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A߶ȣkm + +% Bλ +Lon_B=dms2degrees([86 4 51.161]); %% Bȣdeg +Lat_B=dms2degrees([41 45 20.24]); %% Bγȣdeg +Hei_B=4.5; %% B߶ȣkm +% Lon_B=dms2degrees([76 12 51.16]); %% Bȣdeg +% Lat_B=dms2degrees([41 45 20.24]); %% Bγȣdeg +% Hei_B=5.1; %% B߶ȣkm +% Lon_B=120.29950478; %% Bȣdeg +% Lat_B=30.250028015; %% Bγȣdeg +% Hei_B=375.29/1000; %% B߶ȣkm + +% ǶɶתΪ +Lon_A_Rad=deg2rad(Lon_A); %% Aȣrad +Lat_A_Rad=deg2rad(Lat_A); %% Aγȣrad + +Lon_B_Rad=deg2rad(Lon_B); %% Bȣrad +Lat_B_Rad=deg2rad(Lat_B); %% Bγȣrad + +% ˫λãֱϵ˫룬km +X_A=(Re+Hei_A)*cos(Lat_A_Rad)*cos(Lon_A_Rad); +Y_A=(Re+Hei_A)*cos(Lat_A_Rad)*sin(Lon_A_Rad); +Z_A=(Re+Hei_A)*sin(Lat_A_Rad); + +X_B=(Re+Hei_B)*cos(Lat_B_Rad)*cos(Lon_B_Rad); +Y_B=(Re+Hei_B)*cos(Lat_B_Rad)*sin(Lon_B_Rad); +Z_B=(Re+Hei_B)*sin(Lat_B_Rad); + +% BAֱ꣬km +XYZ_BA=[X_B-X_A; Y_B-Y_A; Z_B-Z_A]; +% ˫룬km +D_BA=sqrt(sum(XYZ_BA.^2)); +% D_BA=sqrt((X_B-X_A)^2+(Y_B-Y_A)^2+(Z_B-Z_A)^2); + +% % תBAķλǡ +% % ת +% Matrix_UEN2XYZ=[cos(Lat_A_Rad)*cos(Lon_A_Rad) cos(Lat_A_Rad)*sin(Lon_A_Rad) sin(Lat_A_Rad); ... +% -sin(Lon_A_Rad) cos(Lon_A_Rad) 0;... +% -sin(Lat_A_Rad)*cos(Lon_A_Rad) -sin(Lat_A_Rad)*sin(Lon_A_Rad) cos(Lat_A_Rad)]; +% +% % BAֱתΪ춫 +% UEN_BA = Matrix_UEN2XYZ * XYZ_BA; +% U_BA=UEN_BA(1); +% E_BA=UEN_BA(2); +% N_BA=UEN_BA(3); +% +% % BAķλǺ͸ +% Az_BA=mod(rad2deg(atan2(E_BA,N_BA)),360); +% Alt_BA=rad2deg(atan2(U_BA,sqrt(E_BA^2+N_BA^2))); + +% תBAķλǡ +Lon_A_Rad1=Lon_A_Rad; +Lat_A_Rad1=-Lat_A_Rad; +MR_X=[1 0 0;... + 0 1 0;... + 0 0 1]; +MR_Y=[cos(Lat_A_Rad1) 0 -sin(Lat_A_Rad1);... + 0 1 0;... + sin(Lat_A_Rad1) 0 cos(Lat_A_Rad1)]; +MR_Z=[cos(Lon_A_Rad1) sin(Lon_A_Rad1) 0;... + -sin(Lon_A_Rad1) cos(Lon_A_Rad1) 0;... + 0 0 1]; + +% 춫 +UEN_BA0=MR_X*MR_Y*MR_Z*XYZ_BA; +U_BA0=UEN_BA0(1); +E_BA0=UEN_BA0(2); +N_BA0=UEN_BA0(3); + +% BAڴϵеķλǺ͸ +Az_BA0=mod(rad2deg(atan2(E_BA0,N_BA0)),360); +Alt_BA0=rad2deg(atan2(U_BA0,sqrt(E_BA0^2+N_BA0^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% POS豸ʵʱ̬ǽBAϵеλ +% POS豸ʵʱ̬ +% HeadingReal=63.802; +% PitchReal=-0.109; +% RollReal=-0.135; +HeadingReal=65.516; +PitchReal=-0.112; +RollReal=1.648; + +% ǶȻΪ +HeadingReal_Rad=deg2rad(HeadingReal); +PitchReal_Rad=deg2rad(PitchReal); +RollReal_Rad=deg2rad(RollReal); + +% ʵʱ̬λõת +MR_E_Real=[1 0 0;... + 0 cos(PitchReal_Rad) -sin(PitchReal_Rad);... + 0 sin(PitchReal_Rad) cos(PitchReal_Rad)]; +MR_N_Real=[cos(RollReal_Rad) 0 -sin(RollReal_Rad);... + 0 1 0;... + sin(RollReal_Rad) 0 cos(RollReal_Rad)]; +MR_U_Real=[cos(HeadingReal_Rad) -sin(HeadingReal_Rad) 0;... + sin(HeadingReal_Rad) cos(HeadingReal_Rad) 0;... + 0 0 1]; + +% BAϵеλ +ENU_BA_Real=MR_N_Real*MR_E_Real*MR_U_Real*[E_BA0;N_BA0;U_BA0]; +E_BA_Real=ENU_BA_Real(1); +N_BA_Real=ENU_BA_Real(2); +U_BA_Real=ENU_BA_Real(3); + +% BAϵеķλǺ͸ +Az_BA_Real=mod(rad2deg(atan2(E_BA_Real,N_BA_Real)),360); +Alt_BA_Real=rad2deg(atan2(U_BA_Real,sqrt(E_BA_Real^2+N_BA_Real^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% ֹ״̬POS豸װ̬Ǽָ +% ֹ״̬£POS豸װϲ⵽̬ +Heading_IMUBase=63.888; +Pitch_IMUBase=-0.121; +Roll_IMUBase=-0.082; + +% POS豸װ̬ǻΪ +Heading_IMUBase_Rad=-deg2rad(Heading_IMUBase); +Pitch_IMUBase_Rad=-deg2rad(Pitch_IMUBase); +Roll_IMUBase_Rad=-deg2rad(Roll_IMUBase); + +% ɾֹ̬λõת +MR_E_IMUBase=[1 0 0;... + 0 cos(-Pitch_IMUBase_Rad) -sin(-Pitch_IMUBase_Rad);... + 0 sin(-Pitch_IMUBase_Rad) cos(-Pitch_IMUBase_Rad)]; +MR_N_IMUBase=[cos(-Roll_IMUBase_Rad) 0 -sin(-Roll_IMUBase_Rad);... + 0 1 0;... + sin(-Roll_IMUBase_Rad) 0 cos(-Roll_IMUBase_Rad)]; +MR_U_IMUBase=[cos(Heading_IMUBase_Rad) -sin(Heading_IMUBase_Rad) 0;... + sin(Heading_IMUBase_Rad) cos(Heading_IMUBase_Rad) 0;... + 0 0 1]; + +% BAϵеλ +ENU_BA_IMUBase=MR_N_IMUBase*MR_E_IMUBase*MR_U_IMUBase*ENU_BA_Real; +E_BA_IMUBase=ENU_BA_IMUBase(1); +N_BA_IMUBase=ENU_BA_IMUBase(2); +U_BA_IMUBase=ENU_BA_IMUBase(3); + +% BAϵеķλǺ͸ +Az_BA_IMUBase=mod(rad2deg(atan2(E_BA_IMUBase,N_BA_IMUBase)),360); +Alt_BA_IMUBase=rad2deg(atan2(U_BA_IMUBase,sqrt(E_BA_IMUBase^2+N_BA_IMUBase^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% ֹ״̬װ̬Ǽָ +% POS豸װϲ⵽̬ +Heading_OPABase=64.062; +Pitch_OPABase=-0.332; +Roll_OPABase=89.812; + +% ֹ״̬£װ淨߷Ӧ̬ +Heading_OPABaseNormal=Heading_OPABase+90; %% װǰҲ90㣬װ90 +Pitch_OPABaseNormal=Pitch_OPABase-90; +Roll_OPABaseNormal=Roll_OPABase; + +% ߷Ӧ̬ǻΪ +Heading_OPABaseNormal_Rad=deg2rad(Heading_OPABaseNormal); +PitchRad_OPABaseNormal_Rad=deg2rad(Pitch_OPABaseNormal); +RollRad_OPABaseNormal_Rad=deg2rad(Roll_OPABaseNormal); + +% ɾֹ̬λõת +MR_E_OPABaseNormal=[1 0 0;... + 0 cos(PitchRad_OPABaseNormal_Rad) -sin(PitchRad_OPABaseNormal_Rad);... + 0 sin(PitchRad_OPABaseNormal_Rad) cos(PitchRad_OPABaseNormal_Rad)]; +MR_N_OPABaseNormal=[cos(RollRad_OPABaseNormal_Rad) 0 -sin(RollRad_OPABaseNormal_Rad);... + 0 1 0;... + sin(RollRad_OPABaseNormal_Rad) 0 cos(RollRad_OPABaseNormal_Rad)]; +MR_U_OPABaseNormal=[cos(Heading_OPABaseNormal_Rad) -sin(Heading_OPABaseNormal_Rad) 0;... + sin(Heading_OPABaseNormal_Rad) cos(Heading_OPABaseNormal_Rad) 0;... + 0 0 1]; + +% BAϵеλãɶת +ENU_BA_OPABaseNormal=MR_N_OPABaseNormal*MR_E_OPABaseNormal*MR_U_OPABaseNormal*ENU_BA_IMUBase; +E_BA_OPABaseNormal=ENU_BA_OPABaseNormal(1); +N_BA_OPABaseNormal=ENU_BA_OPABaseNormal(2); +U_BA_OPABaseNormal=ENU_BA_OPABaseNormal(3); + +% BAϵеķλǺ͸ +Az_BA_OPABaseNormal=mod(rad2deg(atan2(E_BA_OPABaseNormal,N_BA_OPABaseNormal)),360); +Alt_BA_OPABaseNormal=rad2deg(atan2(U_BA_OPABaseNormal,sqrt(E_BA_OPABaseNormal^2+N_BA_OPABaseNormal^2))); + diff --git a/LTDMC.dll b/LTDMC.dll new file mode 100644 index 0000000..c38c611 Binary files /dev/null and b/LTDMC.dll differ diff --git a/LTDMC.h b/LTDMC.h new file mode 100644 index 0000000..84860a8 --- /dev/null +++ b/LTDMC.h @@ -0,0 +1,2248 @@ +#ifndef _DMC_LIB_H +#define _DMC_LIB_H + +#ifndef TRUE +#define TRUE 1 +#endif + +#ifndef FALSE +#define FALSE 0 +#endif + +#ifndef NULL +#ifdef __cplusplus +#define NULL 0 +#else +#define NULL ((void *)0) +#endif +#endif + +typedef unsigned long DWORD; +typedef int BOOL; +typedef unsigned char BYTE; +typedef unsigned short WORD; +typedef float FLOAT; + +typedef unsigned char uint8; /* defined for unsigned 8-bits integer variable 无符号8位整型变量 */ +typedef signed char int8; /* defined for signed 8-bits integer variable 有符号8位整型变量 */ +typedef unsigned short uint16; /* defined for unsigned 16-bits integer variable 无符号16位整型变量 */ +typedef signed short int16; /* defined for signed 16-bits integer variable 有符号16位整型变量 */ +typedef unsigned int uint32; /* defined for unsigned 32-bits integer variable 无符号32位整型变量 */ +typedef signed int int32; /* defined for signed 32-bits integer variable 有符号32位整型变量 */ +typedef unsigned long long uint64; +typedef signed long long int64; + +typedef uint32 (__stdcall * DMC3K5K_OPERATE)(void* operator_data); + +typedef struct +{ + uint32 m_Time; + int32 m_CommandPos; + double m_CommandVel; + uint32 m_CommandAcc; + int32 m_FpgaPos; + double m_FpgaVel; + int32 m_EncoderPos; + double m_ErrorPos; +}struct_PidAdjustData; + +typedef struct{ + double start_pos; //线性比较起始点位置. + double interval; //间距. + int count;//个数 +} struct_hs_cmp_info; + + +#define __DMC_EXPORTS + +//定义输入和输出 +#ifdef __DMC_EXPORTS + #define DMC_API __declspec(dllexport) +#else + #define DMC_API __declspec(dllimport) +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +//设置和读取打印模式 +DMC_API short __stdcall dmc_set_debug_mode(WORD mode,const char* pFileName); +DMC_API short __stdcall dmc_get_debug_mode(WORD* mode,char* pFileName); + +DMC_API short __stdcall dmc_board_init(void); //初始化控制卡 +DMC_API short __stdcall dmc_board_init_onecard(WORD CardNo); ////客户定制独立开卡 初始化一张控制卡 +DMC_API short __stdcall dmc_board_close_onecard(WORD CardNo); ////客户定制独立关卡 关闭一个控制卡 +DMC_API short __stdcall dmc_get_CardInfList(WORD* CardNum,DWORD* CardTypeList,WORD* CardIdList);//读取控制卡信息列表 +DMC_API short __stdcall dmc_board_close(void); //关闭控制卡 +DMC_API short __stdcall dmc_board_reset(void); //硬件复位 +DMC_API short __stdcall dmc_board_reset_onecard(WORD CardNo);//客户定制单独硬件复位 +DMC_API short __stdcall dmc_soft_reset(WORD CardNo);//控制卡软复位（pci卡） 热复位（总线卡） +DMC_API short __stdcall dmc_cool_reset(WORD CardNo);//控制卡冷复位 +DMC_API short __stdcall dmc_original_reset(WORD CardNo);//控制卡初始复位 +DMC_API short __stdcall dmc_get_card_ID (WORD CardNo,DWORD *CardID); //读取控制卡卡号 +DMC_API short __stdcall dmc_get_release_version(WORD CardNo,char *ReleaseVersion);//读取发布版本号 +DMC_API short __stdcall dmc_get_card_version(WORD CardNo,DWORD *CardVersion); //读取控制卡硬件版本 +DMC_API short __stdcall dmc_get_card_soft_version(WORD CardNo,DWORD *FirmID,DWORD *SubFirmID); //读取控制卡硬件的固件版本 +DMC_API short __stdcall dmc_get_card_lib_version(DWORD *LibVer); //读取控制卡动态库版本 +DMC_API short __stdcall dmc_get_total_axes(WORD CardNo,DWORD *TotalAxis); //读取指定卡轴数 +DMC_API short __stdcall dmc_get_total_liners(WORD CardNo,DWORD *TotalLiner); //读取指定卡插补坐标系数 + +DMC_API short __stdcall dmc_get_total_ionum(WORD CardNo,WORD *TotalIn,WORD *TotalOut);//获取本地IO点数 +DMC_API short __stdcall dmc_get_total_adcnum(WORD CardNo,WORD* TotalIn,WORD* TotalOut);//获取本地ADDA输入输出数 + +//密码函数 +DMC_API short __stdcall dmc_check_sn(WORD CardNo, const char * str_sn); +DMC_API short __stdcall dmc_write_sn(WORD CardNo, const char * str_sn); + +/***********轴参数*************/ +//脉冲模式 +DMC_API short __stdcall dmc_set_pulse_outmode(WORD CardNo,WORD axis,WORD outmode); +DMC_API short __stdcall dmc_get_pulse_outmode(WORD CardNo,WORD axis,WORD* outmode); +//脉冲当量 +DMC_API short __stdcall dmc_set_equiv(WORD CardNo,WORD axis, double equiv); +DMC_API short __stdcall dmc_get_equiv(WORD CardNo,WORD axis, double *equiv); +//反向间隙(当量) +DMC_API short __stdcall dmc_set_backlash_unit(WORD CardNo,WORD axis,double backlash); +DMC_API short __stdcall dmc_get_backlash_unit(WORD CardNo,WORD axis,double *backlash); +//反向间隙(脉冲) +DMC_API short __stdcall dmc_set_backlash(WORD CardNo,WORD axis,long backlash); +DMC_API short __stdcall dmc_get_backlash(WORD CardNo,WORD axis,long *backlash); + +//加速度接口 +DMC_API short __stdcall dmc_set_profile_unit_acc(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_profile_unit_acc(WORD CardNo,WORD axis,double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); +DMC_API short __stdcall dmc_set_vector_profile_multicoor_acc(WORD CardNo,WORD iDMC_ILINER, double Min_Vel,double Max_Vel,double Acc,double Dec,double Stop_Vel); +DMC_API short __stdcall dmc_get_vector_profile_multicoor_acc(WORD CardNo,WORD iDMC_ILINER, double* Min_Vel,double* Max_Vel,double* Acc,double* Dec,double* Stop_Vel); +DMC_API short __stdcall dmc_set_vector_profile_unit_acc(WORD CardNo,WORD Crd,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_vector_profile_unit_acc(WORD CardNo,WORD Crd,double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); +DMC_API short __stdcall dmc_change_speed_unit_acc(WORD CardNo,WORD axis, double New_Vel,double Taccdec); +DMC_API short __stdcall dmc_change_speed_acc(WORD CardNo,WORD axis,double Curr_Vel,double Taccdec); +DMC_API short __stdcall dmc_pmove_extern_acc(WORD CardNo, WORD axis, double dist,double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, WORD posi_mode); +DMC_API short __stdcall nmc_set_home_profile_acc(WORD CardNo ,WORD axis,WORD home_mode,double Low_Vel, double High_Vel,double Tacc,double Tdec,double offsetpos ); +DMC_API short __stdcall nmc_get_home_profile_acc(WORD CardNo,WORD axis,WORD* home_mode,double* Low_Vel,double* High_Vel,double* Tacc,double* Tdec,double* Offsetpos); +DMC_API short __stdcall dmc_set_home_profile_unit_acc(WORD CardNo,WORD axis,double Low_Vel,double High_Vel,double Tacc,double Tdec);//设置回零速度参数 +DMC_API short __stdcall dmc_get_home_profile_unit_acc(WORD CardNo,WORD axis,double* Low_Vel,double* High_Vel,double* Tacc,double* Tdec);//读取回零速度参数 +DMC_API short __stdcall dmc_t_pmove_extern_softstart_acc(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); +/***********************************文件操作**************************************/ +/********************************************************************************************************* +文件操作添加 总线卡 +filetype +0-basic +1-gcode +2-setting +3-firewave +4-CAN configfile +100-trace data +*********************************************************************************************************/ +DMC_API short __stdcall dmc_download_file(WORD CardNo, const char* pfilename, const char* pfilenameinControl,WORD filetype); +//下载内存文件 总线卡 +DMC_API short __stdcall dmc_download_memfile(WORD CardNo, const char* pbuffer, uint32 buffsize, const char* pfilenameinControl,WORD filetype); +//上传文件 +DMC_API short __stdcall dmc_upload_file(WORD CardNo, const char* pfilename, const char* pfilenameinControl, WORD filetype); +//上传内存文件 +DMC_API short __stdcall dmc_upload_memfile(WORD CardNo, char* pbuffer, uint32 buffsize, const char* pfilenameinControl, uint32* puifilesize,WORD filetype); +//下载参数文件 +DMC_API short __stdcall dmc_download_configfile(WORD CardNo,const char *FileName); +//下载固件文件 +DMC_API short __stdcall dmc_download_firmware(WORD CardNo,const char *FileName); +//文件进度 +DMC_API short __stdcall dmc_get_progress(WORD CardNo,float* process); + +//安全参数 +DMC_API short __stdcall dmc_set_softlimit(WORD CardNo,WORD axis,WORD enable, WORD source_sel,WORD SL_action, long N_limit,long P_limit);//设置软限位参数 +DMC_API short __stdcall dmc_get_softlimit(WORD CardNo,WORD axis,WORD *enable, WORD *source_sel,WORD *SL_action,long *N_limit,long *P_limit);//读取软限位参数 +DMC_API short __stdcall dmc_set_el_mode(WORD CardNo,WORD axis,WORD enable,WORD el_logic,WORD el_mode);//设置EL信号 +DMC_API short __stdcall dmc_get_el_mode(WORD CardNo,WORD axis,WORD *enable,WORD *el_logic,WORD *el_mode);//读取设置EL信号 +DMC_API short __stdcall dmc_set_emg_mode(WORD CardNo,WORD axis,WORD enable,WORD emg_logic);//设置EMG信号 +DMC_API short __stdcall dmc_get_emg_mode(WORD CardNo,WORD axis,WORD *enable,WORD *emg_logic);//读取设置EMG信号 + +/*************************************单轴运动*****************************************/ +//速度设置 +DMC_API short __stdcall dmc_set_profile(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double stop_vel);//设定速度曲线参数 +DMC_API short __stdcall dmc_get_profile(WORD CardNo,WORD axis,double *Min_Vel,double *Max_Vel,double *Tacc,double *Tdec,double *stop_vel);//读取速度曲线参数 +//速度设置(脉冲当量) +DMC_API short __stdcall dmc_set_profile_unit(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_profile_unit(WORD CardNo,WORD axis,double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); + +//20160105增加新速度曲线以加速度 减速度 减减速度来表示(脉冲) +DMC_API short __stdcall dmc_set_profile_extern(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Acc,double Dec,double Ajerk,double Djerk,double stop_vel); +DMC_API short __stdcall dmc_get_profile_extern(WORD CardNo,WORD axis,double *Min_Vel,double *Max_Vel,double *Acc,double *Dec,double *Ajerk,double *Djerk,double *stop_vel); +//速度曲线设置，加速度值表示(脉冲) +DMC_API short __stdcall dmc_set_acc_profile(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Acc,double Dec,double stop_vel);//设定速度曲线参数 +DMC_API short __stdcall dmc_get_acc_profile(WORD CardNo,WORD axis,double *Min_Vel,double *Max_Vel,double *Acc,double *Dec,double *stop_vel);//读取速度曲线参数 +//速度曲线设置，加速度值表示(当量) +DMC_API short __stdcall dmc_set_profile_unit_acc(WORD CardNo,WORD axis,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_profile_unit_acc(WORD CardNo,WORD axis,double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); +DMC_API short __stdcall dmc_set_s_profile(WORD CardNo,WORD axis,WORD s_mode,double s_para);//设置平滑速度曲线参数 +DMC_API short __stdcall dmc_get_s_profile(WORD CardNo,WORD axis,WORD s_mode,double *s_para);//读取平滑速度曲线参数 兼容DMC5800 s_mode改用指针返回参数值 + +//点位运动(脉冲) +DMC_API short __stdcall dmc_pmove(WORD CardNo,WORD axis,long dist,WORD posi_mode);//指定轴做定长位移运动 +//点位运动(当量) +DMC_API short __stdcall dmc_pmove_unit(WORD CardNo,WORD axis,double Dist,WORD posi_mode); +//单轴连续速度运动 +DMC_API short __stdcall dmc_vmove(WORD CardNo,WORD axis,WORD dir); +//指定轴做定长位移运动 同时发送速度和S时间(脉冲) +DMC_API short __stdcall dmc_pmove_extern(WORD CardNo, WORD axis, double dist,double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, WORD posi_mode); +//在线变位/变速(脉冲) +DMC_API short __stdcall dmc_reset_target_position(WORD CardNo,WORD axis,long dist,WORD posi_mode);//运动中改变目标位置 +DMC_API short __stdcall dmc_change_speed(WORD CardNo,WORD axis,double Curr_Vel,double Taccdec);//在线改变指定轴的当前运动速度 +DMC_API short __stdcall dmc_update_target_position(WORD CardNo,WORD axis,long dist,WORD posi_mode);//无论运动与否强行改变目标位置 +//变速变位(当量) +DMC_API short __stdcall dmc_reset_target_position_unit(WORD CardNo,WORD axis, double New_Pos); +DMC_API short __stdcall dmc_change_speed_unit(WORD CardNo,WORD axis, double New_Vel,double Taccdec); +DMC_API short __stdcall dmc_update_target_position_unit(WORD CardNo,WORD axis, double New_Pos); + +/******************************插补运动**********************************/ +//3000系列速度设置(脉冲) +DMC_API short __stdcall dmc_set_vector_profile_multicoor(WORD CardNo,WORD Crd, double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_vector_profile_multicoor(WORD CardNo,WORD Crd, double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); +DMC_API short __stdcall dmc_set_vector_s_profile_multicoor(WORD CardNo,WORD Crd,WORD s_mode,double s_para);//设置平滑速度曲线参数 +DMC_API short __stdcall dmc_get_vector_s_profile_multicoor(WORD CardNo,WORD Crd,WORD s_mode,double *s_para);//读取平滑速度曲线参数 + +//插补速度参数(当量) +DMC_API short __stdcall dmc_set_vector_profile_unit(WORD CardNo,WORD Crd,double Min_Vel,double Max_Vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_get_vector_profile_unit(WORD CardNo,WORD Crd,double* Min_Vel,double* Max_Vel,double* Tacc,double* Tdec,double* Stop_Vel); +DMC_API short __stdcall dmc_set_vector_s_profile(WORD CardNo,WORD Crd,WORD s_mode,double s_para);//设置平滑速度曲线参数 +DMC_API short __stdcall dmc_get_vector_s_profile(WORD CardNo,WORD Crd,WORD s_mode,double *s_para); + +//3000系列插补函数(脉冲) +DMC_API short __stdcall dmc_line_multicoor(WORD CardNo,WORD Crd,WORD axisNum,WORD *axisList,long *DistList,WORD posi_mode); //指定轴直线插补运动 +DMC_API short __stdcall dmc_arc_move_multicoor(WORD CardNo,WORD Crd,WORD *AxisList,long *Target_Pos,long *Cen_Pos,WORD Arc_Dir,WORD posi_mode);//圆弧插补运动 +//单段插补(当量) +DMC_API short __stdcall dmc_line_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Dist,WORD posi_mode); +DMC_API short __stdcall dmc_arc_move_center_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Cen_Pos,WORD Arc_Dir,long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_arc_move_radius_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double Arc_Radius,WORD Arc_Dir,long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_arc_move_3points_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Mid_Pos,long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_rectangle_move_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Mark_Pos,long num,WORD rect_mode,WORD posi_mode); + +/********************PVT运动****************************/ +//PVT运动 旧版 +DMC_API short __stdcall dmc_PvtTable(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos,double *pVel); +DMC_API short __stdcall dmc_PtsTable(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos,double *pPercent); +DMC_API short __stdcall dmc_PvtsTable(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos,double velBegin,double velEnd); +DMC_API short __stdcall dmc_PttTable(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos); +DMC_API short __stdcall dmc_PvtMove(WORD CardNo,WORD AxisNum,WORD* AxisList); +//PVT缓冲区添加 +DMC_API short __stdcall dmc_PttTable_add(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos); +DMC_API short __stdcall dmc_PtsTable_add(WORD CardNo,WORD iaxis,DWORD count,double *pTime,long *pPos,double *pPercent); +DMC_API short __stdcall dmc_pvt_get_remain_space(WORD CardNo,WORD iaxis);//读取pvt剩余空间 +/***************************************************************************** +PVT运动 总线卡新规划 +******************************************************************************/ +DMC_API short __stdcall dmc_pvt_table_unit(WORD CardNo,WORD iaxis,DWORD count,double *pTime,double *pPos,double *pVel); +DMC_API short __stdcall dmc_pts_table_unit(WORD CardNo,WORD iaxis,DWORD count,double *pTime,double *pPos,double *pPercent); +DMC_API short __stdcall dmc_pvts_table_unit(WORD CardNo,WORD iaxis,DWORD count,double *pTime,double *pPos,double velBegin,double velEnd); +DMC_API short __stdcall dmc_ptt_table_unit(WORD CardNo,WORD iaxis,DWORD count,double *pTime,double *pPos); +DMC_API short __stdcall dmc_pvt_move(WORD CardNo,WORD AxisNum,WORD* AxisList); + +DMC_API short __stdcall dmc_SetGearProfile(WORD CardNo,WORD axis,WORD MasterType, WORD MasterIndex,long MasterEven,long SlaveEven,DWORD MasterSlope); +DMC_API short __stdcall dmc_GetGearProfile(WORD CardNo,WORD axis,WORD* MasterType, WORD* MasterIndex,long* MasterEven,long* SlaveEven,DWORD* MasterSlope); +DMC_API short __stdcall dmc_GearMove(WORD CardNo,WORD AxisNum,WORD* AxisList); + +/************************回零运动*************************/ +DMC_API short __stdcall dmc_set_home_pin_logic(WORD CardNo,WORD axis,WORD org_logic,double filter);//设置HOME信号 +DMC_API short __stdcall dmc_get_home_pin_logic(WORD CardNo,WORD axis,WORD *org_logic,double *filter);//读取设置HOME信号 +DMC_API short __stdcall dmc_set_homemode(WORD CardNo,WORD axis,WORD home_dir,double vel,WORD mode,WORD EZ_count);//设定指定轴的回原点模式 +DMC_API short __stdcall dmc_get_homemode(WORD CardNo,WORD axis,WORD *home_dir, double *vel_mode,WORD *home_mode,WORD *EZ_count);//读取指定轴的回原点模式 +DMC_API short __stdcall dmc_home_move(WORD CardNo,WORD axis);//启动回零 +DMC_API short __stdcall dmc_set_home_profile_unit(WORD CardNo,WORD axis,double Low_Vel,double High_Vel,double Tacc,double Tdec);//设置回零速度参数 +DMC_API short __stdcall dmc_get_home_profile_unit(WORD CardNo,WORD axis,double* Low_Vel,double* High_Vel,double* Tacc,double* Tdec);//读取回零速度参数 +DMC_API short __stdcall dmc_get_home_result(WORD CardNo,WORD axis,WORD* state);//读取回零执行状态 +DMC_API short __stdcall dmc_set_home_position_unit(WORD CardNo,WORD