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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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{
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public enum EOpsMsgType
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{//ops消息类型
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MSG_APP_CALL = 0, //应用层消息
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MSG_RUN_ERR, //错误消息
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MSG_RUN_WARN, //警告消息
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};
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public enum EOpsStatus
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{//系统状态
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EOPS_NOINIT = 0, //未初始化
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EOPS_ESTOP, //急停
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EOPS_NEED_RESET, //等待复位
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EOPS_IDLE, //就绪
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EOPS_RESET, //复位中
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EOPS_STOP, //停止中
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EOPS_PAUSE, //暂停
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EOPS_RUNING, //运行中
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};
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public enum EProcStatus
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{//流程状态
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EPROC_IDLE = 0, //就绪
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EPROC_RUNING, //运行中
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EPROC_PAUSE, //暂停
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EPROC_STOP, //手动停止 - 中断
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EPROC_ERROR, //运行错误
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};
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public enum ETaskStatus
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{//任务运行状态
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ETASK_IDLE = 0, //就绪
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ETASK_PROCESS, //准备中
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ETASK_SLEEP, //延时
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ETASK_WAIT_APP, //等待应用层处理
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ETASK_WAIT_IO, //等待io信号
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ETASK_WAIT_POS, //等待到达指定位置
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ETASK_WAIT_MSG, //等待接收消息
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ETASK_WAIT_PROC, //等待流程运行完成
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ETASK_WAIT_MOVE, //等待运动完成
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ETASK_WAIT_CHECK, //等待检测信号
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ETASK_WAIT_SIGNAL, //等待资源信号
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ETASK_WAIT_VISIONR, //等待视觉结果
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ETASK_RUN_ERR, //运行错误
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};
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//流程消息回调（基于ID）
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public delegate void ProcReCall(int evt, int id, IntPtr lparam);
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public class ops
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{
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/****************************************************
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*Function: 初始化ops模块资源
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*Intput: NULL
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*Output: NULL
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*Return: 成功返回0,失败返回错误码
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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(@"ops.dll", EntryPoint = "ops_init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int init();
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/****************************************************
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*Function: 释放ops模块资源
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*Intput: NULL
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*Output: NULL
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*Return: 成功返回0,失败返回错误码
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "ops_deinit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int deinit();
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/****************************************************
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*Function: 获取当前版本号
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*Intput: NULL
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*Output: NULL
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*Return: 返回当前ops版本号1401->1.4.01
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int version();
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/****************************************************
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*Function: 启动ops服务 -- 为启动时ops状态为 未初始化
