255 lines
8.9 KiB
C#
255 lines
8.9 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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using System.Web.UI.WebControls.WebParts;
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using ProductionControl.Utils;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
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namespace ProductionControl.Device
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{
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public class SmallAxisDev : IDisposable
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{
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#region 导入C函数
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#if (!DEBUG)
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const string dllName = "PMSOpticalDll.dll";
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#else
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const string dllName = "PMSOpticalDlld.dll";
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#endif
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_OpenSocket", CallingConvention = CallingConvention.Cdecl)]
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public static extern IntPtr PMSOptical_OpenSocket(string ip, int nPort);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_OpenComm", CallingConvention = CallingConvention.Cdecl)]
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public static extern IntPtr PMSOptical_OpenComm(string comname, int nBaud);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_IsOpened", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_IsOpened(IntPtr ptr, ref bool bIsOpened);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_Close", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_Close(ref IntPtr ptr);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_GoHome", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_GoHome(IntPtr ptr);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_IsHomed", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_IsHomed(IntPtr ptr, ref bool bIsHomed);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_MoveTo", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_MoveTo(IntPtr ptr, int nPulse);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_Stop", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_Stop(IntPtr ptr);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_JogStart", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_JogStart(IntPtr ptr, int nJogSpeed);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_JogStop", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_JogStop(IntPtr ptr);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_GetPos", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_GetPos(IntPtr ptr, ref int nCurPluse);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_GetMaxPos", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_GetMaxPos(IntPtr ptr, ref int nMaxPluse);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_GetStatus", CallingConvention = CallingConvention.Cdecl)]
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public static extern bool PMSOptical_GetStatus(IntPtr ptr, ref int nStatus);
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[DllImport(dllName, CharSet = CharSet.Ansi, EntryPoint = "PMSOptical_WaitForOpticalFinished", CallingConvention = CallingConvention.Cdecl)]
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public static extern void PMSOptical_WaitForOpticalFinished(IntPtr ptr, int nTimeOut);
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#endregion
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public Action<WarningEnum, string> WarningEvent;
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public Action<int, int> PPUChangeEvent;
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public Action<bool> StateChangeEvent;
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/// <summary>
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/// 最大倍数总的脉冲数
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/// </summary>
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public int MaxPPU { get; private set; }
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/// <summary>
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/// 是否打开设备成功
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/// </summary>
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public bool IsInit
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{
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get
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{
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if (pHandle == IntPtr.Zero)
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return false;
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bool bIsOpened = false;
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PMSOptical_IsOpened(pHandle, ref bIsOpened);
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return bIsOpened;
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}
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}
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private System.Timers.Timer timer = new System.Timers.Timer();
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private IntPtr pHandle;
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private int PrePPU;
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public bool PreRunState;
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private bool _isDebug = false;
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public SmallAxisDev(bool isDebug)
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{
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_isDebug = isDebug;
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}
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public SmallAxisDev()
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{
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}
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public bool start(string comName, int baud)
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{
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try
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{
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if(!IsInit)
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pHandle = PMSOptical_OpenComm(comName, baud);
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if (IsInit)
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{
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//获取回零状态并状态栏显示
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bool bIsHomed = false;
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PMSOptical_IsHomed(pHandle, ref bIsHomed);
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if (!bIsHomed)
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{
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Thread.Sleep(100);
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PMSOptical_WaitForOpticalFinished(pHandle, 10000);
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PMSOptical_IsHomed(pHandle, ref bIsHomed);
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if (!bIsHomed)
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throw new Exception("镜头电机复位失败！");
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}
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}
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PrePPU = 0;
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PreRunState = false;
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this.getMaxPPU();
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this.getCurrPPU();
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this.isMoving();
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//
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if (_isDebug)
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{
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timer.Elapsed += Timer_Elapsed;
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timer.Interval = 1000;
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timer.Start();
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}
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return true;
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}
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catch (Exception ex)
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{
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WarningEvent?.Invoke(WarningEnum.High, ex.Message);
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return false;
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}
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}
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public void stop()
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{
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try
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{
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if (_isDebug)
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{
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timer.Elapsed -= Timer_Elapsed;
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timer.Stop();
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}
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Thread.Sleep(200);
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PMSOptical_Close(ref pHandle);
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}
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catch { }
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}
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private void Timer_Elapsed(object sender, ElapsedEventArgs e)
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{
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if (!IsInit) return;
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getCurrPPU();
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isMoving();
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}
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public bool home(bool await=false)
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{
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if (!IsInit) return false;
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PMSOptical_GoHome(pHandle);
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if (await)
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{
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PMSOptical_WaitForOpticalFinished(pHandle, 10000);
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//判断是否回零并设置按钮状态
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bool bIsHomed = false;
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PMSOptical_IsHomed(pHandle, ref bIsHomed);
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if (!bIsHomed)
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return false;
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getCurrPPU();
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}
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return true;
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}
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public void gotoPos(int ppu,bool await=true)
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{
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if (!IsInit) return;
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if (ppu < 0 || ppu > MaxPPU) return;
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PMSOptical_MoveTo(pHandle, ppu);
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if (await)
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{
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PMSOptical_WaitForOpticalFinished(pHandle, 10000);
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getCurrPPU();
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}
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}
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public bool isMoving()
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{
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if (!IsInit)
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return false;
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int nStatus = 1; //注意，这里建议nStatus初始化为1 //返回0为运动状态，1为停止状态，2为初始化失败
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Thread.Sleep(20);
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//获取状态并刷新界面
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PMSOptical_GetStatus(pHandle, ref nStatus);
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bool state = 0 == nStatus;
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if (PreRunState != state)
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{
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StateChangeEvent?.Invoke(state);
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PreRunState = state;
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}
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return state;
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}
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//获取最大脉冲
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public int getMaxPPU()
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{
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if (!IsInit)
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return -1;
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int nMaxPos = 0;
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PMSOptical_GetMaxPos(pHandle, ref nMaxPos);
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MaxPPU = nMaxPos;
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return nMaxPos;
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}
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//获取当前脉冲
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public int getCurrPPU()
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{
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if (!IsInit)
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return -1;
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int nCurPos = 0;
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PMSOptical_GetPos(pHandle, ref nCurPos);
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if (PrePPU != nCurPos)
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{
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PPUChangeEvent?.Invoke(PrePPU, nCurPos);
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PrePPU = nCurPos;
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}
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return nCurPos;
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}
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private byte[] subBuff(byte[] buff, int start, int length)
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{
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byte[] res = new byte[length];
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for (int i = start; i < buff.Length && i < start + length; i++)
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res[i - start] = buff[i];
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return res;
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}
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public void Dispose()
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{
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stop();
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}
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}
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}
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