HCBoardManager.cs
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using log4net;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace HuichuanLibrary
{
public partial class HCBoardManager
{
private static Int32 nCardNo = 0; // 默认要打开的卡号
private static UInt64 nCardHandle = 0; // 卡句柄
private static bool CardIsOk = false;
public static List<int> AxisList = new List<int>();
public static ImcApi.TRsouresNum tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
private static string DeviceConfigPath = "";
private static string SystemConfigPath = "";
/// <summary>
/// 初始化配置信息，初始化板卡之前，先初始化配置
/// </summary>
/// <param name="deviceConfigPath"></param>
/// <param name="systemConfigPath"></param>
/// <param name="logName"></param>
public static void InitConfig(string deviceConfigPath="",string systemConfigPath="", string logName = "RollingLogFileAppender")
{
if (deviceConfigPath.Equals(""))
{
DeviceConfigPath = ".\\device_config.xml";
}
else
{
DeviceConfigPath = deviceConfigPath;
}
if (systemConfigPath.Equals(""))
{
SystemConfigPath = ".\\system_config.xml";
}
else
{
SystemConfigPath = systemConfigPath;
}
HCLogUtil.LOGGER = LogManager.GetLogger(logName);
}
private static string BoardName()
{
return " HCH[" + nCardNo + "][" + nCardHandle + "] ";
}
#region 板卡操作，初始化，关闭，急停
private static bool IsInScanECAT = false;
private static System.Timers.Timer scanEcatTimer = null;
private static DateTime startTime = DateTime.Now;
public static string CardMsg = "板卡还未初始化";
/// <summary>
/// 初始化板卡
/// </summary>
/// <param name="blockFlag">是否阻塞，1=阻塞，0=不阻塞</param>
/// <returns></returns>
public static bool OpenCard(int blockFlag=0)
{
try
{
if (CardIsOk)
{
return true;
}
if (IsInScanECAT)
{
return false;
}
if (scanEcatTimer == null)
{
scanEcatTimer = new System.Timers.Timer();
scanEcatTimer.AutoReset = true;
scanEcatTimer.Interval = 500;
scanEcatTimer.Elapsed += ScanEcatTimer_Elapsed;
scanEcatTimer.Enabled = false;
}
if (!File.Exists(DeviceConfigPath))
{
HCLogUtil.error("InitCard FAIL，DeviceConfigPath 【" + DeviceConfigPath + "】not exists");
return false;
}
if (!File.Exists(SystemConfigPath))
{
HCLogUtil.error("InitCard FAIL， SystemConfigPath【" + SystemConfigPath + "】not exists");
return false;
}
startTime = DateTime.Now;
//【1】获取卡
Int32 nCardNum = 0;
UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
if (ret != 0)
{
ShowErrorLog(" GetCardsNum FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
if (nCardNum <= 0)
{
ShowErrorLog(" Not Find Card");
return false;
}
else
{
ShowLog("GetCardsNum = " + nCardNum + ", 将默认打开第0号卡");
}
}
//【2】打开卡句柄
ret = ImcApi.IMC_OpenCardHandle(nCardNo, ref nCardHandle);
if (ret != 0)
{
ShowErrorLog(" OpenCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("OpenCardHandle OK");
}
//【3】下载设备参数
ret = ImcApi.IMC_DownLoadDeviceConfig(nCardHandle, DeviceConfigPath);
if (ret != 0)
{
ShowErrorLog(" DownLoadDeviceConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + DeviceConfigPath + "文件");
return false;
}
else
{
ShowLog("DownLoadDeviceConfig OK");
}
//【4】启动主站
ShowLog("Begin ScanCardECAT... ...IsInScanECAT=true");
IsInScanECAT = true;
uint masterStatus = 0;
ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
if (ret != 0)
{
ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
if (masterStatus != ImcApi.EC_MASTER_OP)
{
// [2020 - 12 - 03 16:32:37,124][1]INFO HCH[0][0] GetCardsNum = 1, 将默认打开第0号卡
// [2020 - 12 - 03 16:32:37, 126][1]INFO HCH[0][479296224] OpenCardHandle OK
// [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] DownLoadDeviceConfig OK
// [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] Begin ScanCardECAT... ...