axis,WORD enable,double position); +DMC_API short __stdcall dmc_get_home_position_unit(WORD CardNo,WORD axis,WORD *enable,double *position); +DMC_API short __stdcall dmc_set_el_home(WORD CardNo,WORD axis,WORD mode); + +/***************************原点锁存******************************/ +DMC_API short __stdcall dmc_set_homelatch_mode(WORD CardNo,WORD axis,WORD enable,WORD logic,WORD source); +DMC_API short __stdcall dmc_get_homelatch_mode(WORD CardNo,WORD axis,WORD* enable,WORD* logic,WORD* source); +DMC_API long __stdcall dmc_get_homelatch_flag(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_reset_homelatch_flag(WORD CardNo,WORD axis); +DMC_API long __stdcall dmc_get_homelatch_value(WORD CardNo,WORD axis); +/*****************************EZ锁存********************************/ +DMC_API short __stdcall dmc_set_ezlatch_mode(WORD CardNo,WORD axis,WORD enable,WORD logic,WORD source); +DMC_API short __stdcall dmc_get_ezlatch_mode(WORD CardNo,WORD axis,WORD* enable,WORD* logic,WORD* source); +DMC_API long __stdcall dmc_get_ezlatch_flag(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_reset_ezlatch_flag(WORD CardNo,WORD axis); +DMC_API long __stdcall dmc_get_ezlatch_value(WORD CardNo,WORD axis); + +/************************手轮运动函数*********************************/ +//一对一 +DMC_API short __stdcall dmc_set_handwheel_inmode(WORD CardNo,WORD axis,WORD inmode,long multi,double vh);//设置输入手轮脉冲信号的工作方式 +DMC_API short __stdcall dmc_get_handwheel_inmode(WORD CardNo,WORD axis,WORD *inmode,long *multi,double *vh);//读取输入手轮脉冲信号的工作方式 +//一对一浮点型倍率 +DMC_API short __stdcall dmc_set_handwheel_inmode_decimals(WORD CardNo,WORD axis,WORD inmode,double multi,double vh); +DMC_API short __stdcall dmc_get_handwheel_inmode_decimals(WORD CardNo,WORD axis,WORD *inmode,double *multi,double *vh); +DMC_API short __stdcall dmc_handwheel_move(WORD CardNo,WORD axis); +//设置手轮通道 +DMC_API short __stdcall dmc_set_handwheel_channel(WORD CardNo,WORD index); +DMC_API short __stdcall dmc_get_handwheel_channel(WORD CardNo,WORD* index); +//一对多 +DMC_API short __stdcall dmc_set_handwheel_inmode_extern(WORD CardNo,WORD inmode,WORD AxisNum,WORD* AxisList,long* multi); +DMC_API short __stdcall dmc_get_handwheel_inmode_extern(WORD CardNo,WORD* inmode,WORD* AxisNum,WORD* AxisList,long *multi); +//一对多浮点型倍率 +DMC_API short __stdcall dmc_set_handwheel_inmode_extern_decimals(WORD CardNo,WORD inmode,WORD AxisNum,WORD* AxisList,double* multi); +DMC_API short __stdcall dmc_get_handwheel_inmode_extern_decimals(WORD CardNo,WORD* inmode,WORD* AxisNum,WORD* AxisList,double *multi); + +/********************************************************************************************************* +手轮运动 新增总线的手轮模式 总线 +*********************************************************************************************************/ +DMC_API short __stdcall dmc_handwheel_set_axislist( WORD CardNo, WORD AxisSelIndex,WORD AxisNum,WORD* AxisList); +DMC_API short __stdcall dmc_handwheel_get_axislist( WORD CardNo,WORD AxisSelIndex, WORD* AxisNum, WORD* AxisList); +DMC_API short __stdcall dmc_handwheel_set_ratiolist( WORD CardNo, WORD AxisSelIndex, WORD StartRatioIndex, WORD RatioSelNum, double* RatioList); +DMC_API short __stdcall dmc_handwheel_get_ratiolist( WORD CardNo,WORD AxisSelIndex, WORD StartRatioIndex, WORD RatioSelNum,double* RatioList ); +DMC_API short __stdcall dmc_handwheel_set_mode( WORD CardNo, WORD InMode, WORD IfHardEnable ); +DMC_API short __stdcall dmc_handwheel_get_mode ( WORD CardNo, WORD* InMode, WORD* IfHardEnable ); +DMC_API short __stdcall dmc_handwheel_set_index( WORD CardNo, WORD AxisSelIndex,WORD RatioSelIndex ); +DMC_API short __stdcall dmc_handwheel_get_index( WORD CardNo, WORD* AxisSelIndex,WORD* RatioSelIndex ); +DMC_API short __stdcall dmc_handwheel_move( WORD CardNo, WORD ForceMove ); +DMC_API short __stdcall dmc_handwheel_stop ( WORD CardNo ); + +/**************************高速锁存函数***************************/ +/************************************* +LTC1 AXIS0 AXIS1 AXIS2 AXIS3 +LTC2 AXIS4 AXIS5 AXIS6 AXIS7 +***************************************/ +DMC_API short __stdcall dmc_set_ltc_mode(WORD CardNo,WORD axis,WORD ltc_logic,WORD ltc_mode,double filter);//设置LTC信号 +DMC_API short __stdcall dmc_get_ltc_mode(WORD CardNo,WORD axis,WORD*ltc_logic,WORD*ltc_mode,double *filter);//读取设置LTC信号 +DMC_API short __stdcall dmc_set_latch_mode(WORD CardNo,WORD axis,WORD all_enable,WORD latch_source,WORD triger_chunnel);//设置锁存方式 +DMC_API short __stdcall dmc_get_latch_mode(WORD CardNo,WORD axis,WORD *all_enable,WORD* latch_source,WORD* triger_chunnel); +DMC_API short __stdcall dmc_SetLtcOutMode(WORD CardNo,WORD axis,WORD enable,WORD bitno);//反相输出 +DMC_API short __stdcall dmc_GetLtcOutMode(WORD CardNo,WORD axis,WORD *enable,WORD* bitno); +DMC_API short __stdcall dmc_get_latch_flag(WORD CardNo,WORD axis);//读取锁存器标志 +DMC_API short __stdcall dmc_reset_latch_flag(WORD CardNo,WORD axis);//复位锁存器标志 +DMC_API long __stdcall dmc_get_latch_value(WORD CardNo,WORD axis);//读取编码器锁存器的值 +DMC_API short __stdcall dmc_get_latch_value_unit(WORD CardNo,WORD axis,double* pos_by_mm); +DMC_API short __stdcall dmc_get_latch_flag_extern(WORD CardNo,WORD axis);//读取锁存器标志 +DMC_API long __stdcall dmc_get_latch_value_extern(WORD CardNo,WORD axis,WORD index);//按索引取值 +DMC_API short __stdcall dmc_set_latch_stop_time(WORD CardNo,WORD axis,long time);//触发急停时间 +DMC_API short __stdcall dmc_get_latch_stop_time(WORD CardNo,WORD axis,long* time); + +/********************************************************************************************************* +高速锁存 新规划20170308 总线 +*********************************************************************************************************/ +//配置锁存器：锁存模式0-单次锁存，1-连续锁存；锁存边沿0-下降沿，1-上升沿，2-双边沿；滤波时间，单位us +DMC_API short __stdcall dmc_ltc_set_mode(WORD CardNo,WORD latch,WORD ltc_mode,WORD ltc_logic,double filter); +DMC_API short __stdcall dmc_ltc_get_mode(WORD CardNo,WORD latch,WORD *ltc_mode,WORD *ltc_logic,double *filter); +//配置锁存源：0-指令位置，1-编码器反馈位置 +DMC_API short __stdcall dmc_ltc_set_source(WORD CardNo,WORD latch,WORD axis,WORD ltc_source); +DMC_API short __stdcall dmc_ltc_get_source(WORD CardNo,WORD latch,WORD axis,WORD *ltc_source); +//复位锁存器 +DMC_API short __stdcall dmc_ltc_reset(WORD CardNo,WORD latch); +//读取锁存个数 +DMC_API short __stdcall dmc_ltc_get_number(WORD CardNo,WORD latch,WORD axis,int *number); +//读取锁存值 +DMC_API short __stdcall dmc_ltc_get_value_unit(WORD CardNo,WORD latch,WORD axis,double *value); + +/*****************************位置比较函数****************************/ +//单轴位置比较 +DMC_API short __stdcall dmc_compare_set_config(WORD CardNo,WORD axis,WORD enable, WORD cmp_source);//配置比较器 +DMC_API short __stdcall dmc_compare_get_config(WORD CardNo,WORD axis,WORD *enable, WORD *cmp_source);//读取配置比较器 +DMC_API short __stdcall dmc_compare_clear_points(WORD CardNo,WORD cmp);//清除所有比较点 +DMC_API short __stdcall dmc_compare_add_point(WORD CardNo,WORD cmp,long pos,WORD dir, WORD action,DWORD actpara);//添加比较点 +DMC_API short __stdcall dmc_compare_get_current_point(WORD CardNo,WORD cmp,long *pos);//读取当前比较点 +DMC_API short __stdcall dmc_compare_get_points_runned(WORD CardNo,WORD cmp,long *pointNum);//查询已经比较过的点 +DMC_API short __stdcall dmc_compare_get_points_remained(WORD CardNo,WORD cmp,long *pointNum);//查询可以加入的比较点数量 + +//二维位置比较 +DMC_API short __stdcall dmc_compare_set_config_extern(WORD CardNo,WORD enable, WORD cmp_source);//配置比较器 +DMC_API short __stdcall dmc_compare_get_config_extern(WORD CardNo,WORD *enable, WORD *cmp_source);//读取配置比较器 +DMC_API short __stdcall dmc_compare_clear_points_extern(WORD CardNo);//清除所有比较点 +DMC_API short __stdcall dmc_compare_add_point_extern(WORD CardNo,WORD* axis,long* pos,WORD* dir, WORD action,DWORD actpara);//添加两轴位置比较点 +DMC_API short __stdcall dmc_compare_get_current_point_extern(WORD CardNo,long *pos);//读取当前比较点 +DMC_API short __stdcall dmc_compare_add_point_extern_unit(WORD CardNo,WORD* axis,double* pos,WORD* dir, WORD action,DWORD actpara);//添加两轴位置比较点 +DMC_API short __stdcall dmc_compare_get_current_point_extern_unit(WORD CardNo,double *pos);//读取当前比较点 +DMC_API short __stdcall dmc_compare_get_points_runned_extern(WORD CardNo,long *pointNum);//查询已经比较过的点 +DMC_API short __stdcall dmc_compare_get_points_remained_extern(WORD CardNo,long *pointNum);//查询可以加入的比较点数量 + +//多组位置比较 +DMC_API short __stdcall dmc_compare_set_config_multi(WORD CardNo,WORD queue,WORD enable, WORD axis, WORD cmp_source);//配置比较器 +DMC_API short __stdcall dmc_compare_get_config_multi(WORD CardNo, WORD queue,WORD* enable, WORD* axis, WORD* cmp_source);//读取配置比较器 +DMC_API short __stdcall dmc_compare_add_point_multi(WORD CardNo, WORD cmp,int32 pos, WORD dir, WORD action, DWORD actpara,double times);//添加比较点 增强 + +//高速位置比较 +DMC_API short __stdcall dmc_hcmp_set_mode(WORD CardNo,WORD hcmp, WORD cmp_mode);//设置高速比较模式 +DMC_API short __stdcall dmc_hcmp_get_mode(WORD CardNo,WORD hcmp, WORD* cmp_mode); +//高速比较模式扩展 +DMC_API short __stdcall dmc_hcmp_set_config_extern(WORD CardNo,WORD hcmp,WORD axis, WORD cmp_source, WORD cmp_logic,WORD cmp_mode,long dist,long time); +DMC_API short __stdcall dmc_hcmp_get_config_extern(WORD CardNo,WORD hcmp,WORD* axis, WORD* cmp_source, WORD* cmp_logic,WORD* cmp_mode,long* dist,long* time); + +DMC_API short __stdcall dmc_hcmp_set_config(WORD CardNo,WORD hcmp,WORD axis, WORD cmp_source, WORD cmp_logic,long time);//设置高速比较参数 +DMC_API short __stdcall dmc_hcmp_get_config(WORD CardNo,WORD hcmp,WORD* axis, WORD* cmp_source, WORD* cmp_logic,long* time); +DMC_API short __stdcall dmc_hcmp_add_point(WORD CardNo,WORD hcmp, long cmp_pos); +DMC_API short __stdcall dmc_hcmp_set_liner(WORD CardNo,WORD hcmp, long Increment,long Count);//设置线性模式参数 +DMC_API short __stdcall dmc_hcmp_get_liner(WORD CardNo,WORD hcmp, long* Increment,long* Count); +DMC_API short __stdcall dmc_hcmp_get_current_state(WORD CardNo,WORD hcmp,long *remained_points,long *current_point,long *runned_points); //读取高速比较状态 +DMC_API short __stdcall dmc_hcmp_clear_points(WORD CardNo,WORD hcmp); +DMC_API short __stdcall dmc_read_cmp_pin(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_write_cmp_pin(WORD CardNo,WORD axis, WORD on_off);//控制cmp端口输出 + +//二维高速位置比较功能 +DMC_API short __stdcall dmc_hcmp_2d_set_enable(WORD CardNo,WORD hcmp, WORD cmp_enable); +DMC_API short __stdcall dmc_hcmp_2d_get_enable(WORD CardNo,WORD hcmp, WORD *cmp_enable); +DMC_API short __stdcall dmc_hcmp_2d_set_config(WORD CardNo,WORD hcmp,WORD cmp_mode,WORD x_axis, WORD x_cmp_source, WORD y_axis, WORD y_cmp_source, long error,WORD cmp_logic,long time,WORD pwm_enable,double duty,long freq,WORD port_sel,WORD pwm_number); +DMC_API short __stdcall dmc_hcmp_2d_get_config(WORD CardNo,WORD hcmp,WORD *cmp_mode,WORD *x_axis, WORD *x_cmp_source, WORD *y_axis, WORD *y_cmp_source, long *error,WORD *cmp_logic,long *time,WORD *pwm_enable,double *duty,long *freq,WORD *port_sel,WORD *pwm_number); +DMC_API short __stdcall dmc_hcmp_2d_add_point(WORD CardNo,WORD hcmp, long x_cmp_pos, long y_cmp_pos); +DMC_API short __stdcall dmc_hcmp_2d_get_current_state(WORD CardNo,WORD hcmp,long *remained_points,long *x_current_point,long *y_current_point,long *runned_points,WORD *current_state); +DMC_API short __stdcall dmc_hcmp_2d_clear_points(WORD CardNo,WORD hcmp); +DMC_API short __stdcall dmc_hcmp_2d_force_output(WORD CardNo,WORD hcmp,WORD enable); + +/********************通用IO功能**************************/ +//通用IO +DMC_API short __stdcall dmc_read_inbit(WORD CardNo,WORD bitno);//读取输入口的状态 +DMC_API short __stdcall dmc_write_outbit(WORD CardNo,WORD bitno,WORD on_off);//设置输出口的状态 +DMC_API short __stdcall dmc_read_outbit(WORD CardNo,WORD bitno);//读取输出口的状态 +DMC_API DWORD __stdcall dmc_read_inport(WORD CardNo,WORD portno);//读取输入端口的值 +DMC_API DWORD __stdcall dmc_read_outport(WORD CardNo,WORD portno);//读取输出端口的值 +DMC_API short __stdcall dmc_write_outport(WORD CardNo,WORD portno,DWORD outport_val);//设置所有输出端口的值 + +DMC_API short __stdcall dmc_write_outport_16X(WORD CardNo,WORD portno,DWORD outport_val);//设置通用输出端口的值 + +//虚拟IO映射 +DMC_API short __stdcall dmc_set_io_map_virtual(WORD CardNo,WORD bitno,WORD MapIoType,WORD MapIoIndex,double Filter); +DMC_API short __stdcall dmc_get_io_map_virtual(WORD CardNo,WORD bitno,WORD* MapIoType,WORD* MapIoIndex,double* Filter); +DMC_API short __stdcall dmc_read_inbit_virtual(WORD CardNo,WORD bitno); //读取输入口的状态 + +DMC_API short __stdcall dmc_reverse_outbit(WORD CardNo,WORD bitno,double reverse_time);//IO延时翻转 +DMC_API short __stdcall dmc_set_io_count_mode(WORD CardNo,WORD bitno,WORD mode,double filter);//设置IO计数模式 +DMC_API short __stdcall dmc_get_io_count_mode(WORD CardNo,WORD bitno,WORD *mode,double* filter); +DMC_API short __stdcall dmc_set_io_count_value(WORD CardNo,WORD bitno,DWORD CountValue);//设置IO计数值 +DMC_API short __stdcall dmc_get_io_count_value(WORD CardNo,WORD bitno,DWORD* CountValue); + +/*********************专用IO信号************************/ +DMC_API short __stdcall dmc_set_axis_io_map(WORD CardNo,WORD Axis,WORD IoType,WORD MapIoType,WORD MapIoIndex,double Filter); +DMC_API short __stdcall dmc_get_axis_io_map(WORD CardNo,WORD Axis,WORD IoType,WORD* MapIoType,WORD* MapIoIndex,double* Filter); +DMC_API short __stdcall dmc_set_special_input_filter(WORD CardNo,double Filter);//设置所有专用IO滤波时间 + +//3410专用 回原点减速信号配置 +DMC_API short __stdcall dmc_set_sd_mode(WORD CardNo,WORD axis,WORD enable,WORD sd_logic,WORD sd_mode);//设置SD信号 +DMC_API short __stdcall dmc_get_sd_mode(WORD CardNo,WORD axis,WORD* enable,WORD *sd_logic,WORD *sd_mode);//读取设置SD信号 +//专用IO +DMC_API short __stdcall dmc_set_inp_mode(WORD CardNo,WORD axis,WORD enable,WORD inp_logic);//设置INP信号 +DMC_API short __stdcall dmc_get_inp_mode(WORD CardNo,WORD axis,WORD *enable,WORD *inp_logic);//读取设置INP信号 +DMC_API short __stdcall dmc_set_rdy_mode(WORD CardNo,WORD axis,WORD enable,WORD rdy_logic);//设置RDY信号 +DMC_API short __stdcall dmc_get_rdy_mode(WORD CardNo,WORD axis,WORD* enable,WORD* rdy_logic);//读取设置RDY信号 +DMC_API short __stdcall dmc_set_erc_mode(WORD CardNo,WORD axis,WORD enable,WORD erc_logic,WORD erc_width,WORD erc_off_time);//设置ERC信号 +DMC_API short __stdcall dmc_get_erc_mode(WORD CardNo,WORD axis,WORD *enable,WORD *erc_logic, WORD *erc_width,WORD *erc_off_time);//读取设置ERC信号 +DMC_API short __stdcall dmc_set_alm_mode(WORD CardNo,WORD axis,WORD enable,WORD alm_logic,WORD alm_action);//设置ALM信号 +DMC_API short __stdcall dmc_get_alm_mode(WORD CardNo,WORD axis,WORD *enable,WORD *alm_logic,WORD *alm_action);//读取设置ALM信号 +DMC_API short __stdcall dmc_set_ez_mode(WORD CardNo,WORD axis,WORD ez_logic,WORD ez_mode,double filter);//设置EZ信号 +DMC_API short __stdcall dmc_get_ez_mode(WORD CardNo,WORD axis,WORD *ez_logic,WORD *ez_mode,double *filter);//读取设置EZ信号 + +DMC_API short __stdcall dmc_write_sevon_pin(WORD CardNo,WORD axis,WORD on_off);//输出SEVON信号 +DMC_API short __stdcall dmc_read_sevon_pin(WORD CardNo,WORD axis);//读取SEVON信号 +DMC_API short __stdcall dmc_read_rdy_pin(WORD CardNo,WORD axis);//读取RDY状态 +DMC_API short __stdcall dmc_write_erc_pin(WORD CardNo,WORD axis,WORD on_off);//控制ERC信号输出 +DMC_API short __stdcall dmc_read_erc_pin(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_write_sevrst_pin(WORD CardNo,WORD axis,WORD on_off);//输出伺服复位信号 +DMC_API short __stdcall dmc_read_sevrst_pin(WORD CardNo,WORD axis);//读伺服复位信号 + +//外部减速停止信号及减速停止时间设置 +DMC_API short __stdcall dmc_set_io_dstp_mode(WORD CardNo,WORD axis,WORD enable,WORD logic);//enable:0-禁用，1-按时间减速停止，2-按距离减速停止 +DMC_API short __stdcall dmc_get_io_dstp_mode(WORD CardNo,WORD axis,WORD *enable,WORD *logic); +//减速停止时间 +DMC_API short __stdcall dmc_set_dec_stop_time(WORD CardNo,WORD axis,double time); +DMC_API short __stdcall dmc_get_dec_stop_time(WORD CardNo,WORD axis,double *time); +//插补减速停止信号和减速时间设置 +DMC_API short __stdcall dmc_set_vector_dec_stop_time(WORD CardNo,WORD Crd,double time); +DMC_API short __stdcall dmc_get_vector_dec_stop_time(WORD CardNo,WORD Crd,double *time); +//减速停止距离 +DMC_API short __stdcall dmc_set_dec_stop_dist(WORD CardNo,WORD axis,long dist); +DMC_API short __stdcall dmc_get_dec_stop_dist(WORD CardNo,WORD axis,long *dist); +DMC_API short __stdcall dmc_set_io_dstp_bitno(WORD CardNo,WORD axis,WORD bitno,double filter);//设置通用输入口的一位减速停止IO口 +DMC_API short __stdcall dmc_get_io_dstp_bitno(WORD CardNo,WORD axis,WORD *bitno,double* filter); + +/************************编码器函数**********************/ +DMC_API short __stdcall dmc_set_counter_inmode(WORD CardNo,WORD axis,WORD mode);//设定编码器的计数方式 +DMC_API short __stdcall dmc_get_counter_inmode(WORD CardNo,WORD axis,WORD *mode);//读取编码器的计数方式 +//编码器值(脉冲) +DMC_API long __stdcall dmc_get_encoder(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_set_encoder(WORD CardNo,WORD axis,long encoder_value); +//编码器值(当量) +DMC_API short __stdcall dmc_set_encoder_unit(WORD CardNo,WORD axis, double pos); +DMC_API short __stdcall dmc_get_encoder_unit(WORD CardNo,WORD axis, double * pos); +//手轮编码器 总线卡 +DMC_API short __stdcall dmc_set_handwheel_encoder(WORD CardNo,WORD channel, long pos); +DMC_API short __stdcall dmc_get_handwheel_encoder(WORD CardNo,WORD channel, long * pos); +//设置辅助编码模式 +DMC_API short __stdcall dmc_set_extra_encoder_mode(WORD CardNo,WORD channel,WORD inmode,WORD multi); +DMC_API short __stdcall dmc_get_extra_encoder_mode(WORD CardNo,WORD channel,WORD* inmode,WORD* multi); +//设置辅助编码器值 +DMC_API short __stdcall dmc_set_extra_encoder(WORD CardNo,WORD channel, int pos); +DMC_API short __stdcall dmc_get_extra_encoder(WORD CardNo,WORD channel, int * pos); + +/*********************位置计数控制***************************/ +//当前位置(脉冲) +DMC_API short __stdcall dmc_set_position(WORD CardNo,WORD axis,long current_position); +DMC_API long __stdcall dmc_get_position(WORD CardNo,WORD axis); +//当前位置(当量) +DMC_API short __stdcall dmc_set_position_unit(WORD CardNo,WORD axis, double pos); +DMC_API short __stdcall dmc_get_position_unit(WORD CardNo,WORD axis, double * pos); + +/**************************运动状态********************************/ +//轴状态 +DMC_API double __stdcall dmc_read_current_speed(WORD CardNo,WORD axis); //读取指定轴的当前速度(脉冲) +DMC_API short __stdcall dmc_read_current_speed_unit(WORD CardNo,WORD axis, double *current_speed);//读取当前速度(当量) +DMC_API double __stdcall dmc_read_vector_speed(WORD CardNo); //读取当前卡的插补速度 +DMC_API long __stdcall dmc_get_target_position(WORD CardNo,WORD axis); //读取指定轴的目标位置 +DMC_API short __stdcall dmc_get_target_position_unit(WORD CardNo,WORD axis, double * pos);//读取指定轴的目标位置(当量) +DMC_API short __stdcall dmc_check_done(WORD CardNo,WORD axis); //读取指定轴的运动状态 + +DMC_API DWORD __stdcall dmc_axis_io_status(WORD CardNo,WORD axis);//读取指定轴有关运动信号的状态 +DMC_API short __stdcall dmc_stop(WORD CardNo,WORD axis,WORD stop_mode);//单轴停止 +DMC_API short __stdcall dmc_check_done_multicoor(WORD CardNo,WORD Crd);//插补运动状态 +DMC_API short __stdcall dmc_stop_multicoor(WORD CardNo,WORD Crd,WORD stop_mode);//停止插补器 +DMC_API short __stdcall dmc_emg_stop(WORD CardNo);//紧急停止所有轴 +DMC_API short __stdcall dmc_LinkState(WORD CardNo,WORD* State);//连接状态 +DMC_API short __stdcall dmc_get_axis_run_mode(WORD CardNo, WORD axis,WORD* run_mode);//读取指定轴的运动模式 +DMC_API short __stdcall dmc_get_stop_reason(WORD CardNo,WORD axis,long* StopReason);//读取停止原因 +DMC_API short __stdcall dmc_clear_stop_reason(WORD CardNo,WORD axis);//清除停止原因 + +//trace功能 +DMC_API short __stdcall dmc_set_trace(WORD CardNo,WORD axis,WORD enable); +DMC_API short __stdcall dmc_get_trace(WORD CardNo,WORD axis,WORD* enable); +DMC_API short __stdcall dmc_read_trace_data(WORD CardNo,WORD axis,WORD data_option,long* ReceiveSize,double* time,double* data,long* remain_num); +DMC_API short __stdcall dmc_trace_start(WORD CardNo,WORD AxisNum,WORD *AxisList); +DMC_API short __stdcall dmc_trace_stop(WORD CardNo); + +//弧长计算 +DMC_API short __stdcall dmc_calculate_arclength_center(double* start_pos,double *target_pos,double *cen_pos, WORD arc_dir,double circle,double* ArcLength); + +/*********************************连续插补函数************************************** +连续插补的速度函数和单段插补相同 +************************************************************************************/ +DMC_API short __stdcall dmc_conti_open_list (WORD CardNo,WORD Crd,WORD AxisNum,WORD *AxisList);//打开连续缓存区 +DMC_API short __stdcall dmc_conti_close_list(WORD CardNo,WORD Crd);//关闭连续缓存区 +DMC_API short __stdcall dmc_conti_reset_list(WORD CardNo,WORD Crd);//复位连续缓存区 +DMC_API short __stdcall dmc_conti_stop_list (WORD CardNo,WORD Crd,WORD stop_mode);//连续插补中停止 +DMC_API short __stdcall dmc_conti_pause_list(WORD CardNo,WORD Crd);//连续插补中暂停 +DMC_API short __stdcall dmc_conti_start_list(WORD CardNo,WORD Crd);//开始连续插补 +DMC_API short __stdcall dmc_conti_get_run_state(WORD CardNo,WORD Crd);//0-运行，1-暂停，2-正常停止，3-未启动，4-空闲 +DMC_API long __stdcall dmc_conti_remain_space (WORD CardNo,WORD Crd);//查连续插补剩余缓存数 +DMC_API long __stdcall dmc_conti_read_current_mark (WORD CardNo,WORD Crd);//读取当前连续插补段的标号 + +//blend模式 +DMC_API short __stdcall dmc_conti_set_blend(WORD CardNo,WORD Crd,WORD enable); +DMC_API short __stdcall dmc_conti_get_blend(WORD CardNo,WORD Crd,WORD* enable); +DMC_API short __stdcall dmc_conti_set_override(WORD CardNo,WORD Crd,double Percent);//设置插补中速度比例 +DMC_API short __stdcall dmc_conti_change_speed_ratio (WORD CardNo,WORD Crd,double percent);//设置插补中动态变速 +//小线段前瞻 +DMC_API short __stdcall dmc_conti_set_lookahead_mode(WORD CardNo,WORD Crd,WORD enable,long LookaheadSegments,double PathError,double LookaheadAcc); +DMC_API short __stdcall dmc_conti_get_lookahead_mode(WORD CardNo,WORD Crd,WORD* enable,long* LookaheadSegments,double* PathError,double* LookaheadAcc); + +//连续插补IO功能 +DMC_API short __stdcall dmc_conti_wait_input(WORD CardNo,WORD Crd,WORD bitno,WORD on_off,double TimeOut,long mark); +DMC_API short __stdcall dmc_conti_delay_outbit_to_start(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double delay_value,WORD delay_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_delay_outbit_to_stop(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double delay_time,double