction.Cut:
//如果是正面和背面，则改变除了Y轴以外的其.余轴的绝对定位信息
//if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
//{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
//}
////否则改变X轴以外的其余轴的定位信息
//else
//{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
//}
station[noOfProcessing].IntoPoint.ZPulse = _pointNew.ZPulse;
if (noOfProcessing != station.MillNum)
{
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse;
}
else
{
//如果相差超过270度
if (Math.Abs(double.Parse(station[noOfProcessing].IntoPoint.WCodinate) - double.Parse(_pointNew.WCodinate)) > 270)
{
if (station[noOfProcessing].IntoPoint.WPulse > _pointNew.WPulse)
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse + Tool.WPulsePerCircle;
else
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse - Tool.WPulsePerCircle;
station[noOfProcessing].StartPoint.WPulse = station[noOfProcessing].IntoPoint.WPulse;
}
//如果是正面和背面，则改变除了Y轴以外的其余轴的绝对定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].StartPoint.XPulse = _pointNew.XPulse;
}
//否则改变X轴以外的其余轴的定位信息
else
{
station[noOfProcessing].StartPoint.YPulse = _pointNew.YPulse;
}
//}
station[noOfProcessing].StartPoint.ZPulse = _pointNew.ZPulse;
}
break;
#endregion
#region DrillCir & DrillRec
case DebugAction.MillCir:
case DebugAction.MillRec:
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
}
else
{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
}
break;
#endregion
case DebugAction.InOutChange:
station.InOutChangeHeight = _pointNew.ZPulse;
break;
case DebugAction.Move:
break;
}
}
/// <summary>
/// 启动试教监视器
/// </summary>
/// <param name="debugMode">试教模式</param>
/// <param name="masterNode">调速主轴</param>
/// <param name="process">要改变定位信息的工序</param>
public static Thread StartDebugMonitor(DebugMode debugMode, ushort masterNode, Station station, int processingNo, DebugAction debugAction)
{
lock (debugMonitorLock)
{
//获取用以调速的主轴站号
masterAxisNode = masterNode;
//根据选定的模式进行试教
if (debugMode == DebugMode.ModeOne)
{
debugMonitor = new Thread(debugMonitorHandle);
}
else
{
debugMonitor = new Thread(debugMonitorHandle2);
}
//获取正在加工的工位
debugingStation = station;
//获取正在执行的工序号
noOfProcessing = processingNo;
//获取正在执行的试教动作
debugingAction = debugAction;
//设为后台线程，以使关闭窗口后退出线程
debugMonitor.IsBackground = true;
debugMonitor.Priority = ThreadPriority.Highest;
debugMonitor.Start();
//指示试教监视器已经启动
IsDebugMonitorStarted = true;
return debugMonitor;
}
}
/// <summary>
/// 等待动作完成
/// </summary>
/// <param name="nodeList">试教模式下调速的主控轴</param>
/// <param name="process">要改变定位信息的工序</param>
/// <param name="delayTime">延时查询时间</param>
private static void waitForDone(ushort[] nodeList, int processingNo, WaitMode waitMode, DebugAction debugAction, int delayTime = Parameter.delayTime)
{
short rc = 0;
//取得当前的加工主轴
currentMasterNode = nodeList[0];
//如果是试教状态，则启动试教试教监视器
if (RunStatus == RunStatus.TryRunning) {
//等待试教进程结束
Monitor.StartDebugMonitor(DebugMode.ModeTwo, nodeList[0], currentStation, processingNo, debugAction).Join();
}
//如果是试教状态，或者等待模式为Always则等待至动作完成
else if (waitMode == WaitMode.Always) {
//等待每个受控制的从站完成动作
foreach (ushort nodeNo in nodeList) {
ushort mDone = 1;
uint mStatus = 0;
//如果运动没有停止,且没有达到目标位置则继续查询
while ((mDone != 0) || ((mStatus & 0x0400) != 0x0400)) {
//等待一定时间再进行查询
Thread.Sleep(delayTime);
rc = DMC.CS_DMC_01_motion_done(ControlCard.CardNo, nodeNo, 0, ref mDone);
rc = DMC.CS_DMC_01_motion_status(ControlCard.CardNo, nodeNo, 0, ref mStatus);
}
}
}
}
public float GetAction(DebugAction action)
{
return(m_DebugActionStates[(int)action].actionState);
}
public void Continue()
{
request_pause = false;
next_action = DebugAction.None;
resume_execution();
}
public void StepOut()
{
request_pause = true;
next_action = DebugAction.StepOver;
resume_execution();
}