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*Intput: NULL
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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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*PS: 会启动线程执行扫描
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "ops_startup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int startup();
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/****************************************************
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*Function: 关闭ops服务 -- 关闭后ops状态为 未初始化
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*Intput: NULL
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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(@"ops.dll", EntryPoint = "ops_shutdown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int shutdown();
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/****************************************************
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*Function: 加载新项目 -- 默认为default
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*Intput: pszname 产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "load_project", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int load_project(string pszname);
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/****************************************************
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*Function: 加载新项目 -- 默认为default
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*Intput: pszname 产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_cur_project", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern int get_cur_project(StringBuilder pszname);
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public static string get_project()
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{
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StringBuilder pszname = new StringBuilder(32);
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return 0 == get_cur_project(pszname) ? pszname.ToString() : "";
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}
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/****************************************************
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*Function: 创建一个产品 -- 默认为default
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*Intput: pszname 产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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*PS: 基于工作目录下创建
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "create_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int create_product(string pszname);
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/****************************************************
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*Function: 删除一个产品
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*Intput: pszname 产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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*PS: 基于工作目录下的产品目录,不能删除当前产品
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "delete_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int delete_product(string pszname);
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/****************************************************
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*Function: 复制一个产品参数到另一个产品
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*Intput: pszname 产品名称<32字节
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pszcopy 待copy的产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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*PS: 基于工作目录下创建 若pszname不存在，则新建
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "copy_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int copy_product(string pszname, string pszcopy);
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/****************************************************
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*Function: 加载某个产品
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*Intput: pszname 产品名称<32字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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*PS: 必须保证该产品是存在的,否则加载会失败
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*PS: 加载流程、点位、配置等等
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "load_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int load_product(string pszname);
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/****************************************************
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*Function: 获取当前产品名称
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*Intput: NULL
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*Output: pszname 当前产品名称 保证32字节
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*Return: 成功返回0 失败返回错误码
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_cur_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern int get_cur_products(StringBuilder pszname);
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public static string get_cur_product()
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{
