using System; using System.Text; using System.Collections.Generic; using System.Runtime.InteropServices; namespace ocean {//运动控制模块 public enum EDevStatus {//对象状态 EDev_NOINIT = 0, //未初始化 EDev_ERROR, //异常 EDev_IDLE, //就绪 EMove_NOHOME = 3, //未回原 EMove_STOP, //停止状态 -- 异常停止，限位停止 EMove_ISMOVING, //运动中 EMove_ISHOME, //回原中 EMove_PAUSE, //暂停 EMove_PAUSING, //正在暂停 EMove_STOPING, //正在停止 }; public enum EIOType {//IO类型 IOT_COMIN = 0, //通用输入 IOT_COMOUT, //通用输出 IOT_LIMITP, //正限位 IOT_LIMITN, //负限位 IOT_ALARM, //报警 IOT_HOME, //原点 IOT_SEVON, //使能 IOT_CLEARALARM, //清除报警 }; public enum EMPosType {//轴位置类型 EMPos_Default = -1, //默认位置 伺服-编码器 步进-规划器 EMPos_Encoder, //编码器位置 EMPos_Profile, //规划器位置 }; public enum EMIOSYSType {//系统IO类型 IOS_Normal = 0, //普通IO IOS_START, //启动 IOS_RESET, //复位 IOS_ESTOP, //急停 IOS_PAUSE, //暂停 IOS_STOP, //停止 IOS_BRAKE, //刹车 }; public enum EMAxisType {//轴类型 EAXIS_SERVO = 0, //伺服 EAXIS_STEPPER, //步进电机 EAXIS_FLOW, //旋转电机，每次运动清零位置 - 不需要回原 EAXIS_ABSSERVO, //绝对值编码器 - 可以不回原 }; public enum EMAxisDir {//轴方向 EAXIS_X = 0, //横向 EAXIS_Y, //纵向 EAXIS_Z, //上下 EAXIS_U, //平面旋转 EAXIS_V, //横向旋转 EAXIS_W, //纵向旋转 }; public enum EMHomeType {//回原方式 EHOME_LIMITN = 0, //先回负限位 EHOME_LIMITP, //先回正限位 EHOME_HOMEP, //找原点再精确回原 EHOME_IOHOME, //IO控制回原 EHOME_GOHOME, //直接精确回原 EHOME_NOHOME, //不回原,直接以当前位置为原点 }; public enum EMIOVAL {//IO操作 IOFF = 0, //关闭 ION, //打开 }; public enum EMDir {//运动方向 DirN = 0, //负方向 DirP, //正方向 }; public struct TPoint {//点位 public int index; //点索引 public int reserved; //保留字符，保证按8位对齐 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string name; //点名称 public double x; //分别为x,y,z,u,v,w的坐标值 public double y; public double z; public double u; public double v; public double w; }; public struct TLicenseInfo {//许可信息 public int dyn; //8位动态机器码 public int perdate; //有效期 20181212 0标识无效 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string hd; [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string cpu; [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string mac; [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)] public string sn; //机器码 }; public struct TVisionResult {//视觉结果结构体 public int res; //结果 0 - ok public int resCnt; //结果个数 public double v1; //结果 public double v2; public double v3; public double v4; public double v5; public double v6; public double v7; public double v8; public double v9; public double v10; public double v11; public double v12; public double v13; public double v14; public double v15; public double v16; }; #region nouse public struct TCard {//卡数据结构 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string name; [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)] public string dev; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 256)] public byte[] param; //初始化参数 public int cid; //卡ID public UInt16 axisCnt; //轴数量 motor-轴/专用IO数量 public UInt16 ioCnt; //io-通用IO位数 public UInt16 adCnt; //ad-通道数量 public UInt16 reserved1; //备用1 public UInt16 reserved2; //备用2 public UInt16 reserved3; //备用3 }; #endregion //底层插件注册接口 #region register_dll //初始化 index 卡序号 ctx字符串参数 函数指针委托说明 public delegate int fun_init(ushort index, string ctx); public delegate int fun_deinit(ushort index); public delegate int fun_get_status(ushort index); public delegate int fun_get_cmd_info(IntPtr pszcmddesc); public delegate int fun_send_msg(ushort index, string msg, IntPtr res); public delegate int fun_recv_msg(ushort index, string msg, IntPtr res, int timeout); //控制卡底层继承类接口声明 -- 轴接口 public delegate int fun_axis_reset(ushort index, ushort axisIndex); public delegate int fun_axis_home(ushort index, ushort axisIndex, ushort homeType, double pos, double offset, double vel); public delegate int fun_axis_zero_pos(ushort index, ushort axisIndex); public delegate int fun_axis_is_moving(ushort index, ushort axisIndex); public delegate int fun_axis_set_speed(ushort index, ushort axisIndex, double vel, double acc, double dec); public delegate int fun_axis_set_pos(ushort index, ushort axisIndex, double pos); public delegate int fun_axis_stop(ushort index, ushort axisIndex, int type); //1急停 0平滑停止 //点位运动 public delegate int fun_axis_move_pos(ushort index, ushort axisIndex, double pos, double vel, double acc, double dec); public delegate int fun_axis_move_offset(ushort index, ushort axisIndex, double offset, double vel, double acc, double dec); public delegate int fun_axis_move_jog(ushort index, ushort axisIndex, int dir, double vel, double acc, double dec); //轴输入输出 public delegate int fun_axis_read(ushort index, ushort axisIndex, int dio_type); public delegate int fun_axis_write(ushort index, ushort axisIndex, ushort val, int do_type); public delegate int fun_axis_get_pos(ushort index, ushort axisIndex, int