Lucio Maranta
2256 lines
85 KiB
C#
2256 lines
85 KiB
C#
using CMS_CORE.Utils;
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using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.IO;
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using System.Linq;
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using System.Threading;
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using System.Windows.Forms;
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using static CMS_CORE_Library.DataStructures;
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#pragma warning disable 1591
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namespace CMS_CORE.Fanuc
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{
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public class Nc_Fanuc : Nc
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{
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private int TimeOut;
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private Focas1 FocasEnv;
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private List<ushort> nLibHandle;
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private String Cnc_name;
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private String Cnc_SftVersion;
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private String Cnc_SeriesNum;
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private short Cnc_NumPath;
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private byte FanucLanguage;
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private DateTime Last_Static_Read;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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#region Contructor & global methods
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/**
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* <summary>
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* Instantiate The NC-Fanuc Class
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* </summary>
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* <param name="IpAddress">Remote Ip-Address of the Nc</param>
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* <param name="RemotePort">Remote Port of the Nc</param>
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* <param name="ConnectionTimeOut">Send/Recieve timeout connection [mS]</param>
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* */
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public Nc_Fanuc(String IpAddress, ushort RemotePort, ushort ConnectionTimeOut)
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{
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//Set internal valiables
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Connected = false;
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Ip = IpAddress;
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Port = RemotePort;
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TimeOut = ConnectionTimeOut / 1000;
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//Istantiate the Focas Library
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FocasEnv = new Focas1();
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nLibHandle = new List<ushort>();
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}
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//Connect Method
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public override CmsError NC_Connect()
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{
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short nReturn;
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short ActivePath;
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ushort TempLibHandle;
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short i;
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//Try to connect to The NC
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nReturn = Focas1.cnc_allclibhndl3(Ip, Port, TimeOut, out TempLibHandle);
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if (nReturn != 0)
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return GetNcError(nReturn);
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else
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nLibHandle.Add(TempLibHandle);
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//Read the Actual Paths
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nReturn = Focas1.cnc_getpath(nLibHandle[0], out ActivePath, out Cnc_NumPath);
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if (nReturn != 0)
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return GetNcError(nReturn);
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//Setup all Paths
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for (i = 0; i < Cnc_NumPath; i++)
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{
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if (i > 0)
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{
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nReturn = Focas1.cnc_allclibhndl3(Ip, Port, TimeOut, out TempLibHandle);
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if (nReturn != 0)
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return GetNcError(nReturn);
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else
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nLibHandle.Add(TempLibHandle);
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}
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nReturn = Focas1.cnc_setpath(nLibHandle[i], (short)(i + 1));
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if (nReturn != 0)
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return GetNcError(nReturn);
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}
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//Setup the "Connected" value to TRUE
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Connected = true;
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return NO_ERROR;
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}
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//Disconnect Method
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public override CmsError NC_Disconnect()
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{
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if (Connected)
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{
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short nReturn;
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//If is connected -> Disconncet
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foreach (ushort handle in nLibHandle)
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{
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nReturn = Focas1.cnc_freelibhndl(handle);
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}
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//Setup the "Connected" value to FALSE
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Connected = false;
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}
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return NO_ERROR;
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}
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public override CmsError NC_GetTranslatedPlcMessages(string language, ref Dictionary<int, string> messages)
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{
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return NO_ERROR;
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}
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#endregion Contructor & global methods
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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#region High level methods
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//Get the NC Language
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public override CmsError NC_RLanguage(ref CultureInfo Language)
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{
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// Read static data
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CmsError cmsError = ReadStaticNCData();
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if (cmsError.IsError())
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return cmsError;
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Language = ConvertToSTEPLanguage(FanucLanguage);
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return NO_ERROR;
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}
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//Get the NC Serial Number
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public override CmsError NC_RSerialNumber(ref string SN)
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{
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// Read static data
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CmsError cmsError = ReadStaticNCData();
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if (cmsError.IsError())
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return cmsError;
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SN = Cnc_SeriesNum;
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return NO_ERROR;
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}
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//Get the NC Software Version
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public override CmsError NC_RSoftwareVersion(ref string SWV)
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{
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// Read static data
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CmsError cmsError = ReadStaticNCData();
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if (cmsError.IsError())
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return cmsError;
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SWV = Cnc_SftVersion;
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return NO_ERROR;
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}
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//Get the NC model Name
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public override CmsError NC_RModelName(ref string ModelName)
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{
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// Read static data
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CmsError cmsError = ReadStaticNCData();
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if (cmsError.IsError())
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return cmsError;
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ModelName = Cnc_name;
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return NO_ERROR;
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}
