// TestDlg.cpp : 实现文件 // #include "stdafx.h" #include "LaiPuLaser.h" #include "DlgPlatformCtrl.h" #include "afxdialogex.h" #include "WorkCmdMovePlatformXY.h" #include "MsgBox.h" #include "AuthorityMgr.h" #include "WorkCmdInvoker.h" #include "WorkCmdMoveMotor.h" #include "ExceptionMsg.h" #include "WorkCmdMotorToMachineOrigin.h" #include "WorkCmdMotorToOffsetPos.h" #include "PropertieMgr.h" #include "DeviceState.h" #include "Laser.h" #include "ObjComponentMgr.h" #include "MotionCard_PCI1245.h" #include "WorkCmdSetMotorSpeed.h" #include "WorkCmdWaitMotorStop.h" #define MAX_MOVE_DIS 100//平台一次最大移动距离 #define MAX_Z_MOVE_DIS 10//Z轴最大移动距离 #define WORK_TIMER1 1 #define WORK_TIME_DELAY1 200 #define WORK_TIMER2 2 #define WORK_TIME_DELAY2 150 IMPLEMENT_DYNAMIC(DlgPlatformCtrl, CDialogEx) BEGIN_MESSAGE_MAP(DlgPlatformCtrl, CDialogEx) ON_WM_TIMER() ON_BN_CLICKED(IDC_UP_BTN, &DlgPlatformCtrl::OnBnClickedUpBtn) ON_BN_CLICKED(IDC_DOWN_BTN, &DlgPlatformCtrl::OnBnClickedDownBtn) ON_BN_CLICKED(IDC_LEFT_BTN, &DlgPlatformCtrl::OnBnClickedLeftBtn) ON_BN_CLICKED(IDC_RIGHT_BTN, &DlgPlatformCtrl::OnBnClickedRightBtn) ON_BN_CLICKED(IDC_TO_ORIGIN, &DlgPlatformCtrl::OnBnClickedToOrigin) ON_BN_CLICKED(IDC_BY_DIS, &DlgPlatformCtrl::OnBnClickedByDis) ON_BN_CLICKED(IDC_BY_PULSE, &DlgPlatformCtrl::OnBnClickedByPulse) ON_BN_CLICKED(IDC_MOTOR_Z_UP, &DlgPlatformCtrl::OnBnClickedMotorZUp) ON_BN_CLICKED(IDC_MOTOR_Z_DOWN, &DlgPlatformCtrl::OnBnClickedMotorZDown) ON_BN_CLICKED(IDC_SET_XY_ORIGIN, &DlgPlatformCtrl::OnBnClickedSetOrigin) ON_BN_CLICKED(IDC_TO_WORK_PT, &DlgPlatformCtrl::OnBnClickedToWorkPt) ON_BN_CLICKED(IDC_INI_PLAT, &DlgPlatformCtrl::OnBnClickedIniPlat) ON_BN_CLICKED(IDC_SET_Z_FOCUS, &DlgPlatformCtrl::OnBnClickedSetZFocus) ON_BN_CLICKED(IDC_RESET_XY_ORIGIN, &DlgPlatformCtrl::OnBnClickedResetXyOrigin) ON_BN_CLICKED(IDC_ADJUST_PLAT_SPEED, &DlgPlatformCtrl::OnBnClickedAdjustPlatSpeed) ON_BN_CLICKED(IDC_TEST_Z_FOCUS, &DlgPlatformCtrl::OnBnClickedTestZFocus) ON_EN_CHANGE(IDC_MOVE_RANGE, &DlgPlatformCtrl::OnEnChangeMoveRange) ON_EN_CHANGE(IDC_MOVE_DIS_Z, &DlgPlatformCtrl::OnEnChangeMoveDisZ) ON_BN_CLICKED(IDC_MOVE_TO_PT, &DlgPlatformCtrl::OnBnClickedMoveToPt) ON_BN_CLICKED(IDC_INI_MOTOR_Z, &DlgPlatformCtrl::OnBnClickedIniMotorZ) ON_BN_CLICKED(IDC_SET_PRODUCT_POS, &DlgPlatformCtrl::OnBnClickedSetProductPos) ON_BN_CLICKED(IDC_USE_MOTOR_X2_CHECK, &DlgPlatformCtrl::OnBnClickedUseMotorX2Check) ON_BN_CLICKED(IDC_RESET_ERR, &DlgPlatformCtrl::OnBnClickedResetErr) ON_BN_CLICKED(IDC_SEVON_BTN, &DlgPlatformCtrl::OnBnClickedSevonBtn) END_MESSAGE_MAP() DlgPlatformCtrl::DlgPlatformCtrl(CWnd* pParent /*=NULL*/) { bMoveByDis = true;//是否按距离移动(false 为按脉冲个数移动) m_MoveRange = 10;//移动距离或者脉冲个数 m_ZMotorMoveDis = 0.1; m_CoordZ = 0; m_CoordZ2 = 