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@@ -1,10 +1,6 @@
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using Aitex.Common.Util;
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-using Aitex.Core.RT.DataCenter;
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-using Aitex.Core.RT.Routine;
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using Aitex.Core.Util;
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-using CyberX8_Core;
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-using MECF.Framework.Common.CommonData.PUF;
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-using MECF.Framework.Common.Device.Festo;
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+using MECF.Framework.Common.Beckhoff.AxisProvider;
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using MECF.Framework.Common.Device.Galil;
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using MECF.Framework.Common.Net;
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using MECF.Framework.Common.Simulator;
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@@ -13,19 +9,36 @@ using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Text;
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-using Xceed.Wpf.Toolkit.Panels;
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namespace CyberX8_Simulator.Devices
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{
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public class GalilSocketSimulator : SocketDeviceSimulator
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{
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+
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#region 常量
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//最大运动轴数量（abcdefg）
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private const int MAX_AXIS_NUM = 8;
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//GalilControllerData最大数据长度
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- private const int MAX_CONTROL_DATA_LENGTH = 264;
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- //GalilAxisData最大数据长度
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- private const int MAX_AXIS_DATA_LENGTH = 28;
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+ private const int MAX_CONTROL_DATA_LENGTH_21 = 264;
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+ private const int MAX_CONTROL_DATA_LENGTH_40 = 366;
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+ //GalilAxisData最大数据长度
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+ private const int MAX_AXIS_DATA_LENGTH_21 = 28;
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+ private const int MAX_AXIS_DATA_LENGTH_40 = 36;
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+
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+ private const string TARGET_VELOCITY = "TargetVelocity";
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+ private const string TARGET_ACCEL = "TargetAcceleration";
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+ private const string TARGET_DECEL = "TargetDeceleration";
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+ private const string TARGET_POSITION = "TargetPosition";
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+ private const string SWITCH_SIGNAL = "SwitchSignal";
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+ private const string ACTUAL_POSITION = "ActualPosition";
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+ private const string AUXILIARY_POSITION = "AuxiliaryPosition";
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+ private const string HOMING_SIGNAL = "HomingSignal";
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+ private const string MOTION_SIGNAL = "MotionSignal";
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+ private const string STOP_SIGNAL = "StopSignal";
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+ private const double MOTOR_POSITION_FACTOR = 31.25;
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+ private const string GALIL_21 = "Galil21";
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+ private const string GALIL_40 = "Galil40";
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+
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#endregion
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#region 内部变量
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@@ -39,10 +52,30 @@ namespace CyberX8_Simulator.Devices
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/// </summary>
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private Dictionary<string, int> _axisNameIndexDic = new Dictionary<string, int>();
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/// <summary>
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+ /// Axis名称列表(index - axisName)
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+ /// </summary>
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+ private string[] _nameAxisList = new string[MAX_AXIS_NUM];
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+ /// <summary>
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/// ModuleName
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/// </summary>
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/// <param name="port"></param>
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private string _moduleName;
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+ /// <summary>
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+ /// Galil Type
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+ /// </summary>
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+ private string _galilType;
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+ /// <summary>
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+ /// GalilControllerData数据长度
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+ /// </summary>
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+ private int _controlDataLength;
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+ /// <summary>
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+ /// GalilAxisDatas数据长度
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+ /// </summary>
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+ private int _axisDataLength;