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//Get the processes-count configurated
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public override CmsError NC_RProcessesNum(ref ushort ProcNumber)
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{
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//Read static data
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CmsError cmsError = ReadStaticNCData();
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if (cmsError.IsError())
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return cmsError;
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ProcNumber = (ushort)Cnc_NumPath;
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return NO_ERROR;
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}
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//Get the NC Time
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public override CmsError NC_RDateTime(ref DateTime ActualTime)
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{
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//Check if the NC is Connected
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CmsError cmsError = CheckConnection();
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if (cmsError.IsError())
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return cmsError;
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Focas1.IODBTIMER TimerDate = new Focas1.IODBTIMER();
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Focas1.IODBTIMER TimerTime = new Focas1.IODBTIMER();
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short nReturn = 0;
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//Setup the IODBTIMER
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TimerDate.type = 0;
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TimerTime.type = 1;
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//Execute the method
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nReturn = Focas1.cnc_gettimer(nLibHandle[0], TimerDate);
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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//Execute the method
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nReturn = Focas1.cnc_gettimer(nLibHandle[0], TimerTime);
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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//Setup the out value
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ActualTime = new DateTime(TimerDate.date.year, TimerDate.date.month, TimerDate.date.date, TimerTime.time.hour, TimerTime.time.minute, TimerTime.time.second);
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return NO_ERROR;
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}
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//Get the Machine Number
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public override CmsError NC_RMachineNumber(ref string MachNumber)
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{
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ushort Value = 0;
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// Read word
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CmsError cmsError = MEM_RWWord(R, UNDEF_PROC, MATR_MACCH_FANUC.MemType, MATR_MACCH_FANUC.Address, ref Value);
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if (cmsError.IsError())
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return cmsError;
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MachNumber = Value.ToString();
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return NO_ERROR;
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}
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//Get the NC Alarms
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public override CmsError NC_RActiveAlarms(ref List<AlarmModel> alarms)
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{
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//Check if the NC is Connected
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CmsError cmsError = CheckConnection();
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if (cmsError.IsError())
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return cmsError;
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alarms.Clear();
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Focas1.ODBALMMSG2 Messg = new Focas1.ODBALMMSG2();
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short nReturn = 0;
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short count = FANUC_MAXMSGCNC;
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// Get path index
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short path = GetHandleIndexFromPath(1);
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if (path < 0)
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return PROC_NOT_FOUND_ERROR;
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//Execute the method
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nReturn = Focas1.cnc_rdalmmsg2(nLibHandle[path], -1, ref count, Messg);
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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//Add Alarm in List
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alarms.Clear();
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if (count >= 1)
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AddNcAlarmToList((ushort)Messg.msg1.alm_no, Messg.msg1.alm_msg.Substring(0, Messg.msg1.msg_len), DateTime.Now, alarms);
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if (count >= 2)
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AddNcAlarmToList((ushort)Messg.msg2.alm_no, Messg.msg2.alm_msg.Substring(0, Messg.msg2.msg_len), DateTime.Now, alarms);
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if (count >= 3)
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AddNcAlarmToList((ushort)Messg.msg3.alm_no, Messg.msg3.alm_msg.Substring(0, Messg.msg3.msg_len), DateTime.Now, alarms);
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if (count >= 4)
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AddNcAlarmToList((ushort)Messg.msg4.alm_no, Messg.msg4.alm_msg.Substring(0, Messg.msg4.msg_len), DateTime.Now, alarms);
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if (count >= 5)
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AddNcAlarmToList((ushort)Messg.msg5.alm_no, Messg.msg5.alm_msg.Substring(0, Messg.msg5.msg_len), DateTime.Now, alarms);
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if (count >= 6)
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AddNcAlarmToList((ushort)Messg.msg6.alm_no, Messg.msg6.alm_msg.Substring(0, Messg.msg6.msg_len), DateTime.Now, alarms);
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if (count >= 7)
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AddNcAlarmToList((ushort)Messg.msg7.alm_no, Messg.msg7.alm_msg.Substring(0, Messg.msg7.msg_len), DateTime.Now, alarms);
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if (count >= 8)
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AddNcAlarmToList((ushort)Messg.msg8.alm_no, Messg.msg8.alm_msg.Substring(0, Messg.msg8.msg_len), DateTime.Now, alarms);
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if (count >= 9)
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AddNcAlarmToList((ushort)Messg.msg9.alm_no, Messg.msg9.alm_msg.Substring(0, Messg.msg9.msg_len), DateTime.Now, alarms);
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if (count >= 10)
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AddNcAlarmToList((ushort)Messg.msg10.alm_no, Messg.msg10.alm_msg.Substring(0, Messg.msg10.msg_len), DateTime.Now, alarms);
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return NO_ERROR;
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}
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// Check if the NC is in running state
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public override CmsError NC_RIsRunning(ref bool running)
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{
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ushort nProcess = 0;
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// Get the number of processes
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CmsError cmsError = NC_RProcessesNum(ref nProcess);
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if (cmsError.IsError())
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return cmsError;
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ushort i = 1;
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running = false;
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do
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{
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PROC_STATUS procStatus = PROC_STATUS.IDLE;
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// Read process status
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cmsError = PROC_RStatus(i, ref procStatus);
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if (cmsError.IsError())
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return cmsError;
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if (procStatus == PROC_STATUS.RUN)
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running = true;
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i++;
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} while (!running || i <= nProcess);
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return NO_ERROR;
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}
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#endregion High level methods
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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#region PLC High-level data
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//Get the PMC Messages
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public override CmsError PLC_RActiveMessages(ref List<PlcAlarmModel> alarms)
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{
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//Check if the NC is Connected
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CmsError cmsError = CheckConnection();
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if (cmsError.IsError())
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return cmsError;
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Focas1.OPMSG3 Messg = new Focas1.OPMSG3();
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short nReturn = 0;
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short count = FANUC_MAXMSGPMC;
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//Execute the method
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nReturn = Focas1.cnc_rdopmsg3(nLibHandle[0], -1, ref count, Messg);