ReverseTime); +DMC_API short __stdcall dmc_conti_ahead_outbit_to_stop(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double ahead_value,WORD ahead_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_accurate_outbit_unit(WORD CardNo, WORD Crd, WORD cmp_no,WORD on_off,WORD axis,double abs_pos,WORD pos_source,double ReverseTime); +DMC_API short __stdcall dmc_conti_write_outbit(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double ReverseTime); +DMC_API short __stdcall dmc_conti_clear_io_action(WORD CardNo, WORD Crd, DWORD Io_Mask); +DMC_API short __stdcall dmc_conti_set_pause_output(WORD CardNo,WORD Crd,WORD action,long mask,long state); +DMC_API short __stdcall dmc_conti_get_pause_output(WORD CardNo,WORD Crd,WORD* action,long* mask,long* state); +DMC_API short __stdcall dmc_conti_delay(WORD CardNo, WORD Crd,double delay_time,long mark);//延时指令 + +DMC_API short __stdcall dmc_conti_reverse_outbit(WORD CardNo, WORD Crd, WORD bitno,double reverse_time);//IO输出延时翻转 +DMC_API short __stdcall dmc_conti_delay_outbit(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double delay_time);//IO延时输出 + +//连续插补轨迹段 +DMC_API short __stdcall dmc_conti_line_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* pPosList,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_center_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Cen_Pos,WORD Arc_Dir,long Circle,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_radius_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double Arc_Radius,WORD Arc_Dir,long Circle,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_3points_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Mid_Pos,long Circle,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_rectangle_move_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Mark_Pos,long num,WORD rect_mode,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_pmove_unit(WORD CardNo,WORD Crd,WORD axis,double dist,WORD posi_mode,WORD mode,long imark); +DMC_API short __stdcall dmc_conti_set_involute_mode(WORD CardNo,WORD Crd,WORD mode);//设置螺旋线插补运动模式 +DMC_API short __stdcall dmc_conti_get_involute_mode(WORD CardNo,WORD Crd,WORD* mode); +DMC_API short __stdcall dmc_set_gear_follow_profile(WORD CardNo,WORD axis,WORD enable,WORD master_axis,double ratio);//双Z轴 +DMC_API short __stdcall dmc_get_gear_follow_profile(WORD CardNo,WORD axis,WORD* enable,WORD* master_axis,double* ratio); + +DMC_API short __stdcall dmc_conti_line_unit_extern(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Cen_Pos,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_center_unit_extern(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Cen_Pos,double Arc_Radius,WORD posi_mode,long mark); + +/*********************************PWM功能函数*******************************/ +//PWM控制 +DMC_API short __stdcall dmc_set_pwm_pin(WORD CardNo,WORD portno,WORD ON_OFF, double dfreqency,double dduty); +DMC_API short __stdcall dmc_get_pwm_pin(WORD CardNo,WORD portno,WORD *ON_OFF, double *dfreqency,double *dduty); +//PWM功能 +DMC_API short __stdcall dmc_set_pwm_enable(WORD CardNo,WORD enable); +DMC_API short __stdcall dmc_get_pwm_enable(WORD CardNo,WORD* enable); +DMC_API short __stdcall dmc_set_pwm_output(WORD CardNo, WORD PwmNo,double fDuty, double fFre); +DMC_API short __stdcall dmc_get_pwm_output(WORD CardNo,WORD PwmNo,double* fDuty, double* fFre); +DMC_API short __stdcall dmc_conti_set_pwm_output(WORD CardNo,WORD Crd, WORD PwmNo,double fDuty, double fFre); + +//高速PWM功能 +DMC_API short __stdcall dmc_set_pwm_enable_extern(WORD CardNo,WORD channel, WORD enable); +DMC_API short __stdcall dmc_get_pwm_enable_extern(WORD CardNo,WORD channel, WORD* enable); + +/**********PWM速度跟随************** +mode:跟随模式0-不跟随 保持状态 1-不跟随 输出低电平2-不跟随 输出高电平3-跟随 占空比自动调整4-跟随 频率自动调整 +MaxVel:最大运行速度，单位unit +MaxValue:最大输出占空比或者频率 +OutValue：设置输出频率或占空比 +*************************************/ +DMC_API short __stdcall dmc_conti_set_pwm_follow_speed(WORD CardNo,WORD Crd,WORD pwm_no,WORD mode,double MaxVel,double MaxValue,double OutValue); +DMC_API short __stdcall dmc_conti_get_pwm_follow_speed(WORD CardNo,WORD Crd,WORD pwm_no,WORD* mode,double* MaxVel,double* MaxValue,double* OutValue); +//设置PWM开关对应的占空比 +DMC_API short __stdcall dmc_set_pwm_onoff_duty(WORD CardNo, WORD PwmNo,double fOnDuty, double fOffDuty); +DMC_API short __stdcall dmc_get_pwm_onoff_duty(WORD CardNo, WORD PwmNo,double* fOnDuty, double* fOffDuty); +DMC_API short __stdcall dmc_conti_delay_pwm_to_start(WORD CardNo, WORD Crd, WORD pwmno,WORD on_off,double delay_value,WORD delay_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_delay_pwm_to_stop(WORD CardNo, WORD Crd, WORD pwmno,WORD on_off,double delay_time,double ReverseTime); +DMC_API short __stdcall dmc_conti_ahead_pwm_to_stop(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double ahead_value,WORD ahead_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_write_pwm(WORD CardNo, WORD Crd, WORD pwmno,WORD on_off,double ReverseTime); + +/*********************ADDA输出******************************/ +//PWM转DA输出 +DMC_API short __stdcall dmc_set_da_enable(WORD CardNo,WORD enable); +DMC_API short __stdcall dmc_get_da_enable(WORD CardNo,WORD* enable); +DMC_API short __stdcall dmc_set_da_output(WORD CardNo, WORD channel,double Vout); +DMC_API short __stdcall dmc_get_da_output(WORD CardNo,WORD channel,double* Vout); +//读取AD输入 +DMC_API short __stdcall dmc_get_ad_input(WORD CardNo,WORD channel,double* Vout); +//设置连续插补DA输出 +DMC_API short __stdcall dmc_conti_set_da_output(WORD CardNo, WORD Crd, WORD channel,double Vout); +//设置连续DA使能 +DMC_API short __stdcall dmc_conti_set_da_enable(WORD CardNo, WORD Crd, WORD enable,WORD channel,long mark); +/**********DA速度跟随************** +da_no:通道号 +MaxVel:最大运行速度，单位unit +MaxValue:最大电压 +*************************************/ +DMC_API short __stdcall dmc_conti_set_da_follow_speed(WORD CardNo,WORD Crd,WORD da_no,double MaxVel,double MaxValue,double acc_offset,double dec_offset,double acc_dist,double dec_dist); +DMC_API short __stdcall dmc_conti_get_da_follow_speed(WORD CardNo,WORD Crd,WORD da_no,double* MaxVel,double* MaxValue,double* acc_offset,double* dec_offset,double* acc_dist,double* dec_dist); + +/******************************CAN IO***********************************/ +//baud:0-1M 1-800 2-500 3-250 4-125 5-100 +DMC_API short __stdcall dmc_set_can_state(WORD CardNo,WORD NodeNum,WORD state,WORD baud);//0-断开；1-连接；2-复位后自动连接 +DMC_API short __stdcall dmc_get_can_state(WORD CardNo,WORD* NodeNum,WORD* state);////0-断开；1-连接；2-异常 +DMC_API short __stdcall dmc_get_can_errcode(WORD CardNo,WORD *Errcode); +DMC_API short __stdcall dmc_write_can_outbit(WORD CardNo,WORD Node,WORD bitno,WORD on_off); +DMC_API short __stdcall dmc_read_can_outbit(WORD CardNo,WORD Node,WORD bitno); +DMC_API short __stdcall dmc_read_can_inbit(WORD CardNo,WORD Node,WORD bitno); +DMC_API short __stdcall dmc_write_can_outport(WORD CardNo,WORD Node,WORD PortNo,DWORD outport_val); +DMC_API DWORD __stdcall dmc_read_can_outport(WORD CardNo,WORD Node,WORD PortNo); +DMC_API DWORD __stdcall dmc_read_can_inport(WORD CardNo,WORD Node,WORD PortNo); +//读取CAN通讯错误 +DMC_API short __stdcall dmc_get_can_errcode_extern(WORD CardNo,WORD *Errcode,WORD *msg_losed, WORD *emg_msg_num, WORD *lostHeartB, WORD *EmgMsg); + +DMC_API long __stdcall dmc_set_profile_limit(WORD CardNo,WORD axis,double Max_Vel,double Max_Acc,double EvenTime); +DMC_API long __stdcall dmc_get_profile_limit(WORD CardNo,WORD axis,double* Max_Vel,double* Max_Acc,double* EvenTime); +DMC_API long __stdcall dmc_set_vector_profile_limit(WORD CardNo,WORD Crd,double Max_Vel,double Max_Acc,double EvenTime); +DMC_API long __stdcall dmc_get_vector_profile_limit(WORD CardNo,WORD Crd,double* Max_Vel,double* Max_Acc,double* EvenTime); +//小圆限速使能 +DMC_API short __stdcall dmc_set_arc_limit(WORD CardNo,WORD Crd,WORD Enable,double MaxCenAcc,double MaxArcError); +DMC_API short __stdcall dmc_get_arc_limit(WORD CardNo,WORD Crd,WORD* Enable,double* MaxCenAcc,double* MaxArcError); + +//DMC_API short __stdcall dmc_get_axis_debug_state(WORD CardNo,WORD axis,struct_DebugPara* pack); + +//软锁存功能 +//配置锁存器：锁存模式0-单次锁存，1-连续锁存；锁存边沿0-下降沿，1-上升沿，2-双边沿；滤波时间，单位us +DMC_API short __stdcall dmc_softltc_set_mode(WORD CardNo,WORD latch,WORD ltc_enable,WORD ltc_mode,WORD ltc_inbit,WORD ltc_logic,double filter); +DMC_API short __stdcall dmc_softltc_get_mode(WORD CardNo,WORD latch,WORD *ltc_enable,WORD *ltc_mode,WORD *ltc_inbit,WORD *ltc_logic,double *filter); +//配置锁存源：0-指令位置，1-编码器反馈位置 +DMC_API short __stdcall dmc_softltc_set_source(WORD CardNo,WORD latch,WORD axis,WORD ltc_source); +DMC_API short __stdcall dmc_softltc_get_source(WORD CardNo,WORD latch,WORD axis,WORD *ltc_source); +//复位锁存器 +DMC_API short __stdcall dmc_softltc_reset(WORD CardNo,WORD latch); +//读取锁存个数 +DMC_API short __stdcall dmc_softltc_get_number(WORD CardNo,WORD latch,WORD axis,int *number); +//读取锁存值 +DMC_API short __stdcall dmc_softltc_get_value_unit(WORD CardNo,WORD latch,WORD axis,double *value); + +DMC_API short __stdcall dmc_set_IoFilter(WORD CardNo,WORD bitno, double filter); +DMC_API short __stdcall dmc_get_IoFilter(WORD CardNo,WORD bitno, double *filter); + +//螺距补偿 +DMC_API short __stdcall dmc_set_lsc_index_value (WORD CardNo, WORD axis,WORD IndexID, long IndexValue); +DMC_API short __stdcall dmc_get_lsc_index_value(WORD CardNo, WORD axis,WORD IndexID, long *IndexValue); + +DMC_API short __stdcall dmc_set_lsc_config(WORD CardNo, WORD axis,WORD Origin, DWORD Interal,DWORD NegIndex,DWORD PosIndex,double Ratio); +DMC_API short __stdcall dmc_get_lsc_config(WORD CardNo, WORD axis,WORD *Origin, DWORD *Interal,DWORD *NegIndex,DWORD *PosIndex,double *Ratio); + +//看门狗 +DMC_API short __stdcall dmc_set_watchdog(WORD CardNo,WORD enable,DWORD time); +DMC_API short __stdcall dmc_call_watchdog(WORD CardNo); + +DMC_API short __stdcall dmc_read_diagnoseData(WORD CardNo); +DMC_API short __stdcall dmc_conti_set_cmd_end(WORD CardNo,WORD Crd,WORD enable); + +//区域软限位 +DMC_API short __stdcall dmc_set_zone_limit_config(WORD CardNo, WORD *axis, WORD *Source, long x_pos_p, long x_pos_n, long y_pos_p, long y_pos_n, WORD action_para); +DMC_API short __stdcall dmc_get_zone_limit_config(WORD CardNo, WORD* axis, WORD* Source, long* x_pos_p, long* x_pos_n, long* y_pos_p, long* y_pos_n, WORD* action_para); +DMC_API short __stdcall dmc_set_zone_limit_enable(WORD CardNo, WORD enable); + +//轴互锁功能 +DMC_API short __stdcall dmc_set_interlock_config(WORD CardNo, WORD* axis, WORD* Source, long delta_pos, WORD action_para); +DMC_API short __stdcall dmc_get_interlock_config(WORD CardNo, WORD* axis, WORD* Source, long* delta_pos, WORD* action_para); +DMC_API short __stdcall dmc_set_interlock_enable(WORD CardNo, WORD enable); + +//龙门模式的误差保护 +DMC_API short __stdcall dmc_set_grant_error_protect(WORD CardNo, WORD axis,WORD enable,DWORD dstp_error, DWORD emg_error); +DMC_API short __stdcall dmc_get_grant_error_protect(WORD CardNo, WORD axis,WORD* enable,DWORD* dstp_error, DWORD* emg_error); + +DMC_API short __stdcall dmc_set_safety_param(WORD CardNo,WORD axis,WORD enable,long safety_pos); +DMC_API short __stdcall dmc_get_safety_param(WORD CardNo,WORD axis,WORD* enable,long* safety_pos); +DMC_API short __stdcall dmc_get_diagnose_param(WORD CardNo,WORD axis,long* tartet_pos,int* mode,long* pulse_pos,long* endcoder_pos); + +//物件分拣功能 +DMC_API short __stdcall dmc_set_camerablow_config(WORD CardNo,WORD camerablow_en,long cameraPos,WORD piece_num,long piece_distance,WORD axis_sel,long latch_distance_min); +DMC_API short __stdcall dmc_get_camerablow_config(WORD CardNo,WORD* camerablow_en,long* cameraPos,WORD* piece_num,long* piece_distance,WORD* axis_sel,long* latch_distance_min); +DMC_API short __stdcall dmc_clear_camerablow_errorcode(WORD CardNo); +DMC_API short __stdcall dmc_get_camerablow_errorcode(WORD CardNo,WORD* errorcode); + +//配置通用输入（0~15）做为轴的限位信号 +DMC_API short __stdcall dmc_set_io_limit_config(WORD CardNo,WORD portno,WORD enable,WORD axis_sel,WORD el_mode,WORD el_logic); +DMC_API short __stdcall dmc_get_io_limit_config(WORD CardNo,WORD portno,WORD* enable,WORD* axis_sel,WORD* el_mode,WORD* el_logic); + +//手轮滤波参数 +DMC_API short __stdcall dmc_set_handwheel_filter(WORD CardNo,WORD axis,double filter_factor); +DMC_API short __stdcall dmc_get_handwheel_filter(WORD CardNo,WORD axis,double* filter_factor); + +//读取坐标系各轴的当前规划坐标 +DMC_API short __stdcall dmc_conti_get_interp_map(WORD CardNo,WORD Crd,WORD* AxisNum ,WORD* AxisList,double *pPosList); +//坐标系错误代码 +DMC_API short __stdcall dmc_conti_get_crd_errcode(WORD CardNo,WORD Crd,WORD* errcode); + + +DMC_API short __stdcall dmc_line_unit_follow(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Dist,WORD posi_mode); +DMC_API short __stdcall dmc_conti_line_unit_follow(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* pPosList,WORD posi_mode,long mark); + +//连续插补缓冲区DA操作 +DMC_API short __stdcall dmc_conti_set_da_action(WORD CardNo,WORD Crd,WORD mode,WORD portno,double dvalue); + +//读编码器速度 +DMC_API short __stdcall dmc_read_encoder_speed(WORD CardNo,WORD Axis,double *current_speed); + +DMC_API short __stdcall dmc_axis_follow_line_enable(WORD CardNo,WORD Crd,WORD enable_flag); + +//插补轴脉冲补偿 +DMC_API short __stdcall dmc_set_interp_compensation(WORD CardNo,WORD axis, double dvalue,double time); +DMC_API short __stdcall dmc_get_interp_compensation(WORD CardNo,WORD axis, double *dvalue,double *time); + +//IO精确停止 +DMC_API short __stdcall dmc_set_io_exactstop(WORD CardNo,WORD axis, WORD ioNum,WORD *ioList,WORD enable,WORD valid_logic,WORD action,WORD move_dir); + +//读取相对于起点的距离 +DMC_API short __stdcall dmc_get_distance_to_start(WORD CardNo,WORD Crd, double* distance_x, double* distance_y,long imark); +//设置标志位 表示是否开始计算相对起点 +DMC_API short __stdcall dmc_set_start_distance_flag(WORD CardNo,WORD Crd,WORD flag); + +/******************设置回零限位距离********************** + 参 数： + CardNo:卡号 + Axis：轴号 + N_limit:负限位脉冲数 + P_limit:正限位脉冲数 + 返回值：错误代码 +*******************************************************************/ +DMC_API short __stdcall dmc_set_home_soft_limit(WORD CardNo,WORD Axis,int N_limit,int P_limit); +DMC_API short __stdcall dmc_get_home_soft_limit(WORD CardNo,WORD Axis,int* N_limit,int* P_limit); + +/********************* + 指令说明：实现刀向跟随功能，启动某个轴跟随运动，调用此指令时，跟随轴axis会跟随着此指令后面缓冲区的插补指令合轨迹运动，直到设置的脉冲需求完毕。 + 指令类型：插补缓冲区指令 + 输入参数：CardNo 坐标系号 + axis 跟随轴 + dist 跟随距离(脉冲当量单位) + follow_mode //运动模式：0-暂停后启动，1-运动中启动 + imark 段号 + 输出参数：无 +*******************************/ +DMC_API short __stdcall dmc_conti_gear_unit(WORD CardNo,WORD Crd,WORD axis,double dist, WORD follow_mode,long imark); + +//轨迹拟合使能设置 +DMC_API short __stdcall dmc_set_path_fitting_enable(WORD CardNo,WORD Crd,WORD enable); +//螺距补偿功能(新) +DMC_API short __stdcall dmc_enable_leadscrew_comp(WORD CardNo, WORD axis,WORD enable); +DMC_API short __stdcall dmc_set_leadscrew_comp_config(WORD CardNo, WORD axis,WORD n, int startpos,int lenpos,int *pCompPos,int *pCompNeg); +//指定轴做定长位移运动 按固定曲线运动 +DMC_API short __stdcall dmc_t_pmove_extern(WORD CardNo, WORD axis, double MidPos,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,WORD posi_mode); + +/* +功能：设置脉冲计数值和编码器反馈值之间差值的报警阀值 +输入参数：CardNo 卡号 +axis 轴号 +error 差值报警报警阀值 +输出参数：无 +*/ +DMC_API short __stdcall dmc_set_pulse_encoder_count_error(WORD CardNo,WORD axis,WORD error); +DMC_API short __stdcall dmc_get_pulse_encoder_count_error(WORD CardNo,WORD axis,WORD *error); +/* +功能：检查脉冲计数值和编码器反馈值之间差值是否超过报警阀值 + 输入参数：CardNo 卡号 + axis 轴号 + 输出参数;无 + 返回参数：0：差值小于报警阀值 + 1：差值大于等于报警阀值 +*/ +DMC_API short __stdcall dmc_check_pulse_encoder_count_error(WORD CardNo,WORD axis,int* pulse_position, int* enc_position); +/* +强行变位扩展 +mid_pos: 中间位置 +aim_pos:目标位置 +posi_mode: 保留参数，默认为绝对值 +*/ +DMC_API short __stdcall dmc_update_target_position_extern(WORD CardNo, WORD axis, double mid_pos, double aim_pos, double vel,WORD posi_mode); + +//新物件分拣功能 +//固定 +DMC_API short __stdcall dmc_sorting_close(WORD CardNo); +DMC_API short __stdcall dmc_sorting_start(WORD CardNo); +DMC_API short __stdcall dmc_sorting_set_init_config(WORD CardNo ,WORD cameraCount, int *pCameraPos, WORD *pCamIONo, DWORD cameraTime, WORD cameraTrigLevel, WORD blowCount, int*pBlowPos, WORD*pBlowIONo, DWORD blowTime, WORD blowTrigLevel, WORD axis, WORD dir, WORD checkMode); +DMC_API short __stdcall dmc_sorting_set_camera_trig_count(WORD CardNo ,WORD cameraNum, DWORD cameraTrigCnt); +DMC_API short __stdcall dmc_sorting_get_camera_trig_count(WORD CardNo ,WORD cameraNum, DWORD* pCameraTrigCnt, WORD count); +DMC_API short __stdcall dmc_sorting_set_blow_trig_count(WORD CardNo ,WORD blowNum, DWORD blowTrigCnt); +DMC_API short __stdcall dmc_sorting_get_blow_trig_count(WORD CardNo ,WORD blowNum, DWORD* pBlowTrigCnt, WORD count); +DMC_API short __stdcall dmc_sorting_get_camera_config(WORD CardNo ,WORD index,int* pos,DWORD* trigTime, WORD* ioNo, WORD* trigLevel); +DMC_API short __stdcall dmc_sorting_get_blow_config(WORD CardNo ,WORD index, int* pos,DWORD* trigTime, WORD* ioNo, WORD* trigLevel); +DMC_API short __stdcall dmc_sorting_get_blow_status(WORD CardNo ,DWORD* trigCntAll, WORD* trigMore,WORD* trigLess); +DMC_API short __stdcall dmc_sorting_trig_blow(WORD CardNo ,WORD blowNum); +DMC_API short __stdcall dmc_sorting_set_blow_enable(WORD CardNo ,WORD blowNum,WORD enable); +DMC_API short __stdcall dmc_sorting_set_piece_config(WORD CardNo ,DWORD maxWidth,DWORD minWidth,DWORD minDistance, DWORD minTimeIntervel); +DMC_API short __stdcall dmc_sorting_get_piece_status(WORD CardNo ,DWORD* pieceFind,DWORD* piecePassCam, DWORD* dist2next, DWORD*pieceWidth); +DMC_API short __stdcall dmc_sorting_set_cam_trig_phase(WORD CardNo,WORD blowNo,double coef); +DMC_API short __stdcall dmc_sorting_set_blow_trig_phase(WORD CardNo,WORD blowNo,double coef); + +DMC_API short __stdcall dmc_set_sevon_enable(WORD CardNo,WORD axis,WORD on_off); +DMC_API short __stdcall dmc_get_sevon_enable(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_compare_add_point_cycle(WORD CardNo,WORD cmp,long pos,WORD dir, DWORD bitno,DWORD cycle,WORD level);//添加比较点 + +//使能和设置跟踪编码器误差不在范围内时轴的停止模式 +DMC_API short __stdcall dmc_set_encoder_count_error_action_config(WORD CardNo,WORD enable,WORD stopmode); +DMC_API short __stdcall dmc_get_encoder_count_error_action_config(WORD CardNo,WORD* enable,WORD* stopmode); + +DMC_API short __stdcall dmc_set_home_el_return(WORD CardNo,WORD axis,WORD enable); + +//连续编码器da跟随 +DMC_API short __stdcall dmc_conti_set_encoder_da_follow_enable(WORD CardNo, WORD Crd,WORD axis,WORD enable); +DMC_API short __stdcall dmc_conti_get_encoder_da_follow_enable(WORD CardNo, WORD Crd,WORD* axis,WORD* enable); + +DMC_API short __stdcall dmc_check_done_pos(WORD CardNo,WORD axis,WORD posi_mode); +DMC_API short __stdcall dmc_set_factor_error(WORD CardNo,WORD axis,double factor,long error); +DMC_API short __stdcall dmc_set_factor(WORD CardNo,WORD axis,double factor); +DMC_API short __stdcall dmc_set_error(WORD CardNo,WORD axis,long error); +DMC_API short __stdcall dmc_get_factor_error(WORD CardNo,WORD axis,double* factor,long* error); +DMC_API short __stdcall dmc_check_success_pulse(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_check_success_encoder(WORD CardNo,WORD axis); + +//IO及编码器计数功能 +DMC_API short __stdcall dmc_set_io_count_profile(WORD CardNo, WORD chan, WORD bitno,WORD mode,double filter, double count_value, WORD* axis_list, WORD axis_num, WORD stop_mode ); +DMC_API short __stdcall dmc_get_io_count_profile(WORD CardNo, WORD chan, WORD* bitno,WORD* mode,double* filter, double* count_value, WORD* axis_list, WORD* axis_num, WORD* stop_mode ); +DMC_API short __stdcall dmc_set_io_count_enable(WORD CardNo, WORD chan, WORD ifenable); +DMC_API short __stdcall dmc_clear_io_count(WORD CardNo, WORD chan); +DMC_API short __stdcall dmc_get_io_count_value_extern(WORD CardNo, WORD chan, long* current_value); + +//螺距补偿前的脉冲位置，编码器位置//20191025 +DMC_API short __stdcall dmc_get_position_ex(WORD CardNo,WORD axis, double * pos); +DMC_API short __stdcall dmc_get_encoder_ex(WORD CardNo,WORD axis, double * pos); +//螺距补偿前的脉冲位置，编码器位置 当量 +DMC_API short __stdcall dmc_get_position_ex_unit(WORD CardNo,WORD axis, double * pos); +DMC_API short __stdcall dmc_get_encoder_ex_unit(WORD CardNo,WORD axis, double * pos); + +//回零偏移模式函数 +DMC_API short __stdcall dmc_set_home_shift_param(WORD CardNo, WORD axis, WORD pos_clear_mode, double ShiftValue); +DMC_API short __stdcall dmc_get_home_shift_param(WORD CardNo, WORD axis, WORD *pos_clear_mode, double* ShiftValue); + +DMC_API short __stdcall dmc_change_speed_extend(WORD CardNo,WORD axis,double Curr_Vel, double Taccdec, WORD pin_num, WORD trig_mode); + +DMC_API short __stdcall dmc_follow_vector_speed_move(WORD CardNo,WORD axis,WORD Follow_AxisNum,WORD* Follow_AxisList,double ratio); +DMC_API short __stdcall dmc_conti_line_unit_extend(WORD CardNo, WORD Crd, WORD AxisNum, WORD* AxisList, double* pPosList, WORD posi_mode, double Extend_Len, WORD enable,long mark); //连续插补直线 +DMC_API short __stdcall dmc_hcmp_2d_set_config_unit(WORD CardNo,WORD hcmp,WORD cmp_mode,WORD x_axis, WORD x_cmp_source, double x_cmp_error, WORD y_axis, WORD y_cmp_source, double y_cmp_error,WORD cmp_logic,int time); +DMC_API short __stdcall dmc_hcmp_2d_get_config_unit(WORD CardNo,WORD hcmp,WORD *cmp_mode,WORD *x_axis, WORD *x_cmp_source,double *x_cmp_error, WORD *y_axis, WORD *y_cmp_source, double *y_cmp_error, WORD *cmp_logic,int *time); + +DMC_API short __stdcall dmc_hcmp_2d_set_pwmoutput(WORD CardNo,WORD hcmp,WORD pwm_enable,double duty,double freq,WORD pwm_number); +DMC_API short __stdcall dmc_hcmp_2d_get_pwmoutput(WORD CardNo,WORD hcmp,WORD *pwm_enable,double *duty,double *freq,WORD *pwm_number); +DMC_API short __stdcall dmc_hcmp_2d_add_point_unit(WORD ConnectNo,WORD hcmp, double x_cmp_pos, double y_cmp_pos,WORD cmp_outbit); +DMC_API short __stdcall dmc_hcmp_2d_get_current_state_unit(WORD CardNo,WORD hcmp,int *remained_points,double *x_current_point,double *y_current_point,int *runned_points,WORD *current_state,WORD *current_outbit); + +DMC_API short __stdcall dmc_set_home_position(WORD CardNo,WORD axis,WORD enable,double position); +DMC_API short __stdcall dmc_get_home_position(WORD CardNo,WORD axis,WORD *enable,double *position); +DMC_API short __stdcall dmc_conti_line_io_union(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* pPosList,WORD posi_mode,WORD bitno,WORD on_off,double io_value,WORD io_mode,WORD MapAxis,WORD pos_source,double ReverseTime,long mark); +//设置编码器方向 +DMC_API short __stdcall dmc_set_encoder_dir(WORD CardNo, WORD axis,WORD dir); + +//圆弧区域软限位 +DMC_API short __stdcall dmc_set_arc_zone_limit_config(WORD CardNo, WORD* AxisList, WORD AxisNum, double *Center, double Radius, WORD Source,WORD StopMode); +DMC_API short __stdcall dmc_get_arc_zone_limit_config(WORD CardNo, WORD* AxisList, WORD* AxisNum, double *Center, double* Radius, WORD* Source,WORD* StopMode); +DMC_API short __stdcall dmc_get_arc_zone_limit_axis_status(WORD CardNo, WORD axis); +DMC_API short __stdcall dmc_set_arc_zone_limit_enable(WORD CardNo, WORD enable); +DMC_API short __stdcall dmc_get_arc_zone_limit_enable(WORD CardNo, WORD* enable); + +//1、 启用缓存方式添加比较位置： +DMC_API short __stdcall dmc_hcmp_fifo_set_mode(WORD CardNo,WORD hcmp, WORD fifo_mode); +DMC_API short __stdcall dmc_hcmp_fifo_get_mode(WORD CardNo,WORD hcmp, WORD* fifo_mode); +//2、 读取剩余缓存状态，上位机通过此函数判断是否继续添加比较位置 +DMC_API short __stdcall dmc_hcmp_fifo_get_state(WORD CardNo,WORD hcmp,long *remained_points); +//3、 按数组的方式批量添加比较位置 +DMC_API short __stdcall dmc_hcmp_fifo_add_point_unit(WORD CardNo,WORD hcmp, WORD num,double *cmp_pos); +//4、 清除比较位置,也会把FPGA的位置同步清除掉 +DMC_API short __stdcall dmc_hcmp_fifo_clear_points(WORD CardNo,WORD hcmp); +//添加大数据，会堵塞一段时间，指导数据添加完成 +DMC_API short __stdcall dmc_hcmp_fifo_add_table(WORD CardNo,WORD hcmp, WORD num,double *cmp_pos); + +//二维高速位置比较缓存 +//1、 启用缓存方式添加比较位置： +DMC_API short __stdcall dmc_hcmp_2d_fifo_set_mode(WORD CardNo,WORD hcmp, WORD fifo_mode); +DMC_API short __stdcall dmc_hcmp_2d_fifo_get_mode(WORD CardNo,WORD hcmp, WORD* fifo_mode); +//2、 读取剩余缓存状态，上位机通过此函数判断是否继续添加比较位置 +DMC_API short __stdcall dmc_hcmp_2d_fifo_get_state(WORD CardNo,WORD hcmp,long *remained_points); +//3、 按数组的方式批量添加比较位置 +DMC_API short __stdcall dmc_hcmp_2d_fifo_add_point_unit(WORD CardNo,WORD hcmp, WORD num,double *x_cmp_pos,double *y_cmp_pos,WORD *cmp_outbit); +//4、 清除比较位置,也会把FPGA的位置同步清除掉 +DMC_API short __stdcall dmc_hcmp_2d_fifo_clear_points(WORD CardNo,WORD hcmp); +//添加大数据，会堵塞一段时间，指导数据添加完成 +DMC_API short __stdcall dmc_hcmp_2d_fifo_add_table(WORD CardNo,WORD hcmp, WORD num,double *x_cmp_pos,double *y_cmp_pos); +//添加大数据，会堵塞一段时间，指导数据添加完成,带输出口 +DMC_API short __stdcall dmc_hcmp_2d_fifo_add_table_unit(WORD CardNo,WORD hcmp, WORD num,double *x_cmp_pos,double *y_cmp_pos,WORD *cmp_outbit); + +//控制卡接线盒断线后是否初始化输出电平 +DMC_API short __stdcall dmc_set_output_status_repower(WORD CardNo, WORD enable); + +DMC_API short __stdcall dmc_t_pmove_extern_softlanding(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); +DMC_API short __stdcall dmc_compare_add_point_XD(WORD CardNo,WORD cmp,long pos,WORD dir, WORD action,DWORD actpara, long startPos);//硒电定制比较函数 + +DMC_API short __stdcall dmc_pmove_change_pos_speed_config(WORD CardNo,WORD axis,double tar_vel, double tar_rel_pos, WORD trig_mode, WORD source); +DMC_API short __stdcall dmc_get_pmove_change_pos_speed_config(WORD CardNo,WORD axis,double* tar_vel, double* tar_rel_pos, WORD* trig_mode, WORD* source); +DMC_API short __stdcall dmc_pmove_change_pos_speed_enable(WORD CardNo,WORD axis, WORD enable); +DMC_API short __stdcall dmc_get_pmove_change_pos_speed_enable(WORD CardNo,WORD axis, WORD* enable); +DMC_API short __stdcall dmc_compare_add_point_extend(WORD CardNo,WORD axis, long pos, WORD dir, WORD action, WORD para_num, DWORD* actpara,DWORD compare_time); +DMC_API short __stdcall dmc_get_cmd_position(WORD CardNo,WORD axis, double * pos); +//逻辑采样配置 +DMC_API short __stdcall dmc_set_logic_analyzer_config(WORD CardNo,WORD channel, DWORD SampleFre, DWORD SampleDepth, WORD SampleMode); +DMC_API short __stdcall dmc_start_logic_analyzer(WORD CardNo,WORD channel, WORD enable); +DMC_API short __stdcall dmc_get_logic_analyzer_counter(WORD CardNo, WORD channel, DWORD *counter); +//凯格定制 20190923修改凯歌定制函数接口 +DMC_API short __stdcall dmc_read_inbit_append(WORD CardNo,WORD bitno);//读取输入口的状态 +DMC_API short __stdcall dmc_write_outbit_append(WORD CardNo,WORD bitno,WORD on_off);//设置输出口的状态 +DMC_API short __stdcall dmc_read_outbit_append(WORD CardNo,WORD bitno);//读取输出口的状态 +DMC_API DWORD __stdcall dmc_read_inport_append(WORD CardNo,WORD portno);//读取输入端口的值 +DMC_API DWORD __stdcall dmc_read_outport_append(WORD CardNo,WORD portno);//读取输出端口的值 +DMC_API short __stdcall dmc_write_outport_append(WORD CardNo,WORD portno,DWORD port_value);//设置所有输出端口的值 +//门运动 +DMC_API short __stdcall dmc_m_move_unit(WORD CardNo,WORD Crd, WORD axis_num, WORD* axis_list,double* mid_pos, double* target_pos, double* saftpos, WORD pos_mode); +DMC_API short __stdcall dmc_get_m_move_config(WORD CardNo,WORD Crd, WORD *axis_num, WORD* axis_list,double* mid_pos, double* target_pos, double* saftpos,WORD* pos_mode); +// 设置坐标系切向跟随 +DMC_API short __stdcall dmc_set_tangent_follow(WORD CardNo, WORD Crd, WORD axis, WORD follow_curve, WORD rotate_dir, double degree_equivalent); +// 获取指定坐标系切向跟随参数 +DMC_API short __stdcall dmc_get_tangent_follow_param(WORD CardNo, WORD Crd, WORD* axis, WORD* follow_curve, WORD* rotate_dir, double* degree_equivalent); +// 取消坐标系跟随 +DMC_API short __stdcall dmc_disable_follow_move(WORD CardNo, WORD Crd); +// 椭圆插补 +DMC_API short __stdcall dmc_ellipse_move(WORD CardNo, WORD Crd,WORD axisNum, WORD* Axis_List, double* Target_Pos, double* Cen_Pos, double A_Axis_Len, double B_Axis_Len, WORD Dir, WORD Pos_Mode); +DMC_API short __stdcall dmc_read_vector_speed_unit(WORD CardNo,WORD Crd,double *current_speed); //读取当前卡的插补速度 +//读取参数遇限位反找使能 +DMC_API short __stdcall dmc_get_home_el_return(WORD CardNo,WORD axis,WORD *enable); + +//新看门狗功能 +DMC_API short __stdcall dmc_set_watchdog_action_event(WORD CardNo, WORD event_mask); +DMC_API short __stdcall dmc_get_watchdog_action_event(WORD CardNo, WORD* event_mask); +DMC_API short __stdcall dmc_set_watchdog_enable (WORD CardNo, double timer_period, WORD enable); +DMC_API short __stdcall dmc_get_watchdog_enable (WORD CardNo, double * timer_period, WORD* enable); +DMC_API short __stdcall dmc_reset_watchdog_timer (WORD CardNo); +//io定制功能 +DMC_API short __stdcall dmc_set_io_check_control(WORD CardNo, WORD sensor_in_no, WORD check_mode, WORD A_out_no, WORD B_out_no, WORD C_out_no, WORD output_mode); +DMC_API short __stdcall dmc_get_io_check_control(WORD CardNo, WORD* sensor_in_no, WORD* check_mode, WORD* A_out_no, WORD* B_out_no, WORD* C_out_no, WORD* output_mode); +DMC_API short __stdcall dmc_stop_io_check_control(WORD CardNo); + +//设置限位反找偏移距离 +DMC_API short __stdcall dmc_set_el_ret_deviation(WORD CardNo, WORD axis, WORD enable,double deviation); +DMC_API short __stdcall dmc_get_el_ret_deviation(WORD CardNo, WORD axis, WORD* enable, double* deviation); + +/*****************************总线相关函数**********************************/ +//回零运动 +DMC_API short __stdcall nmc_set_home_profile(WORD CardNo ,WORD axis,WORD home_mode,double Low_Vel, double High_Vel,double Tacc,double Tdec ,double offsetpos);//设置回零参数，合并函数 +DMC_API short __stdcall nmc_get_home_profile(WORD CardNo ,WORD axis,WORD* home_mode,double* Low_Vel, double* High_Vel,double* Tacc,double* Tdec ,double* offsetpos); +DMC_API short __stdcall nmc_home_move(WORD CardNo,WORD axis); + +//-------------------------总线配置----------------------- +/******************************************************* +portnum表示端口号，定义如下 +0: 表示canopen的0号端口 +1: 表示canopen的1号端口 +10:表示EtherCAT的0号端口 +11:表示EtherCAT的1号端口 +********************************************************/ +DMC_API short __stdcall nmc_set_manager_para(WORD CardNo,WORD PortNum,DWORD Baudrate,WORD ManagerID); +DMC_API short __stdcall nmc_get_manager_para(WORD CardNo,WORD PortNum,DWORD *Baudrate,WORD *ManagerID); +DMC_API short __stdcall nmc_set_manager_od(WORD CardNo,WORD PortNum, WORD Index,WORD SubIndex,WORD ValLength,DWORD Value); +DMC_API short __stdcall nmc_get_manager_od(WORD CardNo,WORD PortNum, WORD Index,WORD SubIndex,WORD ValLength,DWORD *Value); + +DMC_API short __stdcall nmc_set_node_od(WORD CardNo,WORD PortNum,WORD NodeNum, WORD Index,WORD SubIndex,WORD ValLength,long Value); +DMC_API short __stdcall nmc_get_node_od(WORD CardNo,WORD PortNum,WORD NodeNum, WORD Index,WORD SubIndex,WORD ValLength,long* Value); + +DMC_API short __stdcall nmc_set_node_od_pbyte(WORD CardNo,WORD PortNum,WORD NodeNum, WORD Index,WORD SubIndex,WORD Bytes,unsigned char* Value); +DMC_API short __stdcall nmc_get_node_od_pbyte(WORD CardNo,WORD PortNum,WORD NodeNum, WORD Index,WORD SubIndex,WORD Bytes,unsigned char* Value); + +DMC_API short __stdcall nmc_upload_configfile(WORD CardNo,WORD PortNum, const char *FileName); +DMC_API short __stdcall nmc_reset_to_factory(WORD CardNo,WORD PortNum,WORD NodeNum); +DMC_API short __stdcall nmc_write_to_pci(WORD CardNo,WORD PortNum,WORD NodeNum); +DMC_API short __stdcall nmc_download_configfile(WORD CardNo,WORD PortNum,const char *FileName);//总线ENI配置文件 +DMC_API short __stdcall nmc_download_mapfile(WORD CardNo,const char *FileName);//总线映射文件 + +//添加单轴使能函数 255表示全使能 +DMC_API short __stdcall nmc_set_axis_enable(WORD CardNo,WORD axis); +DMC_API short __stdcall nmc_set_axis_disable(WORD CardNo,WORD axis); + +//清除报警信号 +DMC_API short __stdcall nmc_set_alarm_clear(WORD CardNo,WORD PortNum,WORD NodeNum); + +DMC_API short __stdcall nmc_get_slave_nodes(WORD CardNo,WORD PortNum,WORD BaudRate,WORD* NodeId,WORD* NodeNum); +//获取总线轴数 +DMC_API short __stdcall nmc_get_total_axes(WORD CardNo,DWORD* TotalAxis); +//获取总线ADDA输入输出口数 +DMC_API short __stdcall nmc_get_total_adcnum(WORD CardNo,WORD* TotalIn,WORD* TotalOut); +//获取总线IO口数 +DMC_API short __stdcall nmc_get_total_ionum(WORD CardNo,WORD *TotalIn,WORD *TotalOut); +//清除端口报警 +DMC_API short __stdcall nmc_clear_alarm_fieldbus(WORD CardNo,WORD PortNum); +//获取控制器工作模式 1表示ethercat模式，0表示仿真模式 +DMC_API short __stdcall nmc_get_controller_workmode(WORD CardNo,WORD* controller_mode); +//设置控制器工作模式 1表示ethercat模式，0表示仿真模式 +DMC_API short __stdcall nmc_set_controller_workmode(WORD CardNo,WORD controller_mode); +//设置ethercat总线循环周期(us) +DMC_API short __stdcall nmc_set_cycletime(WORD CardNo,WORD PortNum,DWORD CycleTime); +//获取ethercat总线循环周期(us) +DMC_API short __stdcall nmc_get_cycletime(WORD CardNo,WORD PortNum,DWORD* CycleTime); + +//读取总线线程时间消耗参数 +DMC_API short __stdcall dmc_get_perline_time(WORD CardNo,WORD TypeIndex,DWORD *Averagetime,DWORD *Maxtime,uint64 *Cycles ); //TypeIndex:0~6 m_Averagetime ; 平均时间 m_Maxtime;最大时间 uint64 m_Cycles;当前时间 +DMC_API short __stdcall nmc_set_axis_run_mode(WORD CardNo,WORD axis,WORD run_mode);//设置轴的运行模式 1为pp模式，6为回零模式，8为csp模式 + + +//获取轴类型 +/* +enum fieldbus_type +{ + virtual_type=0, + ect_type=1, + can_type=2, + pulse_type=3, // or local IO + unknown=4 +};*/ +DMC_API short __stdcall nmc_get_axis_type(WORD CardNo,WORD axis, WORD* Axis_Type); +//获取总线时间量，平均时间，最大时间，执行周期数 +DMC_API short __stdcall nmc_get_consume_time_fieldbus(WORD CardNo,WORD PortNum,DWORD* Average_time, DWORD* Max_time,uint64* Cycles); +//清除时间量 +DMC_API short __stdcall nmc_clear_consume_time_fieldbus(WORD CardNo,WORD PortNum); +//停止ethercat总线,返回0表示成功，其他参数表示不成功 +DMC_API short __stdcall nmc_stop_etc(WORD CardNo,WORD* ETCState); + +//---------------------------总线轴模式--------------- +//获取轴状态字 +DMC_API short __stdcall nmc_get_axis_statusword(WORD CardNo,WORD axis,long* statusword); +//获取总线轴控制字 +DMC_API short __stdcall nmc_set_axis_contrlword(WORD CardNo,WORD Axis,long Contrlword); +//设置总线轴控制字 +DMC_API short __stdcall nmc_get_axis_contrlword(WORD CardNo,WORD Axis,long *Contrlword); +DMC_API short __stdcall nmc_set_axis_contrlmode(WORD CardNo,WORD Axis,long Contrlmode); +DMC_API short __stdcall nmc_get_axis_contrlmode(WORD CardNo,WORD Axis,long *Contrlmode); + +// 获取总线端口错误码 +DMC_API short __stdcall nmc_get_errcode(WORD CardNo,WORD channel,WORD *Errcode); +// 获取控制卡错误码 +DMC_API short __stdcall nmc_get_card_errcode(WORD CardNo,WORD *Errcode); +// 获取总线轴错误码 +DMC_API short __stdcall nmc_get_axis_errcode(WORD CardNo,WORD axis,WORD *Errcode); +// 清除总线端口错误码 +DMC_API short __stdcall nmc_clear_errcode(WORD CardNo,WORD channel); +// 清除控制卡错误码 +DMC_API short __stdcall nmc_clear_card_errcode(WORD CardNo); +// 清除总线轴错误码 +DMC_API short __stdcall nmc_clear_axis_errcode(WORD CardNo,WORD iaxis); + +DMC_API short __stdcall nmc_get_LostHeartbeat_Nodes(WORD CardNo,WORD PortNum,WORD* NodeID,WORD* NodeNum); +DMC_API short __stdcall nmc_get_EmergeneyMessege_Nodes(WORD CardNo,WORD PortNum,DWORD* NodeMsg,WORD* MsgNum); +DMC_API short __stdcall nmc_SendNmtCommand(WORD CardNo,WORD PortNum,WORD NodeID,WORD NmtCommand); +DMC_API short __stdcall nmc_syn_move(WORD CardNo,WORD AxisNum,WORD* AxisList,long* Position,WORD* PosiMode); +DMC_API short __stdcall nmc_syn_move_unit(WORD CardNo,WORD AxisNum,WORD* AxisList,double* Position,WORD* PosiMode); +//总线多轴同步运动 +DMC_API short __stdcall nmc_sync_pmove_unit(WORD CardNo,WORD AxisNum,WORD* AxisList,double* Dist,WORD* PosiMode); +DMC_API short __stdcall nmc_sync_vmove_unit(WORD CardNo,WORD AxisNum,WORD* AxisList,WORD* Dir); + +//设置主站参数 +DMC_API short __stdcall nmc_set_master_para(WORD CardNo,WORD PortNum,WORD Baudrate,DWORD NodeCnt,WORD MasterId); +//读取主站参数 +DMC_API short __stdcall nmc_get_master_para(WORD CardNo,WORD PortNum,WORD *Baudrate,DWORD *NodeCnt,WORD *MasterId); +//设置io输出 +DMC_API short __stdcall nmc_write_outbit(WORD CardNo,WORD NoteID,WORD IoBit,WORD IoValue); +//读取io输出 +DMC_API short __stdcall nmc_read_outbit(WORD CardNo,WORD NoteID,WORD IoBit,WORD *IoValue); +//读取io输入 +DMC_API short __stdcall nmc_read_inbit(WORD CardNo,WORD NoteID,WORD IoBit,WORD *IoValue); +//设置DA参数 +DMC_API short __stdcall nmc_set_da_output(WORD CardNo,WORD NoteID,WORD channel,double Value); +//读取DA参数 +DMC_API short __stdcall nmc_get_da_output(WORD CardNo,WORD NoteID,WORD channel,double *Value); +//读取AD参数 +DMC_API short __stdcall nmc_get_ad_input(WORD CardNo,WORD NoteID,WORD channel,double *Value); +//配置AD模式 +DMC_API short __stdcall nmc_set_ad_mode(WORD CardNo,WORD NoteID,WORD channel,WORD mode,DWORD buffer_nums); +DMC_API short __stdcall nmc_get_ad_mode(WORD CardNo,WORD NoteID,WORD channel,WORD* mode,DWORD buffer_nums); +//配置DA模式 +DMC_API short __stdcall nmc_set_da_mode(WORD CardNo,WORD NoteID,WORD channel,WORD mode,DWORD buffer_nums); +DMC_API short __stdcall nmc_get_da_mode(WORD CardNo,WORD NoteID,WORD channel,WORD* mode,DWORD buffer_nums); + +//参数写入flash +DMC_API short __stdcall nmc_write_to_flash(WORD CardNo,WORD PortNum,WORD NodeNum); + +//总线链接 +DMC_API short __stdcall nmc_set_connect_state(WORD CardNo,WORD NodeNum,WORD state,WORD baud);//0-断开；1-连接；2-复位后自动连接 +DMC_API short __stdcall nmc_get_connect_state(WORD CardNo,WORD* NodeNum,WORD* state);//0-断开；1-连接；2-异常 + +//设置io输出32位 +DMC_API short __stdcall nmc_write_outport(WORD CardNo,WORD NoteID,WORD portno,DWORD outport_val); +//读取io输出32位 +DMC_API short __stdcall nmc_read_outport(WORD CardNo,WORD NoteID,WORD portno,DWORD *outport_val); +//读取io输入32位 +DMC_API short __stdcall nmc_read_inport(WORD CardNo,WORD NoteID,WORD portno,DWORD *inport_val); + +//轴状态机 +DMC_API short __stdcall nmc_get_axis_state_machine(WORD CardNo,WORD axis, WORD* Axis_StateMachine); +//获取轴配置控制模式，返回值（6回零模式，8csp模式） +DMC_API short __stdcall nmc_get_axis_setting_contrlmode(WORD CardNo,WORD axis,long* contrlmode); +// 获取从站个数 +DMC_API short __stdcall nmc_get_total_slaves(WORD CardNo,WORD PortNum,WORD* TotalSlaves); +// 获取轴的从站信息 +DMC_API short __stdcall nmc_get_axis_node_address(WORD CardNo,WORD axis, WORD* SlaveAddr,WORD* Sub_SlaveAddr); +DMC_API short __stdcall nmc_set_axis_io_out(WORD CardNo,WORD axis,DWORD iostate); +DMC_API DWORD __stdcall nmc_get_axis_io_out(WORD CardNo,WORD axis); +DMC_API DWORD __stdcall nmc_get_axis_io_in(WORD CardNo,WORD axis); + + +/************************************************************ +* +*RTEX卡添加函数 +* +* +************************************************************/ +DMC_API short __stdcall nmc_start_connect(WORD CardNo,WORD chan,WORD*info,WORD* len); +//DMC_API short __stdcall nmc_get_node_info(WORD CardNo,WORD*info,WORD* len); +DMC_API short __stdcall nmc_get_vendor_info(WORD CardNo,WORD axis,char* info,WORD* len); +DMC_API short __stdcall nmc_get_slave_type_info(WORD CardNo,WORD axis,char* info,WORD* len); +DMC_API short __stdcall nmc_get_slave_name_info(WORD CardNo,WORD axis,char* info,WORD* len); +DMC_API short __stdcall nmc_get_slave_version_info(WORD CardNo,WORD axis,char* info,WORD* len); + +DMC_API short __stdcall nmc_write_parameter(WORD CardNo,WORD axis,WORD index, WORD subindex,DWORD para_data); +/************************************************************** +*功能说明：RTEX驱动器写EEPROM操作 +* +* +**************************************************************/ +DMC_API short __stdcall nmc_write_slave_eeprom(WORD CardNo,WORD axis); +/************************************************************** +*index:rtex驱动器的参数分类 +*subindex:rtex驱动器在index类别下的参数编号 +*para_data:读出的参数值 +**************************************************************/ +DMC_API short __stdcall nmc_read_parameter(WORD CardNo,WORD axis,WORD index, WORD subindex,DWORD* para_data); +/************************************************************** +*index:rtex驱动器的参数分类 +*subindex:rtex驱动器在index类别下的参数编号 +*para_data:读出的参数值 +**************************************************************/ +DMC_API short __stdcall nmc_read_parameter_attributes(WORD CardNo,WORD axis,WORD index, WORD subindex,DWORD* para_data); +DMC_API short __stdcall nmc_set_cmdcycletime(WORD CardNo,WORD PortNum,DWORD cmdtime); +//设置RTEX总线周期比(us) +DMC_API short __stdcall nmc_get_cmdcycletime(WORD CardNo,WORD PortNum,DWORD* cmdtime); +DMC_API short __stdcall nmc_start_log(WORD CardNo,WORD chan,WORD node, WORD Ifenable); +DMC_API short __stdcall nmc_get_log(WORD CardNo,WORD chan,WORD node, DWORD* data); +DMC_API short __stdcall nmc_config_atuo_log(WORD CardNo,WORD ifenable,WORD dir,WORD byte_index,WORD mask,WORD condition,DWORD counter); + +//扩展PDO +DMC_API short __stdcall nmc_write_rxpdo_extra(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,int Value); +DMC_API short __stdcall nmc_read_rxpdo_extra(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,int* Value); +DMC_API short __stdcall nmc_read_txpdo_extra(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,int* Value); +DMC_API short __stdcall nmc_write_rxpdo_extra_uint(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,DWORD Value); +DMC_API short __stdcall nmc_read_rxpdo_extra_uint(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,DWORD* Value); +DMC_API short __stdcall nmc_read_txpdo_extra_uint(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,DWORD* Value); +DMC_API short __stdcall nmc_get_log_state(WORD CardNo,WORD chan, DWORD* state); +DMC_API short __stdcall nmc_driver_reset(WORD CardNo,WORD axis); +DMC_API short __stdcall nmc_set_offset_pos(WORD CardNo,WORD axis, double offset_pos); +DMC_API short __stdcall nmc_get_offset_pos(WORD CardNo,WORD axis, double* offset_pos); +//清除rtex绝对值编码器的多圈值 +DMC_API short __stdcall nmc_clear_abs_driver_multi_cycle(WORD CardNo,WORD axis); +//设置io输出32位总线扩展 +DMC_API short __stdcall nmc_write_outport_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD portno,DWORD outport_val); +//读取io输出32位总线扩展 +DMC_API short __stdcall nmc_read_outport_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD portno,DWORD *outport_val); +//读取io输入32位总线扩展 +DMC_API short __stdcall nmc_read_inport_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD portno,DWORD *inport_val); +//设置io输出 +DMC_API short __stdcall nmc_write_outbit_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD IoBit,WORD IoValue); +//读取io输出 +DMC_API short __stdcall nmc_read_outbit_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD IoBit,WORD *IoValue); +//读取io输入 +DMC_API short __stdcall nmc_read_inbit_extern(WORD CardNo,WORD Channel,WORD NoteID,WORD IoBit,WORD *IoValue); +//返回最近错误码 +DMC_API short __stdcall nmc_get_current_fieldbus_state_info(WORD CardNo,WORD Channel,WORD *Axis,WORD *ErrorType,WORD *SlaveAddr,DWORD *ErrorFieldbusCode); +// 返回历史错误码 +DMC_API short __stdcall nmc_get_detail_fieldbus_state_info(WORD CardNo,WORD Channel,DWORD ReadErrorNum,DWORD *TotalNum, DWORD *ActualNum, WORD *Axis,WORD *ErrorType,WORD *SlaveAddr,DWORD *ErrorFieldbusCode); + +//启动采集 +DMC_API short __stdcall nmc_start_pdo_trace(WORD CardNo,WORD Channel,WORD SlaveAddr,WORD Index_Num,DWORD Trace_Len,WORD *Index,WORD *Sub_Index); +//获取采集参数 +DMC_API short __stdcall nmc_get_pdo_trace(WORD CardNo,WORD Channel,WORD SlaveAddr,WORD *Index_Num,DWORD *Trace_Len,WORD *Index,WORD *Sub_Index); +//设置触发采集参数 +DMC_API short __stdcall nmc_set_pdo_trace_trig_para(WORD CardNo,WORD Channel,WORD SlaveAddr,WORD Trig_Index,WORD Trig_Sub_Index,int Trig_Value,WORD Trig_Mode); +//获取触发采集参数 +DMC_API short __stdcall nmc_get_pdo_trace_trig_para(WORD CardNo,WORD Channel,WORD SlaveAddr,WORD *Trig_Index,WORD *Trig_Sub_Index,int *Trig_Value,WORD *Trig_Mode); +//采集清除 +DMC_API short __stdcall nmc_clear_pdo_trace_data(WORD CardNo,WORD Channel,WORD SlaveAddr); +//采集停止 +DMC_API short __stdcall nmc_stop_pdo_trace(WORD CardNo,WORD Channel,WORD SlaveAddr); +//采集数据读取 +DMC_API short __stdcall nmc_read_pdo_trace_data(WORD CardNo,WORD Channel,WORD SlaveAddr,DWORD StartAddr,DWORD Readlen,DWORD *ActReadlen,BYTE *Data); +//已采集个数 +DMC_API short __stdcall nmc_get_pdo_trace_num(WORD CardNo,WORD Channel,WORD SlaveAddr,DWORD *Data_num, DWORD *Size_of_each_bag); +//采集状态 +DMC_API short __stdcall nmc_get_pdo_trace_state(WORD CardNo,WORD Channel,WORD SlaveAddr,WORD *Trace_state); +//总线专用 +DMC_API short __stdcall nmc_reset_canopen(WORD