postype, ref double pval); //插补 //创建坐标系，成功返回坐标系ID>0 失败返回错误代码 public delegate int fun_create_crd(ushort index, IntPtr pAxisIndex, ushort nsize); //pAxisIndex -- ushort[] public delegate int fun_add_line_pos(int crd, IntPtr ppos, ushort nsize, double vel, double acc, double endvel); //ppos -- double[] public delegate int fun_add_arc_pos(int crd, IntPtr ppos1, IntPtr ppos2, IntPtr ppos3, ushort nsize, double vel, double acc, double endvel); public delegate int fun_crd_move(int crd); public delegate int fun_crd_is_moving(int crd, IntPtr progress); //int* public delegate int fun_close_crd(int crd); //控制卡底层继承类接口声明 -- IO接口 public delegate int fun_read_in(ushort index, ushort in_index); public delegate int fun_read_out(ushort index, ushort out_index); public delegate int fun_write_out(ushort index, ushort out_index, ushort val); //控制卡底层继承类接口声明 -- AD接口 public delegate int fun_read_ad(ushort index, ushort ad_index, IntPtr pVal); //double* public delegate int fun_write_ad(ushort index, ushort ad_index, double val); public struct MotorFun {//回调函数列表 public fun_init funinit; public fun_deinit fundeinit; public fun_get_status funstatus; public fun_send_msg funsend; public fun_recv_msg funrecv; public fun_get_cmd_info funcmdinfo; public fun_axis_reset funreset; public fun_axis_home funhome; public fun_axis_zero_pos funzero; public fun_axis_is_moving funismoving; public fun_axis_set_speed funsetspeed; public fun_axis_set_pos funsetpos; public fun_axis_stop funstop; public fun_axis_move_pos funmovepos; public fun_axis_move_offset funmoveoffset; public fun_axis_move_jog funmovejog; public fun_axis_read funaxisread; public fun_axis_write funaxiswrite; public fun_axis_get_pos fungetpos; public fun_create_crd funcrd; public fun_add_line_pos funaddline; public fun_add_arc_pos funaddarc; public fun_crd_move funcrdmove; public fun_crd_is_moving funcrdmoving; public fun_close_crd funclosecrd; public fun_read_in funreadin; public fun_read_out funreadout; public fun_write_out funwriteout; public fun_read_ad funreadad; public fun_write_ad funwritead; }; #endregion //安全类接口回调 //pid 轴ID或IO //curval 当前位置 可标识axis/io位置 //val 目标位置 表示运动目标位置(mm) IO表示气缸控制目标信号 //bhome 轴ID时1表示回原，0表示不是回原，IO控制时此参数无意义 //返回值 返回1表示检测通过,可以运动 返回0表示检测不通过，则control会终止该轴/IO所有运动接口 public delegate int FunSafeCallBack(int pid, int curval, int val, int bhome); public class control { /*********************************************** *Function: 注册一个插件增加一个插件 *Intput: pszdev 硬件ID，不能重复 pszdesc 硬件描述符 <32字节 pszhome 回原描述符 多种回原方式以;分割<256字节 ctx 初始化参数描述符 多个参数以;分割<256字节 参数描述与默认值以|分割 axiscnt 插件支持轴数量 iocnt 插件支持IO数量 adcnt 插件支持AD数量 *Output: NULL *Return: 成功返回0，失败返回错误码 *PS:如果需要在应用层注册插件，每次程序启动必须按以下步骤初始化： 1. 调用control_init 初始化模块 2. 调用control_regist_dev 注册插件 3. 调用control_load_cfg 加载配置文件 ***********************************************/ [DllImport(@"control.dll", EntryPoint = "regist_card_devs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int regist(string pszdev, string pszdesc, string pszhome, string ctx, ushort axiscnt, ushort iocnt, ushort adcnt, ref MotorFun pfunList); /********************************************* *Function: 初始化control模块资源 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 初始化以后才能调用该模块其它接口 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int init(); /********************************************* *Function: 释放control模块资源 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_deinit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int deinit(); /********************************************* *Function: 独占方式启动所有控制卡 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_startup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int startup(); /********************************************* *Function: 停止控制所有卡 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_shutdown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int shutdown(); /**************************************************** *Function: control服务是否在运行 *Intput: NULL *Output: NULL *Return: 正在运行返回1，否则返回0 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "control_is_run", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int isrun(); /********************************************* *Function: 获取control控制引擎版本号 - 4位整数 *Intput: NULL *Output: NULL *Return: 返回control版本号1401->1.4.01 *PS: 当版本号为5位时,为beta测试版,个位数为测试版本号 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int version(); /********************************************* *Function: 整体复位、重置 -- 仅发送指令 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 向所有插件发送"reset"指令 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int reset(); /********************************************* *Function: 整体暂停 -- 仅发送指令 