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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// Add Alarm in List
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alarms.Clear();
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if (count >= 1 && Messg.msg1.datano >= 0)
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AddPlcAlarmsToList((ushort)Messg.msg1.datano, false, false, new List<int>() { 1 }, alarms);
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if (count >= 2 && Messg.msg2.datano >= 0)
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AddPlcAlarmsToList((ushort)Messg.msg2.datano, false, false, new List<int>() { 1 }, alarms);
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if (count >= 3 && Messg.msg3.datano >= 0)
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AddPlcAlarmsToList((ushort)Messg.msg3.datano, false, false, new List<int>() { 1 }, alarms);
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if (count >= 4 && Messg.msg4.datano >= 0)
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AddPlcAlarmsToList((ushort)Messg.msg4.datano, false, false, new List<int>() { 1 }, alarms);
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if (count >= 5 && Messg.msg5.datano >= 0)
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AddPlcAlarmsToList((ushort)Messg.msg5.datano, false, false, new List<int>() { 1 }, alarms);
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return NO_ERROR;
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}
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public override CmsError PLC_WRefreshMessage(uint id)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_WRestoreMessage(uint id)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_WRefreshAllMessages()
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{
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return NO_ERROR;
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}
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// Get pre and post power on data
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public override CmsError PLC_RPowerOnData(ref PreAndPostPowerOnModel powerOnModel)
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{
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return NO_ERROR;
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}
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// Write power on data
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public override CmsError PLC_WPowerOnData(uint id, bool value)
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{
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return NO_ERROR;
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}
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// Get functionality data
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public override CmsError PLC_RFunctionAccess(ref List<FunctionalityModel> functions)
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{
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functions = new List<FunctionalityModel>();
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return NO_ERROR;
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}
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// Get axis reset procedure data
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public override CmsError PLC_RAxesResetData(ref AxisResetDataModel axisResetData)
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{
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return NO_ERROR;
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}
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// Get all the machine counters
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public override CmsError PLC_RMachineCounters(ref List<CounterModel> counters)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_RNcSoftKeys(ref List<SoftKeysModel> ncSoftKeys)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_RUserSoftKeys(ref List<SoftKeysModel> softKeys)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_WNcSoftKey(uint id)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_WUserSoftKey(uint id)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_RHeadsData(List<HeadDataModel> heads, int number)
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{
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return NO_ERROR;
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}
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public override CmsError PLC_WHeadOverride(uint id, HEAD_OVERRIDE_SIGN sign)
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{
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return NO_ERROR;
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}
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#endregion PLC High-level data
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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#region PROCESS (PATH) High-level data
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// Get process part program data
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public override CmsError PROC_RStatusAndData(ushort procNumber, ref ProcessDataModel processData)
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{
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//processData.Id = procNumber;
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//// Read part program name
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//CmsError cmsError = PROC_RPPName(procNumber, ref processData.PartProgramName);
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//if (cmsError.IsError())
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// return cmsError;
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//ushort readValue = 0;
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//// Read processes status from memory
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//cmsError = MEM_RWWord(R, 0, MEMORY_ADDRESS.PRE_POWER_ON.MemType, MEMORY_ADDRESS.PROCESS_STATUS.Address + 2 * (procNumber - 1), ref readValue);
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//if (cmsError.IsError())
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// return cmsError;
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//byte[] bytes = BitConverter.GetBytes(readValue);
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//// Convert Byte into true/false array
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//BitArray bits = new BitArray(new byte[] { bytes[0] }); //1st byte -> 0 : Proccess type (AUX-WORK), 1: Process in alarm status, 2: Run, 3: Hold, 4: Read, 5: PartProgramVisible
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//// Populate response structure
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//processData.Type = bits[0] ? "WORK" : "AUX";
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//processData.IsInAlarm = bits[1];
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//// Choose process status
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//if (bits[2])
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// processData.Status = "RUN";
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//else
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//{
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// if (bits[3])
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// processData.Status = "HOLD";
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// else
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// processData.Status = "READY";
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//}
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//// Get Reps from 2nd byte
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//processData.Reps = bytes[1];
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//// Get part program info visibility
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//processData.Visible = bits[5];
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return NO_ERROR;
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}
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//Get the process Alarms
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public override CmsError PROC_RActiveAlarms(ushort ProcNumber, ref List<AlarmModel> Alarms)
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{
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Alarms.Clear();
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return NO_ERROR;
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}
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//Get PP Lines
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public override CmsError PROC_RPPLines(ushort ProcNumber, ref List<string> Lines)
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{
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//Check if the NC is Connected
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CmsError cmsError = CheckConnection();
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if (cmsError.IsError())
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return cmsError;
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short nReturn = 0;
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int linN;
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ushort Lenght = 256;
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short ReturnIndex = 1;
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Char[] Chars = new Char[255];
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String[] newLines;
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short path = GetHandleIndexFromPath(ProcNumber);
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if (path < 0)
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return PROC_NOT_FOUND_ERROR;
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//Execute the method
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nReturn = Focas1.cnc_rdblkcount(nLibHandle[path], out linN);
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ReturnIndex = (short)linN;
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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path = GetHandleIndexFromPath(ProcNumber);
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if (path < 0)
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return PROC_NOT_FOUND_ERROR;
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//Execute the method
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nReturn = Focas1.cnc_rdexecprog(nLibHandle[path], ref Lenght, out ReturnIndex, Chars);
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newLines = new String(Chars).Replace("\0", String.Empty).Split('\n');
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//Throw Exception if there's an error