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+ /// <summary>
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+ /// MotorPosition比例系数字典(index - motorPositionRate)
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+ /// </summary>
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+ private Dictionary<string, double> _motorPositionRateDic = new Dictionary<string, double>();
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#endregion
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/// <summary>
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/// 构造函数
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@@ -94,13 +127,23 @@ namespace CyberX8_Simulator.Devices
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{
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//数据头(4 bytes)
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int headLength = 4;
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- byte[] result = new byte[headLength + MAX_CONTROL_DATA_LENGTH];
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+ byte[] result = new byte[headLength + _controlDataLength];
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result[0] = 0x00;
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result[1] = 0x00;
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- short dataLength = (short)(headLength + MAX_CONTROL_DATA_LENGTH);
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+ short dataLength = (short)(headLength + _controlDataLength);
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Array.Copy(byteTransform.GetBytes(dataLength), 0, result, 2, 2);
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//数据体(MAX_CONTROL_DATA_LENGTH bytes)
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- Array.Copy(CodeControlData(data), 0, result, 4, MAX_CONTROL_DATA_LENGTH);
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+ switch (_galilType)
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+ {
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+ case GALIL_21:
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+ Array.Copy(CodeControlData21(data), 0, result, 4, MAX_CONTROL_DATA_LENGTH_21);
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+ break;
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+ case GALIL_40:
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+ Array.Copy(CodeControlData40(data), 0, result, 4, MAX_CONTROL_DATA_LENGTH_40);
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+ break;
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+ default:
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+ break;
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+ }
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return result;
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}
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/// <summary>
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@@ -149,9 +192,9 @@ namespace CyberX8_Simulator.Devices
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_galilControlData.GalilAxisDatas[i].Status = 0x01;
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}
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_galilControlData.Inputs = new byte[10];
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- _galilControlData.Outputs = new byte[10];
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- _galilControlData.SBlocks = new byte[8];
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- _galilControlData.TBlocks = new byte[8];
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+ _galilControlData.Outputs = new byte[10];
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+
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+
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//电机数据更新事件
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MotorSimulator.Instance.OnUpdateVariableValueChanged += UpdataRealTimeMotionData;
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//加载对应配置文件 GalilControllerCfg-Simulator.xml
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@@ -163,23 +206,56 @@ namespace CyberX8_Simulator.Devices
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if (port == config.Port)
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{
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_moduleName = config.Module;
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+ _galilType = config.GalilType;
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foreach (GalilAxisConfig item in config.GalilAxises)
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{
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_axisNameIndexDic[$"{config.Module}.{item.Name}"] = item.Index;
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+ _nameAxisList[item.Index] = $"{config.Module}.{item.Name}";
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}
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}
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}
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+ //加载AxisProviderCfg.xml
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+ oldXmlPath = PathManager.GetCfgDir();
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+ newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\AxisProviderCfg.xml";
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+ BeckhoffAxisProviderCfg axisProviderCfg = CustomXmlSerializer.Deserialize<BeckhoffAxisProviderCfg>(new FileInfo(newXmlPath));
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+ foreach(BeckhoffProviderAxis item in axisProviderCfg.Axes)
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+ {
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+ for (int i = 0; i < MAX_AXIS_NUM; i++)
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+ {
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+ if (_nameAxisList[i] == item.Name)
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+ {
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+ _motorPositionRateDic[item.Name] = item.MotorPositionRate;
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+ }
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+ }
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+ }
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+