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 向所有插件发送"pause,1/0"指令 *********************************************/ [DllImport(@"control.dll", EntryPoint = "control_pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int pause(int bpause = 1); /********************************************* *Function: 加载点位、料盘配置 -- 默认data\\product *Intput: path 配置目录 <256字节 *Output: NULL *Return: 成功返回0，失败返回错误码 *PS: 加载成功后，下次会默认从此目录读取 *********************************************/ [DllImport(@"control.dll", EntryPoint = "load_points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int load_points(string path); /*********************************************** *Function: 初始化一个对象（卡/视觉/工站） *Intput: pid 对象ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 ************************************************/ [DllImport(@"control.dll", EntryPoint = "init_dev", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int init_dev(int pid); /*********************************************** *Function: 反初始化一个对象（卡/视觉/工站） *Intput: pid 对象ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 ************************************************/ [DllImport(@"control.dll", EntryPoint = "uninit_dev", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int uninit_dev(int pid); /********************************************* *Function: 向指定对象发送消息（万能接口） *Intput: pid 对象ID msg 要发送的消息 res 返回消息,可以不传 *Output: res 返回消息,可以不传 *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "send_custom_msg", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int send_custom_msg(int pid, string msg, uint z = 0); [DllImport(@"control.dll", EntryPoint = "send_custom_msg", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int send_custom_msg(int pid, string msg, StringBuilder res); /********************************************* *Function: 接收指定对象消息（万能接口） *Intput: pid 对象ID msg 过滤字段及参数，可以为空字符串 res 返回消息 timeout 超时机制 默认不等待 [0,500] 单位ms *Output: res 返回消息 *Return: 成功返回0,失败返回错误码<0 *PS: 超时返回ERR_TIMEOUT *********************************************/ [DllImport(@"control.dll", EntryPoint = "recv_custom_msg", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int recv_custom_msg(int pid, string msg, StringBuilder res, int timeout = 0); /*********************************************** *Function: 获取一个对象状态 *Intput: pid 对象ID *Output: NULL *Return: 返回对象状态，参考EDevStatus/EMoveStatus *PS: 卡/工站/视觉/轴，全部使用此接口 ************************************************/ [DllImport(@"control.dll", EntryPoint = "get_dev_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_dev_status(int pid); /********************************************* *Function: 通过名称获取一个对象的ID > 0 *Intput: pszname 对象名称 *Output: NULL *Return: 成功返回对象ID,失败返回错误码<0 *PS: 可以获取control模块所有对象ID 包括卡/视觉/工站/轴/IO/AD *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_id_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_id_by_name(string pszname); /********************************************* *Function: 清除指定轴限位状态/停止标识 -- 此接口创建工站后才有效 *Intput: axis 轴ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 停止状态下才可调用此接口 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_reset(int axis); /********************************************* *Function: 指定轴停止运动 -- 此接口创建工站后才有效 *Intput: axis 轴ID stoptype 0平滑停止 1紧急停止 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_stop(int axis, int stoptype = 0); /********************************************* *Function: 指定轴回原 -- 此接口创建工站后才有效 *Intput: axis 轴ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 调用 axis_status 判断回原是否结束 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_home", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_home(int axis); /********************************************* *Function: 读取轴对应的特殊IO状态 -- 此接口创建工站后才有效 *Intput: axis 轴ID dio_type io类型 *Output: NULL *Return: 有信号1 无信号0, 其它为异常 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_read", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_read(int axis, EIOType dio_type); public static bool axisIO(int axis, EIOType dio_type) { if (0 == axis) return false; return axis_read(axis, dio_type) == 1; } /********************************************* *Function: 设置轴对应的特殊IO输出状态 -- 此接口创建工站后才有效 *Intput: axis 轴ID dio_type io类型 仅限 使能、清除报警两种类型 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_write", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_write(int axis, EIOType dio_type, int val); /********************************************* *Function: 获取指定轴当前位置 -- 此接口创建工站后才有效 *Intput: axis 轴ID posType 0编码器位置 1规划器位置 *Output: pval 返回当前位置 mm *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_get_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_get_pos(int axis, ref double pval, int posType = -1); public static double getAxisPos(int