CardNo); +DMC_API short __stdcall nmc_reset_rtex(WORD CardNo); +DMC_API short __stdcall nmc_reset_etc(WORD CardNo); +//总线错误处理配置 +DMC_API short __stdcall nmc_set_fieldbus_error_switch(WORD CardNo, WORD channel,WORD data); +DMC_API short __stdcall nmc_get_fieldbus_error_switch(WORD CardNo, WORD channel,WORD* data); + +DMC_API short __stdcall nmc_torque_move(WORD CardNo,WORD axis,int Torque,WORD PosLimitValid,double PosLimitValue,WORD PosMode); +DMC_API short __stdcall nmc_change_torque(WORD CardNo,WORD axis,int Torque); +//读取转矩大小 +DMC_API short __stdcall nmc_get_torque(WORD CardNo,WORD axis,int* Torque); +//modbus函数 +DMC_API short __stdcall dmc_modbus_active_COM1(WORD id,const char* COMID,int speed, int bits, int check, int stop); +DMC_API short __stdcall dmc_modbus_active_COM2(WORD id,const char* COMID,int speed, int bits, int check, int stop); +DMC_API short __stdcall dmc_modbus_active_ETH(WORD id, WORD port); + +DMC_API short __stdcall dmc_set_modbus_0x(WORD CardNo, WORD start, WORD inum, const char* pdata); +DMC_API short __stdcall dmc_get_modbus_0x(WORD CardNo, WORD start, WORD inum, char* pdata); +DMC_API short __stdcall dmc_set_modbus_4x(WORD CardNo, WORD start, WORD inum, const WORD* pdata); +DMC_API short __stdcall dmc_get_modbus_4x(WORD CardNo, WORD start, WORD inum, WORD* pdata); + +DMC_API short __stdcall dmc_set_modbus_4x_float(WORD CardNo, WORD start, WORD inum, const float* pdata); +DMC_API short __stdcall dmc_get_modbus_4x_float(WORD CardNo, WORD start, WORD inum, float* pdata); +DMC_API short __stdcall dmc_set_modbus_4x_int(WORD CardNo, WORD start, WORD inum, const int* pdata); +DMC_API short __stdcall dmc_get_modbus_4x_int(WORD CardNo, WORD start, WORD inum, int* pdata); + +DMC_API short __stdcall dmc_set_grant_error_protect_unit(WORD CardNo, WORD axis,WORD enable,double dstp_error, double emg_error); +DMC_API short __stdcall dmc_get_grant_error_protect_unit(WORD CardNo, WORD axis,WORD* enable,double* dstp_error, double* emg_error); +//螺距补偿相关 +DMC_API short __stdcall dmc_get_leadscrew_comp_config(WORD CardNo, WORD axis,WORD *n, int *startpos,int *lenpos,int *pCompPos,int *pCompNeg); +DMC_API short __stdcall dmc_set_leadscrew_comp_config_unit(WORD CardNo, WORD axis,WORD n, double startpos,double lenpos,double *pCompPos,double *pCompNeg); +DMC_API short __stdcall dmc_get_leadscrew_comp_config_unit(WORD CardNo, WORD axis,WORD *n, double *startpos,double *lenpos,double *pCompPos,double *pCompNeg); +//EZ锁存 原点锁存，软锁存相关 +DMC_API short __stdcall dmc_get_homelatch_value_unit(WORD CardNo,WORD axis, double* pos); +DMC_API short __stdcall dmc_get_ezlatch_value_unit(WORD CardNo,WORD axis, double* pos); +//高速锁存 +DMC_API short __stdcall dmc_get_latch_value_extern_unit(WORD CardNo,WORD axis,WORD index,double* pos_by_mm);//按索引取值读取 未完成 +//一维比较 +DMC_API short __stdcall dmc_compare_add_point_unit(WORD CardNo,WORD cmp,double pos,WORD dir, WORD action,DWORD actpara);//添加比较点 +DMC_API short __stdcall dmc_compare_get_current_point_unit(WORD CardNo,WORD cmp,double *pos);//读取当前比较点 +//多组位置比较 +DMC_API short __stdcall dmc_compare_add_point_multi_unit(WORD CardNo, WORD cmp,double pos, WORD dir, WORD action, DWORD actpara,double times);//添加比较点 增强 +//高速位置比较 +DMC_API short __stdcall dmc_hcmp_add_point_unit(WORD CardNo,WORD hcmp, double cmp_pos); +DMC_API short __stdcall dmc_hcmp_set_liner_unit(WORD CardNo,WORD hcmp, double Increment,long Count);//设置线性模式参数 +DMC_API short __stdcall dmc_hcmp_get_liner_unit(WORD CardNo,WORD hcmp, double* Increment,long* Count); +DMC_API short __stdcall dmc_hcmp_get_current_state_unit(WORD CardNo,WORD hcmp,long *remained_points,double *current_point,long *runned_points); //读取高速比较状态 +DMC_API short __stdcall dmc_set_softlimit_unit(WORD CardNo,WORD axis,WORD enable, WORD source_sel,WORD SL_action, double N_limit,double P_limit);//设置软限位参数 +DMC_API short __stdcall dmc_get_softlimit_unit(WORD CardNo,WORD axis,WORD *enable, WORD *source_sel,WORD *SL_action,double *N_limit,double *P_limit);//读取软限位参数 + +//两轴位置叠加，高速比较功能 +DMC_API short __stdcall dmc_hcmp_set_config_overlap(WORD CardNo, WORD hcmp, WORD axis, WORD cmp_source, WORD cmp_logic, long time, WORD axis_num, WORD aux_axis, WORD aux_source); +DMC_API short __stdcall dmc_hcmp_get_config_overlap(WORD CardNo, WORD hcmp, WORD* axis, WORD* cmp_source, WORD* cmp_logic, long* time, WORD* axis_num, WORD* aux_axis, WORD* aux_source); + +//新版门运动 +DMC_API short __stdcall dmc_m_move_set_coodinate(WORD card,WORD liner, WORD axis_num, WORD* axis_list,uint32 in_io_num, WORD trig_flag, WORD pos_mode); +DMC_API short __stdcall dmc_m_move_get_coodinate_para(WORD card,WORD liner, WORD* axis_num, WORD* axis_list,uint32* in_io_num, WORD* trig_flag, WORD* pos_mode); +DMC_API short __stdcall dmc_m_move_set_z_para(WORD card,WORD liner, double z_up_safe_pos, double z_up_target_pos,double z_down_safe_pos, double z_down_target_pos); +DMC_API short __stdcall dmc_m_move_get_z_para(WORD card,WORD liner, double* z_up_safe_pos, double* z_up_target_pos,double* z_down_safe_pos, double* z_down_target_pos); +DMC_API short __stdcall dmc_m_move_set_xy_para(WORD card,WORD liner, double x_first_safe_pos,double x_second_safe_pos, double x_target_pos, WORD y_num ,double* y_target_pos); +DMC_API short __stdcall dmc_m_move_get_xy_para(WORD card,WORD liner, double* x_first_safe_pos,double* x_second_safe_pos, double* x_target_pos, WORD y_num ,double* y_target_pos); +DMC_API short __stdcall dmc_m_move_axes(WORD card,WORD liner); +DMC_API short __stdcall dmc_m_move_get_run_phase(WORD card,WORD liner, WORD* run_phase); +DMC_API short __stdcall dmc_m_move_stop(WORD card,WORD liner, WORD stop_mode); +DMC_API short __stdcall dmc_t_pmove_extern_unit(WORD CardNo, WORD axis, double MidPos,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,WORD posi_mode); + +DMC_API short __stdcall dmc_rtcp_set_kinematic_type(WORD CardNo,WORD Crd, WORD machine_type); +DMC_API short __stdcall dmc_rtcp_get_kinematic_type(WORD CardNo,WORD Crd, WORD* machine_type); +//启动或者关闭RTCP功能 +DMC_API short __stdcall dmc_rtcp_set_enable(WORD CardNo,WORD Crd, WORD enable); +DMC_API short __stdcall dmc_rtcp_get_enable(WORD CardNo,WORD Crd, WORD* enable); +//位置输入数据类型：0-工件坐标系位置，1-机械坐标系位置 +DMC_API short __stdcall dmc_rtcp_set_position_type(WORD CardNo,WORD Crd, WORD position_type); +DMC_API short __stdcall dmc_rtcp_get_position_type(WORD CardNo,WORD Crd, WORD* position_type); +//设置A轴的坐标原点相对于前一个坐标系的偏移, xyz的偏移a_offset[3] +DMC_API short __stdcall dmc_rtcp_set_vector_a(WORD CardNo,WORD Crd, double* a_offset); +DMC_API short __stdcall dmc_rtcp_get_vector_a(WORD CardNo,WORD Crd, double* a_offset); +//设置B轴的坐标原点相对于前一个坐标系的偏移, xyz的偏移b_offset[3] +DMC_API short __stdcall dmc_rtcp_set_vector_b(WORD CardNo,WORD Crd, double* b_offset); +DMC_API short __stdcall dmc_rtcp_get_vector_b(WORD CardNo,WORD Crd, double* b_offset); +//设置C轴的坐标原点相对于前一个坐标系的偏移, xyz的偏移c_offset[3] +DMC_API short __stdcall dmc_rtcp_set_vector_c(WORD CardNo,WORD Crd, double* c_offset); +DMC_API short __stdcall dmc_rtcp_get_vector_c(WORD CardNo,WORD Crd, double* c_offset); +//设置A，B，C轴的偏移位置, +//A,B,C在回0后，再移动到初始姿态的位置，这个时候的A/B/C的偏移角度， +//如果到了初始姿态的位置不进行清0，这个时候就要设置偏移角度 +DMC_API short __stdcall dmc_rtcp_set_rotate_joint_offset(WORD CardNo,WORD Crd, double A, double B, double C); +DMC_API short __stdcall dmc_rtcp_get_rotate_joint_offset(WORD CardNo,WORD Crd, double* A, double* B, double* C); +//设置各轴的方向与工件坐标系的关系 +//轴相对于工件的方向，如果轴正向运动的时候，驱动刀具相对于工件也是正向运动的，设定为1 +//否则设为-1，初始设置为1 +//dir[5],对应的是X,Y,Z,旋转轴1，旋转轴2 +DMC_API short __stdcall dmc_rtcp_set_joints_direction(WORD CardNo,WORD Crd, int* dir); +DMC_API short __stdcall dmc_rtcp_get_joints_direction(WORD CardNo,WORD Crd, int* dir); +//设置刀具长度，在双摆头中有作用 +DMC_API short __stdcall dmc_rtcp_set_tool_length(WORD CardNo,WORD Crd, double tool); +DMC_API short __stdcall dmc_rtcp_get_tool_length(WORD CardNo,WORD Crd, double* tool); + +DMC_API short __stdcall dmc_rtcp_get_actual_pos(WORD CardNo,WORD Crd, WORD AxisNum,WORD *AxisList,double* actual_pos); +DMC_API short __stdcall dmc_rtcp_get_command_pos(WORD CardNo,WORD Crd, WORD AxisNum,WORD *AxisList,double* command_pos); + +DMC_API short __stdcall dmc_rtcp_kinematics_forward(WORD CardNo,WORD Crd, double* joint_pos, double* axis_pos); +DMC_API short __stdcall dmc_rtcp_kinematics_inverse(WORD CardNo,WORD Crd, double* axis_pos, double* joint_pos); +//设置纯旋转轴的速度 +DMC_API short __stdcall dmc_rtcp_set_max_rotate_param(WORD CardNo,WORD Crd, double rotate_speed, double rotate_acc); +DMC_API short __stdcall dmc_rtcp_get_max_rotate_param(WORD CardNo,WORD Crd, double* rotate_speed, double* rotate_acc); +//设置工件原点偏置值 +DMC_API short __stdcall dmc_rtcp_set_workpiece_offset(WORD CardNo,WORD Crd, WORD workpiece_index, double* offset); +DMC_API short __stdcall dmc_rtcp_get_workpiece_offset(WORD CardNo,WORD Crd, WORD workpiece_index, double* offset); +//设置工件原点偏置方式 +DMC_API short __stdcall dmc_rtcp_set_workpiece_mode(WORD CardNo,WORD Crd, WORD enable,WORD workpiece_index); +DMC_API short __stdcall dmc_rtcp_get_workpiece_mode(WORD CardNo,WORD Crd, WORD* enable,WORD* workpiece_index); + +//螺旋插补 +DMC_API short __stdcall dmc_conti_helix_move_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD * AixsList,double * StartPos,double * TargetPos,WORD Arc_Dir,int Circle,WORD mode,int mark); +DMC_API short __stdcall dmc_helix_move_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double * StartPos,double *TargetPos,WORD Arc_Dir,int Circle,WORD mode); + +DMC_API short __stdcall dmc_compare_add_point_cycle_unit(WORD CardNo,WORD cmp,double pos,WORD dir, DWORD bitno,DWORD cycle,WORD level);//添加比较点 +//PDO缓存20190715 +DMC_API short __stdcall dmc_pdo_buffer_enter(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_pdo_buffer_stop(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_pdo_buffer_clear(WORD CardNo,WORD axis); + +DMC_API short __stdcall dmc_pdo_buffer_run_state(WORD CardNo,WORD axis,int * RunState,int * Remain,int * NotRunned,int* Runned); +DMC_API short __stdcall dmc_pdo_buffer_add_data(WORD CardNo,WORD axis, int size, int* data_table); + +DMC_API short __stdcall dmc_pdo_buffer_start_multi(WORD CardNo,WORD AxisNum,WORD* AxisList,WORD* ResultList); +DMC_API short __stdcall dmc_pdo_buffer_pause_multi(WORD CardNo,WORD AxisNum,WORD* AxisList,WORD* ResultList); +DMC_API short __stdcall dmc_pdo_buffer_stop_multi(WORD CardNo,WORD AxisNum,WORD* AxisList,WORD* ResultList); +DMC_API short __stdcall dmc_pdo_buffer_add_data_multi(WORD CardNo, WORD AxisNum,WORD* AxisList, int size, int** data_table); +DMC_API short __stdcall dmc_calculate_arccenter_3point(double *start_pos,double *mid_pos, double *target_pos,double* cen_pos); + +DMC_API short __stdcall dmc_cmd_buf_open(WORD card,WORD group, WORD axis_num, WORD* axis_list); +DMC_API short __stdcall dmc_cmd_buf_close(WORD card,WORD group); +DMC_API short __stdcall dmc_cmd_buf_start(WORD card,WORD group); +DMC_API short __stdcall dmc_cmd_buf_stop(WORD card,WORD group, WORD stop_mode); +DMC_API short __stdcall dmc_cmd_buf_get_group_config(WORD card,WORD group, WORD* enable ,WORD* axis_num, WORD* axis_list); +DMC_API short __stdcall dmc_cmd_buf_get_group_run_info(WORD card,WORD group, WORD* enable ,DWORD* array_id, DWORD* stop_reason,WORD* trig_phase ,WORD* phase); +DMC_API short __stdcall dmc_cmd_buf_add_cmd(WORD card, WORD group, DWORD index, WORD cmd_type, WORD ProcessMode, WORD Dim, + WORD* AxisList, double* TargetPositionFirst, double* m_TargetPositionSecond,WORD* m_SoftlandFlag,double* SoftLandVel,double* SoftLandEndVel, WORD* m_PosMode,double* m_TrigAheadPos, + WORD m_TrigFlag, WORD m_TrigAxisNum,WORD* m_TrigAxislist,WORD* m_TrigPosType,WORD* m_TrigAxisPosRelationgship,double* m_TrigAxisPos, + WORD m_TrigIONum, WORD* m_TrigIOState,WORD* m_TrigINIOList, + DWORD m_DelayCmdTime, WORD m_IOList, WORD m_IOState,WORD m_TrigError + ); +DMC_API short __stdcall dmc_cmd_buf_set_axis_profile(WORD card,WORD group, WORD axis_num, WORD* axis_list, double* start_vel, double* max_vel, double* stop_vel, double* tacc, double* tdec); + +DMC_API short __stdcall dmc_m_set_muti_profile_unit(WORD CardNo, WORD group, WORD axis_num, WORD* axis_list, double* start_vel, double* max_vel, double* tacc, double* tdec, double* stop_vel); +DMC_API short __stdcall dmc_m_set_profile_unit(WORD CardNo, WORD group, WORD axis, double start_vel, double max_vel, double tacc, double tdec, double stop_vel); +DMC_API short __stdcall dmc_m_add_sigaxis_moveseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, WORD process_mode, DWORD mark); +DMC_API short __stdcall dmc_m_add_sigaxis_move_twoseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, WORD process_mode, DWORD mark); +DMC_API short __stdcall dmc_m_add_mutiaxis_moveseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axis_list, double* Target_pos, WORD process_mode, DWORD mark); +DMC_API short __stdcall dmc_m_add_mutiaxis_move_twoseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axis_list, double* Target_pos, double* softland_pos, double* softland_vel, double* softland_endvel, WORD process_mode, DWORD mark); +DMC_API short __stdcall dmc_m_add_ioTrig_movseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axisList, double* Target_pos, WORD process_mode, WORD trigINbit, WORD trigINstate, DWORD mark);//io触发移动 +DMC_API short __stdcall dmc_m_add_mutiposTrig_movseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, WORD process_mode, WORD trigaxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigPosMode, DWORD mark);//位置触发移动 +DMC_API short __stdcall dmc_m_add_mutiposTrig_mov_twoseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, WORD process_mode, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigPosMode, DWORD mark);//多轴位置触发移动 +DMC_API short __stdcall dmc_m_add_upseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, DWORD mark); +DMC_API short __stdcall dmc_m_add_up_twoseg_data(WORD CardNo, WORD group, WORD axis, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, DWORD mark); +DMC_API short __stdcall dmc_m_add_ioPosTrig_movseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axisList, double* Target_pos, WORD process_mode, WORD trigAxis,double trigPos, WORD trigPosType, WORD trigMode, WORD TrigINNum, WORD* trigINList, WORD* trigINstate, DWORD mark);//位置+io触发移动 +DMC_API short __stdcall dmc_m_add_ioPosTrig_mov_twoseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axisList, double* Target_pos, double* softland_pos, double* softland_vel, double* softland_endvel,WORD process_mode, WORD trigAxis, double trigPos, WORD trigPosType, WORD trigMode, WORD TrigINNum, WORD* trigINList, WORD* trigINstate, DWORD mark);//位置+io触发移动 +DMC_API short __stdcall dmc_m_add_posTrig_movseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axisList, double* Target_pos, WORD process_mode, WORD trigAxis, double trigPos, WORD trigPosType, WORD trigMode, DWORD mark);//位置触发移动 +DMC_API short __stdcall dmc_m_add_posTrig_mov_twoseg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axisList, double* Target_pos, double* softland_pos, double* softland_vel, double* softland_endvel, WORD process_mode, WORD trigAxis, double trigPos, WORD trigPosType, WORD trigMode, DWORD mark);//位置触发移动 +DMC_API short __stdcall dmc_m_add_ioPosTrig_down_seg_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, WORD trigIN, WORD trigINstate, DWORD mark); +DMC_API short __stdcall dmc_m_add_ioPosTrig_down_twoseg_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, WORD trigIN, WORD trigINstate, DWORD mark); +DMC_API short __stdcall dmc_m_add_posTrig_down_seg_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, DWORD mark); +DMC_API short __stdcall dmc_m_add_posTrig_down_twoseg_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, DWORD mark); +DMC_API short __stdcall dmc_m_add_posTrig_torque_movseg_data(WORD CardNo, WORD group, WORD axis, double torque, double PosLimitValue, WORD PosLimitValid, WORD PosMode, WORD trigAxis, double trigPos, WORD trigPosType, WORD trigMode, DWORD mark);//位置触发转矩移动 + +DMC_API short __stdcall dmc_m_posTrig_outbit(WORD CardNo, WORD group, WORD bitno, WORD on_off, WORD ahead_axis, double ahead_value, WORD ahead_PosType, WORD ahead_Mode, DWORD mark); +DMC_API short __stdcall dmc_m_immediate_write_outbit(WORD CardNo, WORD group, WORD bitno, WORD on_off, DWORD mark); +DMC_API short __stdcall dmc_m_wait_input(WORD CardNo, WORD group, WORD bitno, WORD on_off, double time_out, DWORD mark); +DMC_API short __stdcall dmc_m_delay_time(WORD CardNo, WORD group, double delay_time, DWORD mark); +DMC_API short __stdcall dmc_m_get_run_state(WORD CardNo, WORD group, WORD* state, WORD* enable, DWORD* stop_reason, WORD* trig_phase, DWORD* mark); +DMC_API short __stdcall dmc_m_open_list(WORD CardNo, WORD group, WORD axis_num, WORD* axis_list); +DMC_API short __stdcall dmc_m_close_list(WORD CardNo, WORD group); +DMC_API short __stdcall dmc_m_start_list(WORD CardNo, WORD group); +DMC_API short __stdcall dmc_m_stop_list(WORD CardNo, WORD group,WORD stopMode); +DMC_API short __stdcall dmc_m_add_posTrig_down_seg_cmd_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, WORD trigAxisNum, WORD* trigAxisList, DWORD mark); +DMC_API short __stdcall dmc_m_add_posTrig_down_twoseg_cmd_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, WORD trigAxisNum, WORD* trigAxisList, DWORD mark); +DMC_API short __stdcall dmc_m_pause_list(WORD CardNo, WORD group, WORD stop_mode); + +DMC_API short __stdcall dmc_get_ad_input_all(WORD CardNo, double* Vout); +DMC_API short __stdcall dmc_conti_pmove_unit_pausemode(WORD CardNo, WORD axis,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,double smooth_time,WORD posi_mode); +DMC_API short __stdcall dmc_conti_return_pausemode(WORD CardNo, WORD Crd, WORD axis); +DMC_API short __stdcall dmc_cmd_buf_temp_stop(WORD CardNo,WORD group,WORD stop_mode); +DMC_API short __stdcall dmc_check_if_crc_support(WORD CardNo); +//编码器da跟随 +DMC_API short __stdcall dmc_set_encoder_da_follow_enable(WORD CardNo,WORD axis,WORD enable); +DMC_API short __stdcall dmc_get_encoder_da_follow_enable(WORD CardNo,WORD axis,WORD* enable); + +//轴碰撞检测功能接口 +DMC_API short __stdcall dmc_set_axis_conflict_config(WORD CardNo, WORD* axis_list, WORD* axis_depart_dir, double home_dist, double conflict_dist, WORD stop_mode); +DMC_API short __stdcall dmc_get_axis_conflict_config (WORD CardNo, WORD* axis_list, WORD* axis_depart_dir, double* home_dist, double* conflict_dist, WORD* stop_mode); +DMC_API short __stdcall dmc_axis_conflict_config_en(WORD CardNo, WORD enable); +DMC_API short __stdcall dmc_get_axis_conflict_config_en(WORD CardNo, WORD* enable); + +//trig_num 触发次数，trig_pos 触发位置 +DMC_API short __stdcall dmc_get_pmove_change_pos_speed_state(WORD CardNo,WORD axis, WORD * trig_num, double * trig_pos); + +//读输入输出增加带返回值的接口 +DMC_API short __stdcall dmc_read_inbit_ex(WORD CardNo,WORD bitno,WORD *state);//读取输入口的状态 +DMC_API short __stdcall dmc_read_outbit_ex(WORD CardNo,WORD bitno,WORD *state);//读取输出口的状态 +DMC_API short __stdcall dmc_read_inport_ex(WORD CardNo,WORD portno,DWORD *state);//读取输入端口的值 +DMC_API short __stdcall dmc_read_outport_ex(WORD CardNo,WORD portno,DWORD *state);//读取输出端口的值 +//模块增加读取状态 +//设置io输出 +DMC_API short __stdcall nmc_write_outbit_ex(WORD CardNo,WORD NoteID,WORD IoBit,WORD IoValue,WORD* state); +//读取io输出 +DMC_API short __stdcall nmc_read_outbit_ex(WORD CardNo,WORD NoteID,WORD IoBit,WORD *IoValue,WORD* state); +//读取io输入 +DMC_API short __stdcall nmc_read_inbit_ex(WORD CardNo,WORD NoteID,WORD IoBit,WORD *IoValue,WORD* state); +//设置io输出32位 +DMC_API short __stdcall nmc_write_outport_ex(WORD CardNo,WORD NoteID,WORD portno,DWORD outport_val,WORD* state); +//读取io输出32位 +DMC_API short __stdcall nmc_read_outport_ex(WORD CardNo,WORD NoteID,WORD portno,DWORD *outport_val,WORD* state); +//读取io输入32位 +DMC_API short __stdcall nmc_read_inport_ex(WORD CardNo,WORD NoteID,WORD portno,DWORD *inport_val,WORD* state); + +//设置DA参数 +DMC_API short __stdcall nmc_set_da_output_ex(WORD CardNo,WORD NoteID,WORD channel,double Value,WORD* state); +//读取DA参数 +DMC_API short __stdcall nmc_get_da_output_ex(WORD CardNo,WORD NoteID,WORD channel,double *Value,WORD* state); +//读取AD参数 +DMC_API short __stdcall nmc_get_ad_input_ex(WORD CardNo,WORD NoteID,WORD channel,double *Value,WORD* state); +//配置AD模式 +DMC_API short __stdcall nmc_set_ad_mode_ex(WORD CardNo,WORD NoteID,WORD channel,WORD mode,DWORD buffer_nums,WORD* state); +DMC_API short __stdcall nmc_get_ad_mode_ex(WORD CardNo,WORD NoteID,WORD channel,WORD* mode,DWORD buffer_nums,WORD* state); +//配置DA模式 +DMC_API short __stdcall nmc_set_da_mode_ex(WORD CardNo,WORD NoteID,WORD channel,WORD mode,DWORD buffer_nums,WORD* state); +DMC_API short __stdcall nmc_get_da_mode_ex(WORD CardNo,WORD NoteID,WORD channel,WORD* mode,DWORD buffer_nums,WORD* state); +//参数写入flash +DMC_API short __stdcall nmc_write_to_flash_ex(WORD CardNo,WORD PortNum,WORD NodeNum,WORD* state); + +//物件分拣加通道 +DMC_API short __stdcall dmc_sorting_close_ex(WORD CardNo,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_start_ex(WORD CardNo,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_init_config_ex(WORD CardNo ,WORD cameraCount, int *pCameraPos, WORD *pCamIONo, DWORD cameraTime, WORD cameraTrigLevel, WORD blowCount, int*pBlowPos, WORD*pBlowIONo, DWORD blowTime, WORD blowTrigLevel, WORD axis, WORD dir, WORD checkMode,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_camera_trig_count_ex(WORD CardNo ,WORD cameraNum, DWORD cameraTrigCnt,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_camera_trig_count_ex(WORD CardNo ,WORD cameraNum, DWORD* pCameraTrigCnt, WORD count,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_blow_trig_count_ex(WORD CardNo ,WORD blowNum, DWORD blowTrigCnt,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_blow_trig_count_ex(WORD CardNo ,WORD blowNum, DWORD* pBlowTrigCnt, WORD count,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_camera_config_ex(WORD CardNo ,WORD