public void SendCommandToRunAxis(Axis axis, ControlerCommandCode Code, AxisDir Dir)
{
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
temp[CommunicationProtocol.MessageCommandIndex + 1] = (byte)AxisIndex;
if (Dir == AxisDir.Forward)
{
temp[CommunicationProtocol.MessageCommandIndex + 2] = 0x00;
}
else
{
temp[CommunicationProtocol.MessageCommandIndex + 2] = 0x01;
}
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, Code, ref temp);
}
public void SendCommandToControler(Board BoardIndex, ControlerCommandCode Code)
{
if (IsControlerConnected(BoardIndex))
{
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
AddCommandMessageToQueue(BoardIndex, Code, ref temp);
}
}
public bool SendCommandToSetSpeedParam(Axis axis, int velLow, int velHigh, int acc, int dec, bool Default)
{
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return(false);
}
ControlerCommandCode Code = Default ? ControlerCommandCode.SetAxisParametersDefault : ControlerCommandCode.SetAxisParameters;
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex] = (byte)AxisIndex;
temp[DataIndex + 1] = (byte)(velLow & 0xffU);
temp[DataIndex + 2] = (byte)((velLow >> 8) & 0xffU);
temp[DataIndex + 3] = (byte)((velLow >> 16) & 0xffU);
temp[DataIndex + 4] = (byte)((velLow >> 24) & 0xffU);
temp[DataIndex + 5] = (byte)(velHigh & 0xffU);
temp[DataIndex + 6] = (byte)((velHigh >> 8) & 0xffU);
temp[DataIndex + 7] = (byte)((velHigh >> 16) & 0xffU);
temp[DataIndex + 8] = (byte)((velHigh >> 24) & 0xffU);
temp[DataIndex + 9] = (byte)(acc & 0xffU);
temp[DataIndex + 10] = (byte)((acc >> 8) & 0xffU);
temp[DataIndex + 11] = (byte)((acc >> 16) & 0xffU);
temp[DataIndex + 12] = (byte)((acc >> 24) & 0xffU);
temp[DataIndex + 13] = (byte)(dec & 0xffU);
temp[DataIndex + 14] = (byte)((dec >> 8) & 0xffU);
temp[DataIndex + 15] = (byte)((dec >> 16) & 0xffU);
temp[DataIndex + 16] = (byte)((dec >> 24) & 0xffU);
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, ControlerCommandCode.SetAxisParametersDefault, ref temp);
return(true);
}
public void SendCommandToControlerWithAxis(Axis axis, ControlerCommandCode Code)
{
if (axis >= Axis.Total)
{
return;
}
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (IsControlerConnected((Board)BoardIndex))
{
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
temp[CommunicationProtocol.MessageCommandIndex + 1] = (byte)AxisIndex;
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, Code, ref temp);
}
}
public void AddCommandMessageToQueue(Board boardIndex, ControlerCommandCode Code, ref byte[] Command)
{
switch (Code)
{
//设置相关的指令
case ControlerCommandCode.SetOutput:
case ControlerCommandCode.SetOutputByInput:
case ControlerCommandCode.SetOutputDefault:
case ControlerCommandCode.SetAxisParametersDefault:
case ControlerCommandCode.SetAxisParameters:
case ControlerCommandCode.SetAxisStepsAbs:
case ControlerCommandCode.SetAxisStepsRef:
case ControlerCommandCode.SetAxisMoveContinuous:
case ControlerCommandCode.SetAxisStepsMax:
case ControlerCommandCode.StopAxis:
case ControlerCommandCode.ResetAxisError:
case ControlerCommandCode.AxisGoHome:
case ControlerCommandCode.SetIp:
case ControlerCommandCode.SetVersionHardware:
case ControlerCommandCode.ResetFactory:
{
if (m_MyTcpClient[(int)boardIndex].IsConnected)
{
m_MyTcpClient[(int)boardIndex].m_SetCommandQueue.Enqueue(Command);
}
}
break;
//“获取”相关的指令
case ControlerCommandCode.GetOutput:
case ControlerCommandCode.GetInput:
case ControlerCommandCode.GetAxisParameters:
case ControlerCommandCode.GetAxisStepsAbs:
case ControlerCommandCode.GetAxisState:
case ControlerCommandCode.GetBoardInformation:
{
if (m_MyTcpClient[(int)boardIndex].IsConnected)
{
if (m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Count == 0)
{
m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Enqueue(Command);
}
else
{
bool AddToDequeue = true;
foreach (var temp in m_MyTcpClient[(int)boardIndex].m_GetCommandQueue)
{
if (MyMath.IsEquals(temp, Command)) //避免加入的相同的指令过多
{
AddToDequeue = false;
break;
}
}
if (AddToDequeue)
{
m_MyTcpClient[(int)boardIndex].m_GetCommandQueue.Enqueue(Command);
}
}
}
}
break;
default:
break;
}
}
