7fc11f2602
AxlGetBoardStatus가 SUCCESS일 때 미연결로 반환하던 반전 버그를 정정(실제 Ajin 연결 시 OnMonitoring 폴링이 스킵되던 원인). 연동해 OnMonitoring 미연결 가드를 앞으로 정리.
635 lines
22 KiB
C#
635 lines
22 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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namespace AuroraIO.AJINEXTEK
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{
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public class AjinIO : IOUnit
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{
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public class IOModuleInfo
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{
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public enum eModuleType { Digital, Analog };
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#region IO Enumerator Definitions(IPG YLS, LBAD)
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public enum eADIAddress
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{
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LaserReady,
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EmissionStatus,
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LaserError,
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LaserIsOn,
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ProgramActive,
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Warning,
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LaserModuleAlarm,
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LaserAssigned,
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LBADReadyStatus,
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LBADJudgementComplete,
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LBADJudgeOK,
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LBADJudgeWARNING,
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LBADJudgeNG,
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LBADJudgeNA,
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LDDError = 27,
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LaserEMO_1,
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LaserEMO_2,
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LeakSensorHead,
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LeakSensorChiller,
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DICount
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}
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public enum eADOAddress
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{
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ProgramStart,
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PCcontrolEnable,
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ResetAlarm,
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GuideLaserEnable,
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AnalogControl,
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ProgramStop,
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LaserOn,
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PulseMode,
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PCLBADReadyStatus,
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PCLBADWeldingTrigger,
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PCLBADWeldingStop,
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PCLBADJudgementCompleteAck,
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DOCount
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}
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#endregion
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public IOModuleInfo(int no, int iCount, int oCount, eModuleType type, int inputStart, int outputStart)
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{
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ioModuleNo = no;
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inputCount = iCount;
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outputCount = oCount;
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ioModuleType = type;
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inputStartIndex = inputStart;
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outputStartIndex = outputStart;
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}
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eModuleType ioModuleType;
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public eModuleType IoModuleType
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{
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get { lock (this) { return ioModuleType; } }
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set { lock (this) { ioModuleType = value; } }
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}
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int ioModuleNo;
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public int IOModuleNo
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{
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get { lock (this) { return ioModuleNo; } }
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set { lock (this) { ioModuleNo = value; } }
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}
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int inputCount;
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public int InputCount
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{
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get { lock (this) { return inputCount; } }
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set { lock (this) { inputCount = value; } }
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}
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int outputCount;
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public int OutputCount
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{
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get { lock (this) { return outputCount; } }
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set { lock (this) { outputCount = value; } }
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}
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int inputStartIndex;
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public int InputStartIndex
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{
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get { lock (this) { return inputStartIndex; } }
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set { lock (this) { inputStartIndex = value; } }
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}
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int outputStartIndex;
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public int OutputStartIndex
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{
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get { lock (this) { return outputStartIndex; } }
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set { lock (this) { outputStartIndex = value; } }
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}
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}
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List<IOModuleInfo> ioModulInfoList = new List<IOModuleInfo>();
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#region 추상 함수 선언
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public override int Open(string iP)
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{
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int error = 0;
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string msg = "";
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try
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{
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if (CAXL.AxlIsOpened() == (int)AXT_BOOLEAN.FALSE)
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{
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error = (int)CAXL.AxlOpen(7);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("IO Device Open Fail!!({0})", GetErrorMessage(error));
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return error;
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}
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}
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//LoadIOTable();
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return 0;
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}
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catch (Exception e)
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{
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return -1;
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}
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}
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public override void Close()
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{
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try
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{
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if (CAXL.AxlIsOpened() == (int)AXT_BOOLEAN.TRUE)
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CAXL.AxlClose();
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}
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catch { }
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}
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public AjinIO()
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{
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}
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public override int GetDICount()
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{
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int count = 0;
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foreach(IOModuleInfo module in ioModulInfoList)
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{
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if(module.IoModuleType == IOModuleInfo.eModuleType.Digital)
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{
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count += module.InputCount;
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}
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}
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return count;