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+ if (_galilType == GALIL_40)
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+ {
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+ _controlDataLength = MAX_CONTROL_DATA_LENGTH_40;
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+ _axisDataLength = MAX_AXIS_DATA_LENGTH_40;
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+ _galilControlData.SBlocks = new byte[10];
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+ _galilControlData.TBlocks = new byte[10];
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+ }
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+ else
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+ {
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+ _controlDataLength = MAX_CONTROL_DATA_LENGTH_21;
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+ _axisDataLength = MAX_AXIS_DATA_LENGTH_21;
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+ _galilControlData.SBlocks = new byte[8];
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+ _galilControlData.TBlocks = new byte[8];
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+ }
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+
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}
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+ #region Galil编码
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/// <summary>
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- /// GalilControllerData编码
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+ /// GalilControllerData编码(Galil21)
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/// </summary>
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/// <returns></returns>
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- private byte[] CodeControlData(GalilControllerData ctrlData)
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+ private byte[] CodeControlData21(GalilControllerData ctrlData)
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{
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- byte[] result = new byte[MAX_CONTROL_DATA_LENGTH];
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+ byte[] result = new byte[MAX_CONTROL_DATA_LENGTH_21];
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int index = 0;
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//Sample(2 bytes)
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- Array.Copy(byteTransform.GetBytes(ctrlData.Sample), 0, result, index, 2);
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+ Array.Copy(BitConverter.GetBytes(ctrlData.Sample), 0, result, index, 2);
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index += 2;
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//Inputs(1*10 bytes)
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Array.Copy(ctrlData.Inputs, 0, result, index, 10);
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@@ -189,10 +265,10 @@ namespace CyberX8_Simulator.Devices
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index += 10;
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//Error Code(1 bytes)
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result[13] = ctrlData.ErrorCode;
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- index ++;
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+ index++;
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//General Status(1 bytes)
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result[14] = ctrlData.Status;
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- index ++;
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+ index++;
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//S Block(2+2+4=8 bytes)
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Array.Copy(ctrlData.SBlocks, 0, result, 15, 8);
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index += 8;
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@@ -200,54 +276,159 @@ namespace CyberX8_Simulator.Devices
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Array.Copy(ctrlData.TBlocks, 0, result, 23, 8);
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index += 8;
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//Axis Datas(28 * 8 bytes)
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- for(int i = 0;i < MAX_AXIS_NUM; i++)
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+ for (int i = 0; i < MAX_AXIS_NUM; i++)
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{
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- Array.Copy(CodeAxisData(ctrlData.GalilAxisDatas[i]), 0, result, index, MAX_AXIS_DATA_LENGTH);
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- index += MAX_AXIS_DATA_LENGTH;
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- }
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+ Array.Copy(CodeAxisData21(ctrlData.GalilAxisDatas[i]), 0, result, index, MAX_AXIS_DATA_LENGTH_21);
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+ index += MAX_AXIS_DATA_LENGTH_21;
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+ }
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return result;
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}
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/// <summary>
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- /// GalilAxisData编码
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+ /// GalilAxisData编码(Galil21)
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/// </summary>
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/// <param name="axisData"></param>
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/// <returns></returns>
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- private byte[] CodeAxisData(GalilAxisData axisData)
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+ private byte[] CodeAxisData21(GalilAxisData axisData)
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{
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- byte[] result = new byte[MAX_AXIS_DATA_LENGTH];
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+ byte[] result = new byte[MAX_AXIS_DATA_LENGTH_21];
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int index = 0;
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//Status(2 bytes)
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Array.Copy(byteTransform.GetBytes(axisData.Status), 0, result, index, 2);
