public int SetTrigLiner(int encChn, JFCompareTrigLinerParam linerParam)
{
if (!IsOpen)
{
return((int)ErrorDef.NotOpen);
}
if (encChn < 0 || encChn >= EncoderChannels)
{
throw new ArgumentOutOfRangeException("SetTrigMode(encChn ,...) fialed By:encChn = " + encChn + " is outof range:0~" + (EncoderChannels - 1));
}
if (trigLiners[encChn] == linerParam)
{
return((int)ErrorDef.Success);
}
if (linerParam.repeats < 0)
{
return((int)ErrorDef.ParamError);
}
HTM.TRIG_LINEAR tl = new HTM.TRIG_LINEAR();
tl.startPos = linerParam.start;
tl.interval = linerParam.interval;
if (linerParam.repeats == 0)
{
tl.endPos = tl.startPos;
}
else
{
if (linerParam.interval >= 0)
{
tl.endPos = tl.startPos + (linerParam.repeats + 0.5) * linerParam.interval;
}
else
{
tl.endPos = tl.startPos + (linerParam.repeats - 0.5) * linerParam.interval;
}
}
int err = HTM.SetLinTrigPos(devIndexes[encChn], ref tl);
if (0 != err)
{
return((int)ErrorDef.InvokeFailed);
}
trigLiners[encChn] = linerParam;
return((int)ErrorDef.Success);
}
public int SetTrigLiner(int encChn, JFCompareTrigLinerParam linerParam)
{
if (encChn < 0 || encChn >= TrigChannels)
{
throw new ArgumentOutOfRangeException("SetTrigMode(encChn ,...) fialed By:encChn = " + encChn + " is outof range:0~" + (EncoderChannels - 1));
}
//if (trigLiners[encChn] == linerParam)
// return (int)ErrorDef.Success;
if (linerParam.repeats < 0)
{
return((int)ErrorDef.ParamError);
}
int[] trigchans;
if (GetEncoderTrigBind(encChn, out trigchans) != 0)
{
return((int)ErrorDef.InvokeFailed);
}
for (int i = 0; i < trigchans.Length; i++)
{
int err = APS168.APS_set_trigger_linear(BoardID, trigchans[i], (int)(linerParam.start * pulseFactors[encChn]),
(int)linerParam.repeats, (int)(linerParam.interval * pulseFactors[encChn]));
if (err != 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
if (trigLiners.ContainsKey(encChn))
{
trigLiners[encChn] = linerParam;
}
else
{
trigLiners.Add(encChn, linerParam);
}
_jf168Cfg.Save();
if (SaveParamsToFlash() != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
public int GetTrigLiner(int encChn, out JFCompareTrigLinerParam linerParam)
{
linerParam = new JFCompareTrigLinerParam()
{
start = 0, interval = 0, repeats = 0
};
if (!IsOpen)
{
return((int)ErrorDef.NotOpen);
}
if (encChn < 0 || encChn >= EncoderChannels)
{
throw new ArgumentOutOfRangeException("GetTrigLiner(encChn ,...) fialed By:encChn = " + encChn + " is outof range:0~" + (EncoderChannels - 1));
}
linerParam = trigLiners[encChn];
return((int)ErrorDef.Success);
}
/// <summary>运动控制卡Compare Trigger初始化 </summary>
internal void Open()
{
if (IsOpen)
{
return;
}
int StartAxisId = 0, TotalAxis = 0, CardName = 0;
APS168.APS_get_first_axisId(BoardID, ref StartAxisId, ref TotalAxis);
APS168.APS_get_card_name(BoardID, ref CardName);