//[2020 - 12 - 03 16:33:02,925][1]INFO HCH[0][479296224] ScanCardECAT OK
// [2020 - 12 - 03 16:33:03,107][1]INFO HCH[0][479296224] DownLoadSystemConfig OK
// [2020 - 12 - 03 16:33:03,111][1]INFO HCH[0][479296224] Axis[22]，DI[592]，DO[528]
ret = ImcApi.IMC_ScanCardECAT(nCardHandle, blockFlag);
if (ret != 0)
{
ShowErrorLog(" ScanCardECAT FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
}
}
if (blockFlag == 1)// 默认阻塞式启动EtherCAT
{
ShowLog("ScanCardECAT OK");
//【5】下载系统参数
if (!LoadSystemConfig())
{
IsInScanECAT = false;
return false;
}
//【6】扫描卡内资源，初始化ComboBox
return GetCardResource();
}
else
{
CardMsg = "ECAT总线扫描和配置中................";
scanEcatTimer.Enabled = true;
ShowLog("start scanEcatTimer ...............");
return false;
}
}
catch (Exception ex)
{
ShowErrorLog(ex.ToString());
}
return false;
}
private static bool LoadSystemConfig()
{
//【5】下载系统参数
uint ret = ImcApi.IMC_DownLoadSystemConfig(nCardHandle, SystemConfigPath);
if (ret != 0)
{
ShowErrorLog(" DownLoadSystemConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + SystemConfigPath + "文件");
return false;
}
else
{
ShowLog("DownLoadSystemConfig OK");
}
return true;
}
private static bool GetCardResource()
{
IsInScanECAT = false;
tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
//【6】扫描卡内资源，初始化ComboBox
uint ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
if (ret != 0)
{
ShowErrorLog(" GetCardResource FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("Axis [" + tResource.axNum + "]，DI [" + tResource.diNum + "]，DO [" + tResource.doNum + "]");
//轴
AxisList = new List<int>();
if (tResource.axNum > 0)
{
for (int i = 0; i < tResource.axNum; i++)
{
AxisList.Add(i);
}
}
CardMsg = "板卡初始化完成";
CardIsOk = true;
TimeSpan span = DateTime.Now - startTime;
ShowLog("OpenCard end ," + Convert.ToDateTime(span.ToString()).ToString("HH:mm:ss"));
return true;
}
}
private static void ScanEcatTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
uint pStatus = 0;
uint ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref pStatus);
if (ret != 0)
{
ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8") + " ");
}
else if (pStatus.Equals(6))
{
scanEcatTimer.Stop();
ShowLog(" GetECATMasterSts OK, pStatus= " + pStatus + " ");
ShowLog("ScanCardECAT OK");
//【5】下载系统参数
if (!LoadSystemConfig())
{
IsInScanECAT = false;
return;
}
//【6】扫描卡内资源，初始化ComboBox
GetCardResource();
return;
}
else
{
ShowLog(" GetECATMasterSts OK, pStatus= " + pStatus + " ");
}
//判断是否超时
TimeSpan span = DateTime.Now - startTime;
if (span.TotalMinutes > 2)
{
CardMsg = "ECAT总线连接失败，超时未进入OP模式";
ShowErrorLog(CardMsg + "，停止主站状态查询");
IsInScanECAT = false;
scanEcatTimer.Stop();
}
}
//public static bool OpenCard()
//{
// try
// {
// if (CardIsOk)
// {
// return true;
// }
// if (IsInScanECAT)
// {
// return false ;
// }
// DateTime startTime = DateTime.Now;
// if (!File.Exists(DeviceConfigPath))
// {
// HCLogUtil.error("InitCard FAIL， 【" + DeviceConfigPath + "】not exists");
// return false;
// }
// if (!File.Exists(SystemConfigPath))
// {
// HCLogUtil.error("InitCard FAIL， 【" + SystemConfigPath + "】not exists");
// return false;
// }
// //【1】获取卡
// Int32 nCardNum = 0;
// UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
// if (ret != 0)
// {
// ShowErrorLog(" GetCardsNum FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// if (nCardNum <= 0)
// {
// ShowErrorLog(" Not Find Card");
// return false;
// }
// else
// {
// ShowLog("GetCardsNum = " + nCardNum + ", 将默认打开第0号卡");
// }
// }
// //【2】打开卡句柄