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StringBuilder pval = new StringBuilder(256);
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int ret = get_cur_products(pval);
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return ret == 0 ? pval.ToString() : "";
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}
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/****************************************************
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*Function: 获取产品目录
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*Intput: NULL
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*Output: path 当前产品目录 保证256字节
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*Return: 成功返回0 失败返回错误码
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_product_path", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern int get_product_paths(StringBuilder path);
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public static string get_product_path()
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{
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StringBuilder pval = new StringBuilder(256);
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int ret = get_product_paths(pval);
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return ret == 0 ? pval.ToString() : "";
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}
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/****************************************************
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*Function: 设置产品目录
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*Intput: path 产品目录 保证256字节
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*Output: NULL
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*Return: 成功返回0 失败返回错误码
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*PS: 设置产品目录以后，会把原来产品目录下所有产品文件夹拷贝到新目录
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "set_product_path", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int set_product_path(string pszname);
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/****************************************************
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*Function: 获取所有产品名称列表
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*Intput: NULL
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*Output: pathlist 名称列表缓冲区
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*Return: 返回列表字符串长度,包含两个'\0'结束符
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*PS: 可以传入NULL获取字符串长度，再申请内存传入获取
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*PS: 返回多个产品目录数量，以'\0'分割，以两个'\0'结束
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_all_product", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern int get_all_products(StringBuilder pathlist);
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public static string get_all_product()
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{
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StringBuilder pval = new StringBuilder(10240);
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int ret = get_all_products(pval);
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return ret == 0 ? pval.ToString() : "";
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}
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#region 模拟信号
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/****************************************************
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*Function: 设置模拟IO信号
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*Intput: type 类型 参考 EM_IO_TYPE 如：EM_IO_START
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val 1为有信号 0为无信号
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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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*PS: 本接口功能是往ops专用变量写入信号
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "ops_analog_signal", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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private static extern int ops_analog_signal(int type, int val);
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public static void analog_reset()
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{//模拟复位信号
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ops_analog_signal((int)EMIOSYSType.IOS_RESET, 1);
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//ops_analog_signal((int)EMIOSYSType.IOS_RESET, 0);
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}
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public static void analog_start()
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{//模拟启动信号
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ops_analog_signal((int)EMIOSYSType.IOS_START, 1);
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//ops_analog_signal((int)EMIOSYSType.IOS_START, 0);
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}
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public static void analog_stop()
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{//模拟停止信号
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ops_analog_signal((int)EMIOSYSType.IOS_STOP, 1);