if (/*CardName != (Int32)APS_Define.DEVICE_NAME_PCI_825458 && */ CardName != (Int32)APS_Define.DEVICE_NAME_AMP_20408C)
{
throw new Exception(string.Format("AMP204MC.Initialize Failed :运动控制卡型号不是204C或208C！"));
}
if (CardName == (Int32)APS_Define.DEVICE_NAME_AMP_20408C && TotalAxis == 4)
{
TrigChannels = 2;
EncoderChannels = 4;
for (int i = 0; i < TrigChannels; i++)
{
if (!lcmpSource.ContainsKey(i))
{
lcmpSource.Add(i, (Int32)APS_Define.TGR_LCMP0_SRC + i);
tcmpSource.Add(i, (Int32)APS_Define.TGR_TCMP0_SRC + i);
tcmpDir.Add(i, (Int32)APS_Define.TGR_TCMP0_DIR + i);
}
}
}
if (CardName == (Int32)APS_Define.DEVICE_NAME_AMP_20408C && TotalAxis == 8)
{
TrigChannels = 4;
EncoderChannels = 8;
for (int i = 0; i < TrigChannels; i++)
{
if (i < 2)
{
if (!lcmpSource.ContainsKey(i))
{
lcmpSource.Add(i, (Int32)APS_Define.TGR_LCMP0_SRC + i);
tcmpSource.Add(i, (Int32)APS_Define.TGR_TCMP0_SRC + i);
tcmpDir.Add(i, (Int32)APS_Define.TGR_TCMP0_DIR + i);
}
}
else
{
if (!lcmpSource.ContainsKey(i))
{
lcmpSource.Add(i, (Int32)APS_Define.TGR_LCMP2_SRC + i);
tcmpSource.Add(i, (Int32)APS_Define.TGR_TCMP2_SRC + i);
tcmpDir.Add(i, (Int32)APS_Define.TGR_TCMP2_DIR + i);
}
}
}
}
#region Dictionary 初始化
lock (_jf168Cfg)
{
if (!_jf168Cfg.ContainsItem("Card_" + BoardID))
{
_jf168Cfg.AddItem("Card_" + BoardID, new JFXmlDictionary <string, object>());
}
_dictCT = _jf168Cfg.GetItemValue("Card_" + BoardID) as JFXmlDictionary <string, object>;
if (_dictCT.ContainsKey(TrigTablesKeyName))
{
trigTables = _dictCT[TrigTablesKeyName] as JFXmlDictionary <int, double[]>;
}
else
{
for (int i = 0; i < EncoderChannels; i++)
{
if (trigTables.ContainsKey(i))
{
trigTables[i] = new double[0];
}
else
{
trigTables.Add(i, new double[0]);
}
}
_dictCT.Add(TrigTablesKeyName, trigTables);
}
if (_dictCT.ContainsKey(TrigLinersKeyName))
{
trigLiners = _dictCT[TrigLinersKeyName] as JFXmlDictionary <int, JFCompareTrigLinerParam>;
}
else
{
for (int i = 0; i < EncoderChannels; i++)
{
if (trigLiners.ContainsKey(i))
{
trigLiners[i] = new JFCompareTrigLinerParam();
}
else
{
trigLiners.Add(i, new JFCompareTrigLinerParam());
}
}
_dictCT.Add(TrigLinersKeyName, trigLiners);
}
if (_dictCT.ContainsKey(TrigModesKeyName))
{
trigModes = _dictCT[TrigModesKeyName] as JFXmlDictionary <int, JFCompareTrigMode>;
}
else
{
for (int i = 0; i < EncoderChannels; i++)
{
if (trigModes.ContainsKey(i))
{
trigModes[i] = JFCompareTrigMode.disable;
}
else
{
trigModes.Add(i, JFCompareTrigMode.disable);
}
}
_dictCT.Add(TrigModesKeyName, trigModes);
}
if (_dictCT.ContainsKey(ChnTrigKeyName))
{
chnTrig = _dictCT[ChnTrigKeyName] as JFXmlDictionary <int, int[]>;
}
if (_dictCT.ContainsKey(TrigEnableKeyName))
{
trigEnables = _dictCT[TrigEnableKeyName] as JFXmlDictionary <int, bool>;
}
else
{