axis) { double val = 0; int ret = axis_get_pos(axis, ref val); return ret == 0 ? val : 0; } /********************************************* *Function: 指定轴jog运动 -- 此接口创建工站后才有效 *Intput: axis 轴ID dir 0负方向 1正方向 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_move_jog", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_move_jog(int axis, int dir); /********************************************* *Function: 指定轴点位运动 -- 此接口创建工站后才有效 *Intput: axis 轴ID pos 目标位置 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_move_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_move_pos(int axis, double pos); /********************************************* *Function: 指定轴强制点位运动 -- 此接口创建工站后才有效 *Intput: axis 轴ID pos 目标位置 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 在运动中调用此接口，可以改变目标位置 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_set_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_set_pos(int axis, double pos); /********************************************* *Function: 指定轴偏移量运动 -- 此接口创建工站后才有效 *Intput: axis 轴ID offset 偏移量 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "axis_move_offset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int axis_move_offset(int axis, double offset); /********************************************* *Function: 设置指定工站接下来的运动速度 *Intput: tid 工站ID vel 运动速度 按百分比算 [0.01,100] acc 加速度 按百分比算 [0.01,100] dec 减速度 按百分比算 [0.01,100] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 点位运动中也可设置,仅更改速度,加减速下次运动才生效 *********************************************/ [DllImport(@"control.dll", EntryPoint = "set_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int set_speed(int tid, double vel, double acc, double dec); /********************************************* *Function: 获取指定工站的速度 *Intput: tid 工站ID vel 运动速度 按百分比算 [0.01,100] acc 加速度 按百分比算 [0.01,100] dec 减速度 按百分比算 [0.01,100] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 点位运动中也可设置,仅更改速度,加减速下次运动才生效 *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_speed(int tid, ref double vel, ref double acc, ref double dec); /********************************************* *Function: 设置指定工站的全局速度 *Intput: tid 工站ID vel 最大值的百分比 [0.01,100] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS:工站最终运动速度会*全局速度的百分比,默认100% *********************************************/ [DllImport(@"control.dll", EntryPoint = "set_global_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int set_global_speed(int tid, double vel); /********************************************* *Function: 获取指定工站的全局速度 *Intput: tid 工站ID pvel 最大值的百分比 [0.01,100] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_global_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_global_speed(int tid, ref double pvel); /********************************************* *Function：清除指定工站所有轴限位状态/停止标识 *Intput： tid 工站ID *Output: NULL *Return： 成功返回0,失败返回错误码<0 *PS: 停止状态下才可调用 *********************************************/ [DllImport(@"control.dll", EntryPoint = "station_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int station_reset(int tid); /********************************************* *Function: 指定工站开始回原 *Intput: tid 工站ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 调用get_dev_status 判断回原是否结束 *********************************************/ [DllImport(@"control.dll", EntryPoint = "station_home", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int station_home(int tid); /********************************************* *Function: 指定工站暂停/恢复运动 *Intput: tid 工站ID ipause 1暂停 0恢复 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "station_pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int station_pause(int tid, int ipause = 1); /********************************************* *Function: 让指定工站停止运动 *Intput: tid 工站ID stoptype 0平滑停止 1紧急停止 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "station_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int station_stop(int tid, int stoptype = 0); /********************************************* *Function: 指定工站点位运动到指定位置 *Intput: tid 工站ID ptPos,点位置,包含每个轴目标位置 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 此接口支持强制点位运动，即点位运动中时，可以强制改变目标位置 *PS: 未回原也可以调用此接口运动 *********************************************/ [DllImport(@"control.dll", EntryPoint = "go_to_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int go_to_pos(int tid, IntPtr ptr); public static int gopos(int tid, TPoint pos) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(pos, ptr, false); ret = go_to_pos(tid, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 指定工站点位运动到指定点 *Intput: tid 工站ID index,点索引[0,200] 为0时基于当前位置 ptOffset 是否增加偏移 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: index=0时,必须带偏移量，否则不运动 *PS: 此接口支持强制点位运动，即点位运动中时，可以强制改变目标位置 