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//ops_analog_signal((int)EMIOSYSType.IOS_STOP, 0);
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}
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public static void analog_estop()
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{//模拟急停信号
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if (get_status() == (int)EOpsStatus.EOPS_ESTOP)
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{
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ops_analog_signal((int)EMIOSYSType.IOS_ESTOP, 0);
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}
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else if ((int)EOpsStatus.EOPS_NOINIT != get_status())
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{
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ops_analog_signal((int)EMIOSYSType.IOS_ESTOP, 1);
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}
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}
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public static void analog_pause()
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{//模拟暂停信号
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if (get_status() == (int)EOpsStatus.EOPS_PAUSE)
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{
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ops_analog_signal((int)EMIOSYSType.IOS_PAUSE, 0);
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}
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else
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{
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ops_analog_signal((int)EMIOSYSType.IOS_PAUSE, 1);
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}
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}
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#endregion
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/****************************************************
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*Function: 查询当前ops状态
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*Intput: 无
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*Output: 无
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*Return: 当前系统状态ID 参考 EM_OPSYS_STATE
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_ops_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int get_status();
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/****************************************************
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*Function: 获取一个流程的当前状态或者运行信息
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*Intput: pid 流程ID
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*Output: sid 正在执行的步骤ID 可不传入
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*Return: 失败返回错误码<0，就绪返回0 参考 EPROC_STATE
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_proc_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int get_proc_status(int pid, ref int sid);
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/****************************************************
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*Function: 获取最后一次流程运行ct, 单位ms 根据名称
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*Intput: pid 流程ID
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*Output: NULL
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*Return: 返回运行耗时，失败返回0
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_proc_ct", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int get_proc_ct(int pid);
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/****************************************************
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*Function: 获取task当前状态
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*Intput: task taskID - 工站、卡、流程、视觉ID
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*Output: pid 正在执行的流程ID 可不传入
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sid 正在执行的步骤ID 可不传入
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nid 正在执行的节点ID 可不传入
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*Return: 失败返回错误码<0，就绪返回0 参考 ETaskStatus
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******************************************************/
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[DllImport(@"ops.dll", EntryPoint = "get_task_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
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public static extern int get_task_status(int task, ref int pid, ref int sid, ref int nid);
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public static int get_task_status(int task)
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{//获取一个工站的流程运行状态
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int pid = 0;
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int sid = 0;
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int nid = 0;
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return get_task_status(task, ref pid, ref sid, ref nid);
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}
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public static int get_task_pid(int task)
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{//获取一个task正在运行的流程ID