// ret = ImcApi.IMC_OpenCardHandle(nCardNo, ref nCardHandle);
// if (ret != 0)
// {
// ShowErrorLog(" OpenCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// ShowLog("OpenCardHandle OK");
// }
// //【3】下载设备参数
// ret = ImcApi.IMC_DownLoadDeviceConfig(nCardHandle, DeviceConfigPath);
// if (ret != 0)
// {
// ShowErrorLog(" DownLoadDeviceConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + DeviceConfigPath + "文件");
// return false;
// }
// else
// {
// ShowLog("DownLoadDeviceConfig OK");
// }
// //【4】启动主站
// ShowLog("Begin ScanCardECAT... ...");
// uint masterStatus = 0;
// ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
// if (ret != 0)
// {
// ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// if (masterStatus != ImcApi.EC_MASTER_OP)
// {
// ret = ImcApi.IMC_ScanCardECAT(nCardHandle, 1); //默认阻塞式启动EtherCAT
// if (ret != 0)
// {
// ShowErrorLog(" ScanCardECAT FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// }
// }
// ShowLog("ScanCardECAT OK");
// //【5】下载系统参数
// ret = ImcApi.IMC_DownLoadSystemConfig(nCardHandle, SystemConfigPath);
// if (ret != 0)
// {
// ShowErrorLog(" DownLoadSystemConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + SystemConfigPath + "文件");
// return false;
// }
// else
// {
// ShowLog("DownLoadSystemConfig OK");
// }
// tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
// //【6】扫描卡内资源，初始化ComboBox
// ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
// if (ret != 0)
// {
// ShowErrorLog(" GetCardResource FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// ShowLog("Axis [" + tResource.axNum + "]，DI [" + tResource.diNum + "]，DO [" + tResource.doNum + "]");
// //轴
// AxisList = new List<int>();
// if (tResource.axNum > 0)
// {
// for (int i = 0; i < tResource.axNum; i++)
// {
// AxisList.Add(i);
// }
// }
// CardIsOk = true;
// TimeSpan span = DateTime.Now - startTime;
// ShowLog("OpenCard end ," + Convert.ToDateTime(span.ToString()).ToString("HH:mm:ss"));
// return true;
// //IO
// }
// }
// catch (Exception ex)
// {
// ShowErrorLog(ex.ToString());
// }
// return false;
//}
/// <summary>
/// 关闭板卡
/// </summary>
/// <returns></returns>
public static bool CloseCard()
{
UInt32 ret = ImcApi.IMC_CloseCard(nCardHandle);
if (ret != 0)
{
ShowErrorLog("CloseCard FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
CardIsOk = false;
ShowLog("CloseCard OK");
//return true;
}
ret = ImcApi.IMC_CloseCardHandle(nCardHandle);
if (ret != 0)
{
ShowErrorLog("CloseCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
CardIsOk = false;
ShowLog("CloseCardHandle OK");
return true;
}
}
/// <summary>
/// 板卡是否已经初始化OK
/// </summary>
/// <param name="isShowLog"></param>
/// <returns></returns>
public static bool CardInitOk(bool isShowLog = false)
{
if (CardIsOk)
{
return true;
}
else
{
if (isShowLog)
{
ShowErrorLog(" 板卡未初始化完成");
}
return false;
}
}
public static bool EmgStop()
{
if (!CardInitOk())
{
return false ;
}
//取反标志为0时触发急停
UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 0);
if (ret != 0)
{
ShowErrorLog(" EmgStop FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("EmgStop OK");
return true;
}
}
public static bool CancelEmg()
{
if (!CardInitOk())
{
return false;
}
//取反标志为1时取消急停
UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 1);
if (ret != 0)
{
ShowErrorLog(" CancelEmg FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("CancelEmg OK");
return true;
}
}
#endregion
#region IO控制
public static bool SetBitDO(short bitNo, short bitValue)
{