当index=0时，未回原也可以运动 *********************************************/ [DllImport(@"control.dll", EntryPoint = "go_to_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int go_to_point(int tid, int index, IntPtr ptr); public static int go(int tid, int index) { return go_to_point(tid, index, IntPtr.Zero); } public static int go(int tid, int index, TPoint ptOffset) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(ptOffset, ptr, false); ret = go_to_point(tid, index, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 指定工站直线插补运动到指定点 *Intput: tid 工站ID index 点索引[0,200] 为0时基于当前位置 ptOffset 是否增加偏移 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "move_to_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int move_to_point(int tid, int index, IntPtr ptr); public static int move(int tid, int index) { return move_to_point(tid, index, IntPtr.Zero); } public static int move(int tid, int index, TPoint ptOffset) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(ptOffset, ptr, false); ret = move_to_point(tid, index, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 以当前位置为起始点, 圆弧插补运动 *Intput: tid 工站ID iPointMiddle, 圆弧上的中间点; iPointEnd, 圆弧上的终点; ptOffset 是否增加偏移 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "move_arc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int move_arc(int tid, int iPointMiddle, int iPointEnd, IntPtr ptr); public static int arc(int tid, int iPointMiddle, int iPointEnd) { return move_arc(tid, iPointMiddle, iPointEnd, IntPtr.Zero); } public static int arc(int tid, int iPointMiddle, int iPointEnd, TPoint ptOffset) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(ptOffset, ptr, false); ret = move_arc(tid, iPointMiddle, iPointEnd, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 添加直线插补运动点位到连续运动合集 *Intput: tid 工站ID index 点索引 ptOffset 是否增加偏移 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "add_cp_line_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int add_cp_line_point(int tid, int index, IntPtr ptr); public static int add_line(int tid, int index) { return add_cp_line_point(tid, index, IntPtr.Zero); } public static int add_line(int tid, int index, TPoint ptOffset) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(ptOffset, ptr, false); ret = add_cp_line_point(tid, index, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 添加一段圆弧插补运动到连续运动合集 *Intput: tid 工站ID iPointMiddle, 圆弧上的中间点; iPointEnd, 圆弧上的终点; ptOffset 是否增加偏移 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "add_cp_arc_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int add_cp_arc_point(int tid, int iPointMiddle, int iPointEnd, IntPtr ptr); public static int add_arc(int tid, int iPointMiddle, int iPointEnd) { return add_cp_arc_point(tid, iPointMiddle, iPointEnd, IntPtr.Zero); } public static int add_arc(int tid, int iPointMiddle, int iPointEnd, TPoint ptOffset) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(ptOffset, ptr, false); ret = add_cp_arc_point(tid, iPointMiddle, iPointEnd, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 启动cp运动 *Intput: tid 工站ID *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "start_cp_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int start_cp_move(int tid); /********************************************* *Function: 获取指定工站的点位置(点列表的数据) *Intput: tid,工站ID name 点位名称 pt,用于接收工站位置的point结构体 *Output: 返回点位结构体指针 *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_point_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_point(int tid, string name, ref TPoint pt); /********************************************* *Function: 获取指定工站的点位置(点列表的数据) *Intput: tid,工站ID index,点位索引 pt 返回的点结构体 *Output: 返回点位结构体指针 *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_point_by_index", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_point(int tid, int index, ref TPoint pt); /********************************************* *Function: 获取料盘数据点位 *Intput: tid 工站ID index,料盘索引 [1,50] col 第几列 > 0 row 第几行 > 0 *Output: pt 返回的点结构体 *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "get_point_by_pallet", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_point(int tid, int index, int col, int row, ref TPoint pt); /********************************************* *Function: 设置点数据,只设置到内存,不会改变名字 *Intput: tid,工站ID pt，要保存的点数据 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "set_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int set_point(int tid, IntPtr ptr); public static int setpoint(int tid, TPoint pt) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(pt, ptr, false); ret = set_point(tid, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 判断当前位置是否在指定点附近 *Intput: tid 工站ID index 点索引[1,200] ptOffset 是否增加偏移 offset 最大偏移值 *Output: NULL *Return: 1在 