index,int* pos,DWORD* trigTime, WORD* ioNo, WORD* trigLevel,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_blow_config_ex(WORD CardNo ,WORD index, int* pos,DWORD* trigTime, WORD* ioNo, WORD* trigLevel,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_blow_status_ex(WORD CardNo ,DWORD* trigCntAll, WORD* trigMore,WORD* trigLess,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_trig_blow_ex(WORD CardNo ,WORD blowNum,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_blow_enable_ex(WORD CardNo ,WORD blowNum,WORD enable,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_piece_config_ex(WORD CardNo ,DWORD maxWidth,DWORD minWidth,DWORD minDistance, DWORD minTimeIntervel,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_get_piece_status_ex(WORD CardNo ,DWORD* pieceFind,DWORD* piecePassCam, DWORD* dist2next, DWORD*pieceWidth,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_cam_trig_phase_ex(WORD CardNo,WORD blowNo,double coef,WORD sortModuleNo); +DMC_API short __stdcall dmc_sorting_set_blow_trig_phase_ex(WORD CardNo,WORD blowNo,double coef,WORD sortModuleNo); +//获取分拣指令数量函数 +DMC_API short __stdcall dmc_get_sortdev_blow_cmd_cnt(WORD CardNo, WORD blowDevNum, long* cnt); +//获取未处理指令数量函数函数 +DMC_API short __stdcall dmc_get_sortdev_blow_cmderr_cnt(WORD CardNo, WORD blowDevNum, long* errCnt); +//分拣队列状态 +DMC_API short __stdcall dmc_get_sortqueue_status(WORD CardNo, long * curSorQueueLen, long* passCamWithNoCmd); + +// 椭圆连续插补 +DMC_API short __stdcall dmc_conti_ellipse_move_unit(WORD CardNo, WORD Crd,WORD AxisNum, WORD* AxisList, double* Target_Pos, double* Cen_Pos, double A_Axis_Len, double B_Axis_Len, WORD Dir, WORD Pos_Mode,long mark); +//获取轴状态函数 +DMC_API short dmc_get_axis_status_advance(WORD CardNo, WORD axis_no, WORD motion_no, WORD* axis_plan_state, DWORD* ErrPlulseCnt, WORD* fpga_busy); +//连续插补vmove +DMC_API short __stdcall dmc_conti_vmove_unit(WORD CardNo, WORD Crd, WORD axis, double vel, double acc ,WORD dir, long imark); +DMC_API short __stdcall dmc_conti_vmove_stop(WORD CardNo, WORD Crd, WORD axis, double dec, long imark); + +//登入sn20191101 +DMC_API short __stdcall dmc_enter_password_ex(WORD CardNo, const char * str_pass); + +//电子齿轮功能 +DMC_API short __stdcall dmc_gear_in(WORD CardNo, WORD master_axis, WORD slave_axis, WORD follow_source, double ratio_numerator, double ratio_denominator, double acc, double dec, double s_time, WORD buffer_mode); +DMC_API short __stdcall dmc_get_gear_in(WORD CardNo, WORD* master_axis, WORD slave_axis, WORD* follow_source, double* ratio_numerator, double* ratio_denominator, double* acc, double* dec, double* s_time, WORD* buffer_mode); +DMC_API short __stdcall dmc_update_gear_scale(WORD CardNo, WORD slave_axis, double ratio_numerator, double ratio_denominator, double acc, double dec,double s_time); +DMC_API short __stdcall dmc_gear_in_pos(WORD CardNo, WORD master_axis,WORD slave_axis,WORD follow_source,double ratio_numerator,double ratio_denominator,double master_sync_pos,double slave_sync_pos,double master_start_dist,double velocity,double acc,double dec,double s_time, WORD buffer_mode); +DMC_API short __stdcall dmc_get_gear_in_pos(WORD CardNo, WORD* master_axis,WORD slave_axis,WORD* follow_source,double* ratio_numerator,double* ratio_denominator,double* master_sync_pos,double* slave_sync_pos,double* master_start_dist,double* velocity,double* acc,double* dec,double* s_time, WORD* buffer_mode); +DMC_API short __stdcall dmc_get_in_gear_state(WORD CardNo, WORD slave_axis,WORD* in_gear); +DMC_API short __stdcall dmc_get_gear_aborted_state(WORD CardNo, WORD slave_axis,WORD* aborted_state); +DMC_API short __stdcall dmc_gear_out(WORD CardNo, WORD slave_axis); +DMC_API short __stdcall dmc_trace_set_config(WORD CardNo, short trace_cycle, short lost_handle, short trace_type, short trigger_object_index, short trigger_type, int mask, long long condition); +DMC_API short __stdcall dmc_trace_get_config(WORD CardNo, short * trace_cycle, short * lost_handle, short * trace_type, short * trigger_object_index, short * trigger_type, int * mask, long long * condition); + +/*********************************************************** + * 配置采集对象，一次可以添加500个采集对象 + * data_type 数据的类型，见采集对象说明。 + * data_index 数据的主索引，如果是跟轴相关，则是轴序号，如果是IO，则是IO序号，如此类推 + * data_sub_index 数据的子索引，如果是按组采集IO，则表示IO结束的序号。 + * data_bytes 对象字节数，现有采集类型会自动匹配，固定为0，预留后续扩展功能 + **********************************************************/ +DMC_API short __stdcall dmc_trace_reset_config_object(WORD CardNo); +DMC_API short __stdcall dmc_trace_add_config_object(WORD CardNo, short data_type, int data_index, int data_sub_index, short slave_id, short data_bytes); +DMC_API short __stdcall dmc_trace_get_config_object(WORD CardNo,short object_index, short * data_type, int * data_index, int * data_sub_index, short * slave_id, short * data_bytes); + +//启动trace +DMC_API short __stdcall dmc_trace_data_start(WORD CardNo); + +//停止trace +DMC_API short __stdcall dmc_trace_data_stop(WORD CardNo); + +//复位trace，停止采集的时候才能调用，会清除已采集到的数据以及溢出标志位 +DMC_API short __stdcall dmc_trace_data_reset(WORD CardNo); + + +//trace是否已经启动 +DMC_API short __stdcall dmc_trace_get_flag(WORD CardNo,short * start_flag,short * triggered_flag,short * lost_flag); + +/*********************************************************** + *读取采集状态 + * valid_num 已采集但未被读取的数据个数 + * free_num 剩余可用于保存采集数据的个数 + * object_total_bytes 采集对象总字节数 + * object_total_num 采集对象总个数 + **********************************************************/ +DMC_API short __stdcall dmc_trace_get_state(WORD CardNo,int* valid_num,int* free_num,int* object_total_bytes,int* object_total_num); + +/*********************************************************** + *读取采集数据 + * bufsize 数据缓冲区字节数 + * data[1024] 数据缓冲区， + * byte_size 读取的数据的字节数 + **********************************************************/ +DMC_API short __stdcall dmc_trace_get_data(WORD CardNo,int bufsize,unsigned char* data, int* byte_size); + +//trace复位溢出信号，只是复位标志位 +DMC_API short __stdcall dmc_trace_reset_lost_flag(WORD CardNo); +DMC_API short __stdcall dmc_message_buffer_enable(WORD CardNo,WORD index, DWORD buffer_size, BYTE console_enable); +DMC_API short __stdcall dmc_message_buffer_disable(WORD CardNo,WORD index); +DMC_API short __stdcall dmc_message_buffer_get_data (WORD CardNo,WORD index, long bufsize, BYTE* data,DWORD *pbufsize); + +DMC_API short __stdcall dmc_t_pmove_extern_softstart(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); + +DMC_API short __stdcall dmc_t_pmove_extern_softstart_unit(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); + + +//PVT_continuous接口. +//下发PVT continuous各节点数据 +DMC_API short __stdcall dmc_pvt_table_continuous(WORD CardNo, WORD axis, DWORD count, double* pos, double* vel, double* percent, double* vel_max, double* acc, double* dec); +//根据传入的参数，获取各个位置节点的时间 +DMC_API short __stdcall dmc_pvt_continuous_calculate(WORD CardNo, WORD axis, double* time); +//开启PVT continuous 运动 +DMC_API short __stdcall dmc_pvt_continuous_start(WORD CardNo, WORD axis_num, WORD* axis_list,double* start_delay_time); + +//总线复位输出保持开关设置 +DMC_API short __stdcall nmc_set_slave_output_retain(WORD CardNo,WORD Enable); +DMC_API short __stdcall nmc_get_slave_output_retain(WORD CardNo,WORD * Enable); + +DMC_API short __stdcall dmc_m_add_mutiposTrig_singledown_seg_data(WORD CardNo, WORD group, WORD axis, double safePos, double Target_pos, WORD process_mode, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, DWORD mark); +DMC_API short __stdcall dmc_m_add_mutiposTrig_mutidown_seg_data(WORD CardNo, WORD group, WORD axisnum, WORD* axis_list, double* safePos, double* Target_pos, WORD process_mode, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, DWORD mark); + +//反馈位置误差允许范围设置 +DMC_API short __stdcall dmc_cmd_buf_set_allow_error(WORD CardNo, WORD group, double allow_error); +DMC_API short __stdcall dmc_cmd_buf_get_allow_error(WORD CardNo, WORD group, double* allow_error); +//半径终点圆弧插补 +DMC_API short __stdcall dmc_arc_move_radius_multicoor(WORD CardNo, WORD Crd, WORD* AxisList, double *Target_Pos, double Arc_Radius, WORD Arc_Dir, long Circle, WORD posi_mode); +//三点圆弧 +DMC_API short __stdcall dmc_arc_move_3points_multicoor(WORD CardNo,WORD Crd,WORD* AxisList, double *Target_Pos, double *Mid_Pos, long Circle, WORD posi_mode); + +//反馈位置误差允许范围设置 +DMC_API short __stdcall dmc_m_set_encoder_error_allow(WORD CardNo, WORD group, double allow_error); +DMC_API short __stdcall dmc_m_get_encoder_error_allow(WORD CardNo, WORD group, double* allow_error); + +//掉电保持 +DMC_API short __stdcall dmc_set_persistent_reg_byte(WORD CardNo, DWORD start, DWORD inum, const char* pdata); +DMC_API short __stdcall dmc_get_persistent_reg_byte(WORD CardNo, DWORD start, DWORD inum, char* pdata); +DMC_API short __stdcall dmc_set_persistent_reg_float(WORD CardNo, DWORD start, DWORD inum, const float* pdata); +DMC_API short __stdcall dmc_get_persistent_reg_float(WORD CardNo, DWORD start, DWORD inum, float* pdata); +DMC_API short __stdcall dmc_set_persistent_reg_int(WORD CardNo, DWORD start, DWORD inum, const int* pdata); +DMC_API short __stdcall dmc_get_persistent_reg_int(WORD CardNo, DWORD start, DWORD inum, int* pdata); + +DMC_API short __stdcall nmc_torque_set_delay_cycle(WORD CardNo,WORD axis,int delay_cycle); + +DMC_API short __stdcall dmc_conti_delay_outbit_to_start_path(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double delay_value,WORD delay_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_delay_outbit_to_stop_path(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double delay_time,double ReverseTime); +DMC_API short __stdcall dmc_conti_ahead_outbit_to_stop_path(WORD CardNo, WORD Crd, WORD bitno,WORD on_off,double ahead_value,WORD ahead_mode,double ReverseTime); + +//轴参数配置写flash接口 +DMC_API short __stdcall dmc_set_persistent_param_config(WORD CardNo, WORD axis, DWORD item); +DMC_API short __stdcall dmc_get_persistent_param_config(WORD CardNo, WORD axis, DWORD* item); + +DMC_API short __stdcall dmc_hcmp_fifo_add_point_dir_unit(WORD CardNo,WORD hcmp, WORD num,double *cmp_pos,DWORD dir); +DMC_API short __stdcall dmc_hcmp_fifo_add_table_dir(WORD CardNo,WORD hcmp, WORD num,double *cmp_pos,DWORD dir); + +DMC_API short __stdcall dmc_axis_io_status_ex(WORD CardNo,WORD axis,DWORD *state);//读取指定轴有关运动信号的状态 +DMC_API short __stdcall dmc_check_done_ex(WORD CardNo,WORD axis,WORD * state);//读取指定轴的运动状态 + +DMC_API short __stdcall dmc_conti_line_section_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* pPosList,double Section_Dist,WORD Bitno,WORD On_Off,WORD Io_Mode,double Time_Dist_Value,double ReverseTime,WORD posi_mode,WORD mark); + +DMC_API short __stdcall dmc_conti_arc_move_center_section_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Cen_Pos,WORD Arc_Dir,WORD Circle,double Section_Dist,WORD Bitno,WORD On_Off,WORD Io_Mode,double Time_Dist_Value,double ReverseTime,WORD posi_mode,WORD mark); + +DMC_API short __stdcall dmc_conti_arc_move_radius_section_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double Arc_Radius,WORD Arc_Dir,WORD Circle,double Section_Dist,WORD Bitno,WORD On_Off,WORD Io_Mode,double Time_Dist_Value,double ReverseTime,WORD posi_mode,WORD mark); + +DMC_API short __stdcall dmc_conti_arc_move_3points_section_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Mid_Pos,WORD Circle,double Section_Dist,WORD Bitno,WORD On_Off,WORD Io_Mode,double Time_Dist_Value,double ReverseTime,WORD posi_mode,WORD mark); + +DMC_API short __stdcall dmc_get_firmware_boot_type(WORD CardNo,WORD* boot_type); + + + +//中断功能 +DMC_API DWORD __stdcall dmc_int_enable(WORD CardNo, DMC3K5K_OPERATE funcIntHandler, void* operate_data); +DMC_API DWORD __stdcall dmc_int_disable(WORD CardNo); +DMC_API short __stdcall dmc_set_intmode_enable(WORD Cardno,WORD Intno,WORD Enable); +DMC_API short __stdcall dmc_get_intmode_enable(WORD Cardno,WORD Intno,WORD *Status); +DMC_API short __stdcall dmc_set_intmode_config(WORD Cardno,WORD Intno,WORD IntItem,WORD IntIndex,WORD IntSubIndex,WORD Logic); +DMC_API short __stdcall dmc_get_intmode_config(WORD Cardno,WORD Intno,WORD *IntItem,WORD *IntIndex,WORD *IntSubIndex,WORD*Logic); +DMC_API short __stdcall dmc_get_int_status(WORD Cardno,DWORD *IntStatus); +DMC_API short __stdcall dmc_reset_int_status(WORD Cardno, WORD Intno); + +DMC_API short __stdcall dmc_set_pci_int(WORD CardNo); +DMC_API short __stdcall dmc_pmove_change_pos_speed_inbit(WORD CardNo,WORD axis, WORD inbit, WORD enable); +DMC_API short __stdcall dmc_get_pmove_change_pos_speed_inbit(WORD CardNo,WORD axis, WORD * inbit, WORD* enable); + +DMC_API short __stdcall dmc_set_arc_zone_limit_config_unit(WORD CardNo, WORD* AxisList, WORD AxisNum, double *Center, double Radius,WORD Source, WORD StopMode); +DMC_API short __stdcall dmc_get_arc_zone_limit_config_unit(WORD CardNo, WORD* AxisList, WORD* AxisNum, double *Center, double* Radius,WORD* Source, WORD* StopMode); + +DMC_API short __stdcall dmc_set_latch_stop_axis(WORD CardNo, WORD latch, WORD num, WORD * axislist); +DMC_API short __stdcall dmc_get_latch_stop_axis(WORD CardNo, WORD latch, WORD * num, WORD * axislist); +DMC_API short __stdcall dmc_compare_add_point_cycle_2d(WORD ConnectNo,WORD* axis,double* pos,WORD* dir, DWORD bitno,DWORD cycle,WORD level); + +DMC_API short __stdcall dmc_set_factor_error_unit(WORD CardNo,WORD axis,double factor,double error); +DMC_API short __stdcall dmc_get_factor_error_unit(WORD CardNo,WORD axis,double* factor,double* error); +DMC_API short __stdcall dmc_set_pulse_encoder_count_error_unit(WORD CardNo,WORD axis,double error); +DMC_API short __stdcall dmc_get_pulse_encoder_count_error_unit(WORD CardNo,WORD axis,double *error); +DMC_API short __stdcall dmc_check_pulse_encoder_count_error_unit(WORD CardNo,WORD axis,double* pulse_position, double* enc_position); + +DMC_API short __stdcall dmc_set_ad_monitor_config(WORD CardNo, WORD Crd, WORD CANid, WORD channel, WORD ADEn, double ADValDown, double ADValUp); +DMC_API short __stdcall dmc_get_ad_monitor_config(WORD CardNo, WORD Crd, WORD* CANid, WORD* channel, WORD* ADEn, double* ADValDown, double* ADValUp); +DMC_API short __stdcall dmc_get_ad_monitor_result(WORD CardNo, WORD Crd, WORD *ch, double* ADRet, WORD* num,double *pos); +DMC_API short __stdcall dmc_clear_ad_monitor_result(WORD CardNo,WORD Crd); + + +DMC_API short __stdcall dmc_update_target_position_extern_unit(WORD CardNo, WORD axis, double mid_pos, double aim_pos, double vel,WORD posi_mode); +//指定轴做定长位移运动 同时发送速度和S时间(当量) +DMC_API short __stdcall dmc_pmove_extern_unit(WORD CardNo, WORD axis, double dist,double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, WORD posi_mode); +DMC_API short __stdcall dmc_pmove_extern_acc_unit(WORD CardNo, WORD axis, double dist,double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, WORD posi_mode); +DMC_API short __stdcall dmc_m_mutiposTrig_outbit(WORD CardNo, WORD group, WORD bitno, WORD on_off, WORD process_mode, WORD trigAxisNum, WORD* trigAxisList, double* trigPos, WORD* trigPosType, WORD* trigMode, DWORD mark);//位置触发IO输出 + +DMC_API short __stdcall dmc_cmp_fifo_set_enable(WORD CardNo, WORD Crd, WORD enable); +DMC_API short __stdcall dmc_cmp_fifo_get_enable(WORD CardNo, WORD Crd, WORD* enable); +DMC_API short __stdcall dmc_cmp_fifo_get_state(WORD CardNo, WORD Crd, long* remained_space); +DMC_API short __stdcall dmc_cmp_fifo_clear_points(WORD CardNo, WORD Crd); +DMC_API short __stdcall dmc_cmp_fifo_set_config_params(WORD CardNo, WORD Crd, WORD Bitno, WORD On_Off, WORD Io_Mode, double Time_Dist_Value, double ReverseTime); +DMC_API short __stdcall dmc_cmp_fifo_get_config_params(WORD CardNo, WORD Crd, WORD* Bitno, WORD* On_Off, WORD* Io_Mode, double* Time_Dist_Value, double* ReverseTime); +DMC_API short __stdcall dmc_conti_line_add_cmp_fifo_unit(WORD CardNo, WORD Crd, WORD AxisNum,WORD* AxisList,double* Target_Pos, double* cmp_pos, WORD num, WORD posi_mode, long mark); +DMC_API short __stdcall dmc_conti_arc_move_3points_add_cmp_fifo_unit(WORD CardNo, WORD Crd, WORD AxisNum, WORD* AxisList,double* Target_Pos, double* Mid_Pos,WORD Circle, double *cmp_pos,WORD num, WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_center_add_cmp_fifo_unit(WORD CardNo, WORD Crd, WORD AxisNum, WORD* AxisList, double* Target_Pos, double* Cen_Pos,WORD Arc_Dir,WORD Circle, double *cmp_pos,WORD num, WORD posi_mode,long mark); +DMC_API short __stdcall dmc_conti_arc_move_radius_add_cmp_fifo_unit(WORD CardNo, WORD Crd, WORD AxisNum, WORD* AxisList, double* Target_Pos, double Arc_Radius,WORD Arc_Dir,WORD Circle, double *cmp_pos,WORD num, WORD posi_mode,long mark); +DMC_API short __stdcall dmc_cmp_fifo_get_total_point(WORD CardNo,WORD Crd,long *total_point); +DMC_API short __stdcall dmc_cmp_fifo_get_remain_point(WORD CardNo,WORD Crd,long *remain_point); +DMC_API short __stdcall dmc_cmp_fifo_get_trig_point(WORD CardNo,WORD Crd,long *trig_point); +DMC_API short __stdcall dmc_cmp_fifo_get_force_trig_point(WORD CardNo,WORD Crd,long *force_trig_point); + +DMC_API short __stdcall dmc_conti_wait_node_input_delay_to_start(WORD CardNo,WORD Crd,WORD node_ID, WORD bitno,WORD on_off, double delay_value,WORD delay_mode ,double TimeOut); +DMC_API short __stdcall dmc_conti_wait_node_input_ahead_to_stop(WORD CardNo,WORD Crd,WORD node_ID, WORD bitno,WORD on_off, double ahead_value,WORD ahead_mode ,double TimeOut); +DMC_API short __stdcall dmc_conti_delay_node_outbit_to_start(WORD CardNo, WORD Crd,WORD node_ID, WORD bitno,WORD on_off,double delay_value,WORD delay_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_delay_node_outbit_to_stop(WORD CardNo, WORD Crd,WORD node_ID, WORD bitno,WORD on_off,double delay_time,double ReverseTime); +DMC_API short __stdcall dmc_conti_ahead_node_outbit_to_stop(WORD CardNo, WORD Crd,WORD node_ID, WORD bitno,WORD on_off,double ahead_value,WORD ahead_mode,double ReverseTime); +DMC_API short __stdcall dmc_conti_write_node_outbit(WORD CardNo, WORD Crd,WORD node_ID, WORD bitno,WORD on_off,double ReverseTime); +DMC_API short __stdcall dmc_conti_clear_node_io_action(WORD CardNo, WORD Crd, WORD node_ID,DWORD Io_Mask); + + +DMC_API short __stdcall dmc_get_connect_type(WORD CardNo, WORD * ConnectType); +DMC_API short __stdcall dmc_board_init_eth(WORD ConnectNo,const char* IpAddr); +//减速停止距离 +DMC_API short __stdcall dmc_set_dec_stop_dist_unit(WORD CardNo,WORD axis,double dist); +DMC_API short __stdcall dmc_get_dec_stop_dist_unit(WORD CardNo,WORD axis,double *dist); +//最大速度限制设置(脉冲当量) +DMC_API short __stdcall dmc_set_profile_limit_unit(WORD CardNo,WORD axis,double Limit_Max_Vel,double Limit_Max_Acc,double EvenTime); +DMC_API short __stdcall dmc_get_profile_limit_unit(WORD CardNo,WORD axis,double* Limit_Max_Vel,double* Limit_MAX_Acc,double* EvenTime); +DMC_API short __stdcall dmc_set_vector_profile_limit_unit(WORD CardNo,WORD Crd,double Limit_Max_Vel,double Limit_Max_Acc,double EvenTime); +DMC_API short __stdcall dmc_get_vector_profile_limit_unit(WORD CardNo,WORD Crd,double* Limit_Max_Vel,double* Limit_MAX_Acc,double* EvenTime); +//启用单轴限速功能 +DMC_API short __stdcall dmc_set_vector_profile_limit_by_axis(WORD CardNo,WORD Crd,WORD Enable); +DMC_API short __stdcall dmc_get_vector_profile_limit_by_axis(WORD CardNo,WORD Crd,WORD* Enable); +DMC_API short __stdcall dmc_get_axis_follow_line_enable(WORD CardNo,WORD Crd,WORD * enable_flag); + +DMC_API short __stdcall dmc_set_counter_reverse(WORD CardNo,WORD axis,WORD reverse); +DMC_API short __stdcall dmc_get_counter_reverse(WORD CardNo,WORD axis,WORD *reverse); +DMC_API short __stdcall dmc_set_extra_counter_reverse(WORD CardNo,WORD axis,WORD reverse); +DMC_API short __stdcall dmc_get_extra_counter_reverse(WORD CardNo,WORD axis,WORD *reverse); + +DMC_API short __stdcall dmc_conti_stop_axis(WORD CardNo, WORD Crd, WORD axis, double dec, int imark); + +//读取插补长度 +DMC_API short __stdcall dmc_read_vector_length_unit(WORD CardNo,WORD Crd, double* total_length, double* left_length); +/********************************************************************************************************* +简易电子凸轮运动 +*********************************************************************************************************/ +DMC_API short __stdcall dmc_cam_table_unit(WORD CardNo,WORD MasterAxisNo,WORD SlaveAxisNo,DWORD Count,double *pMasterPos,double *pSlavePos,WORD SrcMode); +DMC_API short __stdcall dmc_cam_move(WORD CardNo,WORD axis); +DMC_API short __stdcall dmc_cam_move_cycle(WORD CardNo,WORD axis); + +DMC_API short __stdcall dmc_conti_set_fairing_enable(WORD CardNo,WORD Crd, WORD enable, double fairing_length); +DMC_API short __stdcall dmc_conti_get_fairing_enable(WORD CardNo,WORD Crd, WORD * enable, double * fairing_length); + +DMC_API short __stdcall dmc_set_eth_timeout(int timems); + +DMC_API short __stdcall dmc_set_extra_encoder_extern(WORD CardNo,WORD channel, int pos); +DMC_API short __stdcall dmc_get_extra_encoder_extern(WORD CardNo,WORD channel, int * pos); + +DMC_API short __stdcall dmc_conti_smooth_contour_unit(WORD CardNo, WORD Crd, WORD AxisNum,WORD*AxisList, WORD point_num, double*x,double*y,double*z, double vel_coef, double eps,long mark); +DMC_API short __stdcall dmc_get_conti_smooth_contour_curve(WORD point_num, double*x,double*y,double*z, double eps,double* curve_x,double* curve_y,double* curve_z, double* length); + + +//新增针对模块高速比较指令 +DMC_API short __stdcall nmc_hcmp_set_mode(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, WORD cmp_mode); +DMC_API short __stdcall nmc_hcmp_get_mode(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, WORD* cmp_mode); +DMC_API short __stdcall nmc_hcmp_set_config(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, WORD channel,WORD cmp_source, WORD cmp_logic, long time); +DMC_API short __stdcall nmc_hcmp_get_config(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, WORD* channel, WORD* cmp_source, WORD*cmp_logic, long* time); +DMC_API short __stdcall nmc_hcmp_clear_points(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp,WORD