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index += 2;
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//Switches(1 bytes)
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result[index] = axisData.Switches;
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- index ++;
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+ index++;
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//Stop Code(1 bytes)
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result[index] = axisData.StopCode;
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- index ++;
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+ index++;
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//Reference Position(4 bytes)
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- Array.Copy(byteTransform.GetBytes(axisData.ReferencePosition), 0, result, index, 4);
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+ Array.Copy(BitConverter.GetBytes(axisData.ReferencePosition), 0, result, index, 4);
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index += 4;
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//Motor Position(4 bytes)
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- Array.Copy(byteTransform.GetBytes(axisData.MotorPosition), 0, result, index, 4);
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+ Array.Copy(BitConverter.GetBytes(axisData.MotorPosition), 0, result, index, 4);
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index += 4;
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//Position Error
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- Array.Copy(byteTransform.GetBytes(axisData.PositionError), 0, result, index, 4);
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+ Array.Copy(BitConverter.GetBytes(axisData.PositionError), 0, result, index, 4);
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index += 4;
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//Auxiliary Position
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- Array.Copy(byteTransform.GetBytes(axisData.AuxiliaryPosition), 0, result, index, 4);
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+ Array.Copy(BitConverter.GetBytes(axisData.AuxiliaryPosition), 0, result, index, 4);
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index += 4;
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//Velocity
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- Array.Copy(byteTransform.GetBytes(axisData.Velocity), 0, result, index, 4);
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+ Array.Copy(BitConverter.GetBytes(axisData.Velocity), 0, result, index, 4);
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index += 4;
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//Torque
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- Array.Copy(byteTransform.GetBytes(axisData.Torque), 0, result, index, 2);
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+ Array.Copy(BitConverter.GetBytes(axisData.Torque), 0, result, index, 2);
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index += 2;
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//Analog
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- Array.Copy(byteTransform.GetBytes(axisData.Res), 0, result, index, 2);
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+ Array.Copy(BitConverter.GetBytes(axisData.Res), 0, result, index, 2);
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+ return result;
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+ }
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+ /// <summary>
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+ /// GalilControllerData编码(Galil40)
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+ /// </summary>
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+ /// <returns></returns>
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+ private byte[] CodeControlData40(GalilControllerData ctrlData)
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+ {
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+ byte[] result = new byte[MAX_CONTROL_DATA_LENGTH_40];
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+ int index = 0;
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+ //Sample(2 bytes)
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+ Array.Copy(BitConverter.GetBytes(ctrlData.Sample), 0, result, index, 2);
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+ index += 2;
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+ //Inputs(1*10 bytes)
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+ Array.Copy(ctrlData.Inputs, 0, result, index, 10);
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+ index += 10;
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+ //Outputs(1*10 bytes)
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+ Array.Copy(ctrlData.Outputs, 0, result, index, 10);
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+ index += 10;
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+ //reservers
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+ byte[] reservers = new byte[16];
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+ Array.Copy(reservers, 0, result, index, 16);
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+ index += 16;
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+ //ethernet
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+ byte[] ethernet = new byte[8];
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+ Array.Copy(ethernet, 0, result, index, 8);
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+ index += 8;
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+ //ethernet
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+ //Error Code(1 bytes)
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+ result[13] = ctrlData.ErrorCode;
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+ index++;
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+ //General Status(1 bytes)
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+ result[14] = ctrlData.Status;
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+ index++;
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+ //ampliferStatus
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+ byte[] ampliferStatus = new byte[4];