0不在,其它返回错误码 *********************************************/ [DllImport(@"control.dll", EntryPoint = "is_near_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int is_near_point(int tid, int index, IntPtr ptr, double offset = 0.1); public static bool chk_near_pos(int tid, int index) { return is_near_point(tid, index, IntPtr.Zero) == 1; } public static bool chk_near_pos(int tid, int index, TPoint ptoffset, double offset = 0.01) { IntPtr ptr; int ret = 0; ptr = Marshal.AllocHGlobal(Marshal.SizeOf(ptoffset)); Marshal.StructureToPtr(ptoffset, ptr, false); ret = is_near_point(tid, index, ptr, offset); Marshal.FreeHGlobal(ptr); return ret == 1; } /********************************************* *Function: 设置点位置数据 -- 名称、点位一块修改 *Intput: tid 工站ID pt 要保存的点数据 点位索引[1,200] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "save_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int save_point(int tid, IntPtr ptr); public static int savepoint(int tid, TPoint pt) { IntPtr ptr; int ret = 0; TPoint point = new TPoint(); ptr = Marshal.AllocHGlobal(Marshal.SizeOf(point)); Marshal.StructureToPtr(pt, ptr, false); ret = save_point(tid, ptr); Marshal.FreeHGlobal(ptr); return ret; } /********************************************* *Function: 示教当前点位 *Intput: tid 工站ID index 点位索引[1,200] name 点位名称 长度[1,31] *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "teach_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int teach_point(int tid, int index, string name); /********************************************* *Function: 注册安全检测接口,注册后所有运动+IO操作 都会回调到接口检查安全性 *Intput: fun... 回调接口 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 传入fun=0即为反注册,注册后必须打开配置中的bSafeChk开关才生效 *********************************************/ [DllImport(@"control.dll", EntryPoint = "regist_safe_chk", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int regist_safe_chk(FunSafeCallBack fun); /********************************************* *Function: 启动安全控制限制 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "start_safe_monitor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int start_safe_monitor(); /********************************************* *Function: 停止安全控制限制 *Intput: NULL *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "stop_safe_monitor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int stop_safe_monitor(); /********************************************* *Function: 根据名称读取指定io的输入/输出状态 *Intput: name io名称 *Output: NULL *Return: 有信号1 无信号0, 其它为异常 *********************************************/ [DllImport(@"control.dll", EntryPoint = "read_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int read(string name); /********************************************* *Function:根据IO名称设置一个IO输出状态 *Intput: out_name: io名称 val 操作值 必须为1/0 *Output: 无 *Return: 成功返回0，失败返回错误代码 *********************************************/ [DllImport(@"control.dll", EntryPoint = "write_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int write(string out_name, ushort val); /********************************************* *Function: 读取输入电压值 *Intput: ad_name, ad名称 *Output: pval 读取到的电压值 *Return: 成功返回0，失败返回错误代码 *********************************************/ [DllImport(@"control.dll", EntryPoint = "read_ad_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int read(string ad_name, ref double pVal); /********************************************* *Function: 根据名称写入指定ad的输出值 *Intput: name ad别名 val 电压值 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *********************************************/ [DllImport(@"control.dll", EntryPoint = "write_ad_by_name", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int write(string ad_name, double val); /************************************************** *Function: 获取系统IO状态 *Intput: type 系统IO类型 start <= type <= stop *Output: NULL *Return: 返回组合状态1/0，start都为1则返回1，其它都为0则0 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "get_sysio_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int get_sysio_value(int type); /************************************************** *Function: 打开/关闭所有刹车 *Intput: val 1刹车有效 0刹车无效 *Output: NULL *Return: 成功返回0,失败返回错误码<0 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "set_break", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int set_break(int val = 1); public static int get_start_value() { return get_sysio_value(Convert.ToInt32(EMIOSYSType.IOS_START)); } public static int get_reset_value() { return get_sysio_value(Convert.ToInt32(EMIOSYSType.IOS_RESET)); } public static int get_pause_value() { return get_sysio_value(Convert.ToInt32(EMIOSYSType.IOS_PAUSE)); } public static int get_estop_value() { return get_sysio_value(Convert.ToInt32(EMIOSYSType.IOS_ESTOP)); } /**************************************************** *Function: 