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121 lines
3.7 KiB
C++
121 lines
3.7 KiB
C++
// MotionController.h: interface for the CMotionController class.
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//
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//////////////////////////////////////////////////////////////////////
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#pragma once
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#include <map>
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#include "Motor.h"
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#include "MotionControllerBase.h"
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#include "DllDefines.h"
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#include "HardwareCfgFactory.h"
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class IODLLCLASS CMotionController : public CCard
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{
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public:
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friend UINT MotionThreadFn(LPVOID pParam);
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// static void SetGalilMotionInt(int nAxisNo);
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BOOL IsInPosition(const CMtrProfile& mtrProfile);
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unsigned short GetMotionIOStatus(const CMtrProfile& mtrProfile);
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CMotionController();
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virtual ~CMotionController();
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BOOL InitController(int iNoOfMtr);
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// check if negative limit hit
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// BOOL IsNegLimHit(int iMotorNo);
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BOOL IsNegLimHit(const CMtrProfile& mtrProfile);
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// check if positive limit hit
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// BOOL IsPosLimHit(int iMotorNo);
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BOOL IsPosLimHit(const CMtrProfile& mtrProfile);
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// check if motor at home position
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// BOOL IsHomed(int iMotorNo);
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BOOL IsHomed(const CMtrProfile& mtrProfile);
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// check if servo ready
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// BOOL IsServoReady(int iMotorNo);
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BOOL IsServoReady(const CMtrProfile& mtrProfile);
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// check if servo alarm
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// BOOL IsServoAlarm(int iMotorNo);
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BOOL IsServoAlarm(const CMtrProfile& mtrProfile);
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// get Motor Pos value
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// double GetMtrPos(int iMotorNo);
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double GetMtrPos(const CMtrProfile& mtrProfile);
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// get Motion status of motor
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// int GetMotionStatus(int iMotorNo);
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int GetMotionStatus(const CMtrProfile& mtrProfile);
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// get proportional gain value
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double GetPValue(int iMotorNo);
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// get Integral gain value
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double GetIValue(int iMotorNo);
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// get Deriative gain value
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double GetDValue(int iMotorNo);
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// get position error value
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// double GetPosErr(int iMotorNo);
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double GetPosErr(const CMtrProfile& mtrProfile);
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// check if Motor type is servo motor
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BOOL IsServoMtrType(const CMtrProfile& mtrProfile);
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// copy all motor status
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void CopyMtrStatus();
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// check if motor position changed
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bool IsMtrPosChanged(int iMtrNo, int& iPos);
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// check if motor On/Off States changed
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bool IsMtrOnOffStateChanged(int iMtrNo, bool& bOnOffState);
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// check if motor is on
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BOOL IsMtrOn(const CMtrProfile& mtrProfile);
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/* Return Motor(specify by iMtrNo) on or off state.
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Function Return true = Motor specify by iMtrNo Is On, else return false = Motor is off */
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bool GetMtrOnOffState(int iMtrNo);
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void RegisterMotor(const CMtrProfile& mtrProfile, CMotorBase* pMotor);
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void UnRegisterMotor(const CMtrProfile& mtrProfiler);
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static CMotionController& Instance();
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CMotionControllerBase* GetBaseController(int controllerType);
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void TerminateThread();
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void StartUpdate(bool bStartUpdate);
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private:
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/**
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* @brief all the various motion controller objects indexed by the controller ID.
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*/
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std::map<int, CMotionControllerBase*> m_motionControllerBase;
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CMtrPos m_mtrPos; // object to keep track of current motor position
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CMtrOnOff m_mtrOnOff; // object to keep track of current motor On/Off States
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std::vector<int> m_vecMtrCurPos; // array to store motor position before maintenance mode
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std::vector<bool> m_vecMtrCurOnOff; // array to store motor On/Off States before maintenance mode
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int m_iNoOfMtr{ 0 }; // total no of motor
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int m_nNoOfCardType{ 0 };
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CHardwareCfgFactory m_cfgHardwareFty;
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bool m_bBenchDebugWithActualHardware;
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static CMotionController* m_pInstance;
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CWinThread* m_pThread{ nullptr };
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CEvt m_evtTerminate;
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CEvt m_evtStartUpdate{ "MOTION CONTROLLER START UPDATE" };
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};
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