0; m_ZMotorMoveDis = 1; m_MovePtX = 0; m_MovePtY = 0; m_bMotorInit = false;//Z轴是否初始化 } DlgPlatformCtrl::~DlgPlatformCtrl() { } void DlgPlatformCtrl::DoDataExchange(CDataExchange* pDX) { CDialogEx::DoDataExchange(pDX); DDX_Control(pDX, IDC_LEFT_BTN, m_XLeftBtn); DDX_Control(pDX, IDC_RIGHT_BTN, m_XRightBtn); DDX_Control(pDX, IDC_UP_BTN, m_XTopBtn); DDX_Control(pDX, IDC_DOWN_BTN, m_XDownBtn); DDX_Control(pDX, IDC_MOTOR_Z_UP, m_ZUpBtn); DDX_Control(pDX, IDC_MOTOR_Z_DOWN, m_ZDownBtn); DDX_Text(pDX, IDC_MOVE_RANGE, m_MoveRange); DDX_Text(pDX, IDC_COORD_X, m_PlatformCoord.x); DDX_Text(pDX, IDC_COORD_Y, m_PlatformCoord.y); DDX_Text(pDX, IDC_COORD_Z, m_CoordZ); DDX_Text(pDX, IDC_COORD_Z2, m_CoordZ2); DDX_Text(pDX, IDC_MOVE_DIS_Z, m_ZMotorMoveDis); DDX_Text(pDX, IDC_MOVE_PT_X, m_MovePtX); DDX_Text(pDX, IDC_MOVE_PT_Y, m_MovePtY); DDX_Control(pDX, IDC_INI_PLAT, m_InitPlatBtn); DDX_Control(pDX, IDC_TO_ORIGIN, m_ToOriginPtBtn); DDX_Control(pDX, IDC_TO_WORK_PT, m_ToProductPtBtn); DDX_Control(pDX, IDC_RESET_XY_ORIGIN, m_PlatCoordZeroBtn); DDX_Control(pDX, IDC_SET_XY_ORIGIN, m_SetOriginPtBtn); DDX_Control(pDX, IDC_SET_PRODUCT_POS, m_SetProductPtBtn); DDX_Control(pDX, IDC_MOVE_TO_PT, m_MovePlatToPtBtn); DDX_Control(pDX, IDC_INI_MOTOR_Z, m_InitZMotorBtn); DDX_Control(pDX, IDC_SET_Z_FOCUS, m_SetZMotorOriginBtn); DDX_Control(pDX, IDC_TEST_Z_FOCUS, m_ReadZMotorOriginBtn); DDX_Control(pDX, IDC_RESET_ERR, m_ResetMotorErrBtn); } BOOL DlgPlatformCtrl::OnInitDialog() { CDialogEx::OnInitDialog(); m_XLeftBtn.LoadBitmaps(IDB_LEFT_BTN,IDB_LEFT_DOWN_BTN,IDB_LEFT_BTN,IDB_LEFT_BTN); m_XRightBtn.LoadBitmaps(IDB_RIGHT_BTN,IDB_RIGHT_BTN_DOWN,IDB_RIGHT_BTN,IDB_RIGHT_BTN); m_XTopBtn.LoadBitmaps(IDB_TOP_BTN,IDB_TOP_DOWN_BTN,IDB_TOP_BTN,IDB_TOP_BTN); m_XDownBtn.LoadBitmaps(IDB_DOWN_BTN,IDB_DOWN_DOWN_BTN,IDB_DOWN_BTN,IDB_DOWN_BTN); m_ZUpBtn.LoadBitmaps(IDB_TOP_BTN,IDB_TOP_DOWN_BTN,IDB_TOP_BTN,IDB_TOP_BTN); m_ZDownBtn.LoadBitmaps(IDB_DOWN_BTN,IDB_DOWN_DOWN_BTN,IDB_DOWN_BTN,IDB_DOWN_BTN); //默认按距离移动 ((CButton *)GetDlgItem(IDC_BY_DIS))->SetCheck(TRUE); m_SetOriginPtBtn.SetUpColor(RGB_RED); m_SetProductPtBtn.SetUpColor(RGB_RED); m_SetZMotorOriginBtn.SetUpColor(RGB_RED); UpdateData(FALSE); return TRUE; } //观察平台坐标的变化 void DlgPlatformCtrl::UpdateInfo() { m_PlatformCoord = gPlatformXY->GetCoord(); //不要科学计数显示 if(IsDbEqualZero(m_PlatformCoord.x)) m_PlatformCoord.x = 0; if(IsDbEqualZero(m_PlatformCoord.y)) m_PlatformCoord.y = 0; CMotor *pMotorZ = CMotor::GetMotor(MOTOR_Z); m_CoordZ = pMotorZ->GetCoord(); m_CoordZ2 = pMotorZ->GetCoord2(); //不要科学计数显示 if(IsDbEqualZero(m_CoordZ)) m_CoordZ = 0; UpdateData(FALSE); } void DlgPlatformCtrl::Update() { SetTimer(WORK_TIMER1,WORK_TIME_DELAY1,NULL);//用timer来更新，否则会报错 } void DlgPlatformCtrl::OnTimer(UINT nIDEvent) { if(nIDEvent == WORK_TIMER1) { UpdateInfo(); KillTimer(WORK_TIMER1); } if(nIDEvent == WORK_TIMER2) { gMotionCard_PCI1245->ResetAllAsixErr(); KillTimer(WORK_TIMER2); } CDialog::OnTimer(nIDEvent); } void DlgPlatformCtrl::SetAllBtnState(bool b) { GetDlgItem(IDC_TO_ORIGIN)->EnableWindow(b); GetDlgItem(IDC_TO_WORK_PT)->EnableWindow(b); GetDlgItem(IDC_INI_PLAT)->EnableWindow(b); GetDlgItem(IDC_RESET_XY_ORIGIN)->EnableWindow(b); GetDlgItem(IDC_ADJUST_PLAT_SPEED)->EnableWindow(b); } #if 1 //按距离移动(前提条件是电机分辨率是正确的) void DlgPlatformCtrl::OnBnClickedByDis() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; bMoveByDis = true; } //按脉冲个数移动 void DlgPlatformCtrl::OnBnClickedByPulse() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; bMoveByDis = false; } void DlgPlatformCtrl::OnBnClickedUpBtn() { UpdateData(TRUE); gPlatformXY->ManualMovePlatForm(bMoveByDis,m_MoveRange,_DIR_U); } void DlgPlatformCtrl::OnBnClickedDownBtn() { UpdateData(TRUE); gPlatformXY->ManualMovePlatForm(bMoveByDis,m_MoveRange,_DIR_D); } void DlgPlatformCtrl::OnBnClickedLeftBtn() { UpdateData(TRUE); gPlatformXY->ManualMovePlatForm(bMoveByDis,m_MoveRange,_DIR_L); } void DlgPlatformCtrl::OnBnClickedRightBtn() { UpdateData(TRUE); gPlatformXY->ManualMovePlatForm(bMoveByDis,m_MoveRange,_DIR_R); } #endif #if 1 //平台坐标归零 void DlgPlatformCtrl::OnBnClickedResetXyOrigin() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("平台坐标归零?"))==false) return; vector CmdVec; CmdVec.push_back(_T("CmdName[CMD_DEVICE_PAR_RESET]")); CWorkCmdInvoker Invoker; Invoker.ExcuteCmd(CmdVec); } //初始化平台 void DlgPlatformCtrl::OnBnClickedIniPlat() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; gPlatformXY->IniPlat(); } //返回工作原点 void DlgPlatformCtrl::OnBnClickedToOrigin() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; gPlatformXY->MoveToOriginPt(); } //设置当前位置为平台原点(测试用) void DlgPlatformCtrl::OnBnClickedSetOrigin() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("设置当前位置为平台原点\n 重启软件后生效"))==false) return; CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X)); CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y)); //查找原点,记录距离 { CWorkCmdMotorToMachineOrigin *pCmd = new CWorkCmdMotorToMachineOrigin(MotorX); pCmd->SetPar(true); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //查找原点,记录距离 { CWorkCmdMotorToMachineOrigin *pCmd = new CWorkCmdMotorToMachineOrigin(MotorY); pCmd->SetPar(true); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //返回 { CWorkCmdMotorToOffsetPos *pCmd = new CWorkCmdMotorToOffsetPos(MotorY); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //返回 { CWorkCmdMotorToOffsetPos *pCmd = new CWorkCmdMotorToOffsetPos(MotorX); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } gDevicePropertieMgr.SaveAllPropertie(); } //取料点 void