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if (nReturn != 0)
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return GetNcError(nReturn);
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|
|
//Setup the return values
|
|
Lines.Clear();
|
|
foreach (String Line in newLines)
|
|
Lines.Add(Line);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get Active PP Name
|
|
public override CmsError PROC_RPPName(ushort ProcNumber, ref string Name)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
short nReturn = 0;
|
|
Focas1.ODBEXEPRG Prg = new Focas1.ODBEXEPRG(); ;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(ProcNumber);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_exeprgname(nLibHandle[path], Prg);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Name = new String(Prg.name).Replace("\0", String.Empty);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get the process status
|
|
public override CmsError PROC_RStatus(ushort Number, ref PROC_STATUS Status)
|
|
{
|
|
Focas1.ODBST StatInfo = new Focas1.ODBST();
|
|
short nReturn;
|
|
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(Number);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_statinfo(nLibHandle[path], StatInfo);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Status = ConverToSTEPStatus(StatInfo);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get the process Mode
|
|
public override CmsError PROC_RMode(ushort Number, ref PROC_MODE Mode)
|
|
{
|
|
Focas1.ODBST StatInfo = new Focas1.ODBST();
|
|
short nReturn = 0;
|
|
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(Number);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_statinfo(nLibHandle[path], StatInfo);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Mode = ConverToSTEPMode(StatInfo);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError PROC_RSelectedProcess(ref ushort procNumber)
|
|
{
|
|
procNumber = 1;
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError PROC_WSelectProcess(ushort procNumber)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion PROCESS (PATH) High-level data
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region PROCESS-AXES (PATH) High-level data
|
|
|
|
//Get the Inrpolated position
|
|
public override CmsError AXES_RInterpPosition(ushort ProcNumber, ref Dictionary<string, double> Axes)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.ODBPOS axisFan = new Focas1.ODBPOS();
|
|
short nReturn;
|
|
short i;
|
|
short NumAxes = Focas1.MAX_AXIS;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(ProcNumber);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdposition(nLibHandle[path], FANUC_RELATIVEPOS, ref NumAxes, axisFan);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//If an axis goes out from Process Clear the List
|
|
if (Axes.Count > NumAxes)
|
|
{
|
|
Axes.Clear();
|
|
}
|
|
|
|
//Fill all the List
|
|
for (i = 1; i <= NumAxes; i++)
|
|
{
|
|
switch (i)
|
|
{
|
|
case 1: ReadRelativeAxisPos(axisFan.p1.rel, ref Axes); break;
|
|
case 2: ReadRelativeAxisPos(axisFan.p2.rel, ref Axes); break;
|
|
case 3: ReadRelativeAxisPos(axisFan.p3.rel, ref Axes); break;
|
|
case 4: ReadRelativeAxisPos(axisFan.p4.rel, ref Axes); break;
|
|
case 5: ReadRelativeAxisPos(axisFan.p5.rel, ref Axes); break;
|
|
case 6: ReadRelativeAxisPos(axisFan.p6.rel, ref Axes); break;
|
|
case 7: ReadRelativeAxisPos(axisFan.p7.rel, ref Axes); break;
|
|
case 8: ReadRelativeAxisPos(axisFan.p8.rel, ref Axes); break;
|
|
case 9: ReadRelativeAxisPos(axisFan.p9.rel, ref Axes); break;
|
|
case 10: ReadRelativeAxisPos(axisFan.p10.rel, ref Axes); break;
|
|
case 11: ReadRelativeAxisPos(axisFan.p11.rel, ref Axes); break;
|
|
case 12: ReadRelativeAxisPos(axisFan.p12.rel, ref Axes); break;
|
|
case 13: ReadRelativeAxisPos(axisFan.p13.rel, ref Axes); break;
|
|
case 14: ReadRelativeAxisPos(axisFan.p14.rel, ref Axes); break;
|
|
case 15: ReadRelativeAxisPos(axisFan.p15.rel, ref Axes); break;
|
|
case 16: ReadRelativeAxisPos(axisFan.p16.rel, ref Axes); break;
|
|
case 17: ReadRelativeAxisPos(axisFan.p17.rel, ref Axes); break;
|
|
case 18: ReadRelativeAxisPos(axisFan.p18.rel, ref Axes); break;
|
|
case 19: ReadRelativeAxisPos(axisFan.p19.rel, ref Axes); break;
|
|
case 20: ReadRelativeAxisPos(axisFan.p20.rel, ref Axes); break;
|
|
case 21: ReadRelativeAxisPos(axisFan.p21.rel, ref Axes); break;
|
|
case 22: ReadRelativeAxisPos(axisFan.p22.rel, ref Axes); break;
|
|
case 23: ReadRelativeAxisPos(axisFan.p23.rel, ref Axes); break;
|
|
case 24: ReadRelativeAxisPos(axisFan.p24.rel, ref Axes); break;
|
|
case 25: ReadRelativeAxisPos(axisFan.p25.rel, ref Axes); break;
|
|
case 26: ReadRelativeAxisPos(axisFan.p26.rel, ref Axes); break;
|
|
case 27: ReadRelativeAxisPos(axisFan.p27.rel, ref Axes); break;
|
|
case 28: ReadRelativeAxisPos(axisFan.p28.rel, ref Axes); break;
|
|
case 29: ReadRelativeAxisPos(axisFan.p29.rel, ref Axes); break;
|
|
case 30: ReadRelativeAxisPos(axisFan.p30.rel, ref Axes); break;
|
|
case 31: ReadRelativeAxisPos(axisFan.p31.rel, ref Axes); break;
|
|
case 32: ReadRelativeAxisPos(axisFan.p32.rel, ref Axes); break;
|
|
}
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get the Machine position
|
|
public override CmsError AXES_RMachinePosition(ushort ProcNumber, ref Dictionary<string, double> Axes)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.ODBPOS axisFan = new Focas1.ODBPOS();
|
|
short nReturn;
|
|
short i;
|
|
short NumAxes = Focas1.MAX_AXIS;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(ProcNumber);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdposition(nLibHandle[path], FANUC_MACHINEPOS, ref NumAxes, axisFan);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//If an axis goes out from Process Clear the List
|
|
if (Axes.Count > NumAxes)
|
|
{
|
|
Axes.Clear();
|
|
}
|
|
|
|
//Fill all the List
|
|
for (i = 1; i <= NumAxes; i++)
|
|
{
|
|
switch (i)
|
|
{
|
|
case 1: ReadRelativeAxisPos(axisFan.p1.mach, ref Axes); break;
|
|
case 2: ReadRelativeAxisPos(axisFan.p2.mach, ref Axes); break;
|
|
case 3: ReadRelativeAxisPos(axisFan.p3.mach, ref Axes); break;
|
|
case 4: ReadRelativeAxisPos(axisFan.p4.mach, ref Axes); break;
|
|
case 5: ReadRelativeAxisPos(axisFan.p5.mach, ref Axes); break;
|
|
case 6: ReadRelativeAxisPos(axisFan.p6.mach, ref Axes); break;
|
|
case 7: ReadRelativeAxisPos(axisFan.p7.mach, ref Axes); break;
|
|
case 8: ReadRelativeAxisPos(axisFan.p8.mach, ref Axes); break;
|
|
case 9: ReadRelativeAxisPos(axisFan.p9.mach, ref Axes); break;
|
|
case 10: ReadRelativeAxisPos(axisFan.p10.mach, ref Axes); break;
|
|
case 11: ReadRelativeAxisPos(axisFan.p11.mach, ref Axes); break;
|
|
case 12: ReadRelativeAxisPos(axisFan.p12.mach, ref Axes); break;
|
|
case 13: ReadRelativeAxisPos(axisFan.p13.mach, ref Axes); break;
|
|
case 14: ReadRelativeAxisPos(axisFan.p14.mach, ref Axes); break;
|
|
case 15: ReadRelativeAxisPos(axisFan.p15.mach, ref Axes); break;
|
|
case 16: ReadRelativeAxisPos(axisFan.p16.mach, ref Axes); break;
|
|
case 17: ReadRelativeAxisPos(axisFan.p17.mach, ref Axes); break;
|
|
case 18: ReadRelativeAxisPos(axisFan.p18.mach, ref Axes); break;
|
|
case 19: ReadRelativeAxisPos(axisFan.p19.mach, ref Axes); break;
|
|
case 20: ReadRelativeAxisPos(axisFan.p20.mach, ref Axes); break;
|
|
case 21: ReadRelativeAxisPos(axisFan.p21.mach, ref Axes); break;
|
|
case 22: ReadRelativeAxisPos(axisFan.p22.mach, ref Axes); break;
|
|
case 23: ReadRelativeAxisPos(axisFan.p23.mach, ref Axes); break;
|
|
case 24: ReadRelativeAxisPos(axisFan.p24.mach, ref Axes); break;
|
|
case 25: ReadRelativeAxisPos(axisFan.p25.mach, ref Axes); break;
|
|
case 26: ReadRelativeAxisPos(axisFan.p26.mach, ref Axes); break;
|
|
case 27: ReadRelativeAxisPos(axisFan.p27.mach, ref Axes); break;
|
|
case 28: ReadRelativeAxisPos(axisFan.p28.mach, ref Axes); break;
|
|
case 29: ReadRelativeAxisPos(axisFan.p29.mach, ref Axes); break;
|
|
case 30: ReadRelativeAxisPos(axisFan.p30.mach, ref Axes); break;
|
|
case 31: ReadRelativeAxisPos(axisFan.p31.mach, ref Axes); break;
|
|
case 32: ReadRelativeAxisPos(axisFan.p32.mach, ref Axes); break;
|
|
}
|
|
}
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get the Distance To Go
|
|
public override CmsError AXES_RDistanceToGo(ushort ProcNumber, ref Dictionary<string, double> Axes)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.ODBPOS axisFan = new Focas1.ODBPOS();
|
|
short nReturn;
|
|
short i;
|
|
short NumAxes = Focas1.MAX_AXIS;
|
|
|
|
// Get path index
|
|
short path = GetHandleIndexFromPath(ProcNumber);
|
|
if (path < 0)
|
|
return PROC_NOT_FOUND_ERROR;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdposition(nLibHandle[GetHandleIndexFromPath(ProcNumber)], FANUC_DISTTOGO, ref NumAxes, axisFan);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//If an axis goes out from Process Clear the List
|
|
if (Axes.Count > NumAxes)
|
|
{
|
|
Axes.Clear();
|
|
}
|
|
|
|
//Fill all the List
|
|
for (i = 1; i <= NumAxes; i++)
|
|
{
|
|
switch (i)
|
|
{
|
|
case 1: ReadRelativeAxisPos(axisFan.p1.dist, ref Axes); break;
|
|
case 2: ReadRelativeAxisPos(axisFan.p2.dist, ref Axes); break;
|
|
case 3: ReadRelativeAxisPos(axisFan.p3.dist, ref Axes); break;
|
|
case 4: ReadRelativeAxisPos(axisFan.p4.dist, ref Axes); break;
|
|
case 5: ReadRelativeAxisPos(axisFan.p5.dist, ref Axes); break;
|
|
case 6: ReadRelativeAxisPos(axisFan.p6.dist, ref Axes); break;
|
|
case 7: ReadRelativeAxisPos(axisFan.p7.dist, ref Axes); break;
|
|
case 8: ReadRelativeAxisPos(axisFan.p8.dist, ref Axes); break;
|
|
case 9: ReadRelativeAxisPos(axisFan.p9.dist, ref Axes); break;
|
|
case 10: ReadRelativeAxisPos(axisFan.p10.dist, ref Axes); break;
|
|
case 11: ReadRelativeAxisPos(axisFan.p11.dist, ref Axes); break;
|
|
case 12: ReadRelativeAxisPos(axisFan.p12.dist, ref Axes); break;
|
|
case 13: ReadRelativeAxisPos(axisFan.p13.dist, ref Axes); break;
|
|
case 14: ReadRelativeAxisPos(axisFan.p14.dist, ref Axes); break;
|
|
case 15: ReadRelativeAxisPos(axisFan.p15.dist, ref Axes); break;
|
|
case 16: ReadRelativeAxisPos(axisFan.p16.dist, ref Axes); break;
|
|
case 17: ReadRelativeAxisPos(axisFan.p17.dist, ref Axes); break;
|
|
case 18: ReadRelativeAxisPos(axisFan.p18.dist, ref Axes); break;
|
|
case 19: ReadRelativeAxisPos(axisFan.p19.dist, ref Axes); break;
|
|
case 20: ReadRelativeAxisPos(axisFan.p20.dist, ref Axes); break;
|
|
case 21: ReadRelativeAxisPos(axisFan.p21.dist, ref Axes); break;
|
|
case 22: ReadRelativeAxisPos(axisFan.p22.dist, ref Axes); break;
|
|
case 23: ReadRelativeAxisPos(axisFan.p23.dist, ref Axes); break;
|
|
case 24: ReadRelativeAxisPos(axisFan.p24.dist, ref Axes); break;
|
|
case 25: ReadRelativeAxisPos(axisFan.p25.dist, ref Axes); break;
|
|
case 26: ReadRelativeAxisPos(axisFan.p26.dist, ref Axes); break;
|
|
case 27: ReadRelativeAxisPos(axisFan.p27.dist, ref Axes); break;
|
|
