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Prima versione SCM-ESA che legge CORRETTAMENTE (4) assi!!!!

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This commit is contained in:
Samuele E. Locatelli
2016-05-26 17:15:26 +02:00
parent 370118f3ae
commit 2bdcc38458
7 changed files with 283 additions and 126 deletions
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MTC_Sim/MTC_Sim/AdapterConf/EsaKvara.ini
+3
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@@ -53,6 +53,9 @@ StatusNumber=401
; indirizzo di memoria del primo byte di scrittura dati
CommandsAddress=SIMREAD[0]
CommandsNumber=10
; indirizzo di memoria AreaV DA CAPIRE/VERIFICARE!!!!
VAreaAddress=V
VAreaNumber=10
; offset del registro per l'indice di collisione
CollisionIndex=6.L
; ritardo nella lettura dal plc
MTC_Sim/MTC_Sim/AdapterESA.cs
+196 -2
View File
@@ -100,20 +100,214 @@ namespace MTC_Adapter
public override void getStrobeAndAckStatus()
{
base.getStrobeAndAckStatus();
#if false
if (connectionOk)
{
// leggo TUTTO il blocco di memoria
inizio = DateTime.Now;
ncDevice.ReadBuffer();
if (utils.CRB("recTime")) TimingData.addResult(string.Format("R-PLC_MemoryRead", ncDevice.PLC_MemoryRead.Length), DateTime.Now.Subtract(inizio).Ticks);
// tengo tutto nella memoria dell'oggetto ESA...
//Buffer.BlockCopy(ncDevice.PLC_MemoryRead, 0, Strobes, 0, Strobes.Length);
}
else
{
lg.Error("Errore connessione mancante in getStrobeAndAckStatus");
}
#endif
}
Buffer.BlockCopy(ncDevice.PLC_MemoryRead, 0, Strobes, 0, Strobes.Length);
public override void getGlobalData()
{
base.getGlobalData();
// accodo dati path in DataMonitor......
StringBuilder sb = new StringBuilder();
if (connectionOk)
{
// leggo TUTTO il blocco di memoria
inizio = DateTime.Now;
ncDevice.ReadBuffer();
if (utils.CRB("recTime")) TimingData.addResult(string.Format("R-PLC_MemoryRead", ncDevice.PLC_MemoryRead.Length), DateTime.Now.Subtract(inizio).Ticks);
}
else
{
lg.Error("Errore connessione mancante in getStrobeAndAckStatus");
}
parentForm.dataMonitor = sb.ToString();
}
/// <summary>
/// Processo stti macchina...
/// </summary>
public override void processStatus()
{
base.processStatus();
// HARD CODE: forzo path 1 (indice 0...)
int idxPath = 0;
// switch su run mode...
/*
* MODO_X V[74].W
* 0 = Modo NESSUNO 
* 1 = Modo MANUALE 
* 2 = Modo AUTOMATICO 
* 3 = Modo POM 
* 4 = Modo MDI 
* 5 = Modo SEMIAUTOMATICO 
* 6 = Modo RAP 
* 7 = Modo TES
* */
uint Modo_X = ncDevice.PLC_MemoryAreaV[6];
switch (Modo_X)
{
default:
break;
}
#if false
if (STRB_DW2.HasFlag(StFlag32.B01))
{
vettPath[idxPath].mPathRunMode.Value = "AUTO";
}
else if (STRB_DW2.HasFlag(StFlag32.B02))
{
vettPath[idxPath].mPathRunMode.Value = "EDIT";
}
else if (STRB_DW2.HasFlag(StFlag32.B03))
{
vettPath[idxPath].mPathRunMode.Value = "MDI";
}
else if (STRB_DW2.HasFlag(StFlag32.B04))
{
vettPath[idxPath].mPathRunMode.Value = "REF";
}
else if (STRB_DW2.HasFlag(StFlag32.B05))
{
vettPath[idxPath].mPathRunMode.Value = "JOG";
}
else if (STRB_DW2.HasFlag(StFlag32.B07))
{
vettPath[idxPath].mPathRunMode.Value = "JOGINC";
}
else if (STRB_DW2.HasFlag(StFlag32.B07))
{
vettPath[idxPath].mPathRunMode.Value = "HANDLE";
}
#endif
}
public override void getUnOp()
{
base.getUnOp();
}
public override void getPath()
{
base.getPath();
}
public override void getAxis()
{
base.getAxis();
// mostro assi in DataMonitor......