DlgPlatformCtrl::OnBnClickedToWorkPt() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; gPlatformXY->MoveToWorkPt(); } #endif #if 1 void DlgPlatformCtrl::MoveMotorZ(bool bDirZ) { //自动运行中禁止移动 if(gProgram_SZ_XL->IsbAutoWorking()) return; //非厂家权限限制移动 if(gAuthorityMgr->CheckAuthority(_FACTORY,false)==false) return; CMotor &Motor = *(CMotor::GetMotor(MOTOR_Z)); unsigned int PulseCnt = 0; if(bMoveByDis) { PulseCnt = (unsigned int)(m_ZMotorMoveDis/Motor.GetOnePulseDis()); } else { PulseCnt = (unsigned int)m_ZMotorMoveDis; } double dis = bDirZ?m_ZMotorMoveDis:m_ZMotorMoveDis*(-1); CWorkCmdContainer CmdContainer; //设置电机速度 { CWorkCmdSetMotorSpeed *pCmd = new CWorkCmdSetMotorSpeed(); pCmd->SetbSetMotorZ(); pCmd->SetSpeedType(_SpeedType_Move); CmdContainer.AddCmd(pCmd); } //移动 { CWorkCmdMoveMotor *pCmd = new CWorkCmdMoveMotor(Motor,dis); pCmd->SetMoveFlg(true);//按距离移动 CmdContainer.AddCmd(pCmd); } //等待移动结束 { CWorkCmdWaitMotorStop *pCmd = new CWorkCmdWaitMotorStop(); pCmd->SetbWaitMotorZ(); CmdContainer.AddCmd(pCmd); } CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.Excute(CmdContainer); Motor.NotifyObservers(); } bool DlgPlatformCtrl::CheckZMoveDis() { UpdateData(TRUE); if(m_ZMotorMoveDis>MAX_Z_MOVE_DIS) { CMsgBox MsgBox; MsgBox.Show("Z 轴每次最多移动(mm)！"); return false; } return true; } void DlgPlatformCtrl::OnBnClickedMotorZUp() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; if(CheckZMoveDis()) { MoveMotorZ(true); } } void DlgPlatformCtrl::OnBnClickedMotorZDown() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; if(CheckZMoveDis()) { MoveMotorZ(false); } } //设置当前点为Z 轴原点 void DlgPlatformCtrl::OnBnClickedSetZFocus() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("设置当前点为Z 轴的焦点?"))==false) return; CMotor &Motor = *(CMotor::GetMotor(MOTOR_Z)); if(gMotionCard_PCI1245->IsbUsed()) { if(!m_bMotorInit) { CMsgBox MsgBox; MsgBox.Show("请先初始化Z 轴"); return; } //设置当前的焦点位置为原点偏移位置 Motor.SetOriginOffsetDis(Motor.GetCoord2()); } else { //查找原点,记录距离 { CWorkCmdMotorToMachineOrigin *pCmd = new CWorkCmdMotorToMachineOrigin(Motor); pCmd->SetPar(true); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //返回焦点 { CWorkCmdMotorToOffsetPos *pCmd = new CWorkCmdMotorToOffsetPos(Motor); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //通知观察者平台坐标变化了 gPlatformXY->NotifyObservers(); } gDevicePropertieMgr.SaveAllPropertie(); } void DlgPlatformCtrl::OnBnClickedTestZFocus() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("测试Z 轴脉冲个数?"))==false) return; CMotor &Motor = *(CMotor::GetMotor(MOTOR_Z)); //查找原点,不要记录距离 { CWorkCmdMotorToMachineOrigin *pCmd = new CWorkCmdMotorToMachineOrigin(Motor); pCmd->SetPar(false); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //返回焦点 { CWorkCmdMotorToOffsetPos *pCmd = new CWorkCmdMotorToOffsetPos(Motor); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } gDevicePropertieMgr.SaveAllPropertie(); //通知观察者平台坐标变化了 gPlatformXY->NotifyObservers(); } //初始化Z 轴 void DlgPlatformCtrl::OnBnClickedIniMotorZ() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("初始化Z 轴?"))