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int pid = 0;
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int sid = 0;
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int nid = 0;
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get_task_status(task, ref pid, ref sid, ref nid);
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return pid;
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}
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public static int get_task_sid(int task)
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{//获取一个task正在运行的步骤ID
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int pid = 0;
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int sid = 0;
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int nid = 0;
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get_task_status(task, ref pid, ref sid, ref nid);
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return sid;
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}
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public static int get_task_node(int task)
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{//获取一个task正在运行的节点ID
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int pid = 0;
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int sid = 0;
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int nid = 0;
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get_task_status(task, ref pid, ref sid, ref nid);
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return nid;
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}
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/****************************************************
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*Function: 启动一个流程
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*Intput: pid 流程ID
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sid 步骤ID 传入0表示从头开始
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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(@"ops.dll", EntryPoint = "proc_start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int proc_start(int proc, int sid = 0);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 暂停一个流程
|
|
|
*Intput: pid 流程ID
|
|
|
bPause 是否暂停 1暂停 0取消
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码<0
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "proc_pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int proc_pause(int pid, int bPause = 1);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 停止一个流程
|
|
|
*Intput: pid 流程ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码<0
|
|
|
*PS: 手动停止流程后状态会变成"停止",但不影响再次启动
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "proc_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int proc_stop(int pid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 重置流程状态 -- 停止且重置
|
|
|
*Intput: pid 流程ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码<0
|
|
|
*PS: 重置流程后状态会变成"就绪"
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "proc_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int proc_reset(int pid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 调试某个步骤或某个节点
|
|
|
*Intput: id 步骤ID/节点ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0，失败返回错误码<0
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "proc_debug", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int proc_debug(int id);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 控制流程跳转到某个步骤继续执行
|
|
|
*Intput: sid 步骤ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码<0
|
|
|
*PS: 必须保证该流程处于消息触发时调用
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "jump_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int jump_step(int sid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 控制某task跳转到某个节点继续执行
|
|
|
*Intput: nid 节点ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 必须保证该task处于消息触发时调用
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "jump_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int jump_node(int sid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 注册流程消息接收函数
|
|
|
*Intput: fun 回调函数
|
|
|
lparam 任意型指针
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0 失败返回错误码
|
|
|
*PS:可以注册多个接口，ops会回调每一个接口,
|
|
|
但只要执行跳转动作后，其余的跳转将返回错误
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "regist_proc_notify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int regist_proc_notify(ProcReCall fun, IntPtr ptr);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 反注册流程消息接收函数
|
|
|
*Intput: fun 回调函数
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0 失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "unregist_proc_notify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int unregist_proc_notify(ProcReCall fun);
|
|
|
|
|
|
#region 料盘
|
|
|
|
|
|
public struct TMatrix
|
|
|
{//阵列/矩阵 循环工作盘 一行一行走
|
|
|
public ushort mid; //ID
|
|
|
public ushort bEnable; //是否启用
|
|
|
public ushort bSavePos; //退出时记住当前行列
|
|
|
public ushort bRunSType; //是否走S型，0正常路线，1走S线
|
|
|
public double startX; //起始位x(横向)
|
|
|
public double startY; //起始位y(纵向)
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string name; //阵列描述
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)]
|
|
|