视觉处理指令，拍照完成返回 *Intput: vid 视觉ID secne 场景ID，需根据视觉通讯协议传递 timeout 超时设置 *Output: NULL *Return: EM_ERR_CODE ******************************************************/ [DllImport(@"control.dll", EntryPoint = "vision_process", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int process(int vid, int secne); /**************************************************** *Function: 获取视觉处理结果 *Intput: vid 视觉ID secne 场景ID，需根据视觉通讯协议传递 timeout 超时设置 -1无限等待 *Output: pres 返回结果 *Return: EM_ERR_CODE 超时返回ERR_TIMEOUT ******************************************************/ [DllImport(@"control.dll", EntryPoint = "recv_process_result", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int recv_result(int vid, int secne, ref TVisionResult pres, int timeout = -1); /**************************************************** *Function: 获取本机注册信息 *Intput: NULL *Output: pInfo 注册信息 *Return: 成功返回0,失败返回错误码<0 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "license_get_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int license_get_info(ref TLicenseInfo info); /**************************************************** *Function: 本机注册licence *Intput: pszregsn 注册码 *Output: NULL *Return: 成功返回0，失败返回错误码 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "license_regist", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int regist(string pszregsn); /**************************************************** *Function: 获取许可证是否有效 *Intput: NULL *Output: NULL *Return: 有效返回1，无效返回0 ******************************************************/ [DllImport(@"control.dll", EntryPoint = "license_is_valid", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int license_is_valid(); #region nouse public struct TAxisParam {//轴参数 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string name; //名称 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string outIO; //回原IO or 刹车IO public int axis; //轴ID public int cid; //卡ID public int index; //在当前卡的索引 public int homeIndex; //回原方法序号 参考 插件返回的回原方式序列 -- 超过最大序号表示自定义回原 public int bDirNeg; //方向取反 1取反 0不取反 public EMAxisDir dir; //0==x 1==y 2==z 3==u 4==v 5==w public EMAxisType motorType; //参考 0伺服, 1步进 2流水线 3绝对值编码器 public EMHomeType homeType; //回原方式 0负限位 1回正限位 2找原点 3IO控制回原 4直接回零 5直接回零 6不回零 public int homePos; //回原搜索的距离+方向 mm public int limitN; //负限位位置 软限位 public int limitP; //正限位位置 软限位 public int highHomePos; //高速回原位置，为0则禁用高速回原 public int iAfterhomeOffset; //回原后偏移量 public int arriveOffset; //到位误差 0表示无效 否则会检查编码器与规划期误差，到位后才结束运动 public double limitvel; //搜索限位速度 mm/s public double homeVel; //搜索原点速度 mm/s public double maxVel; //最大工作速度 mm/s public double maxAcc; //最大工作加速度 mm/s^2 public double maxDec; //最大工作减速度 mm/s^2 public double stepvalue; //1mm对应多少脉冲 }; public struct TAdParam {//ad参数 最终ad = readAD * ratio + offset [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string name; //名称 public double ratio; //比例、系数 public double offset; //补偿值 public int aid; //ID public int cid; //卡ID public int index; //索引 public int reserved; //保留字符，8位对齐 }; public struct IOConfig {//io参数 [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)] public string name; //名称 public int iid; //ID public int cid; //卡ID public int index; //索引 public int sense; //是否取反 0取反 1不取反 public EIOType type; //参考 EIOType 通用输入/输出 限位/原点等 public EMIOSYSType ios; //参考 EMIOSYSType 系统类型，开始？停止？等等 }; /********************************************* *Function: 通过卡ID获取卡信息 *Intput: card 卡ID *Output: pcard 返回卡信息 *Return: 成功返回0,失败返回错误码<0 ************************************************/ [DllImport(@"control.dll", EntryPoint = "get_card", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_card(int card, ref TCard pcard); /********************************************* *Function: 获取轴信息 *Intput: axis 轴ID *Output: pAxisParam 轴信息 *Return: 成功返回0,失败返回错误码<0 *PS: pAxisParam 为空判断轴是否存在 ************************************************/ [DllImport(@"control.dll", EntryPoint = "get_axis_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_axis_info(int axis, ref TAxisParam paxis); /********************************************* *Function: 获取ad信息 *Intput: aid ID *Output: pad ad信息 *Return: 成功返回0,失败返回错误码<0 *PS: pAdParam 为空判断ad是否存在 ************************************************/ [DllImport(@"control.dll", EntryPoint = "get_ad_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_ad_info(int aid, ref TAdParam pad); /********************************************* *Function: 获取Io信息 *Intput: iid ID *Output: pio io信息 *Return: 成功返回0,失败返回错误码<0 *PS: pIoParam 为空判断io是否存在 ************************************************/ [DllImport(@"control.dll", EntryPoint = "get_io_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern int get_io_info(int