//Basic PA movement, while printing output to TextBox1:
private void runAbsoluteMoveCommand(string axis, int distance_units, int speed)
{
try
{
form.printTextBox1("Preparing " + axis + " axis for PA movement. This could cause errors if the axis is not initialized...");
gclib.GCommand("AB;MO;SH" + axis);
//compound commands are possible though typically not recommended
form.printTextBox1("Ok");
gclib.GCommand("PA" + axis + "=" + distance_units);
//might implement speed control parameter in future
gclib.GCommand("SP" + axis + "=" + speed);
form.printTextBox1("Profiling a move on axis" + axis + "... ");
gclib.GCommand("BG" + axis);
form.printTextBox1("Waiting for motion to complete... ");
gclib.GMotionComplete(axis);
form.printTextBox1("done");
//update absolute position and display in textBox2:
//cur_abs_pos(abs_position); // as stated in Master, this is commented as it has been identified as the source of neg move problem
}
catch (Exception ex)
{
form.printTextBox1("ERROR in runAbsoluteMoveCommand on axis " + axis + ": " + ex.Message, Form1.PrintStyle.Instruction);
}
}
//Note to self: currently not working
public void Main(string address)
{
gclib gclib = new gclib();
try
{
//execute any program as dictated by all buttons and given script
//i plan to change the way we do this abit. i want to establish a connection. check for it
// then just use this Main function to execute the intention of the comment 2 lines above this
//calls to gclib should be in a try-catch
textBox1.AppendText("GVersion: " + gclib.GVersion() + "\n");
gclib.GOpen(address + " -d"); //Set an appropriate IP address here
textBox1.AppendText("GInfo: " + gclib.GInfo() + "\n");
textBox1.AppendText("GCommand: " + gclib.GCommand("MG TIME") + "\n");
}
catch (Exception ex)
{
textBox1.AppendText("ERROR: " + ex.Message);
}
finally
{
gclib.GClose(); //Don't forget to close!
}
}
private bool InitPowerLand(string address) //初始化powerland
{
gclib gclib = null;
try
{
gclib = new gclib();
PrintOutput("gclib version: ", PrintStyle.Normal, true);
PrintOutput(gclib.GVersion(), PrintStyle.GclibData);
PrintOutput("Opening connection to \"" + address + "\"... ", PrintStyle.Normal, true);
gclib.GOpen(address);
PrintOutput("Connected.", PrintStyle.Normal);
PrintOutput("Setting AZ...", PrintStyle.Normal);
gclib.GCommand(CommandCreate.AZCommand(""));
PrintOutput("Complete.", PrintStyle.Normal);
Commondata.GalilControler = new gclib();
PrintOutput("Connectting to Controler...", PrintStyle.Normal);
Commondata.GalilControler.GOpen(Commondata.DmcC640Ip);
PrintOutput("Connected.Version is " + Commondata.GalilControler.GInfo(), PrintStyle.Normal);
PrintOutput("Now TP position is " + Commondata.GalilControler.GCommand("TP"), PrintStyle.Normal);
Commondata.IsInit = true;
return(true);
}
catch (Exception ex)
{
MessageBox.Show("PowerLand初始化失败！" + ex.Message);
//MessageBox.Show(e.Message);
return(false);
}
}
//Retrieve absolute position of gantry (Axes a,b, c):
//Note that retrieval can only be done when the gantry is no longer moving.
// 19/12/19: this is a function I did not modify.
private void cur_abs_pos(int[] abs_position)
{
try
{
PrintOutput(textBox1, "Updating absolute position.. ", PrintStyle.Normal, true);
PrintOutput(textBox2, "Updating absolute position.. ", PrintStyle.Normal, true);
/*
*
* // Apparently GCommand would not allow me to display the TD returned result in GMessage
* // So I used these 2 lines instead:
* // Flush out outdated value:
* gclib.GProgramDownload("TD", "");
* gclib.GCommand("XQ");
* string td_value = gclib.GMessage();
*
* // Get updated value:
* gclib.GProgramDownload("TD", "");
* gclib.GCommand("XQ");
* td_value = gclib.GMessage();
*
* var watch = Stopwatch.StartNew();
* while (!Regex.IsMatch(td_value, @"[0-9]+,\s[0-9]+,\s[0-9]+"))
* {
* gclib.GProgramDownload("TD", "");
* gclib.GCommand("XQ");
* td_value = gclib.GMessage();
*
* if(watch.ElapsedMilliseconds > 3000)
* {
* watch.Stop();
* throw new TimeoutException("TD command output result format incorrect after 3sec conversion!");
* }
* }
* watch.Stop();
* //throw new System.IndexOutOfRangeException("TD command invalid return..Ignore");
*
* // Needed to extract substring because for some reason there is another string being outputted:
* td_value = td_value.Substring(0, td_value.IndexOf(Environment.NewLine));
*/
// V2: found a better way to do the above, avoiding all the bugs...