enable); +DMC_API short __stdcall nmc_hcmp_add_point(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, long cmp_pos); +DMC_API short __stdcall nmc_hcmp_set_liner(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, long Increment, long Count); +DMC_API short __stdcall nmc_hcmp_get_liner(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, long* Increment, long* Count); +DMC_API short __stdcall nmc_hcmp_get_current_state(WORD CardNo, WORD PortNum, WORD nodenum, WORD hcmp, long *remained_points, long* current_point, long *runned_points); + +//样条曲线相关 +DMC_API short __stdcall dmc_set_axis_follow_trajectory_displacement(WORD CardNo, WORD crd, WORD num, WORD* Axis_list); +DMC_API short __stdcall dmc_get_axis_follow_trajectory_displacement(WORD CardNo, WORD crd, WORD*num, WORD* Axis_list); +DMC_API short __stdcall dmc_set_tool_length_compensation_param(WORD CardNo, WORD axis, double length); +DMC_API short __stdcall dmc_get_tool_length_compensation_param(WORD CardNo, WORD axis, double* length); +DMC_API short __stdcall dmc_set_tool_length_compensation_enable(WORD CardNo, WORD axis, WORD enable); +DMC_API short __stdcall dmc_get_tool_length_compensation_enable(WORD CardNo, WORD axis, WORD* enable); +DMC_API short __stdcall dmc_set_normal_direction_control(WORD CardNo, WORD crd, WORD axis, WORD mode); +DMC_API short __stdcall dmc_get_normal_direction_control(WORD CardNo, WORD crd, WORD* axis, WORD* mode); +DMC_API short __stdcall dmc_set_gap_cmp_param(WORD CardNo, WORD crd, WORD pin, WORD logic, WORD mode, WORD auxi_axis, WORD source, long rev_time, double* gap); +DMC_API short __stdcall dmc_get_gap_cmp_param(WORD CardNo, WORD crd, WORD* pin, WORD* logic, WORD* mode, WORD* auxi_axis, WORD* source, long* rev_time, double* gap); +DMC_API short __stdcall dmc_set_gap_cmp_enable(WORD CardNo, WORD crd, WORD enable); +DMC_API short __stdcall dmc_get_gap_cmp_enable(WORD CardNo, WORD crd, WORD* enable); +DMC_API short __stdcall dmc_set_normal_direction_control_enable(WORD CardNo, WORD crd, WORD enable); +DMC_API short __stdcall dmc_get_normal_direction_control_enable(WORD CardNo, WORD crd, WORD* enable); + +DMC_API short __stdcall dmc_mc_gear_in(WORD CardNo, WORD slave_axis, WORD master_axis, WORD execute, WORD conti_update, WORD master_source, double ratio_numerator, double ratio_denominator, double acc, double dec, double jerk, WORD buffer_mode); +DMC_API short __stdcall dmc_get_mc_gear_in(WORD CardNo, WORD slave_axis, WORD* master_axis, WORD * execute, WORD * conti_update, WORD * master_source, double * ratio_numerator, double * ratio_denominator, double * acc, double * dec, double * jerk, WORD * buffer_mode); +DMC_API short __stdcall dmc_get_mc_gearin_status(WORD CardNo, WORD slave_axis, WORD * in_gear, WORD * busy, WORD * active, WORD * cmd_aborted, WORD * error,DWORD* error_id); +DMC_API short __stdcall dmc_mc_gear_out(WORD CardNo, WORD slave_axis, WORD * execute); +DMC_API short __stdcall dmc_get_mc_gear_out_status(WORD CardNo, WORD slave_axis,WORD* done,WORD* busy,WORD* cmd_aborted,WORD* error,DWORD* error_id); +DMC_API short __stdcall dmc_mc_combine_axes (WORD CardNo, WORD slave_axis, WORD master_axis1, WORD master_axis2, WORD execute, WORD conti_update, WORD master_source1, WORD master_source2, WORD combine_mode, double ratio_numerator1, double ratio_denominator1, double ratio_numerator2, double ratio_denominator2, double acc, double dec, double jerk, WORD buffer_mode); +DMC_API short __stdcall dmc_get_mc_combine_axes (WORD CardNo, WORD slave_axis, WORD* master_axis1, WORD* master_axis2, WORD * execute, WORD * conti_update, WORD * master_source1, WORD * master_source2, WORD * combine_mode, double * ratio_numerator1, double * ratio_denominator1, double * ratio_numerator2,double* ratio_denominator2, double * acc, double * dec, double * jerk, WORD * buffer_mode); +DMC_API short __stdcall dmc_get_mc_combine_axes_status(WORD CardNo, WORD slave_axis, WORD * in_sync, WORD * busy, WORD * active, WORD * cmd_aborted, WORD * error,DWORD* error_id); + +DMC_API short __stdcall dmc_set_space_collision_zone_param(WORD CardNo, WORD axis_num,WORD* axis_list, WORD zone_num, double* neg_limit, double* pos_limit, WORD stop_mode, WORD pos_source); +DMC_API short __stdcall dmc_get_space_collision_zone_param(WORD CardNo, WORD* axis_num,WORD* axis_list, WORD* zone_num, double* neg_limit, double* pos_limit, WORD* stop_mode, WORD* pos_source); +DMC_API short __stdcall dmc_set_space_collision_zone_enable(WORD CardNo, WORD enable); +DMC_API short __stdcall dmc_get_space_collision_zone_enable(WORD CardNo, WORD* enable); + +//批量读取 不带当量20201016 +DMC_API short __stdcall dmc_get_position_extern(WORD CardNo,WORD axis, double * pos); +DMC_API short __stdcall dmc_get_encoder_extern(WORD CardNo,WORD axis, double * pos); +DMC_API short __stdcall dmc_read_current_speed_extern(WORD CardNo,WORD axis, double *current_speed); + +//电子凸轮 +DMC_API short __stdcall dmc_cam_in(WORD CardNo, WORD slave_axis,WORD master_axis, WORD execute, WORD conti_update,WORD cam_table, WORD periodic, WORD master_abs, WORD slave_abs, double master_offset, double slave_offset,double master_scaling, double slave_scaling,double master_start_dist,double master_sync_pos,double active_pos, WORD active_mode ,WORD start_mode, double velocity,double acc, double dec, double jerk, WORD master_source, WORD buffer_mode); +DMC_API short __stdcall dmc_get_cam_in_status(WORD CardNo, WORD slave_axis, WORD* in_sync, WORD* end_of_profile, WORD* busy, WORD* active, WORD* cmd_aborted, WORD* error , DWORD* error_id); +DMC_API short __stdcall dmc_cam_out(WORD CardNo, WORD slave_axis,WORD execute); +DMC_API short __stdcall dmc_get_cam_out_status(WORD CardNo, WORD slave_axis,WORD* done,WORD* busy,WORD* cmd_aborted,WORD* error,DWORD* error_id); +DMC_API short __stdcall dmc_cam_read_point(WORD CardNo, WORD execute,WORD cam_table, WORD cam_chg_point, DWORD cam_point_num, WORD* done,WORD*busy, WORD*error, DWORD *error_id,double* master_pos,double* slave_pos,double* slave_vel,double* slave_acc, double* slave_jerk, WORD* type); +DMC_API short __stdcall dmc_cam_write_point(WORD CardNo, WORD execute,WORD cam_table, DWORD cam_point_num, double master_pos,double slave_pos,double slave_vel,double slave_acc, double slave_jerk,WORD type ,WORD* done,WORD*busy, WORD*error,DWORD*error_id); +DMC_API short __stdcall dmc_cam_set(WORD CardNo, WORD execute,WORD cam_table, WORD* done,WORD* busy, WORD* error,DWORD* error_id); +DMC_API short __stdcall dmc_cam_read_tappet_status(WORD CardNo, WORD execute,WORD cam_table, DWORD tappet_num1, DWORD tappet_num2, DWORD tappet_num3, DWORD tappet_num4, DWORD tappet_num5, DWORD tappet_num6, DWORD tappet_num7, DWORD tappet_num8, WORD* valid, WORD* busy, WORD* error,DWORD* error_id, WORD * status1, WORD * status2, WORD * status3, WORD * status4, WORD * status5, WORD * status6, WORD * status7, WORD * status8); +DMC_API short __stdcall dmc_cam_read_tappet_value(WORD CardNo, WORD execute,WORD cam_table, DWORD tappet_num, WORD* valid, WORD* busy, WORD* error,DWORD* error_id, double * master_pos, WORD * positive_mode, WORD * negative_mode); +DMC_API short __stdcall dmc_cam_write_tappet_value(WORD CardNo, WORD execute,WORD cam_table, DWORD tappet_num, double master_pos, WORD positive_mode, WORD negative_mode, WORD* done, WORD* busy, WORD* error,DWORD* error_id); +DMC_API short __stdcall dmc_cam_add_tappet (WORD CardNo, WORD execute,WORD cam_table, double master_pos, WORD positive_mode, WORD negative_mode ,WORD* done, WORD* busy, WORD* error,DWORD* error_id, DWORD* tappet_num); +DMC_API short __stdcall dmc_cam_delete_tappet (WORD CardNo, WORD execute,WORD cam_table, WORD* done, WORD* busy, WORD* error,DWORD* error_id); + +DMC_API short __stdcall dmc_cmd_buf_temp_delete(WORD CardNo,WORD group,WORD addr,WORD num,WORD delete_mode); + +DMC_API short __stdcall dmc_conti_set_wait_mode(WORD CardNo, WORD Crd, WORD wait_mode); +DMC_API short __stdcall dmc_conti_get_wait_mode(WORD CardNo, WORD Crd, WORD* wait_mode); + +DMC_API short __stdcall dmc_set_peak_config(WORD CardNo, WORD axis, WORD enable,double u_time); +DMC_API short __stdcall dmc_get_peak_config(WORD CardNo, WORD axis, WORD* enable,double* u_time); + +DMC_API short __stdcall dmc_set_axis_err_band(WORD CardNo, WORD axis,double err_band, WORD set_cycle); +DMC_API short __stdcall dmc_get_axis_err_band(WORD CardNo, WORD axis,double* err_band, WORD* set_cycle); +DMC_API short __stdcall dmc_set_axis_err_band_unit(WORD CardNo, WORD axis,double err_band, WORD set_cycle); +DMC_API short __stdcall dmc_get_axis_err_band_unit(WORD CardNo, WORD axis,double* err_band, WORD* set_cycle); + +//回读pmove运动规划总时间及剩余时间 +DMC_API short __stdcall dmc_get_axis_plan_time_info(WORD CardNo,WORD axis,double *sum_time, double *remain_time); +//设置插补单轴最大允许速度值 +DMC_API short __stdcall dmc_set_axis_max_interpo_speed(WORD CardNo,WORD axis,double max_speed); +//回读插补单轴最大允许速度值 +DMC_API short __stdcall dmc_get_axis_max_interpo_speed(WORD CardNo,WORD axis, double* max_speed); + +DMC_API short __stdcall dmc_set_axis_max_interpo_speed_enable(WORD CardNo,WORD axis, WORD enable); +DMC_API short __stdcall dmc_get_axis_max_interpo_speed_enable(WORD CardNo,WORD axis, WORD* enable); + +DMC_API short __stdcall dmc_set_diagnosis_log_enable(WORD CardNo,WORD Crd, WORD enable); +DMC_API short __stdcall dmc_get_diagnosis_log_enable(WORD CardNo,WORD Crd, WORD* enable); +DMC_API short __stdcall dmc_get_diagnosis_log_data(WORD CardNo,WORD Crd); + +DMC_API short __stdcall nmc_reverse_outbit(WORD CardNo, WORD Channel, WORD NoteID, WORD IoBit,double reverse_time); + +DMC_API short __stdcall dmc_sine_oscillate(WORD CardNo,WORD Axis,double Amplitude,double Frequency); +DMC_API short __stdcall dmc_sine_oscillate_stop(WORD CardNo,WORD Axis); + +DMC_API short __stdcall dmc_set_apf_rotary_cut_init(WORD CardNo, DWORD rotary_cut_id, WORD execute, double rotary_axis_radius, DWORD rotary_axis_knife_num, double feed_axis_radius, double cutlength,double sync_start_pos, double sync_stop_pos, double rot_start_pos, double fed_stop_pos); +DMC_API short __stdcall dmc_get_apf_rotary_cut_init(WORD CardNo, DWORD rotary_cut_id, WORD* execute, double* rotary_axis_radius, DWORD* rotary_axis_knife_num, double* feed_axis_radius, double* cutlength, double* sync_start_pos, double* sync_stop_pos, double* rot_start_pos, double* fed_stop_pos); +DMC_API short __stdcall dmc_get_apf_rotary_cut_init_status(WORD CardNo, DWORD rotary_cut_id, WORD* done, WORD* busy, WORD* error , DWORD* error_id); +DMC_API short __stdcall dmc_apf_rotary_cut_in(WORD CardNo, DWORD rotary_cut_id, WORD execute, WORD rotary_axis, WORD feed_axis); +DMC_API short __stdcall dmc_get_apf_rotary_cut_in_status(WORD CardNo, DWORD rotary_cut_id, WORD* done, WORD* busy, WORD*error, DWORD* error_id); +DMC_API short __stdcall dmc_get_apf_rotary_cut_in(WORD CardNo, DWORD rotary_cut_id, WORD* execute,WORD* rotary_axis, WORD* feed_axis); +DMC_API short __stdcall dmc_apf_rotary_cut_out(WORD CardNo, DWORD rotary_cut_id, WORD execute, WORD rotary_axis); +DMC_API short __stdcall dmc_get_apf_rotary_cut_out_status(WORD CardNo, DWORD rotary_cut_id, WORD* done, WORD* busy, WORD* error, DWORD* error_id); + +DMC_API short __stdcall dmc_conti_set_clear_current_mark_mode(WORD CardNo,WORD Crd, WORD mode); +DMC_API short __stdcall dmc_conti_get_clear_current_mark_mode(WORD CardNo,WORD Crd, WORD* mode); +DMC_API short __stdcall dmc_conti_clear_current_mark(WORD CardNo,WORD Crd); + +DMC_API short __stdcall dmc_conti_set_arc_translate_mode(WORD CardNo,WORD Crd, WORD mode); +DMC_API short __stdcall dmc_conti_get_arc_translate_mode(WORD CardNo,WORD Crd, WORD* mode); +DMC_API short __stdcall dmc_trace_set_source(WORD CardNo,WORD source); + +DMC_API short __stdcall nmc_sync_set_profile_unit(WORD CardNo, WORD AxisNum, WORD* AxisList,double* Min_Vel,double* Max_Vel, double* Tacc, double* Tdec, double* Stop_Vel); + +DMC_API short __stdcall nmc_write_rxpdo_extra_short(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,WORD* Value); +DMC_API short __stdcall nmc_read_rxpdo_extra_short(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,WORD* Value); +DMC_API short __stdcall nmc_read_txpdo_extra_short(WORD CardNo,WORD PortNum,WORD address,WORD DataLen,WORD* Value); + +DMC_API short __stdcall dmc_set_timeout(WORD CardNo, DWORD timems); +DMC_API short __stdcall nmc_sync_pos_change_mode (WORD CardNo, WORD portno, WORD axis); + +DMC_API short __stdcall dmc_mc_gear_in_pos(WORD CardNo, WORD slave_axis, WORD master_axis, WORD execute, WORD conti_update, WORD master_source, double ratio_numerator, double ratio_denominator, double master_sync_pos, double slave_sync_pos, double master_start_dist, WORD buffer_mode); +DMC_API short __stdcall dmc_get_mc_gear_in_pos(WORD CardNo, WORD slave_axis, WORD* master_axis, WORD * execute, WORD * conti_update, WORD * master_source, double * ratio_numerator, double * ratio_denominator, double* master_sync_pos, double* slave_sync_pos, double* master_start_dist, WORD * buffer_mode); +DMC_API short __stdcall dmc_get_mc_gear_in_pos_status(WORD CardNo, WORD slave_axis, WORD * start_sync, WORD * in_sync, WORD * busy, WORD * active, WORD * cmd_aborted, WORD * error,DWORD* error_id); + +DMC_API short __stdcall dmc_get_watchdog_trig_status (WORD CardNo, WORD* status); +DMC_API short __stdcall dmc_reset_watchdog_trig_status (WORD CardNo); +DMC_API short __stdcall dmc_conti_set_transarc_io_insert_mode (WORD CardNo,WORD Crd, WORD mode); +DMC_API short __stdcall dmc_conti_get_transarc_io_insert_mode(WORD CardNo,WORD Crd, WORD* mode); + +DMC_API short __stdcall dmc_multi_axes_motion_sync_pmove_unit(WORD CardNo,WORD axis_num, WORD* axis_list, double* dist_list,double* Min_Vel_list, double* Max_Vel_list, double* Tacc_list, double* Tdec_list, double* stop_Vel_list, double* s_para_list, WORD* posi_mode_list, WORD mode); + +DMC_API short __stdcall dmc_set_ez_map_input(WORD CardNo,WORD axis,WORD enable,WORD mode,WORD index,WORD sub_index); +DMC_API short __stdcall dmc_get_ez_map_input(WORD CardNo,WORD axis,WORD *enable,WORD *mode,WORD *index,WORD *sub_index); +DMC_API short __stdcall nmc_set_etc_el_stop_mode(WORD CardNo,WORD axis,WORD el_control_mode, double diff_pos,DWORD filter); + +DMC_API short __stdcall dmc_circle_move_center_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Cen_Pos,WORD Arc_Dir,long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_conti_circle_move_center_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Cen_Pos,WORD Arc_Dir,long Circle,WORD posi_mode,long mark); +DMC_API short __stdcall dmc_set_acuate_angle_config_params(WORD CardNo, WORD Crd, double acuate_angle, double angle_trans_speed, WORD enable); +DMC_API short __stdcall dmc_get_acuate_angle_config_params(WORD CardNo, WORD Crd, double* acuate_angle, double* angle_trans_speed, WORD* enable); +DMC_API short __stdcall dmc_set_axes_link_params(WORD CardNo, WORD master, WORD slave); +DMC_API short __stdcall dmc_get_axes_link_params(WORD CardNo, WORD master, WORD* slave); +DMC_API short __stdcall dmc_remove_axes_link_params(WORD CardNo, WORD master); + +DMC_API short __stdcall dmc_set_alm_mode_ex(WORD CardNo,WORD axis,WORD enable,WORD alm_logic,WORD alm_action,WORD alm_all); //新增配置 +DMC_API short __stdcall dmc_get_alm_mode_ex(WORD CardNo,WORD axis,WORD* enable,WORD* alm_logic,WORD* alm_action,WORD* alm_all); //新增配置 +//读取编码器方向 +DMC_API short __stdcall dmc_get_encoder_dir(WORD CardNo, WORD axis,WORD* dir); + +DMC_API short __stdcall dmc_download_configfile_ex(WORD CardNo,const char *FileName); + +DMC_API short __stdcall dmc_set_s_profile_config(WORD CardNo, WORD axis, double acc_s_time, double dec_s_time); +DMC_API short __stdcall dmc_get_s_profile_config(WORD CardNo, WORD axis, double* acc_s_time, double* dec_s_time); + +DMC_API short __stdcall nmc_set_slave_state(WORD CardNo, WORD SlaveId, WORD SlaveState); +DMC_API short __stdcall nmc_get_slave_state(WORD CardNo, WORD SlaveId, WORD *SlaveState); + +DMC_API short __stdcall dmc_sync_pmove_unit(WORD CardNo,WORD axis_num, WORD* axis_list, double* dist_list, WORD* posi_mode_list, WORD mode); +DMC_API short __stdcall dmc_set_axis_abnormal_mode(WORD CardNo,WORD enable); +DMC_API short __stdcall dmc_get_axis_abnormal_mode(WORD CardNo,WORD* enable); +DMC_API short __stdcall dmc_clear_axis_abnormal_state(WORD CardNo,WORD axis,WORD count); +DMC_API short __stdcall dmc_set_coordinate_abnormal_mode(WORD CardNo,WORD enable); +DMC_API short __stdcall dmc_get_coordinate_abnormal_mode(WORD CardNo,WORD* enable); +DMC_API short __stdcall dmc_clear_crd_abnormal_state(WORD CardNo,WORD Crd,WORD count); +DMC_API short __stdcall dmc_set_coordinate_remainspace_mode(WORD CardNo,WORD Crd,WORD enable); +DMC_API short __stdcall dmc_get_coordinate_remainspace_mode(WORD CardNo,WORD Crd,WORD* enable); +DMC_API short __stdcall dmc_hcmp_add_linear_unit(WORD CardNo,WORD hcmp,int count, struct_hs_cmp_info* cmp_str); +DMC_API short __stdcall dmc_set_axis_handwheel_encoder_filter_frequancy(WORD CardNo, WORD axis,double frequancy); +DMC_API short __stdcall dmc_get_axis_handwheel_encoder_filter_frequancy(WORD CardNo, WORD axis,double *frequancy); + +DMC_API short __stdcall nmc_set_slave_alias(WORD CardNo, WORD portnum, WORD auto_address, WORD alias_address); +DMC_API short __stdcall nmc_get_slave_alias(WORD CardNo, WORD portnum, WORD auto_address, WORD* alias_address); + +DMC_API short __stdcall dmc_set_pwm_first_pulse_mode(WORD CardNo, WORD pwm_no, WORD enable); +DMC_API short __stdcall dmc_get_pwm_first_pulse_mode(WORD CardNo, WORD pwm_no, WORD* enable); +DMC_API short __stdcall dmc_set_pwm_first_pulse_duty(WORD CardNo, WORD pwm_no, double duty); +DMC_API short __stdcall dmc_get_pwm_first_pulse_duty(WORD CardNo, WORD pwm_no, double* duty); + +DMC_API short __stdcall dmc_cmp_fifo_set_hcmp2d_pos_ratio(WORD CardNo,WORD Crd, WORD hcmp2d, double xpos_ratio, double ypos_ratio); +DMC_API short __stdcall dmc_cmp_fifo_get_hcmp2d_pos_ratio(WORD CardNo,WORD Crd, WORD hcmp2d, double * xpos_ratio, double * ypos_ratio); + +DMC_API short __stdcall dmc_set_leadscrew_comp_datasheet_enable (WORD CardNo, WORD axis,WORD enable, int point_num); +DMC_API short __stdcall dmc_get_leadscrew_comp_datasheet_enable (WORD CardNo, WORD axis,WORD* enable, int* point_num); +DMC_API short __stdcall dmc_set_pos_calibrate_config(WORD CardNo, WORD axis,WORD settle_time, double err_band, WORD enable); +DMC_API short __stdcall dmc_get_pos_calibrate_config(WORD CardNo, WORD axis,WORD* settle_time, double* err_band, WORD* enable); + +//文件调用 +DMC_API short __stdcall dmc_userlib_loadlibrary(WORD CardNo,const char *pLibname); +DMC_API short __stdcall dmc_userlib_set_parameter(WORD CardNo, int type, const unsigned char *pParameter,int length); +DMC_API short __stdcall dmc_userlib_get_parameter(WORD CardNo, int type, unsigned char *pParameter,int length); +DMC_API short __stdcall dmc_userlib_imd_stop(WORD CardNo,WORD axis); + +DMC_API short __stdcall dmc_cmp_fifo_get_fpga_receive_point(WORD CardNo,WORD cmp_no, long *receive_point); +DMC_API short __stdcall dmc_cmp_fifo_check_fpga_clear_status(WORD CardNo,WORD cmp_no, WORD *clr_status, long *clr_point); +DMC_API short __stdcall nmc_modify_slaveid(WORD CardNo,WORD index,WORD subindex,WORD newindex,const char *FileName); + +DMC_API short __stdcall dmc_set_home_finish_map(WORD CardNo,WORD axis,WORD enable,WORD mode,WORD index,WORD sub_index,WORD bit_index,WORD bit_logic); + +DMC_API short __stdcall dmc_get_home_finish_map(WORD CardNo,WORD axis,WORD *enable,WORD *mode,WORD *index,WORD *sub_index,WORD *bit_index,WORD *bit_logic); + + +DMC_API short __stdcall dmc_get_config_error_info(WORD CardNo,int* axis, int* liner,int* type, int* errorcode); + +DMC_API short __stdcall dmc_set_t_pmove_extern_dectime(WORD CardNo, WORD axis, DWORD dec_time); +DMC_API short __stdcall dmc_get_t_pmove_extern_dectime(WORD CardNo, WORD axis, DWORD* dec_time); +DMC_API short __stdcall dmc_set_trajectory_splicing_error(WORD CardNo, WORD crd, double error); +DMC_API short __stdcall dmc_get_trajectory_splicing_error(WORD CardNo, WORD crd, double *error); + +DMC_API short __stdcall dmc_sine_oscillate_set_cycle_num(WORD CardNo, WORD Axis, DWORD cycle_num); +DMC_API short __stdcall dmc_sine_oscillate_get_cycle_num(WORD CardNo, WORD Axis, DWORD *cycle_num); + +DMC_API short __stdcall dmc_conti_wait_input_action(WORD CardNo,WORD Crd,WORD bitno,WORD on_off,double TimeOut,WORD action,long mark); + +DMC_API short __stdcall dmc_line_change_pos_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList, double* TargetPos); + +DMC_API short __stdcall dmc_arc_move_angle_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Cen_Pos,double Angle,double *Target_Pos,WORD posi_mode); +DMC_API short __stdcall dmc_arc_move_center_angle_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double *Target_Pos,double *Cen_Pos,double Angle,WORD Arc_Dir,long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_conti_line_change_pos_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList, double* TargetPos, int mark); + +DMC_API short __stdcall nmc_sync_pmove_extern_unit(WORD CardNo,WORD AxisNum, WORD* AxisList, double* Dist, double* Max_Vel, WORD Posimode); +DMC_API short __stdcall dmc_pvt_get_run_index(WORD CardNo, WORD axis, DWORD* index); + +DMC_API short __stdcall dmc_firmware_auto_update(); +DMC_API short __stdcall dmc_conti_set_blend_distance(WORD CardNo, WORD Crd, WORD Enable, double BlendDistance); + +DMC_API short __stdcall nmc_set_dc_mode(WORD CardNo, WORD PortNo,WORD mode); +DMC_API short __stdcall nmc_get_dc_mode(WORD CardNo, WORD PortNo,WORD* mode); + +DMC_API short __stdcall dmc_set_gear_follow_ratio(WORD CardNo,WORD axis,double ratio);//双Z轴 +DMC_API short __stdcall dmc_get_gear_follow_ratio(WORD CardNo,WORD axis,double* ratio); +DMC_API short __stdcall