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using System;
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using System.Text;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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namespace ocean
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{//运动控制模块
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public struct TSpeed
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{//速度结构
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double vel;
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double acc;
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double dec;
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};
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public enum EMPosType
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{//轴位置类型
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EMPos_Encoder = 0, //编码器位置
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EMPos_Profile, //规划器位置
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};
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public enum EIOType
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{//IO类型
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IOT_COMIN = 0, //通用输入
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IOT_COMOUT, //通用输出
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IOT_LIMITP, //正限位
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IOT_LIMITN, //负限位
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IOT_ALARM, //报警
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IOT_HOME, //原点
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IOT_SEVON, //使能
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IOT_CLEARALARM, //清除报警
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};
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public class gts
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{
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/*********************************************
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*Function: 初始化模块资源
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*Intput: NULL
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*Output: NULL
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*Return: NULL
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*PS: 初始化以后才能调用该模块其它接口
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern void Init();
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/*********************************************
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*Function: 释放模块资源
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*Intput: NULL
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*Output: NULL
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*Return: NULL
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "deinit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern void Deinit();
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/*********************************************
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*Function: 初始化卡
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*Intput: cardIndex 卡索引 从0开始
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*Output: NULL
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*Return: 成功返回0,失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "init_dev", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int InitCard(ushort cardIndex, IntPtr p = IntPtr.Zero);
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/*********************************************
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*Function: 关闭一张卡
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*Intput: cardIndex 卡索引 从0开始
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*Output: NULL
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*Return: 成功返回0,失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "uninit_dev", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int CloseCard(ushort cardIndex);
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/*********************************************
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*Function: 向指定卡发送命令行（万能接口）
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*Intput: cardIndex 卡索引 从0开始
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msg 消息内容
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stres 如果有消息返回，则缓存在这里
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*Output: stres 如果有消息返回，则缓存在这里
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*Return: 成功返回0,失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "send_custom_msg", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int SendCommand(ushort cardIndex, string msg, StringBuilder stres);
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/*********************************************
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*Function: 接收指定卡指定命令返回(若不是立即返回，则使用此接口)
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*Intput: cardIndex 卡索引 从0开始
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stres，返回内容缓存区,可以为空
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key 消息过滤符
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timeout 超时机制 默认不等待
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*Output: lpMsg 命令返回值
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*Return: 成功返回0,失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "recv_card_cmd", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int RecvCommand(ushort cardIndex, StringBuilder stres, string key, int timeout = 0);
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/*********************************************
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*Function: 获取插件支持的自定义指令描述 -- 若没有，可以不支持此接口
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*Intput: pszcmddesc 指令描述列表缓冲区
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*Output: pszcmddesc 指令描述列表缓冲区
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*Return: 返回字符串长度，返回0表示没有自定义指令
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*PS: 可以传入NULL获取字符串长度，申请内存后重新获取内容
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "get_command_desc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int GetCommandDesc(StringBuilder stres);
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/***********************************************
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*Function: 重置单轴状态、限位等
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*Intput: cardIndex 卡索引 从0开始
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axisIndex 轴索引 从0开始
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisReset(ushort cardIndex, ushort axisIndex);
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/***********************************************
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*Function: 清零当前轴位置
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*Intput: cardIndex 卡索引 从0开始
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axisIndex 轴索引 从0开始
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_zero_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisZeroPos(ushort cardIndex, ushort axisIndex);
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/***********************************************
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*Function: 单轴回原 -- 必须确保运动方向能找到原点
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*Intput: cardIndex 卡号
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axisIndex 轴号
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homeType 回原方式，根据 THomeTypeDesc 序号传递
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* 0-"捕获回原", 1-"伺服捕获回原", 2-"普通回原", 3-"index回原"
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pos 回原搜索距离+方向
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offset 回原后偏移
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vel 回原速度
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_home", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisHome(ushort cardIndex, ushort axisIndex, ushort homeType, double pos, double offset, double vel);
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/***********************************************
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*Function: 判断单轴是否正在运动
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*Intput: cindex 卡号
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axisIndex 轴号
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*Output: NULL
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*Return: 1表示正在运动 0表示不在运动中
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_is_moving", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisIsMoving(ushort cardIndex, ushort axisIndex);
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/***********************************************
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*Function: 设置单轴速度，就绪/运动时都可用
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*Intput: cindex 卡号