StringBuilder sb = new StringBuilder();
// nuova posizione (per calcoli)
double newPos = 0;
double distPerc = 0;
int newDir = 0;
// leggo in modo "cablato" i dati dei vari assi...
for (int i = 0; i < currAdpConf.nAxis; i++)
{
// in base a indice scelgo valore posizione e load
switch (i)
{
case 0:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[240]), 0);
//BitConverter.ToUInt16(ncDevice.PLC_MemoryRead, 240);
break;
case 1:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[241]), 0);
break;
case 2:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[242]), 0);
break;
case 3:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[243]), 0);
break;
case 4:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[244]), 0);
break;
case 5:
newPos = (double)BitConverter.ToInt32(BitConverter.GetBytes(ncDevice.PLC_MemoryRead[245]), 0);
break;
default:
// valPos = posAssi.p1;
// valLoad = loadAssi.svload1;
break;
}
// popolo valori...
//vettAxis[i].mAxLoad.Value = (double)(valLoad.data) / Math.Pow(10, valLoad.dec);
vettAxis[i].mAxPosAct.Value = newPos;
//vettAxis[i].mAxPosTgt.Value = newPos + (double)(valPos.dist.data) / Math.Pow(10, valPos.dist.dec);
if (utils.CRB("verbose"))
{
sb.AppendLine(string.Format("Asse {0}: PosAct:{1:N3}, ToGo:{2:N3}{3}", i, (double)(newPos) / utils.CRI("fattdecimale"), i, 0));
}
vettAxis[i].mAxFeedAct.Value = FeedRate;
// calcolo distanza e salvo valore...
distPerc = newPos - prevPosAxis[i];
vettAxis[i].mAxDistDone.Value = Math.Abs(distPerc);
// sistemo direzione +/- (POS/NEG se lineari, CCW/CW se rotativi)
if (distPerc != 0)
{
newDir = Convert.ToInt32(distPerc / Math.Abs(distPerc));
}
else
{
newDir = prevDirAxis[i];
}
vettAxis[i].mAxDir.Value = newDir;
// se la direzione è variata salvo il cambio direzione...
if (newDir != prevDirAxis[i])
{
// salvo "+1" come cambi direzione
vettAxis[i].mAxInvDDone.Value = 1;
}
else
{
// salvo "0"...
vettAxis[i].mAxInvDDone.Value = 0;
}
// salvo valori vettore prec...
prevPosAxis[i] = newPos;
prevDirAxis[i] = newDir;
//vettAxis[i].mAxMainProc.Value = AxData.AxisMainProc;
//vettAxis[i].mAxIsMaster.Value = AxData.AxisIsMaster;
//vettAxis[i].mAxMastId.Value = AxData.AxisMastId;
//vettAxis[i].mAxFeedOver.Value = AxData.AxisFeedOver;
//vettAxis[i].mAxAccelAct.Value = AxData.AxisAccel;
//vettAxis[i].mAxAccTime.Value = AxData.AxisAccTime;
//vettAxis[i].mAxBattery.Value = AxData.AxisBattery;
}
parentForm.dataMonitor += sb.ToString();
}
}
}
MTC_Sim/MTC_Sim/Appunti.txt
-40
View File
@@ -1,40 +0,0 @@
OK 00) chiusura app --> FANUC_ref.disconnect
OK 01) rivedere GetBit (cambiare!!!)
OK 02) strobe allarmi --> su cambio fronte --> serve vettore stato COMPLETO allarmi
OK 03) lo strobe allarmi va inizializzato all'avvio (carica TUTTI i bit...)
OK 04) da strobe allarmi --> vettore allarmi
OK 05) CodS 5 cifre
OK 06) CodM/CodT 3 cifre
07) lettura assi: posizioni, velocità, ...
