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91 lines
2.6 KiB
C++
91 lines
2.6 KiB
C++
#include "StdAfx.h"
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#include "WorkCmdMovePlatformXY.h"
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#include "ExceptionMsg.h"
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#include "DeviceState.h"
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CWorkCmdMovePlatformXY::CWorkCmdMovePlatformXY()
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{
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m_bMoveByDir = false;//是否通过方向来移动平台
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m_bMoveByPulse = false;//是否通过方向脉冲个数来移动平台
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m_MoveDis = 0;//移动距离
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m_Work = false;//是否在工作(false 表示空移),主要是电机速度不一样
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m_MoveOrder = 0;
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m_bCheckIniState = false;//是否检查初始化状态
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}
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CWorkCmdMovePlatformXY::~CWorkCmdMovePlatformXY(void)
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{
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}
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//将平台移动到指定点
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bool CWorkCmdMovePlatformXY::Excute()
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{
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if(gLogMgr->IsDebuging())//调试状态
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{
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Sleep(gLogMgr->GetDebugCmdDelay());
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}
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CPlatformXY &PlatformXY = *gPlatformXY;
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if(m_bMoveByDir)//按距离移动
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{
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PlatformXY.MoveDistance(m_MoveDis,m_MoveDir);
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}
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else if(m_bMoveByPulse)//按脉冲移动
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{
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PlatformXY.MovePulseCnt(m_PulseCnt,m_MoveDir);
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}
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else//点到点移动
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{
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if(m_bCheckIniState)
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{
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CDeviceState &DeviceState = CDeviceState::GetInstance();
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if(!DeviceState.IsDeviceIni())
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{
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CString str = _T("异常，平台未初始化!");
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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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PlatformXY.SetMoveOrder(m_MoveOrder);
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PlatformXY.Move(m_Work,m_MovePt,m_TargetPt);
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}
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SetAfterDelay(PlatformXY.GetMoveDelay());
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return true;
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}
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void CWorkCmdMovePlatformXY::WirteLog()
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{
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if(m_bMoveByDir)
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{
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gLogMgr->WriteDebugLog(_T("[WorkCmd][平台移动] "),_T("距离mm"),m_MoveDis);
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}
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else if(m_bMoveByPulse)
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{
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gLogMgr->WriteDebugLog(_T("[WorkCmd][平台移动] "),_T("脉冲个数"),m_PulseCnt);
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}
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else
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{
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gLogMgr->WriteDebugLog(_T("[WorkCmd][MovePlatformXY] "),_T("MovePt.x"),_T("MovePt.y"),m_MovePt.x,m_MovePt.y);
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gLogMgr->WriteDebugLog(_T("[WorkCmd][MovePlatformXY] "),_T("m_TargetPt.x"),_T("m_TargetPt.y"),m_TargetPt.x,m_TargetPt.y);
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}
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}
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/*MovePt 是数据在平台上映射的实际坐标,
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TargetPt 是将MovePt 移动到TargetPt 的位置
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*/
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void CWorkCmdMovePlatformXY::MoveToTargetPt(Dbxy MovePt,Dbxy TargetPt)
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{
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m_MovePt = MovePt;
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m_TargetPt = TargetPt;
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}
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//如果设置了移动距离和方向，则按照这种方式来移动
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void CWorkCmdMovePlatformXY::MoveByDis(double MoveDis,DIRECTION MoveDir)
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{
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m_bMoveByDir = true;
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m_MoveDis = MoveDis;
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m_MoveDir = MoveDir;
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}
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//脉冲移动
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void CWorkCmdMovePlatformXY::MoveByPulseCnt(int PulseCnt,DIRECTION MoveDir)
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{
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m_bMoveByPulse = true;
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m_PulseCnt = PulseCnt;
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m_MoveDir = MoveDir;
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} |