public string col; //列间距格式 如：20*5,30,31*2 标识有9列,首列为起始位，前6列等间距20，7列间距30，8-9列间距31
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)]
|
|
|
public string row; //行间距格式 如：20*4 标识5行，等间距20,首行为起始位
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)]
|
|
|
public string off; //需要屏蔽区域，按序号(先行后列)从1开始 如：1-4,6,10-15 标识禁用序号1-4，序号6，序号10-15
|
|
|
};
|
|
|
|
|
|
public struct TMatrixInfo
|
|
|
{//矩阵盘工作信息 -- 运行时
|
|
|
public int col; //总列数
|
|
|
public int row; //总行数
|
|
|
public int count; //工作次数 = 总数量-禁用数量
|
|
|
public int size; //总数量 = col*row
|
|
|
};
|
|
|
|
|
|
public struct TMatrixNode
|
|
|
{//矩阵盘节点信息
|
|
|
public int index; //索引
|
|
|
public int col; //列
|
|
|
public int row; //行
|
|
|
public int boff; //是否被禁用 1禁用 0正常
|
|
|
public double x; //col位置
|
|
|
public double y; //row位置
|
|
|
};
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 设置一个矩阵工作盘
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
pMatrix 矩阵工作盘基础数据
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 可以清空pMatrix所有参数，即为删除工作盘
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "set_matrix", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int set_matrix(int mid, ref TMatrix pMatrix);
|
|
|
|
|
|
[DllImport(@"ops.dll", EntryPoint = "set_matrix", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int set_matrix(int mid, IntPtr p);
|
|
|
public static int set_matrix(int mid, TMatrix info)
|
|
|
{
|
|
|
int ret = 0;
|
|
|
int len = Marshal.SizeOf(info);
|
|
|
IntPtr p = Marshal.AllocHGlobal(len);
|
|
|
Marshal.StructureToPtr(info, p, false);
|
|
|
ret = set_matrix(mid, p);
|
|
|
Marshal.FreeHGlobal(p);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个矩阵工作盘信息
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
pMatrix 矩阵工作盘基础数据
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_matrix", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int get_matrix(int mid, ref TMatrix pMatrix);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个矩阵工作盘行列信息
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
pInfo 矩阵工作盘信息
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_matrix_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int get_matrix_info(int mid, ref TMatrixInfo pInfo);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个矩阵工作盘当前运行节点
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
pNode 矩阵工作盘节点信息
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_matrix_cur_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int get_matrix_cur_node(int mid, ref TMatrixNode pNode);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 设置一个矩阵工作盘当前运行节点索引
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
index 节点序号 从1开始 0标识重置工作盘
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 可以指定被禁用点，但运行时会自动过滤
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "set_matrix_cur_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int set_matrix_cur_node(int mid, int index);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个矩阵工作盘节点信息
|
|
|
*Intput: mid 阵列索引 [1-20]
|
|
|
index 节点序号 从1开始 不得超过总数
|
|
|
pNode 矩阵工作盘节点信息
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_matrix_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int get_matrix_node(int mid, int index, ref TMatrixNode pNode);
|
|
|
|
|
|
#endregion
|
|
|
#region nouse
|
|
|
|
|
|
public enum ENodeType
|
|
|
{//节点类型 -- 所有带索引的参数，都是从1开始 0无效
|
|
|
ENODE_CALLAPP = 0, //callapp 等待应用层指令 -- 回调到应用层等待操作
|
|
|
ENODE_SLEEP, //sleep 50 设置延迟. 等待50ms
|
|
|
ENODE_SPEED, //speed 50 50 50 设置速度. vel,acc,dec速度百分比
|
|
|
ENODE_HOME, //home 1 [asyn] 工站回原.可传入参数单轴回原,整体回原时,单轴不再回原.轴索引[1,6] asyn-异步模式标识
|
|
|
ENODE_JOG, //jog 1 [dir] 单轴连续运动 1表示轴索引[1,6] dir: N表示运动方向为负 P表示正方向
|
|
|
ENODE_POS, //pos 1 val 单轴强制运动(运动中更改目标位置) 1表示轴索引[1,6] val 目标位置
|
|
|
ENODE_PTSET, //p1=pallet(1,1,2) +x(0.1) 设置点位.p0表示当前位置 pallet标识料盘 +x标识偏移 :x标识位置
|
|
|
ENODE_GO, //go p1 [+x(0.1)] 点位运动. p0表示当前位置 asyn-异步模式标识
|
|
|
ENODE_MOVE, //move p1 [+x(0.1)] 直线插补. p0表示当前位置 asyn-异步模式标识
|
|
|
ENODE_ARC, //arc p1,p2 [+x(0.1)] 圆弧插补.p0表示当前位置 asyn-异步模式标识
|
|
|
ENODE_WORK, //work p0 mid 根据预设矩阵获取工作点位 p0矩阵待设置点位, mid矩阵ID 每次执行结果会放到task变量中，通过变量判断结束(0)
|
|
|
ENODE_CHKPOS, //chkpos p1 [+x(0.1)] [0.001] 位置检测.p0表示当前位置 0.001-位置检测精度(double)
|
|
|
ENODE_WAITMOVE, //waitm 等待运动、回原结束
|
|
|
ENODE_STOP, //stopm 停止运动
|
|
|
ENODE_WIO, //wio 110011=1 写入IO值 110011-IO名称 1-写入1
|
|
|
ENODE_RIO, //rio 110011=1 500 [100] 读取/等待IO值 500-超时时间 100-扫描时间
|
|
|
ENODE_CHK, //chks 110011=1 500 检测执行, IO或者变量是否有效,仅有效信号触发时继续执行本工站本步骤后面节点
|
|
|
ENODE_WAITSIGNAL, //waits 101=1 等待竞争信号量,无限等待,多个流程竞争资源时使用 101-变量名 竞争1信号
|
|
|
ENODE_PROC, //startp 1002 [asyn] 启动流程 1002-流程ID asyn 异步模式标识
|
|
|
ENODE_WAITPROC, //waitp 1002 等待流程结束
|
|
|
ENODE_VP, //vp 101 1 视觉处理 101视觉ID 1-当前场景
|
|
|
ENODE_VPR, //vpr 101 2 5000 a1 a2...(16)等待视觉处理结果 2场景ID 5000超时时间ms a1,a2...(16)最多传入16个变量
|
|
|
ENODE_SEND, //send 101 msg 发送消息到一个对象.101-对象ID msg-消息内容
|
|
|
ENODE_RECV, //recv 101 "msg" 5000 a1 a2...(8)接收一个对象的消息 msg指令或消息匹配参数 5000超时时间ms a1,a2...(8)最多传入8个变量
|
|
|
ENODE_SHOWMSG, //msgbox 1 msg 弹窗提示消息，确认后会把结果写入当前工站对应的变量中,根据结果进行后续操作 1-MessageType msg 脚本内容
|
|
|
ENODE_PRINT, //print msg 打印日志 msg-脚本内容
|
|
|
ENODE_JUMP, //jump 1101 task跳转到某个节点继续执行
|
|
|
ENODE_SCRIPT, //cmd 运行脚本
|
|
|
};
|
|
|
|
|
|
public enum ENodeState