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}
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public override int GetDOCount()
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{
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int count = 0;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (module.IoModuleType == IOModuleInfo.eModuleType.Digital)
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{
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count += module.OutputCount;
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}
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}
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return count;
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}
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public override int GetAICount()
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{
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int count = 0;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (module.IoModuleType == IOModuleInfo.eModuleType.Analog)
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{
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count += module.InputCount;
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}
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}
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return count;
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}
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public override int GetAOCount()
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{
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int count = 0;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (module.IoModuleType == IOModuleInfo.eModuleType.Analog)
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{
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count += module.OutputCount;
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}
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}
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return count;
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}
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public override void Instance(string mappingFolder)
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{
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IOMappingFolder = mappingFolder;
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//LoadIOTable();
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}
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public override int Initialize()
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{
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int error = 0;
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string msg = "";
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int dioModuleCount = 0;
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int aioModuleCount = 0;
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#region DIO
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error = (int)CAXD.AxdInfoGetModuleCount(ref dioModuleCount);
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if ((error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS) && (error != (int)AXT_FUNC_RESULT.AXT_RT_DIO_NOT_MODULE))
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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//messageDlg.messageDlg.RunDlg(msg, true, MessageDlg.DialogMode.MODAL);
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return error;
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}
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int boardNo = 0;
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int modulePos = 0;
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uint moduleId = 0;
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int moduleNo = 0;
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int inputCount = 0;
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int outputCount = 0;
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int inputIndex = 0;
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int outputIndex = 0;
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if (0 < dioModuleCount)
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{
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ioModulInfoList.Clear();
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for (int i = 0; i < dioModuleCount; i++)
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{
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error = (int)CAXD.AxdInfoGetModule(i, ref boardNo, ref modulePos, ref moduleId);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXD.AxdInfoGetModuleNo(boardNo, modulePos, ref moduleNo);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXD.AxdInfoGetInputCount(moduleNo, ref inputCount);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXD.AxdInfoGetOutputCount(moduleNo, ref outputCount);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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#region R&D 장비에서 설정문제인지 IO보드가 중복검색되어서, 예외처리 추가
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bool isAlreadyExists = false;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (moduleNo == module.IOModuleNo)
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{
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isAlreadyExists = true;
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break;
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}
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}
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if (isAlreadyExists) continue;
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#endregion
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IOModuleInfo tempModule = new IOModuleInfo(moduleNo, inputCount, outputCount, IOModuleInfo.eModuleType.Digital, inputIndex, outputIndex);
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ioModulInfoList.Add(tempModule);
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inputIndex += inputCount;
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outputIndex += outputCount;
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}
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}
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#endregion
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#region AIO
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error = (int)CAXA.AxaInfoGetModuleCount(ref aioModuleCount);
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if ((error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS) && (error != (int)AXT_FUNC_RESULT.AXT_RT_AIO_NOT_MODULE))
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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//messageDlg.messageDlg.RunDlg(msg, true, MessageDlg.DialogMode.MODAL);
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return error;
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}
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if (0 < aioModuleCount)
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{
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boardNo = 0;
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modulePos = 0;
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moduleId = 0;
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moduleNo = 0;
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inputCount = 0;
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outputCount = 0;
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inputIndex = 0;
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outputIndex = 0;
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for (int i = 0; i < aioModuleCount; i++)
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{
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error = (int)CAXA.AxaInfoGetModule(i, ref boardNo, ref modulePos, ref moduleId);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXA.AxaInfoGetModuleNo(boardNo, modulePos, ref moduleNo);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXA.AxaInfoGetInputCount(moduleNo, ref inputCount);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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error = (int)CAXA.AxaInfoGetOutputCount(moduleNo, ref outputCount);
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if (error != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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msg = string.Format("Read Module Count Error!!({0})", GetErrorMessage(error));
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return error;
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}
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#region R&D 장비에서 설정문제인지 IO보드가 중복검색되어서, 예외처리 추가
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bool isAlreadyExists = false;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (moduleNo == module.IOModuleNo)
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{
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isAlreadyExists = true;
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break;
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}
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}
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if (isAlreadyExists) continue;
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#endregion
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IOModuleInfo tempModule = new IOModuleInfo(moduleNo, inputCount, outputCount, IOModuleInfo.eModuleType.Analog, inputIndex, outputIndex);
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ioModulInfoList.Add(tempModule);
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inputIndex += inputCount;
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outputIndex += outputCount;
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}
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}
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#endregion
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//IO 레벨 세팅
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//error = SetIoLevel();