for (int i = 0; i < TrigChannels; i++)
{
if (trigEnables.ContainsKey(i))
{
trigEnables[i] = false;
}
else
{
trigEnables.Add(i, false);
}
}
_dictCT.Add(TrigEnableKeyName, trigEnables);
}
if (_dictCT.ContainsKey(LCmprUsedKeyName))
{
lcmprUsed = _dictCT[LCmprUsedKeyName] as JFXmlDictionary <int, bool>;
}
else
{
for (int i = 0; i < TrigChannels; i++)
{
if (lcmprUsed.ContainsKey(i))
{
lcmprUsed[i] = false;
}
else
{
lcmprUsed.Add(i, false);
}
}
_dictCT.Add(LCmprUsedKeyName, lcmprUsed);
}
if (_dictCT.ContainsKey(TCmprUsedKeyName))
{
tcmprUsed = _dictCT[TCmprUsedKeyName] as JFXmlDictionary <int, bool>;
}
else
{
for (int i = 0; i < TrigChannels; i++)
{
if (tcmprUsed.ContainsKey(i))
{
tcmprUsed[i] = false;
}
else
{
tcmprUsed.Add(i, false);
}
}
_dictCT.Add(TCmprUsedKeyName, tcmprUsed);
}
if (_dictCT.ContainsKey(TrigLCmprKeyName))
{
trigLCmprSource = _dictCT[TrigLCmprKeyName] as JFXmlDictionary <int, List <int> >;
}
if (_dictCT.ContainsKey(TrigTCmprKeyName))
{
trigTCmprSource = _dictCT[TrigTCmprKeyName] as JFXmlDictionary <int, List <int> >;
}
if (_dictCT.ContainsKey(ChnTCmprKeyName))
{
chnTcmpr = _dictCT[ChnTCmprKeyName] as JFXmlDictionary <int, int>;
}
if (_dictCT.ContainsKey(ChnLCmprKeyName))
{
chnLcmpr = _dictCT[ChnLCmprKeyName] as JFXmlDictionary <int, int>;
}
if (!_dictCT.ContainsKey("PulseFactor"))
{
pulseFactors = new double[TotalAxis];
for (int i = 0; i < TotalAxis; i++)
{
pulseFactors[i] = 1;
}
}
else
{
pulseFactors = _dictCT["PulseFactor"] as double[];
if (pulseFactors.Length < TotalAxis)
{
_dictCT.Remove("PulseFactor");
pulseFactors = new double[TotalAxis];
for (int i = 0; i < TotalAxis; i++)
{
pulseFactors[i] = 1;
}
_dictCT.Add("PulseFactor", pulseFactors);
}
}
_jf168Cfg.Save();
}
#endregion
for (int i = 0; i < TrigChannels; i++)
{
if (APS168.APS_reset_trigger_count(BoardID, i) != 0)//reset count
{
throw new Exception(string.Format("AMP204MC.APS_reset_trigger_count Failed :重置触发通道{0}计数器失败！", i));
}
if (APS168.APS_set_trigger_param(BoardID, (Int32)APS_Define.TGR_TRG0_SRC + i, 0) != 0)//Trig source bind
{
throw new Exception(string.Format("AMP204MC.APS_set_trigger_param Failed :接触触发通道{0}绑定关系！", i));
}
//if (SetTrigEnable(i, trigEnables[i]) != (int)ErrorDef.Success)//enable or disable trig //调用慢，先屏蔽 remarked by Boby
// throw new Exception(string.Format("AMP204MC.SetTrigEnable Failed :设置触发通道{0}使能状态失败！", i));
}
for (int i = 0; i < EncoderChannels; i++)
{
if (!chnTrig.ContainsKey(i))
{
continue;
}
if (chnTrig[i].Length <= 0)
{
continue;
}
int[] TrigChns = new int[chnTrig[i].Length];
TrigChns = chnTrig[i];
//if(SetEncoderTrigBind(i, TrigChns)!=(int)ErrorDef.Success) //调用慢，先屏蔽 remarked by Boby
// throw new Exception(string.Format("AMP204MC.SetEncoderTrigBind Failed :绑定编码器{0}和触发通道{1}失败！",i, chnTrig[i]));
}
IsOpen = true;
}