==false) return; CMotor &Motor = *(CMotor::GetMotor(MOTOR_Z)); //查找原点,记录距离 { CWorkCmdMotorToMachineOrigin *pCmd = new CWorkCmdMotorToMachineOrigin(Motor); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } //返回焦点 { CWorkCmdMotorToOffsetPos *pCmd = new CWorkCmdMotorToOffsetPos(Motor); CWorkCmdInvoker WorkInvoker;//工作调度者 WorkInvoker.ExcuteOneCmd(pCmd); } m_bMotorInit = true;//Z轴是否初始化 //通知观察者平台坐标变化了 gPlatformXY->NotifyObservers(); } #endif void DlgPlatformCtrl::OnBnClickedAdjustPlatSpeed() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("校准平台的运动速度?"))==false) return; gPlatformXY->AdjustPlatformSpeed(); } void DlgPlatformCtrl::OnEnChangeMoveRange() { // TODO: 如果该控件是 RICHEDIT 控件，它将不 // 发送此通知，除非重写 __super::OnInitDialog() // 函数并调用 CRichEditCtrl().SetEventMask()， // 同时将 ENM_CHANGE 标志“或”运算到掩码中。 // TODO: 在此添加控件通知处理程序代码 //UpdateData(TRUE); } void DlgPlatformCtrl::OnEnChangeMoveDisZ() { // TODO: 如果该控件是 RICHEDIT 控件，它将不 // 发送此通知，除非重写 __super::OnInitDialog() // 函数并调用 CRichEditCtrl().SetEventMask()， // 同时将 ENM_CHANGE 标志“或”运算到掩码中。 // TODO: 在此添加控件通知处理程序代码 //UpdateData(TRUE); } //移动到指定坐标 void DlgPlatformCtrl::OnBnClickedMoveToPt() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; UpdateData(TRUE); Dbxy TargetPt(m_MovePtX,m_MovePtY); gPlatformXY->MoveToPt(Dbxy(0,0),TargetPt); } //当前点设置为取料点 void DlgPlatformCtrl::OnBnClickedSetProductPos() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; gPlatformXY->SetCurPosAsProductPt(); //保存到属性 gDevicePropertieMgr.SaveAllPropertie(); } //切换X2 轴控制 void DlgPlatformCtrl::OnBnClickedUseMotorX2Check() { int idx = (((CButton *)GetDlgItem(IDC_USE_MOTOR_X2_CHECK))->GetCheck())?1:0; gMotionCard_PCI1245->SetCurGpIdx(idx); } void DlgPlatformCtrl::ResetAllMotorErr() { SetTimer(WORK_TIMER2,WORK_TIME_DELAY2,NULL); } void DlgPlatformCtrl::OnBnClickedResetErr() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; CMsgBox MsgBox; if(MsgBox.ConfirmOkCancel(_T("重置所有轴错误?"))==false) return; gMotionCard_PCI1245->ResetAllAsixErr(); //重新激磁 gMotionCard_PCI1245->SetSvOn(false); Sleep(500); gMotionCard_PCI1245->SetSvOn(true); //需要重新初始化设备 CDeviceState &DeviceState = CDeviceState::GetInstance(); DeviceState.SetIniState(false); } void DlgPlatformCtrl::OnBnClickedSevonBtn() { if(gAuthorityMgr->CheckAuthority(_FACTORY,true)==false) return; gMotionCard_PCI1245->SetSvOn(false); Sleep(500); gMotionCard_PCI1245->SetSvOn(true); //需要重新初始化设备 CDeviceState &DeviceState = CDeviceState::GetInstance(); DeviceState.SetIniState(false); }