string td_value = gclib.GCommand("PA?,?,?");
PrintOutput(textBox1, "Converting..", PrintStyle.Normal, true);
// 231019: Note that the error messages (tagged with "TD" and "text to int") are caused by this section:
// I suspect that it is because the line td_value = gclib.GMessage returns messages not intended, i.e. commas disappeared?
// Might be benign: can ignore for now.
// Here onwards we update the variable abs_position:
// this function only updates X, Y coordinates
coor_string_to_intArr(td_value, abs_position);
// To update Z coordinate (axis-c), we do so manually:
// Note that IndexOf in this case has 2 args and works like such:
// 1st arg = char to look for in str, 2nd arg = index in str to begin searching
int index_2nd_comma = td_value.IndexOf(',', td_value.IndexOf(',') + 2);
string temp = td_value.Substring(index_2nd_comma);
int temp_abs = abs_position[2];
if (!(Int32.TryParse(temp, out abs_position[2])))
{
//if conversion failed
abs_position[2] = temp_abs;
}
PrintOutput(textBox1, "Done!", PrintStyle.Normal, true);
PrintOutput(textBox2, td_value, PrintStyle.GalilData);
}
catch (Exception ex)
{
PrintOutput(textBox1, "ERROR in TD command (absolute position): " + ex.Message, PrintStyle.Instruction);
}
}
private void TheDemo(string address)
{
gclib gclib = null;
try
{
gclib = new gclib(); //constructor can throw, so keep it in a Try block
PrintOutput("gclib version: ", PrintStyle.Normal, true);
PrintOutput(gclib.GVersion(), PrintStyle.GclibData);
//*** Uncomment below for network utilities ***
//PrintOutput("Controllers requesting IP addresses...");
//string[] macs = gclib.GIpRequests();
//if (macs.Length == 0)
// PrintOutput("None");
//else
// foreach (string m in macs)
// PrintOutput(m);
//gclib.GAssign("192.168.0.42", "00:50:4c:20:01:23"); //Assign an IP to an unassigned controller
PrintOutput("Available connections:");
string[] addrs = gclib.GAddresses();
if (addrs.Length == 0)
{
PrintOutput("None");
}
else
{
foreach (string a in addrs)
{
PrintOutput(a, PrintStyle.GclibData);
}
}
PrintOutput("Opening connection to \"" + address + "\"... ", PrintStyle.Normal, true);
gclib.GOpen(address);
PrintOutput("Connected.", PrintStyle.Normal);
PrintOutput(gclib.GInfo(), PrintStyle.GalilData);
// gclib.GCommand("BN"); //send BN if IP address was assigned above
PrintOutput("Sending \"MG TIME\"", PrintStyle.Normal);
PrintOutput(gclib.GCommand("MG TIME", false), PrintStyle.GalilData);
PrintOutput("Downloading Program... ", PrintStyle.Normal, true);
gclib.GProgramDownload("i=0\r#A;MG i{N};i=i+1;WT10;JP#A,i<10;EN", "");
PrintOutput("Uploading Program");
PrintOutput(gclib.GProgramUpload(), PrintStyle.GalilData);
PrintOutput("Blocking GMessage call");
gclib.GCommand("XQ");
System.Threading.Thread.Sleep(200);
//wait a bit to queue up some messages
PrintOutput(gclib.GMessage(), PrintStyle.GalilData);
//get them all in one blocking read
PrintOutput("Downloading Program... ", PrintStyle.Normal, true);
gclib.GProgramDownload("WT 1000; MG TIME; EN", "");
//prints a messsage after 1 second
PrintOutput("Uploading Program");
PrintOutput(gclib.GProgramUpload(), PrintStyle.GalilData);
PrintOutput("Non-blocking GMessage call", PrintStyle.Normal, true);
gclib.GCommand("XQ");
gclib.GTimeout(0);
//set a zero timeout for a non-blocking read
string msg = "";
while ((string.IsNullOrEmpty(msg)))
{
msg = gclib.GMessage();
PrintOutput(".", PrintStyle.Normal, true);
System.Threading.Thread.Sleep(20);
//do something useful here...