case 28: ReadRelativeAxisPos(axisFan.p28.dist, ref Axes); break;
|
|
case 29: ReadRelativeAxisPos(axisFan.p29.dist, ref Axes); break;
|
|
case 30: ReadRelativeAxisPos(axisFan.p30.dist, ref Axes); break;
|
|
case 31: ReadRelativeAxisPos(axisFan.p31.dist, ref Axes); break;
|
|
case 32: ReadRelativeAxisPos(axisFan.p32.dist, ref Axes); break;
|
|
}
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get the Programmed Position
|
|
public override CmsError AXES_RProgrPosition(ushort ProcNumber, ref Dictionary<string, double> Axes)
|
|
{
|
|
//In fanuc is not implemented, so i need to build it
|
|
Dictionary<string, double> ActualMach = new Dictionary<string, double>();
|
|
Dictionary<string, double> ToGo = new Dictionary<string, double>();
|
|
KeyValuePair<string, Double> val;
|
|
|
|
//Read the positions
|
|
CmsError cmsError = AXES_RMachinePosition(ProcNumber, ref ActualMach);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
cmsError = AXES_RDistanceToGo(ProcNumber, ref ToGo);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//If it has the same size
|
|
if (ActualMach.Count == ToGo.Count)
|
|
{
|
|
//If an axis goes out from Process Clear the List
|
|
if (Axes.Count > ActualMach.Count)
|
|
{
|
|
Axes.Clear();
|
|
}
|
|
|
|
foreach (KeyValuePair<string, Double> axis in ActualMach)
|
|
{
|
|
val = Axes.FirstOrDefault(X => X.Key == axis.Key);
|
|
if (val.Key != null)
|
|
Axes[val.Key] = axis.Value + ToGo[val.Key];
|
|
else
|
|
Axes.Add(axis.Key, axis.Value + ToGo[axis.Key]);
|
|
}
|
|
}
|
|
else
|
|
return CmsError.InternalError("Impossible to get programmed position");
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError AXES_RFollowingError(ushort ProcNumber, ref Dictionary<string, double> Axes)
|
|
{
|
|
return FUNCTION_NOT_ALLOWED_ERROR;
|
|
}
|
|
|
|
public override CmsError AXES_RAxesNames(ushort process, ref List<AxisModel> axesData)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError AXES_RSelectedAxis(ref byte axisId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError AXES_WSelectAxis(byte axisId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion PROCESS-AXES (PATH) High-level data
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region NC Low-level function: single valiable in memory
|
|
|
|
//Read-Write a Boolean-Value inside the NC.
|
|
public override CmsError MEM_RWBoolean(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int MemBit, ref bool Value)
|
|
{
|
|
//Check if the Bit Number is Correct
|
|
CmsError cmsError = CheckBitRange(MemBit);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
byte ReadValue = 0;
|
|
byte pow = (byte)Math.Pow(2, MemBit);
|
|
|
|
//Read the Byte where is the bit
|
|
cmsError = MEM_RWByte(R, Process, MemType, MemIndex, 0, ref ReadValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//If i have to read -> Read the Bit
|
|
if (bWrite == R)
|
|
{
|
|
Value = (ReadValue & pow) == pow;
|
|
}
|
|
//If i have to Write -> Write the Bit
|
|
else
|
|
{
|
|
if (Value)
|
|
ReadValue = (byte)(ReadValue | (1 << MemBit));
|
|
else
|
|
ReadValue = (byte)(ReadValue & ~(1 << MemBit));
|
|
|
|
cmsError = MEM_RWByte(W, Process, MemType, MemIndex, 0, ref ReadValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Read-Write a Byte-Value inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWByte(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int MemByte, ref byte Value)
|
|
{
|
|
List<byte> Values = new List<byte>() { Value };
|
|
|
|
//uses the List method with one-element list
|
|
CmsError cmsError = MEM_RWByteList(bWrite, Process, MemType, MemIndex, 0, 1, ref Values);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Value = Values.First();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Int-Value inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWInteger(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, ref int Value)
|
|
{
|
|
List<int> ListValue = new List<int>() { Value };
|
|
|
|
//uses the List method with one-element list
|
|
CmsError cmsError = MEM_RWIntegerList(bWrite, Process, MemType, MemIndex, 1, ref ListValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Value = ListValue.First();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError MEM_RWDWord(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, ref uint Value)
|
|
{
|
|
List<uint> ListValue = new List<uint>() { Value };
|
|
|
|
//uses the List method with one-element list
|
|
CmsError cmsError = MEM_RWDWordList(bWrite, Process, MemType, MemIndex, 1, ref ListValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Value = ListValue.First();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Short-Value inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWShort(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, ref short Value)
|
|
{
|
|
List<short> ListValue = new List<short>() { Value };
|
|
|
|
//uses the List method with one-element list
|
|
CmsError cmsError = MEM_RWShortList(bWrite, Process, MemType, MemIndex, 1, ref ListValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Value = ListValue.First();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Word-Value inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWWord(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, ref ushort Value)
|
|
{
|
|
List<ushort> ListValue = new List<ushort>() { Value };
|
|
|
|
//uses the List method with one-element list
|
|
CmsError cmsError = MEM_RWWordList(bWrite, Process, MemType, MemIndex, 1, ref ListValue);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Value = ListValue.First();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------------------
|
|
// Siemens Version of Memory-Access Methods
|
|
|
|
public override CmsError MEM_RWBoolean(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int MemBit, ref bool Value)
|
|
{
|
|
return MEM_RWBoolean(bWrite, Process, MemType, MemIndex, MemBit, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWByte(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int MemByte, ref byte Value)
|
|
{
|
|
return MEM_RWByte(bWrite, Process, MemType, MemIndex, MemByte, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWWord(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, ref ushort Value)
|
|
{
|
|
return MEM_RWWord(bWrite, Process, MemType, MemIndex, MemIndex, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWShort(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, ref short Value)
|
|
{
|
|
return MEM_RWShort(bWrite, Process, MemType, MemIndex, MemIndex, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWDWord(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, ref uint Value)
|
|
{
|
|
return MEM_RWDWord(bWrite, Process, MemType, MemIndex, MemIndex, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWInteger(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, ref int Value)
|
|
{
|
|
return MEM_RWInteger(bWrite, Process, MemType, MemIndex, MemIndex, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWByteList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int MemByteStart, int Number, ref List<byte> Value)
|
|
{
|
|
return MEM_RWByteList(bWrite, Process, MemType, MemIndex, MemByteStart, Number, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWWordList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int Number, ref List<ushort> Value)
|
|
{
|
|
return MEM_RWWordList(bWrite, Process, MemType, MemIndex, Number, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWShortList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int Number, ref List<short> Value)
|
|
{
|
|
return MEM_RWShortList(bWrite, Process, MemType, MemIndex, Number, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWDWordList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int Number, ref List<uint> Value)
|
|
{
|
|
return MEM_RWDWordList(bWrite, Process, MemType, MemIndex, Number, ref Value);
|
|
}
|
|
|
|
public override CmsError MEM_RWIntegerList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemTable, int MemIndex, int Number, ref List<int> Value)
|
|
{
|
|
return MEM_RWIntegerList(bWrite, Process, MemType, MemIndex, Number, ref Value);
|
|
}
|
|
|
|
#endregion NC Low-level function: single valiable in memory
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region NC Low-level function: variables List in memory
|
|
|
|
//Read-Write a Byte-Value-List inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWByteList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int MemByteStart, int Number, ref List<byte> Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//Check if the Memory area is corrected
|
|
cmsError = CheckMemoryArea(MemType.ToString());
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//The maximum number of variables read/writed at the same time is 5
|
|
//I have to iterate it
|
|
Focas1.IODBPMC0 Io = new Focas1.IODBPMC0();
|
|
Io.cdata = new byte[FANUC_MAXNVAR];
|
|
short nReturn;
|
|
int ActualNumber;
|
|
int FanucNumber;
|
|
int Iterat;
|
|
int LastNumber;
|
|
int ActualStartIndex;
|
|
int ActualEndIndex;
|
|
int j = 0;
|
|
int k = 0;
|
|
|
|
//Setup the 'Value' variable
|
|
if (bWrite)
|
|
Number = Value.Count();
|
|
else
|
|
Value.Clear();
|
|
|
|
//Setup the iterations
|
|
LastNumber = (Number % FANUC_MAXNVAR);
|
|
Iterat = Number / FANUC_MAXNVAR;
|
|
|
|
//Iterates
|
|
for (int i = 0; i <= Iterat; i++)
|
|
{
|
|
//Set the variables-index to iterate
|
|
ActualStartIndex = MemIndex + (i * FANUC_MAXNVAR);
|
|
if (i == Iterat && LastNumber == 0)
|
|
break;
|
|
else if (i == Iterat)
|
|
ActualEndIndex = ActualStartIndex + LastNumber - 1;
|
|
else
|
|
ActualEndIndex = ActualStartIndex + FANUC_MAXNVAR - 1;
|
|
|
|
//Set the variables-numbers to iterate
|
|
ActualNumber = (ActualEndIndex - ActualStartIndex + 1);
|
|
//Set the variables-number Fanuc
|
|
FanucNumber = ActualNumber + 8;
|
|
|
|
//Set the IODBPMC if you have to write
|
|
if (bWrite)
|
|
{
|
|
Io.datano_s = (short)ActualStartIndex;
|
|
Io.datano_e = (short)ActualEndIndex;
|
|
Io.type_a = (short)MemType;
|
|
Io.type_d = (short)FANUC_DType.BYTE;
|
|
//Fill the cdata
|
|
j = (i * FANUC_MAXNVAR);
|
|
for (k = 0; k < ActualNumber; k++)
|
|
Io.cdata[k] = Value[j + k];
|
|
}
|
|
|
|
//Execute the method
|
|
if (!bWrite)
|
|
nReturn = Focas1.pmc_rdpmcrng(nLibHandle[0], (short)MemType, (short)FANUC_DType.BYTE, (ushort)ActualStartIndex, (ushort)ActualEndIndex, (ushort)FanucNumber, Io);
|
|
else
|
|
nReturn = Focas1.pmc_wrpmcrng(nLibHandle[0], (ushort)FanucNumber, Io);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//Else add the variables in the List (is is a read-statement)
|
|
else if (!bWrite)
|
|
Value.AddRange(Io.cdata.Take(ActualNumber).ToArray());
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Int-Value-List inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWIntegerList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int Number, ref List<int> Value)