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//Interrupt 세팅
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//error = SetIntterrupt();
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return 0;
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}
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public override bool IsConnected()
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{
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int err = (int)CAXL.AxlGetBoardStatus(0);
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return err == (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS;
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}
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#endregion
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public override int GetDoArray(ref bool[] array)
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{
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uint data = 0;
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int lastIndex = 0;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if(module.IoModuleType == IOModuleInfo.eModuleType.Digital && module.OutputCount !=0)
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{
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int err = (int)CAXD.AxdoReadOutportDword(module.IOModuleNo, 0, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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return err;
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}
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BitArray arr = new BitArray(BitConverter.GetBytes(data));
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arr.CopyTo(array, lastIndex);
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lastIndex += module.OutputCount;
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}
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}
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return 0;
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}
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public override int GetDiArray(ref bool[] array)
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{
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uint data = 0;
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foreach (IOModuleInfo module in ioModulInfoList)
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{
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if (module.IoModuleType == IOModuleInfo.eModuleType.Digital && module.InputCount != 0)
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{
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int err = (int)CAXD.AxdiReadInportDword(module.IOModuleNo, 0, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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return err;
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}
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//BitArray arr = new BitArray(BitConverter.GetBytes(data));
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// 1안 ) 220118 이준혁Y 테스트 필요.
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//BitArray arr = new BitArray(module.InputCount, false);
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//for (int i = 0; i < module.InputCount; i++)
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//{
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// int selectBitToInt = (int)(Math.Pow(2, i));
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// int selectedBitToInt = (int)data & selectBitToInt;
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// if (selectedBitToInt == selectBitToInt) arr[i] = true;
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// else arr[i] = false;
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//}
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// 2안) 220118 카운트 크기에 따라서, BitArray 다른 것으로 쓰게끔.
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Byte tempByte = 0;
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UInt16 tempUInt = 0;
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BitArray arr = new BitArray(module.InputCount, false);
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if (module.InputCount == 8)
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{
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tempByte = Convert.ToByte(data);
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arr = new BitArray(BitConverter.GetBytes(tempByte).ToArray());
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}
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else if (module.InputCount == 16)
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{
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tempUInt = Convert.ToUInt16(data);
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arr = new BitArray(BitConverter.GetBytes(tempUInt));
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}
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else if (module.InputCount == 32)
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{
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arr = new BitArray(BitConverter.GetBytes(data));
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}
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else;
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arr.CopyTo(array, module.InputStartIndex);
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}
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}
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return 0;
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}
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public override int ReadDoBit(int index, ref bool bit)
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{
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uint data = 0;
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int err = (int)CAXD.AxdoReadOutport(index, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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return err;
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}
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bit = Convert.ToBoolean(data);
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return 0;
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}
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public override int ReadDiBit(int index, ref bool bit)
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{
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uint data = 0;
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int err = (int)CAXD.AxdiReadInport(index, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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return err;
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}
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bit = Convert.ToBoolean(data);
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return 0;
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}
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public override bool ReadDoBit(int index)
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{
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//현재 사용하지 않아서 추후 구현
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//return true;
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//[추후 구현] return true 스텁 의존 코드 확인 후 아래로 교체(ReadDiBit(int) 패턴)
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uint data = 0;
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int err = (int)CAXD.AxdoReadOutport(index, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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throw new Exception(string.Format("ERR_IO_FAIL_TO_GET_BIT;ERROR CODE:{0}", err));
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}
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return Convert.ToBoolean(data);
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}
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public override bool ReadDiBit(int index)
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{
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uint data = 0;
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int err = (int)CAXD.AxdiReadInport(index, ref data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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throw new Exception(string.Format("ERR_IO_FAIL_TO_GET_BIT;ERROR CODE:{0}", err));
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}
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return Convert.ToBoolean(data);
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}
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public override int WriteDoBit(int index, bool bit)
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{
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uint data = Convert.ToUInt16(bit);
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int err = (int)CAXD.AxdoWriteOutport(index, data);
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if (err != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
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{
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return err;
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}
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return 0;
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}
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public override void ClearList()
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{
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ListDI.Clear();
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ListDO.Clear();
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}
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//int SetIoLevel()
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//{
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// string msg = string.Empty;
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// int rv = 0;
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// //AJin IO에서 접점 변경은 Active를 High(1) 또는 Low(0) Level 설정한다.