- feedrate C:\Users\samuele.STEAMWAREWIN\Documents\VisualStudioProjects\CMS_orig\A02B-0207-K737_04.20\Document\SpecE\Position\cnc_actf.htm
- ALL? C:\Users\samuele.STEAMWAREWIN\Documents\VisualStudioProjects\CMS_orig\A02B-0207-K737_04.20\Document\SpecE\Position\cnc_rdaxisdata.htm
OK 08) lettura strobe e registrazione NUOVO flusso EVENT x START/STOP/RESET (1 solo con 3 strobe separati) --> gestire!!!
OK 09) update gestione SUB MODE
OK 10) riallineamento simulatore generico
11) spostare lettura spindle in mandrino/UnOp
12) completare letture assi
OK 13) completare gestione BIT di semaforo
OK 14) completare gestione strobe (x i bit "non qualificati")
OK 15) decodifica corretta livello allarme (WARNING/FAULT)
16) lettura codici G del path con cnc_rdgcode
17) lettura dati "globali" in un unico ciglo (rdyndata2)
18) lettura speed dei mandrini (UnOp) da memorie (D3140 --> D3178, 2 byte 16bit UINT16, sono RPM interi, max 20 teste...)
19) calcolo distanze percorse assi
20) calcolo numero inversioni assi
21) revisione file conf ADAPTER
99) completamento funzioni con librerie fanuc native
C:\Users\samuele.STEAMWAREWIN\Documents\VisualStudioProjects\CMS_orig\A02B-0207-K737_04.20\Document\SpecE\flist_com.htm
SIM IP statico
192.168.139.100
Mio IP statico
192.168.139.101
MTC_Sim/MTC_Sim/MTC-Adapter.csproj
+10 -1
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@@ -104,6 +104,13 @@
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
<Content Include="Analisi tempi.txt" />
<Content Include="Appunti\SCM\Appunti doc CFG.txt" />
<Content Include="Appunti\SCM\Appunti SCM.txt" />
<Content Include="Appunti\SCM\Demo MonitorVariabili.avi" />
<Content Include="Appunti\SCM\Demo ProView.avi" />
<Content Include="Appunti\SCM\README.txt" />
<Content Include="Appunti\SCM\Tutorial Metodi Lettura SeF.avi" />
<Content Include="Appunti\SCM\VariabiliContatori.txt" />
<Content Include="Resurces\CMS.ico" />
<Content Include="dump\dump.exe">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
@@ -119,6 +126,8 @@
<Content Include="NLog.config">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
<None Include="Appunti\SCM\KvaraDb.doc" />
<None Include="Appunti\SCM\KvaraDb.pdf" />
<None Include="dump\build.bat" />
<None Include="dump\dump.c" />
<None Include="dump\dump.obj" />
@@ -169,7 +178,7 @@
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
<Content Include="AlarmListFANUC.txt" />
<Content Include="Appunti.txt" />
<Content Include="Appunti\CMS\Appunti CMS.txt" />
<Content Include="HaltTypeList.txt">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
MTC_Sim/SCMCncLib/SCMCncLib.csproj
-3
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@@ -38,9 +38,6 @@
<Reference Include="System.Data" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Xml" />
<Reference Include="XSimGph">
<HintPath>..\..\..\..\..\..\..\Kvara\Exe\XSimGph.dll</HintPath>
</Reference>
<Reference Include="XSimMem">
<HintPath>..\..\..\..\..\..\..\Kvara\Exe\XSimMem.dll</HintPath>
</Reference>
MTC_Sim/SCMCncLib/thdNcBase.cs
+6 -18
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@@ -2,7 +2,6 @@
using System.Collections.Generic;
using System.Linq;
using System.Text;
using XSimGph;
using IniFiles;
namespace SCMCncLib
@@ -18,8 +17,8 @@ namespace SCMCncLib
// !!! 2016.05.25 commentato e riscritto perchè NON C'E' la parte form, è DLL comunicazione...
#if false
protected XSimMainWindow m_form; // link to main window
#endif // false
protected MWEngine mwEngine; // link to graphic engine
#endif // false
public bool Connected = false;
protected bool requestStop = false;
protected int PlcDelay;
@@ -58,27 +57,16 @@ namespace SCMCncLib
// set delay for execution cycle
PlcDelay = fIni.ReadInteger("NC", "PlcDelay", 10);
}
/// <summary>
/// Initialization: common operations for all devices.