if (!CardInitOk())
{
return false;
}
//安装点位写Do
UInt32 ret = ImcApi.IMC_SetEcatDoBit(nCardHandle, bitNo, bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo["+bitNo+"]bitValue["+bitValue+ "] IMC_SetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetBitDO(short bitNo)
{
if (!CardInitOk())
{
return 0;
}
short bitValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatDoBit(nCardHandle, bitNo, ref bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return bitValue;
}
public static short GetBitDI(short bitNo)
{
if (!CardInitOk())
{
return 0;
}
short bitValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatDiBit(nCardHandle, bitNo, ref bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDiBit, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return bitValue;
}
public static bool SetGroupDO(short groupNo, short groupValue)
{
if (!CardInitOk())
{
return false ;
}
UInt32 ret = ImcApi.IMC_SetEcatGrpDo(nCardHandle, groupNo, groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_SetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetGroupDO(short groupNo)
{
if (!CardInitOk())
{
return 0;
}
Int16 groupValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatGrpDo(nCardHandle, groupNo, ref groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_GetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return groupValue;
}
public static short GetGroupDI(short groupNo)
{
if (!CardInitOk())
{
return 0;
}
Int16 groupValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatGrpDi(nCardHandle, groupNo, ref groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_GetEcatGrpDi FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return groupValue;
}
public static bool CloseAllDO()
{
if (!CardInitOk())
{
return false;
}
int groupCount = tResource.doNum / 8;
for (short i = 0; i < groupCount; i++)
{
SetGroupDO(i, 0);
}
return true;
}
public static List<short> GetIOValue(short groupValue )
{
List<short> groupList = new List<short>();
string value = Convert.ToString(groupValue, 2).PadLeft(8, '0');
for (int i = 0; i < 8; i++)
{
string v = value.Substring(i, 1);
//groupIOList[i].Text = "DO_" + i;
if (v.Equals("1"))
{
groupList.Insert(0,1);
}
else
{
groupList.Insert(0, 0);
}
}
return groupList;
}
#endregion
private static void ShowErrorLog(string msg)
{
CardMsg = BoardName() + msg;
Console.WriteLine(BoardName() + msg);
HCLogUtil.error(BoardName() + msg);
}
private static void ShowLog(string msg)
{
Console.WriteLine(BoardName() + msg);
HCLogUtil.info(BoardName() + msg);
}
private static void DebugLog(string msg)
{
Console.WriteLine(BoardName() + msg);
HCLogUtil.debug(BoardName() + msg);
}
}
public class AxisSts
{
/// <summary>
/// 轴报警信号
/// </summary>
public int ALM = -1;
/// <summary>
/// 轴警告信号
/// </summary>
public int WARN = -1;
/// <summary>
/// 轴急停信号
/// </summary>
public int EMG = -1;
/// <summary>
/// 轴伺服使能信号
/// </summary>
public int ServoOn = -1;
/// <summary>
/// 轴忙碌状态
/// </summary>
public int BUSY = -1;
/// <summary>
/// 轴到位信号
/// </summary>
public int INP = -1;
/// <summary>
/// 正限位信号
/// </summary>
public int PEL = -1;
/// <summary>
/// 原点信号
/// </summary>
public int ORG = -1;
/// <summary>
/// 负限位信号
/// </summary>
public int NEL = -1;
/// <summary>
/// 总线轴标志
/// </summary>
public int ECAT = -1;
public string ToStr()
{
return "ALM=" + ALM + ",WARN=" + WARN + ",EMG=" + EMG + ",ServoOn=" + ServoOn + ",BUSY=" + BUSY + ",INP=" + INP + ",PEL=" + PEL + ",ORG=" + ORG + ",NEL=" + NEL+ ",ECAT=" + ECAT;
}
}
}