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// //기본적으로 NO(Normal Open)접점이 Active상태에서 high(1) Level이므로 설정을 아래와 같이 한다.
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// //input contact
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// foreach (IOModuleInfo ioModule in ioModulInfoList)
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// {
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// for (int i = 0; i < ioModule.InputCount; i++)
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// {
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// uint uLevel = (uint)(ListDI[ioModule.InputStartIndex + i].ActiveLevel == InfoIO.ActiveLevelType.High ? 1 : 0);
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// rv = (int)CAXD.AxdiLevelSetInportBit(ioModule.IOModuleNo, i, uLevel);
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// if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
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// {
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// msg = string.Format("{0} Set DI Active Level Error({1})", ListDI[ioModule.InputStartIndex + i].Index, GetErrorMessage(rv));
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// return rv;
|
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// }
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|
|
|
// }
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|
|
// for (int i = 0; i < ioModule.OutputCount; i++)
|
|
// {
|
|
// uint uLevel = (uint)(ListDO[ioModule.OutputStartIndex + i].ActiveLevel == InfoIO.ActiveLevelType.High ? 1 : 0);
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|
|
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// rv = (int)CAXD.AxdoLevelSetOutportBit(ioModule.IOModuleNo, i, uLevel);
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|
|
|
// if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
|
// {
|
|
// msg = string.Format("{0} Set Active Level Error({1})", ListDO[ioModule.OutputStartIndex + i].Index, GetErrorMessage(rv));
|
|
// return rv;
|
|
// }
|
|
// }
|
|
// }
|
|
// return rv;
|
|
//}
|
|
|
|
int SetIntterrupt()
|
|
{
|
|
string msg = string.Empty;
|
|
int rv = 0;
|
|
|
|
foreach (IOModuleInfo ioModule in ioModulInfoList)
|
|
{
|
|
//인터럽트 처리 사용 여부 설정
|
|
rv = (int)CAXD.AxdiInterruptSetModuleEnable(ioModule.IOModuleNo, 1);
|
|
|
|
if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
|
{
|
|
msg = string.Format("ModuleNo :{0}; Set Interrupted Error({1})",ioModule.IOModuleNo, GetErrorMessage(rv));
|
|
return rv;
|
|
}
|
|
|
|
uint eventNo=0;
|
|
//인터럽트 처리 방법 설정
|
|
rv = (int)CAXD.AxdiInterruptSetModule(ioModule.IOModuleNo,(IntPtr)null, 0, InterruptCallbackFunction, ref eventNo);
|
|
|
|
if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
|
{
|
|
msg = string.Format("ModuleNo :{0}; Set Interrupted Error({1})", ioModule.IOModuleNo, GetErrorMessage(rv));
|
|
return rv;
|
|
}
|
|
|
|
for (int i = 0; i < ioModule.InputCount; i++)
|
|
{
|
|
//Rising Edge 설정
|
|
|
|
rv = (int)CAXD.AxdiInterruptEdgeSetBit(ioModule.IOModuleNo, i,1,1);
|
|
|
|
|
|
if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
|
{
|
|
msg = string.Format("IO Index :{0}; Set Interrupted Error({1})", ListDI[ioModule.InputStartIndex + i].Index, GetErrorMessage(rv));
|
|
return rv;
|
|
}
|
|
|
|
//Falling Edge 설정
|
|
rv = (int)CAXD.AxdiInterruptEdgeSetBit(ioModule.IOModuleNo, i, 0, 1);
|
|
|
|
if (rv != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
|
|
{
|
|
msg = string.Format("IO Index :{0}; Set Interrupted Error({1})", ListDI[ioModule.InputStartIndex + i].Index, GetErrorMessage(rv));
|
|
return rv;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
return rv;
|
|
}
|
|
|
|
#region ErrorMessage
|
|
public string GetErrorMessage(int errCode)
|
|
{
|
|
return Enum.ToObject(typeof(AXT_FUNC_RESULT), errCode).ToString();
|
|
}
|
|
|
|
#endregion ErrorMessage
|
|
|
|
}
|
|
}
|