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axisIndex 轴号
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vel 运动速度 脉冲
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acc 运动加速度
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dec 运动减速度
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_set_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisSetSpeed(ushort cardIndex, ushort axisIndex, double vel, double acc, double dec);
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/***********************************************
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*Function: 运动中修改单轴目标位置,仅单轴运动中可用，插补时不可用
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*Intput: cindex 卡号
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axisIndex 轴号
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pos 目标位置 脉冲
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_set_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisSetPos(ushort cardIndex, ushort axisIndex, double pos);
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/***********************************************
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*Function: 停止单轴运动
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*Intput: cindex 卡号
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axisIndex 轴号
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type 0: 平滑停止
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1：紧急停止
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisStop(ushort cardIndex, ushort axisIndex, int type);
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/***********************************************
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*Function: 单轴相对移动(连续)
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*Intput: cindex 卡号
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axisIndex 轴号
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dir 0 负方向 1 正方向
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pspeed 速度设置
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*Output: 无
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_move_jog", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisMoveJog(ushort cardIndex, ushort axisIndex, int dir, ref TSpeed pspeed);
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/***********************************************
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*Function: 单轴移动到指定位置(脉冲)
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*Intput: cindex 卡号
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axisIndex 轴号
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pos 点位（脉冲）
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pspeed 设置速度
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_move_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisMovePos(ushort cardIndex, ushort axisIndex, double pos, ref TSpeed pspeed);
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/***********************************************
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*Function: 单轴相对当前位置移动(脉冲)
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*Intput: cindex 卡号
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axisIndex 轴号
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offset 偏移距离 有正负之分
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pspeed 速度设置
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*Output: 无
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_move_offset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisMoveOffset(ushort cardIndex, ushort axisIndex, double offset, ref TSpeed pspeed);
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/***********************************************
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*Function: 读取指定轴IO输入输出状态
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*Intput: cindex 卡索引
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axisIndex 轴索引
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dio_type IO类型
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*Output: NULL
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*Return: 有信号为1，无信号为0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_read", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisRead(ushort cardIndex, ushort axisIndex, EIOType dio_type);
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/***********************************************
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*Function: 对指定位轴IO操作
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*Intput: cindex 卡索引
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axisIndex 轴索引
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do_type 输出IO类型
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val 写入值 1 / 0
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_write", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisWrite(ushort cardIndex, ushort axisIndex, ushort val, EIOType dio_type);
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/***********************************************
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*Function: 获取轴当前位置(脉冲)
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*Intput: ardIndex, 卡号
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axisIndex 轴号
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postype 0 编码器位置 1 规划器位置
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*Output: pval 当前位置数据
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "axis_get_pos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int AxisGetPos(ushort cardIndex, ushort axisIndex, EMPosType postype, ref double pval);
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/***********************************************
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*Function: 读取指定位通用输入io状态
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*Intput: cindex 卡索引
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in_index io索引号
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*Output: NULL
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*Return: 有信号为1，无信号为0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "read_in", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int ReadIn(ushort cardIndex, ushort in_index);
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/***********************************************
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*Function: 获取指定位通用IO操作状态
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*Intput: cindex 卡索引
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out_index io索引号
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*Output: NULL
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*Return: 有信号为1，无信号为0，失败返回EM_ERR_CODE
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "read_out", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int ReadOut(ushort cardIndex, ushort out_index);
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/***********************************************
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*Function: 对指定位通用输出IO写入值
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*Intput: cindex 卡索引
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out_index io索引号
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val 写入值 1 / 0
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "write_out", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int WriteOut(ushort cardIndex, ushort out_index, ushort val);
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/***********************************************
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*Function: 读取指定通道的模拟量值
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*Intput: cindex 卡索引
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index 通道索引
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*Output: pVal 待读取模拟量
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "read_ad", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int ReadAD(ushort cardIndex, ushort index, ref double pVal);
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/***********************************************
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*Function: 对指定通道写入模拟量
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*Intput: cindex 卡索引
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index 通道索引
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val 模拟量
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*Output: NULL
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*Return: 成功返回0，失败返回错误码<0
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*********************************************/
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[DllImport(@"motor_gugao.dll", EntryPoint = "read_ad", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int WriteAD(ushort cardIndex, ushort index, double val);
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}
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}
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