|
|
{
|
|
//The maximum number of variables read/writed at the same time is 5
|
|
//I have to iterate it
|
|
Focas1.IODBPMC2 Io = new Focas1.IODBPMC2();
|
|
Io.ldata = new int[FANUC_MAXNVAR];
|
|
short nReturn;
|
|
int ActualNumber;
|
|
int FanucNumber;
|
|
int Iterat;
|
|
int LastNumber;
|
|
int ActualStartIndex;
|
|
int ActualEndIndex;
|
|
int j = 0;
|
|
int k = 0;
|
|
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//Check if the Memory area is corrected
|
|
cmsError = CheckMemoryArea(MemType.ToString());
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//Setup the 'Value' variable
|
|
if (bWrite)
|
|
Number = Value.Count();
|
|
else
|
|
Value.Clear();
|
|
|
|
//Setup the iterations
|
|
LastNumber = (Number % FANUC_MAXNVAR);
|
|
Iterat = Number / FANUC_MAXNVAR;
|
|
|
|
//Iterates
|
|
for (int i = 0; i <= Iterat; i++)
|
|
{
|
|
//Set the variables-index to iterate
|
|
ActualStartIndex = MemIndex + (i * FANUC_MAXNVAR * 4);
|
|
if (i == Iterat && LastNumber == 0)
|
|
break;
|
|
else if (i == Iterat)
|
|
ActualEndIndex = ActualStartIndex + (LastNumber * 4) - 1;
|
|
else
|
|
ActualEndIndex = ActualStartIndex + (FANUC_MAXNVAR * 4) - 1;
|
|
|
|
//Set the variables-numbers to iterate
|
|
ActualNumber = (ActualEndIndex - ActualStartIndex + 1) / 4;
|
|
//Set the variables-number Fanuc
|
|
FanucNumber = (ActualNumber * 4) + 8;
|
|
|
|
//Set the IODBPMC if you have to write
|
|
if (bWrite)
|
|
{
|
|
Io.datano_s = (short)ActualStartIndex;
|
|
Io.datano_e = (short)ActualEndIndex;
|
|
Io.type_a = (short)MemType;
|
|
Io.type_d = (short)FANUC_DType.LONG;
|
|
//Fill the cdata
|
|
j = (i * FANUC_MAXNVAR);
|
|
for (k = 0; k < ActualNumber; k++)
|
|
Io.ldata[k] = Value[j + k];
|
|
}
|
|
|
|
//Execute the method
|
|
if (!bWrite)
|
|
nReturn = Focas1.pmc_rdpmcrng(nLibHandle[0], (short)MemType, (short)FANUC_DType.LONG, (ushort)ActualStartIndex, (ushort)ActualEndIndex, (ushort)FanucNumber, Io);
|
|
else
|
|
nReturn = Focas1.pmc_wrpmcrng(nLibHandle[0], (ushort)FanucNumber, Io);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//Else add the variables in the List (is is a read-statement)
|
|
else if (!bWrite)
|
|
Value.AddRange(Io.ldata.Take(ActualNumber).ToArray());
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a DWord-Value-List inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWDWordList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int Number, ref List<uint> Values)
|
|
{
|
|
List<int> WordValues = new List<int>();
|
|
|
|
//If i have to write convert the INT list into (2x) WORD
|
|
if (bWrite)
|
|
WordValues = Values.Select(i => (int)i).ToList();
|
|
|
|
//Exetute the function
|
|
CmsError cmsError = MEM_RWIntegerList(bWrite, Process, MemType, MemIndex, Number, ref WordValues);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//If i have to read, convert the WORD list into INT
|
|
if (!bWrite)
|
|
Values = WordValues.Select(i => (uint)i).ToList();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Short-Value-List inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWShortList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int Number, ref List<short> Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//Check if the Memory area is corrected
|
|
cmsError = CheckMemoryArea(MemType.ToString());
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//The maximum number of variables read/writed at the same time is 5
|
|
//I have to iterate it
|
|
Focas1.IODBPMC1 Io = new Focas1.IODBPMC1();
|
|
Io.idata = new short[FANUC_MAXNVAR];
|
|
short nReturn;
|
|
int ActualNumber;
|
|
int FanucNumber;
|
|
int Iterat;
|
|
int LastNumber;
|
|
int ActualStartIndex;
|
|
int ActualEndIndex;
|
|
int j = 0;
|
|
int k = 0;
|
|
|
|
//Setup the 'Value' variable
|
|
if (bWrite)
|
|
Number = Value.Count();
|
|
else
|
|
Value.Clear();
|
|
|
|
//Setup the iterations
|
|
LastNumber = (Number % FANUC_MAXNVAR);
|
|
Iterat = Number / FANUC_MAXNVAR;
|
|
|
|
//Iterates
|
|
for (int i = 0; i <= Iterat; i++)
|
|
{
|
|
//Set the variables-index to iterate
|
|
ActualStartIndex = MemIndex + (i * FANUC_MAXNVAR * 2);
|
|
if (i == Iterat && LastNumber == 0)
|
|
break;
|
|
else if (i == Iterat)
|
|
ActualEndIndex = ActualStartIndex + (LastNumber * 2) - 1;
|
|
else
|
|
ActualEndIndex = ActualStartIndex + (FANUC_MAXNVAR * 2) - 1;
|
|
|
|
//Set the variables-numbers to iterate
|
|
ActualNumber = (ActualEndIndex - ActualStartIndex + 1) / 2;
|
|
//Set the variables-number Fanuc
|
|
FanucNumber = (ActualNumber * 2) + 8;
|
|
|
|
//Set the IODBPMC if you have to write
|
|
if (bWrite)
|
|
{
|
|
Io.datano_s = (short)ActualStartIndex;
|
|
Io.datano_e = (short)ActualEndIndex;
|
|
Io.type_a = (short)MemType;
|
|
Io.type_d = (short)FANUC_DType.WORD;
|
|
//Fill the cdata
|
|
j = (i * FANUC_MAXNVAR);
|
|
for (k = 0; k < ActualNumber; k++)
|
|
Io.idata[k] = Value[j + k];
|
|
}
|
|
|
|
//Execute the method
|
|
if (!bWrite)
|
|
nReturn = Focas1.pmc_rdpmcrng(nLibHandle[0], (short)MemType, (short)FANUC_DType.WORD, (ushort)ActualStartIndex, (ushort)ActualEndIndex, (ushort)FanucNumber, Io);
|
|
else
|
|
nReturn = Focas1.pmc_wrpmcrng(nLibHandle[0], (ushort)FanucNumber, Io);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
//Else add the variables in the List (is is a read-statement)
|
|
else if (!bWrite)
|
|
Value.AddRange(Io.idata.Take(ActualNumber).ToArray());
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Write a Word-Value-List inside the NC. In writing-mode the field "Number" is not required
|
|
public override CmsError MEM_RWWordList(bool bWrite, int Process, MEMORY_TYPE MemType, int MemIndex, int Number, ref List<ushort> Values)
|
|
{
|
|
List<short> WordValues = new List<short>();
|
|
|
|
//If i have to write convert the INT list into (2x) WORD
|
|
if (bWrite)
|
|
WordValues = Values.Select(i => (short)i).ToList();
|
|
|
|
//Exetute the function
|
|
CmsError cmsError = MEM_RWShortList(bWrite, Process, MemType, MemIndex, Number, ref WordValues);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//If i have to read, convert the WORD list into INT
|
|
if (!bWrite)
|
|
Values = WordValues.Select(i => (ushort)i).ToList();
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion NC Low-level function: variables List in memory
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region NC Low-level function: Parameters
|
|
|
|
//Get NC Bit Parameter
|
|
public override CmsError NC_RParam(short Index, short Bit, ref Boolean Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.IODBPSD_1 outpar = new Focas1.IODBPSD_1();
|
|
short nReturn;
|
|
short axes_num = 0;
|
|
short size = 5;
|
|
byte mask = (byte)Math.Pow(2, Bit);
|
|
|
|
//Check if the Bit Number is Correct
|
|
cmsError = CheckBitRange(Bit);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdparam(nLibHandle[0], Index, axes_num, size, outpar);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Value = ((outpar.cdata & mask) == mask) ? true : false;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get NC Byte Parameter
|
|
public override CmsError NC_RParam(short Index, ref byte Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.IODBPSD_1 outpar = new Focas1.IODBPSD_1();
|
|
short nReturn;
|
|
short axes_num = 0;
|
|
short size = 5;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdparam(nLibHandle[0], Index, axes_num, size, outpar);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Value = outpar.cdata;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get NC Word Parameter
|
|
public override CmsError NC_RParam(short Index, ref short Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.IODBPSD_1 outpar = new Focas1.IODBPSD_1();
|
|
short nReturn;
|
|
short axes_num = 0;
|
|
short size = 6;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdparam(nLibHandle[0], Index, axes_num, size, outpar);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Value = outpar.idata;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get NC DWord Parameter
|
|
public override CmsError NC_RParam(short Index, ref int Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.IODBPSD_1 outpar = new Focas1.IODBPSD_1();
|
|
short nReturn;
|
|
short axes_num = 0;
|
|
short size = 8;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdparam(nLibHandle[0], Index, axes_num, size, outpar);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Value = outpar.ldata;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Get NC Real Parameter
|
|
public override CmsError NC_RParam(short Index, ref double Value)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
Focas1.IODBPSD_2 outpar = new Focas1.IODBPSD_2();
|
|
short nReturn;
|
|
short axes_num = 0;
|
|
short size = 12;
|
|
double Divider = 1;
|
|
|
|
//Execute the method
|
|
nReturn = Focas1.cnc_rdparam(nLibHandle[0], Index, axes_num, size, outpar);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn != 0)
|
|
return GetNcError(nReturn);
|
|
|
|
Divider = Math.Pow(10, outpar.rdata.dec_val);
|
|
|
|
Value = outpar.rdata.prm_val / Divider;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion NC Low-level function: Parameters
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region File Management
|
|
|
|
public override CmsError FILES_RProgramToFile(string partProgramPath, FileStream localFile)
|
|
{
|
|
string partProgramContent = "";
|
|
|
|
// Read NC part program content
|
|
CmsError cmsError = ReadPartProgramContent(partProgramPath, ref partProgramContent);
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
try
|
|
{
|
|
// Write content into local file
|
|
Nc_Utils.WriteLocalFile(partProgramContent, ref localFile);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
return CmsError.InternalError(ex.Message);
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError FILES_WProgramFromFile(string partProgramPath, FileStream localFile)
|
|
{
|
|
string partProgramContent = "";
|
|
|
|
try
|
|
{
|
|
// Read local file content
|
|
partProgramContent = Nc_Utils.ReadLocalFile(localFile);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
return CmsError.InternalError(ex.Message);
|
|
}
|
|
|
|
return WritePartProgramContent(partProgramPath, partProgramContent);
|
|
}
|
|
|
|
public override CmsError FILES_CopyProgram(string partProgramPath, string newPartProgramPath, bool failIfExist)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
short nReturn;
|
|
|
|
// If the 2 path are the same
|
|
if (partProgramPath == newPartProgramPath)
|
|
return GetNcError(5); // TODO FIX
|
|
|
|
if (failIfExist)
|
|
{
|
|
// Copy Nc part program to the new path
|
|
nReturn = Focas1.cnc_pdf_copy(nLibHandle[0], partProgramPath, newPartProgramPath);
|
|
|
|
//Throw Exception if there's an error
|
|
ErrorHandler(nReturn);
|
|
}
|
|
else
|
|
{
|
|
// Try a copy and if error is 4 delete file and retry
|
|
// Find a function to check if file exist, delete and copy.