iid, ref IOConfig pio); /********************************************* *Function: 设置轴信息，以结构体中的ID为准 *Intput: pAxisParam,轴参数结构体 *Output: NULL *Return: 成功返回0,失败返回错误码<0 *PS: 仅支持修改部分项 *PS: ************************************************/ [DllImport(@"control.dll", EntryPoint = "set_axis_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int set_axis(IntPtr ptr); public static bool set_axis_info(TAxisParam paxis) { IntPtr ptr; int ret = 0; ptr = Marshal.AllocHGlobal(Marshal.SizeOf(paxis)); Marshal.StructureToPtr(paxis, ptr, false); ret = set_axis(ptr); Marshal.FreeHGlobal(ptr); //释放非托管内存 return 0 == ret; } /********************************************* *Function: 设置ad信息，以结构体中的ID为准 *Intput: pAdParam,ad参数结构体 *Output: NULL *Return: 成功返回0,失败返回错误码<0 ************************************************/ [DllImport(@"control.dll", EntryPoint = "set_ad_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int set_ad(IntPtr ptr); public static bool set_ad_info(TAdParam pad) { IntPtr ptr; int ret = 0; ptr = Marshal.AllocHGlobal(Marshal.SizeOf(pad)); Marshal.StructureToPtr(pad, ptr, false); ret = set_ad(ptr); Marshal.FreeHGlobal(ptr); //释放非托管内存 return 0 == ret; } /********************************************* *Function: 设置Io信息，以结构体中的ID为准 *Intput: pio,Io参数结构体 *Output: NULL *Return: 成功返回0,失败返回错误码<0 ************************************************/ [DllImport(@"control.dll", EntryPoint = "set_io_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] private static extern int set_io(IntPtr ptr); public static bool set_io_info(IOConfig pio) { IntPtr ptr; int ret = 0; ptr = Marshal.AllocHGlobal(Marshal.SizeOf(pio)); Marshal.StructureToPtr(pio, ptr, false); ret = set_io(ptr); Marshal.FreeHGlobal(ptr); //释放非托管内存 return 0 == ret; } // /********************************************* // *Function: 通过工站ID获取轴组信息 // *Intput: tid，工站ID // *Output: pStation,工站信息 传空可以判断是否存在 // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_station", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_axis_group(int tid, ref TAxisGroup pStation); // // /********************************************* // *Function: 通过工站ID获取机器人信息 // *Intput: tid，工站ID // *Output: pStation,工站信息 传空可以判断是否存在 // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_station", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_robot(int tid, ref TRobot pStation); // // /********************************************* // *Function: 获取工站类型，电机 EM_AXIS_STATION / EM_NET_ROBOT // *Intput: tid，工站ID // *Output: NULL // *Return: 返回工站类型，错误返回错误代码 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_station_type", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_type(int tid); // // /********************************************* // *Function: 设置指定工站tool坐标系 // *Intput: tid,工站ID // index tool 序号 0 < index <= 10 // ptOffset 偏移量 // *Output: NULL // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "create_tool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int create_tool(int tid, int index, ref TPoint ptOffset); // // /********************************************* // *Function: 指定工站使用哪种模式 // *Intput: tid,工站ID // iModel 0 世界坐标 1工具坐标 // *Output: NULL // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "set_model", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int set_model(int tid, int iModel); // // /********************************************* // *Function: 获取指定工站使用的model // *Intput: tid,工站ID // *Output: NULL // *Return: 成功返回使用的model，失败返回错误码 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_model", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_model(int tid); // // /********************************************* // *Function: 设置料盘 // *Intput: tid,工站ID // plt 料盘数据 0 < index <= 10 // *Output: NULL // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "create_pallet", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int create_pallet(int tid, ref TPallet plt); // // /********************************************* // *Function: 根据索引获取料盘 // *Intput: tid,工站ID // index 料盘索引 // plt 料盘数据 0 < index <= 10 // *Output: NULL // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_pallet_by_index", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_pallet(int tid, int index, ref TPallet plt); // // /********************************************* // *Function: 根据索引获取Tool点位偏移量 // *Intput: tid,工站ID // index tool坐标系索引 // pt 坐标系数据 0 < index <= 10 // *Output: NULL // *Return: 成功返回0,失败返回错误码<0 // *********************************************/ // [DllImport(@"control.dll", EntryPoint = "get_tool_by_index", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] // public static extern int get_tool_info(int tid, int index, ref TPoint pt); #endregion } }