/// </summary>
/// <param name="e">The e.</param>
/// <param name="fIni">The f ini.</param>
public thdNcBase(MWEngine e, IniFile fIni)
{
// store link to graphic manager
mwEngine = e;
// set delay for execution cycle
PlcDelay = fIni.ReadInteger("NC", "PlcDelay", 10);
}
/// <summary>
/// Initialize read and write buffers of memory manager
/// </summary>
public void CreateBuffers()
{
mwEngine.MemoryManager.InitializeMemories();
}
#if false
mwEngine.MemoryManager.InitializeMemories();
#endif
}
/// <summary>
/// Request to stop the thread
MTC_Sim/SCMCncLib/thdNcEsaGvKvara.cs
+68 -62
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@@ -5,7 +5,6 @@ using System.Threading;
using System.Runtime.InteropServices;
using System.Linq;
using System.Text;
using XSimGph;
using IniFiles;
namespace SCMCncLib
@@ -34,6 +33,9 @@ namespace SCMCncLib
{
private UInt16 ReadNumber;
private UInt16 WriteNumber;
private UInt16 VAreaNumber;
private UInt16 ETKAreaNumber;
private string SysLink = "";
private string DefCn = "";
@@ -46,9 +48,15 @@ namespace SCMCncLib
private string CommandsAddressName;
private TS_REG CommandsAddress;
private string VAreaAddressName;
private TS_REG VAreaAddress;
public UInt32[] PLC_MemoryRead;
public UInt32[] PLC_MemoryWrite;
public UInt32[] PLC_MemoryAreaV;
public UInt32[] PLC_MemoryAreaETK;
// esa constants
#region ESA_PLC_CONSTANTS
private const UInt32 MAX_PATH = 256;
@@ -137,9 +145,10 @@ namespace SCMCncLib
// !!! 2016.05.25 inutile forse? riguarda l'engine 3d...
//hack: metto 16...
int ReadNumber = 16;
int WriteNumber = 16;
//hack: metto fisso...
ReadNumber = 265;
WriteNumber = 265;
WriteNumber = 265;
#if false
// store read and write number of bytes
ReadNumber = Convert.ToUInt16(mwEngine.MemoryManager.NrByteToRead / 4);
@@ -151,72 +160,22 @@ namespace SCMCncLib
StatusAddressName = fIni.ReadString("NC", "StatusAddress", "SIMWRITE[0]");
CommandsAddressName = fIni.ReadString("NC", "CommandsAddress", "SIMREAD[0]");
VAreaAddressName= fIni.ReadString("NC", "VAreaAddress", "SIMREAD[0]");
// create read buffer
PLC_MemoryRead = new UInt32[ReadNumber];
// create write buffer
PLC_MemoryWrite = new UInt32[WriteNumber];
if (!Connect())
Disconnect();
}
/// <summary>
/// Initializes a new instance of the <see cref="thdNcEsaGvKvara"/> class.
/// </summary>
/// <param name="e">The e.</param>
/// <param name="fIni">The f ini.</param>
public thdNcEsaGvKvara(MWEngine e, IniFile fIni) : base(e, fIni)
{
DeviceType = NC_DEVICE_TYPE.ESAGV_KVARA;
StringBuilder tempS = new StringBuilder(Convert.ToInt32(MAX_PATH));
//string buffer = " ";
//byte[] byteS = new UTF8Encoding().GetBytes(buffer);
//GCHandle bufferH = GCHandle.Alloc(byteS, GCHandleType.Pinned);
//IntPtr tempS = Marshal.UnsafeAddrOfPinnedArrayElement(byteS, 0);
//byte[] tempS = new byte[MAX_PATH];
// set executable path
SetDllDirectory(fIni.ReadString("NC", "SysExe", "C:\\KVARA\\EXE"));
// communication type
string defValue = fIni.ReadString("NC", "SysLink", "SIMULATO");
ENVGetProfileString("SYS", "LINK", defValue, tempS, MAX_PATH);
//bufferH.Free();
SysLink = tempS.ToString();
// communication channel
iChannel = ConvComunicationChannel(SysLink);
// definition path
defValue = fIni.ReadString("NC", "SysDefCn", "C:\\KVARA\\DISCOI");
ENVGetProfileString("SYS", "DEFCN", defValue, tempS, MAX_PATH);
DefCn = tempS.ToString() + "\\defcn";
//StrCat(DefCn, "\\defcn");
// !!! 2016.05.25 inutile forse? riguarda l'engine 3d...