|
|
// Read and put file
|
|
// TODO
|
|
//
|
|
nReturn = Focas1.cnc_pdf_copy(nLibHandle[0], partProgramPath, newPartProgramPath);
|
|
|
|
if (nReturn == 5)
|
|
{
|
|
Focas1.ODBERR errorDetails = new Focas1.ODBERR();
|
|
Focas1.cnc_getdtailerr(nLibHandle[0], errorDetails);
|
|
|
|
if (errorDetails.err_no == 4)
|
|
{
|
|
FILES_DeleteProgram(newPartProgramPath, "");
|
|
|
|
nReturn = Focas1.cnc_pdf_copy(nLibHandle[0], partProgramPath, newPartProgramPath);
|
|
|
|
ErrorHandler(nReturn);
|
|
}
|
|
}
|
|
else if (nReturn != 0)
|
|
{
|
|
return GetNcError(nReturn);
|
|
}
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError FILES_DeleteProgram(string partProgramPath, string partProgramName)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
short nReturn;
|
|
|
|
nReturn = Focas1.cnc_pdf_del(nLibHandle[0], partProgramPath + partProgramName);
|
|
|
|
ErrorHandler(nReturn);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion File Management
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region Tools Management
|
|
|
|
public override CmsError TOOLS_RConfiguration(ref ToolTableConfiguration config)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RToolsData(ref List<SiemensToolModel> toolTable)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RShanksData(ref List<ShankModel> shanksData)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RFamilyData(ref List<FamilyModel> families)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RMagazinePositions(ref List<PositionModel> positions)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WAddTool(ref SiemensToolModel tool)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WAddFamily(ref FamilyModel family)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WAddShank(ref ShankModel shank)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateFamilyData(string oldName, string newName)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdatePosition(PositionModel position)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateTool(ref SiemensToolModel tool)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WDeleteTool(int id)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WDeleteShank(int id)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WDeleteFamily(string name)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WDeleteEdge(int toolId, int edgeId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WAddEdge(int toolId, ref EdgeModel edge)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateEdge(int toolId, ref EdgeModel newEdge)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateShank(ref ShankModel shank)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RMagazineTools(int magazineId, ref List<MountedToolModel> magazinePos)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_RAvailableTools(ref List<ShankModel> multiTools, ref List<SiemensToolModel> tools)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WLoadToolInMagazine(int magazine, NewToolInMagazineModel newMagazineTool)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUnloadToolInMagazine(int magazineId, int positionId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WLoadToolIntoShank(int shankId, int positionId, int toolId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUnloadToolFromShank(int shankId, int positionId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_GetMagazinesStatus(ref MagazineActionModel magazineAction)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion Tools Management
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region Nc Tool Manager
|
|
|
|
public override CmsError TOOLS_ROffset(short offsetId, ref OffsetModel offset)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WOffset(short offsetId, OffsetModel offset)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WStartEditData()
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WStopEditData()
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
public override CmsError TOOLS_WUpdateTools(List<NcToolModel> list)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateFamilies(List<NcFamilyModel> list)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
|
|
public override CmsError TOOLS_WUpdateShanks(List<NcShankModel> list)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WUpdateMagazinePositions(List<NcMagazinePositionModel> list)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WStartEditTooling(int magazineId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
public override CmsError TOOLS_WStopEditTooling(int magazineId)
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
public override CmsError TOOLS_WRestoreBackup()
|
|
{
|
|
return NO_ERROR;
|
|
}
|
|
|
|
#endregion Nc Tool Manager
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#region Subordinate Private Functions
|
|
|
|
private CmsError ErrorHandler(short exNum)
|
|
{
|
|
if (exNum != 0)
|
|
return GetNcError(exNum);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
private void ReadRelativeAxisPos(Focas1.POSELM pos, ref Dictionary<string, double> Axes)
|
|
{
|
|
//If is setted VISIBLE add to List
|
|
if (pos.disp != 0)
|
|
{
|
|
string AxName;
|
|
double AxVal;
|
|
KeyValuePair<String, double> val;
|
|
|
|
//Read the name and Value
|
|
AxName = pos.name.ToString() + pos.suff.ToString().Trim('\0');
|
|
AxVal = pos.data / Math.Pow(10, pos.dec);
|
|
|
|
//Fill in the list
|
|
val = Axes.FirstOrDefault(X => X.Key == AxName);
|
|
if (val.Key != null)
|
|
Axes[val.Key] = AxVal;
|
|
else
|
|
Axes.Add(AxName, AxVal);
|
|
}
|
|
}
|
|
|
|
//Convert to Step Language
|
|
private CultureInfo ConvertToSTEPLanguage(byte language)
|
|
{
|
|
switch (language)
|
|
{
|
|
case 0: return new CultureInfo("en");
|
|
case 1: return new CultureInfo("ja");
|
|
case 2: return new CultureInfo("de");
|
|
case 3: return new CultureInfo("fr");
|
|
case 4: return new CultureInfo("zh-CHT");
|
|
case 5: return new CultureInfo("it");
|
|
case 6: return new CultureInfo("ko");
|
|
case 7: return new CultureInfo("es");
|
|
case 8: return new CultureInfo("nl");
|
|
case 9: return new CultureInfo("da");
|
|
case 10: return new CultureInfo("pt");
|
|
case 11: return new CultureInfo("pl");
|
|
case 12: return new CultureInfo("hu");
|
|
case 13: return new CultureInfo("sv");
|
|
case 14: return new CultureInfo("cs");
|
|
case 15: return new CultureInfo("zh-CHS");
|
|
case 16: return new CultureInfo("ru");
|
|
case 17: return new CultureInfo("tr");
|
|
case 18: return new CultureInfo("bg");
|
|
case 19: return new CultureInfo("ro");
|
|
case 20: return new CultureInfo("sk");
|
|
case 21: return new CultureInfo("fi");
|
|
default: return new CultureInfo("en");
|
|
}
|
|
}
|
|
|
|
//Manage the Status Process
|
|
private PROC_STATUS ConverToSTEPStatus(Focas1.ODBST status)
|
|
{
|
|
if (status.emergency != 0)
|
|
return PROC_STATUS.EMERG;
|
|
|
|
if (status.alarm != 0)
|
|
return PROC_STATUS.ERROR;
|
|
|
|
switch (status.run)
|
|
{
|
|
case 0: return PROC_STATUS.IDLE;
|
|
case 1: return PROC_STATUS.HOLD;
|
|
case 2: return PROC_STATUS.RUN;
|
|
case 3: return PROC_STATUS.RUN;
|
|
case 4: return PROC_STATUS.RUN;
|
|
case 5: return PROC_STATUS.RUN;
|
|
case 7: return PROC_STATUS.RUN;
|
|
case 8: return PROC_STATUS.RESET;
|
|
}
|
|
return PROC_STATUS.ERROR;
|
|
}
|
|
|
|
//Manage the Status Mode
|
|
private PROC_MODE ConverToSTEPMode(Focas1.ODBST status)
|
|
{
|
|
switch (status.aut)
|
|
{
|
|
case 0: return PROC_MODE.MDI;
|
|
case 1: return PROC_MODE.AUTO;
|
|
case 2: return PROC_MODE.ERROR;
|
|
case 3: return PROC_MODE.EDIT;
|
|
case 4: return PROC_MODE.HANDLE;
|
|
case 5: return PROC_MODE.JOG;
|
|
case 6: return PROC_MODE.TEACH;
|
|
case 7: return PROC_MODE.TEACH;
|
|
case 8: return PROC_MODE.JOGINC;
|
|
case 9: return PROC_MODE.REF;
|
|
case 10: return PROC_MODE.REMOTE;
|
|
}
|
|
return PROC_MODE.ERROR;
|
|
}
|
|
|
|
//Get the Right Process
|
|
private short GetHandleIndexFromPath(ushort Path)
|
|
{
|
|
//Check it is too big
|
|
if (Path > Cnc_NumPath)
|
|
return -1;
|
|
|
|
//Check it is too small
|
|
if (Path <= 0)
|
|
return -1;
|
|
|
|
//Return
|
|
return (short)(Path - 1);
|
|
}
|
|
|
|
//Read Static Data
|
|
private CmsError ReadStaticNCData()
|
|
{
|
|
// Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
short nReturn1, nReturn2;
|
|
Focas1.ODBSYS node = new Focas1.ODBSYS();
|
|
Focas1.ODBSYS tmpNode = new Focas1.ODBSYS();
|
|
Focas1.ODBSYSEX nodeex = new Focas1.ODBSYSEX();
|
|
ulong SerialNumber = 0;
|
|
|
|