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+ Array.Copy(ampliferStatus, 0, result, index, 4);
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+ index += 4;
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+ //counterModel
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+ byte[] counterModel = new byte[6];
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+ Array.Copy(counterModel, 0, result, index, 6);
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+ index += 6;
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+ //S Block(10 bytes)
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+ Array.Copy(ctrlData.SBlocks, 0, result, index, 10);
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+ index += 10;
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+ //T Block(10 bytes)
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+ Array.Copy(ctrlData.TBlocks, 0, result, index, 10);
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+ index += 10;
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+ //Axis Datas(36 * 8 bytes)
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+ for (int i = 0; i < MAX_AXIS_NUM; i++)
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+ {
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+ Array.Copy(CodeAxisData40(ctrlData.GalilAxisDatas[i]), 0, result, index, MAX_AXIS_DATA_LENGTH_40);
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+ index += MAX_AXIS_DATA_LENGTH_40;
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+ }
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return result;
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}
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/// <summary>
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+ /// GalilAxisData编码(Galil40)
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+ /// </summary>
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+ /// <param name="axisData"></param>
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+ /// <returns></returns>
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+ private byte[] CodeAxisData40(GalilAxisData axisData)
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+ {
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+ byte[] result = new byte[MAX_AXIS_DATA_LENGTH_40];
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+ int index = 0;
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+ //Status(2 bytes)
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+ Array.Copy(byteTransform.GetBytes(axisData.Status), 0, result, index, 2);
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+ index += 2;
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+ //Switches(1 bytes)
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+ result[index] = axisData.Switches;
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+ index++;
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+ //Stop Code(1 bytes)
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+ result[index] = axisData.StopCode;
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+ index++;
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+ //Reference Position(4 bytes)
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+ Array.Copy(BitConverter.GetBytes(axisData.ReferencePosition), 0, result, index, 4);
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+ index += 4;
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+ //Motor Position(4 bytes)
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+ Array.Copy(BitConverter.GetBytes(axisData.MotorPosition), 0, result, index, 4);
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+ index += 4;
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+ //Position Error
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+ Array.Copy(BitConverter.GetBytes(axisData.PositionError), 0, result, index, 4);
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+ index += 4;
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+ //Auxiliary Position
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+ Array.Copy(BitConverter.GetBytes(axisData.AuxiliaryPosition), 0, result, index, 4);
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+ index += 4;
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+ //Velocity
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+ Array.Copy(BitConverter.GetBytes(axisData.Velocity), 0, result, index, 4);
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+ index += 4;
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+ //Torque
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+ Array.Copy(BitConverter.GetBytes(axisData.Torque), 0, result, index, 4);
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+ index += 4;
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+ //Analog
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+ Array.Copy(BitConverter.GetBytes(axisData.Res), 0, result, index, 2);
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+ index += 2;
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+ byte hallInput = 0x00;
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+ result[index] = hallInput;
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+ index ++;
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+ byte reserved = 0x00;
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+ result[index] = reserved;
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+ index ++;
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+ byte[] userVariables = new byte[4];
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+ Array.Copy(userVariables, 0, result, index, 4);
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+ return result;
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+ }
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+ #endregion
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+
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+ /// <summary>
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/// 解析指令(操作符, 运动轴, 操作数)
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/// </summary>
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/// <param name="cmd"></param>
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@@ -304,33 +485,41 @@ namespace CyberX8_Simulator.Devices