}
PrintOutput("Message: ", PrintStyle.Normal, true);
PrintOutput(msg.Trim(), PrintStyle.GalilData);
gclib.GTimeout(-1);
//put the timeout back
//NOTE: Both GRecord and GInterrupt also have non-blocking mode with 0 timeout.
PrintOutput("Downloading Program... ", PrintStyle.Normal, true);
gclib.GProgramDownload("WT 1000; UI 8; EN", "");
//fires an interrupt after 1 second
PrintOutput("Uploading Program");
PrintOutput(gclib.GProgramUpload(), PrintStyle.GalilData);
PrintOutput("Non-blocking GInterrupt call", PrintStyle.Normal, true);
gclib.GCommand("XQ");
gclib.GTimeout(0);
//set a zero timeout for a non-blocking read
byte b = 0;
while ((b == 0))
{
b = gclib.GInterrupt();
PrintOutput(".", PrintStyle.Normal, true);
System.Threading.Thread.Sleep(20);
//do something useful here...
}
PrintOutput("Byte: ", PrintStyle.Normal, true);
PrintOutput(b.ToString("X02"), PrintStyle.GalilData);
gclib.GTimeout(-1);
//put the timeout back
PrintOutput("Getting some synchronous data records");
byte[] DataRecord = null;
for (int i = 0; i <= 10; i++)
{
DataRecord = gclib.GRecord(false);
PrintOutput(BitConverter.ToUInt16(DataRecord, 4).ToString() + " ", PrintStyle.GalilData, true);
//byte 4 and 5 are typically TIME counter
//need help accessing the data record? Contact [email protected]
System.Threading.Thread.Sleep(10);
}
PrintOutput("");
PrintOutput("Getting some asynchronous data records");
gclib.GRecordRate(10);
//set up data records every 10 ms
for (int i = 0; i <= 10; i++)
{
DataRecord = gclib.GRecord(true);
PrintOutput(BitConverter.ToUInt16(DataRecord, 4).ToString() + " ", PrintStyle.GalilData, true);
//byte 4 and 5 are typically TIME counter
//no need to delay, asynchronous mode is dispatched by the Galil's RTOS.
}
gclib.GRecordRate(0);
//turn off data records
PrintOutput("");
PrintOutput("Downloading an array... ", PrintStyle.Normal, true);
List <double> array = new List <double>();
for (double i = 0; i <= 9; i++)
{
array.Add(i * 2);
}
gclib.GCommand("DA *[];DM array[10]");
//arrays must be dimensioned prior to download
gclib.GArrayDownload("array", ref array);
PrintOutput("Ok. Uploading array");
array = gclib.GArrayUpload("array");
foreach (double d in array)
{
PrintOutput(d.ToString("F4") + " ", PrintStyle.GalilData, true);
}
PrintOutput("");
PrintOutput("Performing a write... ", PrintStyle.Normal, true);
gclib.GWrite("QR\r");
//QR returns the binary data record
PrintOutput("Ok. Reading binary data... ", PrintStyle.Normal, true);
byte[] data = gclib.GRead();
PrintOutput("Ok. Read " + data.Length + " bytes.");
PrintOutput("Preparing A axis. This could cause errors if the axis is not initialized...", PrintStyle.Normal, true);
gclib.GCommand("AB;MO;SHA");
//compound commands are possible though typically not recommended
PrintOutput("Ok");
gclib.GCommand("PRA=5000");
gclib.GCommand("SPA=5000");
PrintOutput("Profiling a move on axis A... ", PrintStyle.Normal, true);
gclib.GCommand("BGA");
PrintOutput("Waiting for motion to complete... ", PrintStyle.Normal, true);
gclib.GMotionComplete("A");
PrintOutput("done");
PrintOutput("Going back... ", PrintStyle.Normal, true);
gclib.GCommand("PRA=-5000");
gclib.GCommand("BGA");
gclib.GMotionComplete("A");
PrintOutput("done");
}
catch (Exception ex)
{
PrintOutput("Error: " + ex.Message, PrintStyle.Err);
}
finally
{
if (gclib != null)
{
gclib.GClose(); //don't forget to close the connection
}
}
}