|
|
|
{//节点标识
|
|
|
ENode_Normal = 0, //正常
|
|
|
ENode_Disable, //禁用
|
|
|
ENode_PError, //解析异常
|
|
|
};
|
|
|
|
|
|
public enum EMProcType
|
|
|
{//流程类型
|
|
|
EMProc_General = 0, //普通流程
|
|
|
EMProc_Start, //启动流程
|
|
|
EMProc_Reset, //复位流程
|
|
|
EMProc_Stop, //停止流程
|
|
|
EMProc_Pause, //暂停流程
|
|
|
EMProc_Continue, //恢复流程
|
|
|
EMProc_Sys, //系统流程 -- 自动启动且不响应系统信号
|
|
|
};
|
|
|
|
|
|
public struct TNodeInfo
|
|
|
{//节点信息
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string desc; //名称\描述
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 200)]
|
|
|
public string cmd; //命令行
|
|
|
public int nid; //节点ID
|
|
|
public int task; //taskID -- 卡ID、视觉ID、工站ID、流程ID
|
|
|
public ENodeType type; //节点类型
|
|
|
public ENodeState state; //0正常 1被禁用 2解析异常
|
|
|
};
|
|
|
|
|
|
public struct TStepInfo
|
|
|
{//步骤信息
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string desc; //名称\描述
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 1024)]
|
|
|
public string script; //脚本
|
|
|
public int sid; //步骤ID
|
|
|
public int bDisable; //是否被禁用
|
|
|
};
|
|
|
|
|
|
public struct TFlow
|
|
|
{//流程信息
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string name; //名称
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string start; //启动IO
|
|
|
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
|
|
|
public string pause; //暂停IO
|
|
|
public int pid; //流程ID
|
|
|
public EMProcType type; //流程类型
|
|
|
};
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 创建一个流程
|
|
|
*Intput: pstProc 流程基本信息
|
|
|
*Output: pstProc 会填充procID
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "create_proc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int create_proc(IntPtr ptr);
|
|
|
public static int create_proc(TFlow pstProc)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int ret = 0;
|
|
|
TFlow p = new TFlow();
|
|
|
ptr = Marshal.AllocHGlobal(Marshal.SizeOf(p));
|
|
|
Marshal.StructureToPtr(pstProc, ptr, false);
|
|
|
ret = create_proc(ptr);
|
|
|
Marshal.FreeHGlobal(ptr);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 修改一个流程
|
|
|
*Intput: pstProc 流程基本信息
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "update_proc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int update_proc(IntPtr ptr);
|
|
|
public static int update_proc(TFlow pstProc)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int ret = 0;
|
|
|
TFlow p = new TFlow();
|
|
|
ptr = Marshal.AllocHGlobal(Marshal.SizeOf(p));
|
|
|
Marshal.StructureToPtr(pstProc, ptr, false);
|
|
|
ret = update_proc(ptr);
|
|
|
Marshal.FreeHGlobal(ptr);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 插入一个步骤到流程
|
|
|
*Intput: index 步骤序号
|
|
|
pstStep 步骤结构体
|
|
|
*Output: pstStep 会填充stepID
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "insert_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int insert_step(int pid, int sindex, IntPtr ptr);
|
|
|
public static int insert_step(int pid, int sindex, TStepInfo pstStep)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int ret = 0;
|
|
|
TStepInfo p = new TStepInfo();
|
|
|
ptr = Marshal.AllocHGlobal(Marshal.SizeOf(p));
|
|
|
Marshal.StructureToPtr(pstStep, ptr, false);
|
|
|
ret = insert_step(pid, sindex, ptr);
|
|
|
Marshal.FreeHGlobal(ptr);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 修改一个步骤
|
|
|
*Intput: pstStep 步骤结构体
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "update_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int update_step(IntPtr ptr);
|
|
|
public static int update_step(TStepInfo pstStep)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int ret = 0;
|
|
|
TStepInfo p = new TStepInfo();
|
|
|
ptr = Marshal.AllocHGlobal(Marshal.SizeOf(p));
|
|
|
Marshal.StructureToPtr(pstStep, ptr, false);
|
|
|
ret = update_step(p);
|
|
|
Marshal.FreeHGlobal(ptr);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 启用/禁用一个步骤 -- 根据步骤ID
|
|
|
*Intput: sid 步骤ID
|
|
|
bEnable 1启用 / 0禁用
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "enable_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int enable_step(int sid, int bEnable = 1);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 删除一个步骤
|
|
|
*Intput: sid 步骤ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "delete_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int delete_step(int sid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 插入一个节点到某个步骤
|
|
|
*Intput: sid 步骤ID
|
|
|
nindex 节点序号
|
|
|
pNode 节点信息结构体
|
|
|
*Output: pNode 会填充nodeID
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "insert_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int insert_node(int sid, int nindex, ref TNodeInfo pNode);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 修改一个节点信息 -- 根据节点ID
|
|
|
*Intput: pNode 节点信息结构体
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "update_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int update_node(IntPtr ptr);
|
|
|
public static int update_node(TNodeInfo pNode)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int ret = 0;
|
|
|
TNodeInfo p = new TNodeInfo();
|
|
|
ptr = Marshal.AllocHGlobal(Marshal.SizeOf(p));
|
|
|
Marshal.StructureToPtr(pNode, ptr, false);
|
|
|
ret = update_node(p);
|
|
|
Marshal.FreeHGlobal(ptr);
|
|
|