// store read and write number of bytes
ReadNumber = Convert.ToUInt16(mwEngine.MemoryManager.NrByteToRead / 4);
if (mwEngine.MemoryManager.NrByteToRead != ReadNumber * 4) ReadNumber++;
WriteNumber = Convert.ToUInt16(mwEngine.MemoryManager.NrByteToWrite / 4);
if (mwEngine.MemoryManager.NrByteToWrite != WriteNumber * 4) WriteNumber++;
StatusAddressName = fIni.ReadString("NC", "StatusAddress", "SIMWRITE[0]");
CommandsAddressName = fIni.ReadString("NC", "CommandsAddress", "SIMREAD[0]");
// create read buffer
PLC_MemoryRead = new UInt32[ReadNumber];
// create write buffer
PLC_MemoryWrite = new UInt32[WriteNumber];
// create VArea buffer
PLC_MemoryAreaV = new UInt32[32];
// create ETKArea buffer
PLC_MemoryAreaETK = new UInt32[32];
if (!Connect())
Disconnect();
}
#if false
/// <summary>
/// Initializes a new instance of the <see cref="thdNcEsaGvKvara"/> class.
@@ -274,6 +233,36 @@ namespace SCMCncLib
#endif // false
/// <summary>
/// Thread main execution
/// </summary>
public override void Execute()
{
while (!requestStop)
{
if (Connected)
{
// load data from NC
ReadBuffer();
// if requested make a pause
if (PlcDelay > 0)
Thread.Sleep(PlcDelay);
}
else if (!Connected)
{
// wait 5 sec and retry connection
Thread.Sleep(5000);
Connect();
}
else
Thread.Sleep(500);
}
if (Connected) Disconnect();
Finished = true;
}
#if false
/// <summary>
/// Thread main execution
/// </summary>
@@ -309,7 +298,8 @@ namespace SCMCncLib
if (Connected) Disconnect();
Finished = true;
}
}
#endif
/// <summary>
/// Reads the buffer.
@@ -318,6 +308,17 @@ namespace SCMCncLib
{
// lettura buffer dal CN
iError = read_regbuffer(ref StatusAddress, 0, ReadNumber, PLC_MemoryRead);
// devo definire posizione memorie Vcome TS_REG
iError = read_regbuffer(ref VAreaAddress, 68, 32, PLC_MemoryAreaV);
#if false
// se tutto ok leggo anche buffer V
if (iError == 0)
{
iError = read_regbuffer(ref StatusAddress, 0, ReadNumber, PLC_MemoryAreaV);
}
#endif
//System.Buffer.BlockCopy(PLC_MemoryRead, 0, mwEngine.MemoryManager.ReadMemory, 0, mwEngine.MemoryManager.NrByteToRead);
// set flag to inform graphic engine that data have been read from device
//mwEngine.BufferRead = true;
@@ -328,8 +329,10 @@ namespace SCMCncLib
/// </summary>
private void WriteBuffer()
{
#if false
System.Buffer.BlockCopy(mwEngine.MemoryManager.WriteMemory, 0, PLC_MemoryWrite, 0, mwEngine.MemoryManager.NrByteToWrite);
iError = write_regbuffer(ref CommandsAddress, 0, WriteNumber, PLC_MemoryWrite);
iError = write_regbuffer(ref CommandsAddress, 0, WriteNumber, PLC_MemoryWrite);
#endif
}
/// <summary>
@@ -346,6 +349,9 @@ namespace SCMCncLib
iError = get_reg_by_name(StatusAddressName, ref StatusAddress);
if (iError == 0)
iError = get_reg_by_name(CommandsAddressName, ref CommandsAddress);
if (iError == 0)
iError = get_reg_by_name(VAreaAddressName, ref VAreaAddress);
Connected = (iError == 0);
WriteConnectionStatus();