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{
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switch (cmd)
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{
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- case "SH":
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+ case "SH"://上电
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SwitchMotor(axis, true);
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break;
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|
|
- case "MO":
|
|
|
+ case "MO"://下电
|
|
|
SwitchMotor(axis, false);
|
|
|
break;
|
|
|
- case "PR":
|
|
|
+ case "PR"://相对位置
|
|
|
SetTargetRelativePosition(axis, value);
|
|
|
break;
|
|
|
- case "PA":
|
|
|
+ case "PA"://绝对位置
|
|
|
SetTargetAbsolutePosition(axis, value);
|
|
|
break;
|
|
|
- case "SP":
|
|
|
+ case "SP"://速度
|
|
|
+ SetSpeed(axis, value);
|
|
|
break;
|
|
|
- case "AC":
|
|
|
+ case "AC"://加速度
|
|
|
+ SetAcceleration(axis, value);
|
|
|
break;
|
|
|
- case "DC":
|
|
|
+ case "DC"://减速度
|
|
|
+ SetDeceleration(axis, value);
|
|
|
break;
|
|
|
- case "ST":
|
|
|
+ case "ST"://停止
|
|
|
+ ControlMotion(axis, false);
|
|
|
break;
|
|
|
- case "BG":
|
|
|
+ case "BG"://启动
|
|
|
+ ControlMotion(axis, true);
|
|
|
break;
|
|
|
- case "HM":
|
|
|
+ case "HM"://回零
|
|
|
+ Home(axis);
|
|
|
break;
|
|
|
- case "DP":
|
|
|
+ case "DP"://设定motor position
|
|
|
+ SetMotorPosition(axis, value);
|
|
|
break;
|
|
|
- case "DE":
|
|
|
+ case "DE"://设定auxiliary position
|
|
|
+ SetAuxiliaryPosition(axis, value);
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
@@ -341,7 +530,7 @@ namespace CyberX8_Simulator.Devices
|
|
|
/// 实时更新电机数据
|
|
|
/// </summary>
|
|
|
/// <param name="datasDic"></param>
|
|
|
- private void UpdataRealTimeMotionData(Dictionary<string, CommandMotionData> datasDic)
|
|
|
+ private void UpdataRealTimeMotionData(Dictionary<string, SimulatorMotionData> datasDic)
|
|
|
{
|
|
|
foreach(var dataItem in datasDic)
|
|
|
{
|
|
|
@@ -355,12 +544,13 @@ namespace CyberX8_Simulator.Devices
|
|
|
/// 更新对应Axis数据
|
|
|
/// </summary>
|
|
|
/// <param name="index"></param>
|
|
|
- private void UpdateAxisData(int index, CommandMotionData data)
|
|
|
+ private void UpdateAxisData(int index, SimulatorMotionData data)
|
|
|
{
|
|
|
- _galilControlData.GalilAxisDatas[index].Velocity = (int)data.ActualVelocity;
|
|
|
- _galilControlData.GalilAxisDatas[index].MotorPosition = (int)data.MotorPosition;
|
|
|
- _galilControlData.GalilAxisDatas[index].ReferencePosition = (int)data.TargetPosition;
|
|
|
- _galilControlData.GalilAxisDatas[index].Torque = (short)data.ActualTorque;
|
|
|
+ _galilControlData.GalilAxisDatas[index].Velocity = data.ActualVelocity;
|
|
|
+ _galilControlData.GalilAxisDatas[index].MotorPosition = (int)(data.ActualPosition / _motorPositionRateDic[_nameAxisList[index]]);
|
|
|
+ _galilControlData.GalilAxisDatas[index].ReferencePosition = data.TargetPosition;
|
|
|
+ _galilControlData.GalilAxisDatas[index].Torque = data.ActualTorque;
|
|
|
+ _galilControlData.GalilAxisDatas[index].StopCode = data.StopCode;
|
|
|
}
|
|
|
#region AxisOperation
|
|
|
/// <summary>
|
|
|
@@ -374,27 +564,77 @@ namespace CyberX8_Simulator.Devices
|
|
|
data[0] &= 0xFE;
|
|
|
data[0] |= (byte)(flag ? 0x00 : 0x01);
|
|
|
_galilControlData.GalilAxisDatas[axis - 'A'].Status = byteTransform.TransUInt16(data, 0);
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], SWITCH_SIGNAL, flag);
|
|
|
}
|
|
|
/// <summary>
|
|
|
- /// 设置目标位置
|
|
|
+ /// 设置速度
|
|
|
/// </summary>
|
|
|
private void SetSpeed(char axis, int value)
|
|
|
{
|
|
|
- _galilControlData.GalilAxisDatas[axis - 'A'].Velocity = value;
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], TARGET_VELOCITY, value);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 设置加速度
|
|
|
+ /// </summary>
|
|
|
+ private void SetAcceleration(char axis, int value)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], TARGET_ACCEL, value);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 设置减速度
|
|
|
+ /// </summary>
|
|
|
+ private void SetDeceleration(char axis, int value)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], TARGET_DECEL, value);
|
|
|
}
|
|
|
/// <summary>
|
|
|
- /// 设置目标绝对位置
|
|
|
+ /// 设置目标绝对位置(设定位置)
|
|
|
/// </summary>
|
|
|
private void SetTargetAbsolutePosition(char axis, int value)
|
|
|
{
|
|
|
_galilControlData.GalilAxisDatas[axis - 'A'].ReferencePosition = value;
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], TARGET_POSITION, value);
|
|
|
}
|
|
|
/// <summary>
|
|
|
- /// 设置目标相对位置
|
|
|
+ /// 设置目标相对位置(设定位置)
|
|
|
/// </summary>
|
|
|
private void SetTargetRelativePosition(char axis, int value)
|
|
|
{
|
|
|
- _galilControlData.GalilAxisDatas[axis - 'A'].ReferencePosition += value;
|
|
|
+ _galilControlData.GalilAxisDatas[axis - 'A'].ReferencePosition = _galilControlData.GalilAxisDatas[axis - 'A'].MotorPosition + value;
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], TARGET_POSITION, _galilControlData.GalilAxisDatas[axis - 'A'].ReferencePosition);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 设置 Motor Position(实际位置)
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="axis"></param>
|
|
|
+ /// <param name="value"></param>
|
|
|
+ private void SetMotorPosition(char axis, int value)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], ACTUAL_POSITION, value);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 设置 Auxiliary Position
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="axis"></param>
|
|
|
+ /// <param name="value"></param>
|
|
|
+ private void SetAuxiliaryPosition(char axis, int value)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], AUXILIARY_POSITION, value);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 控制运动
|
|
|
+ /// </summary>
|
|
|
+ private void ControlMotion(char axis, bool value)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], value ? MOTION_SIGNAL : STOP_SIGNAL, value);
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 电机回零
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="axis"></param>
|
|
|
+ private void Home(char axis)
|
|
|
+ {
|
|
|
+ MotorSimulator.Instance.SetMotionData(_nameAxisList[axis - 'A'], HOMING_SIGNAL, true);
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