return ret;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 启用/禁用一个节点
|
|
|
*Intput: nid 节点ID
|
|
|
bEnable 1启用 / 0禁用
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "enable_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int enable_node(int nid, int bEnable = 1);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 删除一个节点
|
|
|
*Intput: nid 节点ID
|
|
|
*Output: NULL
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
*PS: 仅当该流程暂停时可设置
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "delete_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
public static extern int delete_node(int nid);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取所有流程基本信息
|
|
|
*Intput: pstProc 缓存指针 默认为空
|
|
|
*Output: pstProc 缓存指针
|
|
|
*Return: 返回工作流程数量
|
|
|
*PS: 先传NULL获取数量，new一个数组再传进来获取信息
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_all_proc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_all_proc(IntPtr ptr);
|
|
|
public static int get_proc_count()
|
|
|
{
|
|
|
return get_all_proc(IntPtr.Zero);
|
|
|
}
|
|
|
public static int get_all_proc(TFlow[] pstWork)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int len = 0;
|
|
|
int count = 0;
|
|
|
TFlow info = new TFlow();
|
|
|
count = get_all_proc(IntPtr.Zero);
|
|
|
if (count > 0)
|
|
|
{
|
|
|
len = Marshal.SizeOf(info);
|
|
|
ptr = Marshal.AllocHGlobal(len * count);
|
|
|
get_all_proc(ptr);
|
|
|
for (int i = 0; i < count; i++)
|
|
|
{
|
|
|
pstWork[i] = (TFlow)Marshal.PtrToStructure(
|
|
|
ptr + len * i, typeof(TFlow));
|
|
|
}
|
|
|
Marshal.FreeHGlobal(ptr); //释放非托管内存
|
|
|
}
|
|
|
return count;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个流程中所有步骤信息
|
|
|
*Intput: proc 流程ID
|
|
|
pstStep 缓存指针 默认为空，则获取数量
|
|
|
nsize 缓存区大小 -1 默认获取所有
|
|
|
*Output: pstProc 缓存指针
|
|
|
*Return: 返回所有步骤数量
|
|
|
*PS: 先传NULL获取数量，new一个数组再传进来获取信息
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_all_step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_all_step(string proc, IntPtr ptr, int nsize = -1);
|
|
|
public static int get_step_count(string proc)
|
|
|
{
|
|
|
return get_all_step(proc, IntPtr.Zero);
|
|
|
}
|
|
|
public static int get_all_step(string proc, TStepInfo[] pstStep)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int len = 0;
|
|
|
int count = 0;
|
|
|
TStepInfo info = new TStepInfo();
|
|
|
count = get_all_step(proc, IntPtr.Zero);
|
|
|
if (count > 0)
|
|
|
{
|
|
|
len = Marshal.SizeOf(info);
|
|
|
ptr = Marshal.AllocHGlobal(len * count);
|
|
|
get_all_step(proc, ptr);
|
|
|
for (int i = 0; i < count; i++)
|
|
|
{
|
|
|
pstStep[i] = (TStepInfo)Marshal.PtrToStructure(
|
|
|
ptr + len * i, typeof(TStepInfo));
|
|
|
}
|
|
|
Marshal.FreeHGlobal(ptr); //释放非托管内存
|
|
|
}
|
|
|
return count;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取一个步骤的所有节点信息
|
|
|
*Intput: pszstep 步骤ID
|
|
|
pNode 缓存指针 默认为空，则获取数量
|
|
|
nsize 缓存区大小 -1 默认获取所有
|
|
|
*Output: pNode 节点信息结构体数组
|
|
|
*Return: 返回所有节点数量
|
|
|
*PS: 先传NULL获取数量，new一个数组再传进来获取信息
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_all_node", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_all_node(string pszstep, IntPtr ptr, int nsize = -1);
|
|
|
public static int get_node_count(string proc)
|
|
|
{
|
|
|
return get_all_step(proc, IntPtr.Zero);
|
|
|
}
|
|
|
public static int get_all_node(string pszstep, TNodeInfo[] pstNode)
|
|
|
{
|
|
|
IntPtr ptr;
|
|
|
int len = 0;
|
|
|
int count = 0;
|
|
|
TNodeInfo info = new TNodeInfo();
|
|
|
count = get_all_node(pszstep, IntPtr.Zero);
|
|
|
if (count > 0)
|
|
|
{
|
|
|
len = Marshal.SizeOf(info);
|
|
|
ptr = Marshal.AllocHGlobal(len * count);
|
|
|
get_all_node(pszstep, ptr);
|
|
|
for (int i = 0; i < count; i++)
|
|
|
{
|
|
|
pstNode[i] = (TNodeInfo)Marshal.PtrToStructure(
|
|
|
ptr + len * i, typeof(TNodeInfo));
|
|
|
}
|
|
|
Marshal.FreeHGlobal(ptr); //释放非托管内存
|
|
|
}
|
|
|
return count;
|
|
|
}
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取某个流程基本信息
|
|
|
*Intput: pid 流程ID
|
|
|
pstProc 缓存指针 - 传0判断是否存在
|
|
|
*Output: pstProc 缓存指针
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_proc_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_proc_info(int pid, ref TFlow pstProc);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取某个步骤基本信息
|
|
|
*Intput: sid 步骤ID
|
|
|
pstStep 缓存指针 - 传0判断是否存在
|
|
|
*Output: pstStep 缓存指针
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_step_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_step_info(int sid, ref TStepInfo pstStep);
|
|
|
|
|
|
/****************************************************
|
|
|
*Function: 获取某个节点基本信息
|
|
|
*Intput: nid 节点ID
|
|
|
pNode 缓存指针 - 传0判断是否存在
|
|
|
*Output: pNode 缓存指针
|
|
|
*Return: 成功返回0,失败返回错误码
|
|
|
******************************************************/
|
|
|
[DllImport(@"ops.dll", EntryPoint = "get_node_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
|
|
|
private static extern int get_node_info(int nid, ref TNodeInfo pstNode);
|
|
|
public static bool node_is_enable(int nid)
|
|
|
{//判断节点是否启用
|
|
|
TNodeInfo pstNode = new TNodeInfo();
|
|
|
int ret = get_node_info(nid, ref pstNode);
|
|
|
if (ret != 0) return false;
|
|
|
return pstNode.state == ENodeState.ENode_Normal;
|
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
}
|
|
|
}
|