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127 lines
3.5 KiB
C++
127 lines
3.5 KiB
C++
#include "StdAfx.h"
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#include "WorkCmdWaitMotorStop.h"
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#include "MotionCard_PCI1245.h"
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#include "GlobalFunction.h"
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#include "PlatformXY.h"
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#include "DeviceState.h"
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#include "Program_SZ_XL.h"
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#include "ExceptionMsg.h"
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CWorkCmdWaitMotorStop::CWorkCmdWaitMotorStop()
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{
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m_bWaitMotorX = false;//检查轴是否运动停止
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m_bWaitMotorX2 = false;//
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m_bWaitMotorY = false;//
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m_bWaitMotorZ = false;//
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m_bCheckActCoord = false;//是否检测实际光栅尺的坐标
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}
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CWorkCmdWaitMotorStop::~CWorkCmdWaitMotorStop(void)
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{
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}
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bool CWorkCmdWaitMotorStop::Excute()
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{
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if(gLogMgr->IsDebuging())//调试状态只延时
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{
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Sleep(gLogMgr->GetDebugCmdDelay());
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return true;
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}
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Sleep(300);
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bool bMotorXMoveStop = true;//轴是否运动停止
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bool bMotorX2MoveStop = true;
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bool bMotorYMoveStop = true;
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bool bMotorZMoveStop = true;
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while(1)
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{
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if(m_bWaitMotorX)
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{
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bMotorXMoveStop = gMotionCard_PCI1245->IsbMotorXMoveStop();
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}
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if(m_bWaitMotorX2)
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{
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bMotorX2MoveStop = gMotionCard_PCI1245->IsbMotorX2MoveStop();
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}
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if(m_bWaitMotorY)
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{
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bMotorYMoveStop = gMotionCard_PCI1245->IsbMotorYMoveStop();
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}
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if(m_bWaitMotorZ)
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{
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bMotorZMoveStop = gMotionCard_PCI1245->IsbMotorZMoveStop();
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}
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//全部满足时退出
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if(bMotorXMoveStop && bMotorX2MoveStop && bMotorYMoveStop && bMotorZMoveStop)
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break;
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Sleep(100);
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}
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//更新电机的坐标
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if(m_bWaitMotorX)
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{
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CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X));
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MotorX.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorX));
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}
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if(m_bWaitMotorX2)
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{
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CMotor &MotorX2 = *(CMotor::GetMotor(MOTOR_X2));
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MotorX2.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorX2));
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}
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if(m_bWaitMotorY)
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{
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CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
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MotorY.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorY));
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}
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if(m_bWaitMotorZ)
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{
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CMotor &MotorZ = *(CMotor::GetMotor(MOTOR_Z));
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MotorZ.SetCoord(gMotionCard_PCI1245->GetMotorCoord(MotorZ));
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}
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CPlatformXY &PlatformXY = *gPlatformXY;
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PlatformXY.NotifyObservers();
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Sleep(300);
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#if 0
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if(m_bCheckActCoord)//检查光栅尺坐标和命令坐标是否匹配
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{
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bool bRet = true;
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if(m_bWaitMotorX)
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{
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CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X));
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bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorX);
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}
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if(m_bWaitMotorX2)
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{
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CMotor &MotorX2 = *(CMotor::GetMotor(MOTOR_X2));
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bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorX2);
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}
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if(m_bWaitMotorY)
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{
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CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
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bRet = gMotionCard_PCI1245->CheckMotorActCoord(MotorY);
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}
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if(!bRet)
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{
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//停止加工
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gProgram_SZ_XL->StopAutoWork();
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//取消初始化状态
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CDeviceState &DeviceState = CDeviceState::GetInstance();
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DeviceState.SetIniState(false);
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CString str = _T("光栅尺坐标反馈异常!");
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CExceptionMsg Msg;
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Msg.SetMsg(str);
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throw Msg;
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}
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}
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#endif
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return true;
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}
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void CWorkCmdWaitMotorStop::WirteLog()
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{
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CString str1 = "[WorkCmd][WaitMotorStop]";
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gLogMgr->WriteDebugLog(str1);
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} |