//Read oly one time every 10 seconds
|
|
if (DateTime.Now - Last_Static_Read > new TimeSpan(NC_MIN_SEC_READ_STATIC_DATA * TimeSpan.TicksPerSecond))
|
|
{
|
|
//Read Language from NC PARAM
|
|
cmsError = NC_RParam((short)PARAM_LING_FANUC.Address, ref FanucLanguage);
|
|
if (cmsError.IsError())
|
|
{
|
|
MessageBox.Show(cmsError.localizationKey);
|
|
return cmsError;
|
|
}
|
|
|
|
//Execute the method
|
|
nReturn1 = Focas1.cnc_sysinfo(nLibHandle[0], tmpNode);
|
|
MessageBox.Show("return 1 dopo metodo " + nReturn1);
|
|
|
|
node = tmpNode;
|
|
nReturn2 = Focas1.cnc_rdcncid(nLibHandle[0], out SerialNumber);
|
|
MessageBox.Show("return 1 dopo n return 2" + nReturn1);
|
|
|
|
//Throw Exception if there's an error
|
|
if (nReturn1 != 0)
|
|
{
|
|
MessageBox.Show("return 1 " + nReturn1);
|
|
|
|
return GetNcError(nReturn1);
|
|
}
|
|
else if (nReturn2 != 0 && nReturn2 != 1)
|
|
{
|
|
MessageBox.Show("return 2 " + nReturn2);
|
|
|
|
return GetNcError(nReturn2);
|
|
}
|
|
else
|
|
{
|
|
//Setup the name
|
|
Cnc_name = getName(node.cnc_type, node.mt_type);
|
|
|
|
//Setup the Software version
|
|
Cnc_SftVersion = new string(node.version);
|
|
|
|
//Setup the Number Series
|
|
Cnc_SeriesNum = SerialNumber.ToString();
|
|
|
|
Last_Static_Read = DateTime.Now;
|
|
}
|
|
}
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Manage the Exception Launch
|
|
private CmsError GetNcError(short exNum)
|
|
{
|
|
if (exNum == (short)Focas1.focas_ret.EW_SOCKET)
|
|
{
|
|
NC_Disconnect();
|
|
return NOT_CONNECTED_ERROR;
|
|
}
|
|
|
|
return CmsError.NcError(GetErrorMessage(exNum));
|
|
}
|
|
|
|
//Check if NC is connected
|
|
private CmsError CheckConnection()
|
|
{
|
|
if (!NC_IsConnected())
|
|
return NOT_CONNECTED_ERROR;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Check if Memory Area is corrected
|
|
private CmsError CheckMemoryArea(String AreaName)
|
|
{
|
|
if (!AreaName.StartsWith(FANUC_MEMTYPE) && !AreaName.StartsWith(UNDEFINED_MEMTYPE))
|
|
return INCORRECT_PARAMETERS_ERROR;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Check if NC is connected
|
|
private CmsError CheckBitRange(int bitnum)
|
|
{
|
|
if (bitnum < 0 || bitnum > 7)
|
|
return BIT_NOT_IN_RANGE_ERROR;
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
// Convert the internal Name var in Readable STEP Name
|
|
private String getName(char[] Cnc_Type, char[] Mt_Type)
|
|
{
|
|
String name = "Fanuc ";
|
|
switch (new String(Cnc_Type))
|
|
{
|
|
case "15": name += "15 Series"; break;
|
|
case "16": name += "16 Series"; break;
|
|
case "18": name += "18 Series"; break;
|
|
case "21": name += "21 Series"; break;
|
|
case "30": name += "30i Series"; break;
|
|
case "31": name += "31i Series"; break;
|
|
case "32": name += "21i Series"; break;
|
|
case "35": name += "35i Series"; break;
|
|
case "0": name += "0i Series"; break;
|
|
}
|
|
name += " " + new string(Mt_Type);
|
|
return name;
|
|
}
|
|
|
|
// Write Part program content
|
|
private CmsError WritePartProgramContent(string partProgramPath, string partProgramContent)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
short nReturn;
|
|
|
|
// Start write
|
|
nReturn = Focas1.cnc_dwnstart4(nLibHandle[0], 0, partProgramPath);
|
|
|
|
//Throw Exception if there's an error
|
|
ErrorHandler(nReturn);
|
|
|
|
//int lenghtMax = fileData.Length;
|
|
Thread.Sleep(1000);
|
|
int lenght = partProgramContent.Length;
|
|
// Write program
|
|
nReturn = Focas1.cnc_download4(nLibHandle[0], ref lenght, partProgramContent);
|
|
|
|
//Throw Exception if there's an error
|
|
ErrorHandler(nReturn);
|
|
|
|
nReturn = Focas1.cnc_dwnend4(nLibHandle[0]);
|
|
|
|
//Throw Exception if there's an error
|
|
ErrorHandler(nReturn);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
// Read Part program content
|
|
private CmsError ReadPartProgramContent(string partProgramPath, ref string partProgramContent)
|
|
{
|
|
//Check if the NC is Connected
|
|
CmsError cmsError = CheckConnection();
|
|
if (cmsError.IsError())
|
|
return cmsError;
|
|
|
|
bool fileEnded = false;
|
|
short nReturn;
|
|
int lenght = 256;
|
|
|
|
// Start read process
|
|
nReturn = Focas1.cnc_upstart4(nLibHandle[0], 0, partProgramPath);
|
|
|
|
//Throw Exception if there's an error
|
|
ErrorHandler(nReturn);
|
|
|
|
do
|
|
{
|
|
// Local buffer
|
|
char[] tmpContentBuffer = new char[256]; // TODO find function to read size file
|
|
|
|
// Read file
|
|
nReturn = Focas1.cnc_upload4(nLibHandle[0], ref lenght, tmpContentBuffer);
|
|
|
|
// If File ended
|
|
switch (nReturn)
|
|
{
|
|
case (short)Focas1.focas_ret.EW_RESET:
|
|
{
|
|
fileEnded = true;
|
|
}
|
|
break;
|
|
|
|
case (short)Focas1.EW_OK:
|
|
{
|
|
// Add the characters into string with all the content
|
|
partProgramContent += new string(tmpContentBuffer);
|
|
}
|
|
break;
|
|
|
|
case (short)Focas1.focas_ret.EW_BUFFER:
|
|
{
|
|
continue;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
{
|
|
return GetNcError(nReturn);
|
|
}
|
|
break;
|
|
}
|
|
} while ((nReturn == (short)Focas1.focas_ret.EW_OK || nReturn == (short)Focas1.focas_ret.EW_BUFFER) && !fileEnded);
|
|
|
|
// End read
|
|
nReturn = Focas1.cnc_upend4(nLibHandle[0]);
|
|
|
|
ErrorHandler(nReturn);
|
|
|
|
partProgramContent = partProgramContent.Replace("\0", String.Empty);
|
|
|
|
return NO_ERROR;
|
|
}
|
|
|
|
//Manage the Exception Launch
|
|
private CmsError ManageException(Exception ex)
|
|
{
|
|
Connected = false;
|
|
|
|
return CmsError.InternalError(ex.Message);
|
|
}
|
|
|
|
// Convert the internal error in a readable-String error
|
|
private String GetErrorMessage(short Value)
|
|
{
|
|
String ErrororOwner = "";
|
|
ErrororOwner = "Fanuc-Core-Error: ";
|
|
Focas1.focas_ret Val = (Focas1.focas_ret)Value;
|
|
switch (Val)
|
|
{
|
|
case Focas1.focas_ret.EW_PROTOCOL: return ErrororOwner + "protocol error";
|
|
case Focas1.focas_ret.EW_SOCKET: return ErrororOwner + "Windows socket error";
|
|
case Focas1.focas_ret.EW_NODLL: return ErrororOwner + "DLL not exist error";
|
|
case Focas1.focas_ret.EW_BUS: return ErrororOwner + "bus error";
|
|
case Focas1.focas_ret.EW_SYSTEM2: return ErrororOwner + "system error";
|
|
case Focas1.focas_ret.EW_HSSB: return ErrororOwner + "hssb communication error";
|
|
case Focas1.focas_ret.EW_HANDLE: return ErrororOwner + "Windows library handle error";
|
|
case Focas1.focas_ret.EW_VERSION: return ErrororOwner + "CNC/PMC version missmatch";
|
|
case Focas1.focas_ret.EW_UNEXP: return ErrororOwner + "abnormal error";
|
|
case Focas1.focas_ret.EW_SYSTEM: return ErrororOwner + "system error";
|
|
case Focas1.focas_ret.EW_PARITY: return ErrororOwner + "shared RAM parity error";
|
|
case Focas1.focas_ret.EW_MMCSYS: return ErrororOwner + "emm386 or mmcsys install error";
|
|
case Focas1.focas_ret.EW_RESET: return ErrororOwner + "reset or stop occured error";
|
|
case Focas1.focas_ret.EW_BUSY: return ErrororOwner + "busy error";
|
|
case Focas1.focas_ret.EW_FUNC: return ErrororOwner + "command prepare error / pmc not exist";
|
|
case Focas1.focas_ret.EW_LENGTH: return ErrororOwner + "data block length error";
|
|
case Focas1.focas_ret.EW_NUMBER: return ErrororOwner + "data number / address range error";
|
|
case Focas1.focas_ret.EW_ATTRIB: return ErrororOwner + "data type / attribute error";
|
|
case Focas1.focas_ret.EW_DATA: return ErrororOwner + "data error";
|
|
case Focas1.focas_ret.EW_NOOPT: return ErrororOwner + "no option error";
|
|
case Focas1.focas_ret.EW_PROT: return ErrororOwner + "write protect error";
|
|
case Focas1.focas_ret.EW_OVRFLOW: return ErrororOwner + "memory overflow error";
|
|
case Focas1.focas_ret.EW_PARAM: return ErrororOwner + "cnc parameter not correct error";
|
|
case Focas1.focas_ret.EW_BUFFER: return ErrororOwner + "buffer error";
|
|
case Focas1.focas_ret.EW_PATH: return ErrororOwner + "path error";
|
|
case Focas1.focas_ret.EW_MODE: return ErrororOwner + "cnc mode error";
|
|
case Focas1.focas_ret.EW_REJECT: return ErrororOwner + "execution rejected error";
|
|
case Focas1.focas_ret.EW_DTSRVR: return ErrororOwner + "data server error";
|
|
case Focas1.focas_ret.EW_ALARM: return ErrororOwner + "alarm has been occurred";
|
|
case Focas1.focas_ret.EW_STOP: return ErrororOwner + "CNC is not running";
|
|
case Focas1.focas_ret.EW_PASSWD: return ErrororOwner + "protection data error";
|
|
}
|
|
return ErrororOwner + "Generic Error On Function, Error Number: " + Val;
|
|
}
|
|
|
|
#endregion Subordinate Private Functions
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
}
|
|
} |