dmc_ltc_set_outbit(WORD CardNo,WORD latch,WORD enable,WORD bitno,WORD logic,double delaytime_s,double outtime_s); +DMC_API short __stdcall dmc_ltc_get_outbit(WORD CardNo,WORD latch,WORD* enable,WORD* bitno,WORD* logic,double* delaytime_s,double* outtime_s); + +DMC_API short __stdcall dmc_get_idle_crd_index(WORD CardNo); +DMC_API short __stdcall dmc_get_position_virtual(WORD CardNo,WORD axis,double* pos); + + +DMC_API short __stdcall dmc_check_encoder_done(WORD CardNo, WORD axis, WORD * state, double * EncoderPos); +DMC_API short __stdcall dmc_set_check_target_encoder(WORD CardNo, WORD axis, WORD TargetCheckEnable, double TargetError, double TargetCheckTime_s); + +DMC_API short __stdcall dmc_get_check_target_encoder(WORD CardNo, WORD axis, WORD * TargetCheckEnable, double * TargetError, double * TargetCheckTime_s) + +; +DMC_API short __stdcall dmc_set_check_inp_encoder(WORD CardNo, WORD axis, WORD InpCheckEnable,double InpError, double InpCheckTime_s); +DMC_API short __stdcall dmc_get_check_inp_encoder(WORD CardNo, WORD axis, WORD * InpCheckEnable,double * InpError, double * InpCheckTime_s); +DMC_API short __stdcall dmc_set_connect_to_encoder(WORD CardNo, WORD axis, WORD enable,double error); +DMC_API short __stdcall dmc_get_connect_to_encoder(WORD CardNo, WORD axis, WORD *enable,double *error); + +DMC_API short __stdcall dmc_set_robot_config(WORD CardNo, WORD Crd, short robot_type, short elbow, short joint_num, short* joint_list,double* rx, double* tx, double* rz, double* tz); +DMC_API short __stdcall dmc_get_robot_config(WORD CardNo, WORD Crd, short* robot_type, short* elbow, short* joint_num, short* joint_list,double* rx, double* tx, double* rz, double* tz); +DMC_API short __stdcall dmc_set_robot_enable(WORD CardNo, WORD Crd, short user_crd, short tool_crd, short enable); +DMC_API short __stdcall dmc_robot_ptp_move(WORD CardNo, WORD Crd, short joint_num, short* joint_list, double* joint_pos); +DMC_API short __stdcall dmc_get_robot_sts(WORD CardNo, WORD Crd, short* complete, short* user_crd, short* tool_crd, short* enable); +DMC_API short __stdcall dmc_get_robot_pos(WORD CardNo, WORD Crd, double* pos); +DMC_API short __stdcall dmc_set_robot_kinematics_calib(WORD CardNo, WORD Crd, double* delta_rx, double* delta_tx, double* delta_rz, double* delta_tz); +DMC_API short __stdcall dmc_get_robot_kinematics_calib(WORD CardNo, WORD Crd, double* delta_rx, double* delta_tx, double* delta_rz, double* delta_tz); +DMC_API short __stdcall dmc_robot_kinematics_calib(WORD CardNo, WORD Crd, double* ja, double* jb, double* jc, double* jd, double* je, double* jf, double* jg, double* jh, double* ji, double* delta_x, double* delta_y, double* delta_z); +DMC_API short __stdcall dmc_set_robot_user_coordinate(WORD CardNo, WORD Crd, short user_crd, short complete, double* mat); +DMC_API short __stdcall dmc_get_robot_user_coordinate(WORD CardNo, WORD Crd, short user_crd, short* complete, double* mat); +DMC_API short __stdcall dmc_robot_user_coordinate(WORD CardNo, WORD Crd, short user_crd, double* p0, double* px, double* py); +DMC_API short __stdcall dmc_set_robot_tool_coordinate(WORD CardNo, WORD Crd, short tool_crd, short complete, double* mat); +DMC_API short __stdcall dmc_get_robot_tool_coordinate(WORD CardNo, WORD Crd, short tool_crd, short* complete, double* mat); +DMC_API short __stdcall dmc_robot_tool_coordinate(WORD CardNo, WORD Crd, short tool_crd, double* p1, double* p2, double* p3, double* p4, double* p5, double* p6, double* p0, double* px, double* py); +DMC_API short __stdcall dmc_robot_workspace_detect(WORD CardNo, WORD Crd, double* pos); + + +DMC_API short __stdcall dmc_conti_set_wait_flag(WORD CardNo, WORD Crd, int mark, WORD wait_flag); +DMC_API short __stdcall dmc_conti_get_wait_flag(WORD CardNo, WORD Crd, int * mark, WORD * wait_flag); + +DMC_API short __stdcall dmc_conti_set_arc_blend_enable(WORD CardNo, WORD Crd, WORD Enable); +DMC_API short __stdcall dmc_conti_get_arc_blend_enable(WORD CardNo, WORD Crd, WORD * Enable); + +DMC_API short __stdcall dmc_t_pmove_extern_unit_ex(WORD CardNo, WORD axis, double MidPos,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,WORD posi_mode); + +DMC_API short __stdcall dmc_check_success_pulse_ex(WORD CardNo,WORD axis,int delay_ms); +DMC_API short __stdcall dmc_check_success_encoder_ex(WORD CardNo,WORD axis,int delay_ms); + +DMC_API short __stdcall dmc_cam_write_points_packet(WORD CardNo,WORD cam_table_id, WORD cam_point_num, double s_range_up, double s_range_dn, double * master_pos, double * slave_pos, double * slave_vel, double * slave_acc, double * slave_jerk, WORD* type); + +DMC_API short __stdcall dmc_cam_read_points_packet(WORD CardNo,WORD cam_table_id, WORD* cam_point_num, double * s_range_up, double * s_range_dn, double * master_pos, double * slave_pos, double * slave_vel, double * slave_acc, double * slave_jerk, WORD* type); + +DMC_API short __stdcall dmc_set_pwm_output_extern(WORD CardNo, WORD pwm, WORD enable, double width_us, double frequency, DWORD number) +; + +DMC_API short __stdcall dmc_spline_pmove(WORD CardNo, WORD axis, double pos, double vs, double vm, double ve, double as, double ae, double rmd_as, double rmd_ae, int num_ts,int num_tm,int num_te, double cur_as, double cur_ae, WORD posi_mode); + +DMC_API short __stdcall dmc_set_plan_mode(WORD CardNo, WORD axis, WORD mode) +; +DMC_API short __stdcall dmc_get_plan_mode(WORD CardNo, WORD axis, WORD* mode) +; + +DMC_API short __stdcall dmc_set_emg_lock(WORD CardNo, WORD enable, WORD bit_no, WORD level,DWORD out_mark, DWORD out_level); +DMC_API short __stdcall dmc_get_emg_lock(WORD CardNo, WORD * enable, WORD * bit_no, WORD * level,DWORD* out_mark, DWORD* out_level); +DMC_API short __stdcall dmc_emg_unlock(WORD CardNo); +DMC_API short __stdcall dmc_emg_lock_status(WORD CardNo, WORD * lock_status, WORD * lock_type); + +DMC_API short __stdcall dmc_set_vector_profile_extern(WORD CardNo,WORD Crd,double Min_Vel,double Max_Vel,double Acc,double Dec,double Ajerk,double Djerk,double stop_vel); +DMC_API short __stdcall dmc_get_vector_profile_extern(WORD CardNo,WORD Crd,double *Min_Vel,double *Max_Vel,double *Acc,double *Dec,double *Ajerk,double *Djerk,double *stop_vel); +DMC_API short __stdcall dmc_set_vector_plan_mode(WORD CardNo, WORD Crd, WORD mode) +; +DMC_API short __stdcall dmc_get_vector_plan_mode(WORD CardNo, WORD Crd, WORD* mode) +; + +DMC_API short __stdcall nmc_set_data_offset_time(WORD CardNo, int offset_us); +DMC_API short __stdcall nmc_get_data_offset_time(WORD CardNo, int * offset_us); +DMC_API short __stdcall dmc_check_done_multicoor_extern(WORD CardNo, WORD Crd, WORD * crd_state, DWORD * crd_stop_reason, DWORD * axis_stop_reason); +DMC_API short __stdcall dmc_get_error_description(int errcocode, char* description); +DMC_API short __stdcall dmc_write_outport_mask(WORD CardNo, WORD port, DWORD mask, DWORD state, DWORD reverse_time_ms); + +DMC_API short __stdcall dmc_set_pso_output_delay(WORD CardNo, WORD axis, DWORD delay_cycle); +DMC_API short __stdcall dmc_get_pso_output_delay(WORD CardNo, WORD axis, DWORD* delay_cycle); +DMC_API short __stdcall dmc_set_gap_cmp_space(WORD CardNo, WORD crd, double space); +DMC_API short __stdcall dmc_get_gap_cmp_space(WORD CardNo, WORD crd, double* space); + +DMC_API short __stdcall nmc_ecat_read_slave_register(WORD CardNo, WORD wSlaveAddress, WORD wRegisterOffset, WORD wLen, char * pdwData); +DMC_API short __stdcall nmc_ecat_write_slave_register(WORD CardNo, WORD wSlaveAddress, WORD wRegisterOffset, WORD wLen, char * pdwData); + +DMC_API short __stdcall dmc_set_inp_map_input(WORD CardNo, WORD axis, WORD enable, WORD index, WORD sub_index, WORD bit_index, WORD inp_validvalue, WORD connect2checkdone); +DMC_API short __stdcall dmc_get_inp_map_input(WORD CardNo, WORD axis, WORD* enable, WORD* index, WORD* sub_index, WORD* bit_index, WORD* inp_validvalue, WORD* connect2checkdone); +DMC_API short __stdcall dmc_get_pwm_state(WORD CardNo, WORD channel, WORD* state); + +DMC_API short __stdcall dmc_rtcp_rotation_axis_transform_param(WORD CardNo, WORD axis, double rod_len); +DMC_API short __stdcall dmc_rtcp_get_rotation_axis_transform_param(WORD CardNo, WORD axis, double* rod_len); +DMC_API short __stdcall dmc_rtcp_rotation_axis_transform_enable(WORD CardNo, WORD axis, WORD enable); +DMC_API short __stdcall dmc_rtcp_get_rotation_axis_transform_enable(WORD CardNo, WORD axis, WORD* enable); +DMC_API short __stdcall dmc_circle_move_3point_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double *Mid_Pos, long Circle,WORD posi_mode); +DMC_API short __stdcall dmc_conti_circle_move_3point_unit(WORD CardNo,WORD Crd,WORD AxisNum,WORD* AxisList,double* Target_Pos,double* Mid_Pos, long Circle,WORD posi_mode,long mark); + +DMC_API short __stdcall dmc_get_cam_in(WORD CardNo, WORD slave_axis, WORD* master_axis, WORD*execute, WORD*conti_update,WORD* cam_table, WORD* periodic, WORD*master_abs, WORD*slave_abs, double* master_offset, double*slave_offset,double* master_scaling, double*slave_scaling,double*master_start_dist,double*master_sync_pos,double* active_pos, WORD* acvive_mode ,WORD* start_mode, double* velocity, double* acc, double* dec, double* jerk, WORD* master_source, WORD* buffer_mode); +DMC_API short __stdcall dmc_mc_phasing(WORD CardNo, WORD slave_axis,WORD master_axis, WORD execute, double phase_shift, double velocity,double acc, double dec,double jerk); +DMC_API short __stdcall dmc_get_mc_phasing_status(WORD CardNo, WORD slave_axis, WORD * done, WORD * busy, WORD * cmd_aborted, WORD * error,DWORD* error_id); +DMC_API short __stdcall dmc_get_mc_phasing(WORD CardNo, WORD slave_axis,WORD* master_axis, WORD* execute, double* phase_shift, double* velocity,double* acc, double* dec ,double* jerk); + +DMC_API short __stdcall dmc_set_axis_pwm_follow_speed(WORD CardNo, WORD pwm_no, WORD axis, WORD mode, double max_vel, double min_vel,double max_value, double out_value, double min_value,WORD min_ctl_mode); +DMC_API short __stdcall dmc_get_axis_pwm_follow_speed(WORD CardNo, WORD pwm_no, WORD* axis, WORD* mode, double* max_vel, double* min_vel,double* max_value, double* out_value, double* min_value,WORD* min_ctl_mode); +DMC_API short __stdcall dmc_set_axis_pwm_follow_speed_enable(WORD CardNo, WORD pwm_no, WORD enable); +DMC_API short __stdcall dmc_get_axis_pwm_follow_speed_enable(WORD CardNo, WORD pwm_no, WORD* enable); + +DMC_API short __stdcall dmc_umove_unit(WORD CardNo, WORD group, WORD mode, WORD sources, WORD io_index, WORD io_value,WORD up_axis,double up_pos, double up_safe_distance, WORD move_num, WORD* move_axis_list, double* move_pos,double* move_safe_distance,WORD down_axis, double down_pos, WORD posi_mode); +DMC_API short __stdcall dmc_get_umove_runsts(WORD CardNo, WORD group, WORD* runsts); +DMC_API short __stdcall dmc_umove_stop(WORD CardNo, WORD group); + +DMC_API short __stdcall dmc_set_knife_positioned(WORD CardNo, WORD Crd, double SecondVel, double SecondPos); +DMC_API short __stdcall dmc_get_knife_positioned(WORD CardNo, WORD Crd, double* SecondVel, double* SecondPos); +DMC_API short __stdcall dmc_set_knife_positioned_enable(WORD CardNo, WORD Crd, WORD enable); +DMC_API short __stdcall dmc_get_knife_positioned_enable(WORD CardNo, WORD Crd, WORD* enable); +DMC_API short __stdcall dmc_return_to_zero(WORD CardNo, WORD axis); + +DMC_API short __stdcall dmc_conti_set_lookahead_path_error(WORD CardNo, WORD Crd, double patherr); +DMC_API short __stdcall dmc_conti_get_lookahead_path_error(WORD CardNo, WORD Crd, double *patherr); +DMC_API short __stdcall dmc_conti_safe_pause_list(WORD CardNo, WORD Crd, WORD safe_axis_num, WORD *safe_axis_list, double *distance, double *vstart, double *vsteady, double *vend, double *acc_time, double *dec_time, WORD posi_mode); +DMC_API short __stdcall dmc_set_axis_da_follow_speed(WORD CardNo, WORD da_channel, WORD axis, WORD mode, double max_vel,double min_vel ,double max_value, double min_value, double offset); +DMC_API short __stdcall dmc_get_axis_da_follow_speed(WORD CardNo, WORD da_channel, WORD*axis, WORD*mode, double* max_vel,double * min_vel, double* max_value, double* min_value, double*offset); +DMC_API short __stdcall dmc_set_axis_da_follow_speed_enable(WORD CardNo, WORD da_channel, WORD enable); +DMC_API short __stdcall dmc_get_axis_da_follow_speed_enable(WORD CardNo, WORD da_channel, WORD*enable); +DMC_API short __stdcall dmc_conti_force_set_position(WORD CardNo, WORD Crd, WORD axis_num, WORD*axis_list, double*position); + +DMC_API short __stdcall dmc_set_axis_da_follow_speed_extern(WORD CardNo, WORD da_channel, WORD axis, WORD mode, WORD segment, double*vel,double* value); +DMC_API short __stdcall dmc_get_axis_da_follow_speed_extern(WORD CardNo, WORD da_channel, WORD*axis, WORD*mode, WORD *segment, double* vel,double* value); + +DMC_API short __stdcall dmc_conti_set_node_da_enable(WORD CardNo,WORD Crd, WORD node_id, WORD channel, WORD enable); +DMC_API short __stdcall dmc_conti_set_node_da_output(WORD CardNo,WORD Crd, WORD node_id, WORD channel, double Vout); +DMC_API short __stdcall dmc_conti_gantry_move(WORD CardNo,WORD Crd, WORD master_axis, WORD slave_num, WORD* slave_axis_list,WORD on_off); +DMC_API short __stdcall dmc_conti_set_gantry_error_protect_unit(WORD CardNo,WORD Crd, WORD master_axis, double dstp_err, double emg_err, WORD on_off); + +DMC_API short __stdcall dmc_m_add_sigaxis_moveseg_data_ex(WORD CardNo, WORD group, WORD Axis, double Target_pos, DWORD mark); +DMC_API short __stdcall dmc_m_add_wait_event_data(WORD CardNo, WORD group, WORD event, WORD num,WORD CompareOperator, double target_value, DWORD mark); +DMC_API short __stdcall dmc_m_add_trigger_data(WORD CardNo, WORD group, WORD mode, WORD num, double Target_Value, DWORD mark); +DMC_API short __stdcall dmc_m_add_time_delay(WORD CardNo, WORD group, double Time_delay, DWORD mark); + +DMC_API short __stdcall dmc_set_feedforward_profile(WORD CardNo,WORD Axis,double vel_offset_coef,double tor_offset_coef); +DMC_API short __stdcall dmc_get_feedforward_profile(WORD CardNo,WORD Axis,double* vel_offset_coef,double* tor_offset_coef); +DMC_API short __stdcall dmc_set_modulo_profile(WORD CardNo, WORD axis,WORD enable,double Modulo_Vel); +DMC_API short __stdcall dmc_get_modulo_profile(WORD CardNo, WORD axis,WORD *enable,double *Modulo_Vel); + +DMC_API short __stdcall dmc_line_mutli_line(WORD CardNo, WORD Crd, WORD AxisNum, WORD *AxisList, WORD PointNum, double(*pos)[8], WORD wait_mark, WORD wait_enable, WORD posi_mode); + +DMC_API short __stdcall dmc_conti_line_unit_G0 (WORD CardNo, WORD Crd, WORD AxisNum, WORD *AxisList, double*pPosList, WORD posi_mode, int mark); +DMC_API short __stdcall dmc_conti_arc_move_center_unit_G0 (WORD CardNo, WORD Crd, WORD AxisNum, WORD *AxisList, double* Target_Pos, double* Cen_Pos,WORD Arc_Dir, int Circle, WORD posi_mode, int mark); +DMC_API short __stdcall dmc_conti_arc_move_radius_unit_G0 (WORD CardNo, WORD Crd, WORD AxisNum, WORD *AxisList, double* Target_Pos, WORD Arc_Radius, WORD Arc_Dir, int Circle, WORD posi_mode, int mark); +DMC_API short __stdcall dmc_conti_arc_move_3points_unit_G0 (WORD CardNo, WORD Crd, WORD AxisNum, WORD *AxisList, double* Target_Pos, double* Mid_Pos, int Circle, WORD posi_mode, int mark); + +DMC_API short __stdcall dmc_read_outport_array(WORD CardNo, uint32 portNum, uint32 *status); +DMC_API short __stdcall dmc_read_inport_array(WORD CardNo, uint32 portNum, uint32 *status); + +DMC_API short __stdcall dmc_m_set_wait_flag(WORD CardNo, WORD Group, WORD FlagNo, WORD Wait_Flag); +DMC_API short __stdcall dmc_m_get_wait_flag(WORD CardNo, WORD Group, WORD FlagNo, WORD* Wait_Flag); + +DMC_API short __stdcall dmc_set_backlash_unit_extern(WORD CardNo, WORD axis,double backlash, WORD mode, short dir,double vel,double acc,WORD time_ms); +DMC_API short __stdcall dmc_get_backlash_unit_extern(WORD CardNo, WORD axis,double *backlash, WORD*mode, short* dir,double* vel, double* acc,WORD* time_ms); + +DMC_API short __stdcall nmc_write_rxpdo(WORD CardNo, WORD portnum, WORD slave_station_addr, WORD index, WORD subindex, WORD bitlength, BYTE* data); +DMC_API short __stdcall nmc_read_rxpdo(WORD CardNo, WORD portnum, WORD slave_station_addr, WORD index, WORD subindex, WORD bitlength, BYTE* data); +DMC_API short __stdcall nmc_read_txpdo(WORD CardNo, WORD portnum, WORD slave_station_addr, WORD index, WORD subindex, WORD bitlength, BYTE* data); + +DMC_API short __stdcall dmc_syncmotion_set_enable(WORD CardNo, WORD slaveAxisNo, WORD enable); +DMC_API short __stdcall dmc_syncmotion_get_enable(WORD CardNo, WORD slaveAxisNo, WORD* enable); +DMC_API short __stdcall dmc_set_syncmotion_configparams (WORD CardNo, WORD masterAxisNo, WORD slaveAxisNo, WORD follow_src_sel, WORD master_type, double scale_coe, WORD dir_rev); +DMC_API short __stdcall dmc_get_syncmotion_configparams (WORD CardNo, WORD slaveAxisNo, WORD* masterAxisNo, WORD* follow_src_sel, WORD* master_type, double*scale_coe, WORD*dir_rev); +DMC_API short __stdcall dmc_syncmotion_cancle(WORD CardNo, WORD slaveAxisNo, double dec, double jerk); +DMC_API short __stdcall dmc_syncmotion_updatescale(WORD CardNo, WORD slaveAxisNo, double scale_coe); + +DMC_API short __stdcall dmc_set_alm_control_function(WORD CardNo,WORD axis,WORD control_function); +DMC_API short __stdcall dmc_get_alm_control_function(WORD CardNo,WORD axis,WORD* control_function); + +DMC_API short __stdcall dmc_calculate_axis_plan_time(WORD CardNo, double Dis,double Start_Vel, double Max_Vel,double End_Vel,double Tacc, double Tdec,double sTime, double* Tsum); + + + +DMC_API short __stdcall dmc_conti_set_coordinate_params(WORD CardNo, WORD Crd, double T, double radius, double limit_vel); +DMC_API short __stdcall dmc_conti_get_coordinate_params(WORD CardNo, WORD Crd, double* T, double* radius,double* limit_vel); +DMC_API short __stdcall dmc_conti_set_corner_angle_param(WORD CardNo, WORD Crd, double dec_angle, double stop_angle, WORD enable); +DMC_API short __stdcall dmc_conti_get_corner_angle_param(WORD CardNo, WORD Crd, double* dec_angle, double* stop_angle, WORD* enable); +DMC_API short __stdcall dmc_conti_set_transvelocity_mode(WORD CardNo, WORD Crd, WORD transvel_mode); +DMC_API short __stdcall dmc_conti_get_transvelocity_mode(WORD CardNo, WORD Crd, WORD* transvel_mode); + +DMC_API short __stdcall dmc_send_pack(WORD CardNo, WORD mode, WORD length,char* pBuf); + +DMC_API short __stdcall dmc_conti_delay_set_mode(WORD CardNo, WORD Crd, WORD mode); + + + +DMC_API short __stdcall dmc_conti_delay_get_mode(WORD CardNo, WORD Crd, WORD* mode); + + +DMC_API short __stdcall nmc_set_alias_address_enable(WORD CardNo, WORD enable); + + +DMC_API short __stdcall nmc_get_alias_address_enable(WORD CardNo, WORD* enable, WORD* states); + + +DMC_API short __stdcall dmc_get_system_version(WORD CardNo, char *SystemVersion); + +DMC_API short __stdcall dmc_set_track_config_unit(WORD CardNo, WORD m_slave_axis_num, WORD* m_master_axis, WORD* m_slave_axis, WORD* m_start_distance, WORD* m_coordinate_axis, double* m_angle, double* m_master_vel, double* m_start_time, double* m_finish_time, double* m_sync_start_pos, double* m_sync_end_pos, double* m_finish_pos); +DMC_API short __stdcall dmc_get_track_config_unit(WORD CardNo, WORD slave_axis,WORD* m_track_state); +DMC_API short __stdcall dmc_add_move_config_unit(WORD CardNo, WORD add_axis, WORD added_axis, WORD enable); + +DMC_API short __stdcall nmc_get_same_alias_address_slaves(WORD CardNo, WORD* SlaveNum, WORD* SlaveList); + +DMC_API short __stdcall dmc_input_shaper_on(WORD CardNo,WORD axis, double* cnvA,DWORD* cnvT,WORD num); + +DMC_API short __stdcall dmc_input_shaper_off (WORD CardNo,WORD axis); + +DMC_API short __stdcall dmc_get_input_shaper_status(WORD CardNo, WORD axis ,WORD* status); + +DMC_API short __stdcall dmc_set_input_shaper_compesation_enable(WORD CardNo,WORD axis, WORD enable); + +DMC_API short __stdcall dmc_get_input_shaper_compesation_enable(WORD CardNo,WORD axis, WORD* enable); + +DMC_API short __stdcall dmc_set_input_shaper_compesation(WORD CardNo,WORD axis, double T,double freq,double zeta,double alpha); + +DMC_API short __stdcall dmc_get_input_shaper_compesation(WORD CardNo,WORD axis, double* T,double* freq,double* zeta,double* alpha); +DMC_API short __stdcall dmc_set_input_shaper_compesation_error(WORD CardNo, WORD axis, double delay_T, double pos_error); + +DMC_API short __stdcall dmc_get_input_shaper_compesation_error(WORD CardNo, WORD axis, double* delay_T, double* pos_error); + +DMC_API short __stdcall dmc_m_add_sigaxis_moveseg_data_multi(WORD CardNo, WORD group, WORD AxisNum, WORD* AxisList, double* Target_pos, uint32* mark); +DMC_API short __stdcall dmc_set_func_enable(WORD CardNo, WORD mode, WORD enable); +DMC_API short __stdcall dmc_get_func_enable(WORD CardNo, WORD mode, WORD* enable); +DMC_API short __stdcall nmc_set_home_profile_acc(WORD CardNo ,WORD axis,WORD home_mode,double Low_Vel, double High_Vel,double Tacc,double Tdec,double offsetpos ); +DMC_API short __stdcall nmc_get_home_profile_acc(WORD CardNo,WORD axis,WORD* home_mode,double* Low_Vel,double* High_Vel,double* Tacc,double* Tdec,double* Offsetpos); +DMC_API short __stdcall dmc_get_ad_input_append(WORD CardNo,WORD Channel, double* Vout); + +DMC_API short __stdcall dmc_conti_set_pwm_output_extern(WORD CardNo, WORD Crd, WORD pwm_no, WORD enable, double width_us, double frequency,uint32 number); +DMC_API short __stdcall dmc_set_pwm_mode(WORD CardNo, WORD pwm_no, WORD startmode, WORD stopmode); +DMC_API short __stdcall dmc_get_pwm_mode (WORD CardNo, WORD pwm_no, WORD* startmode, WORD* stopmode); +DMC_API short __stdcall dmc_conti_set_profile_unit(WORD CardNo,WORD Crd,double Min_Vel,double Max_vel,double Tacc,double Tdec,double Stop_Vel); +DMC_API short __stdcall dmc_conti_pmove_extern_unit(WORD CardNo, WORD Crd, WORD axis, double dist, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel, WORD posi_mode, WORD mode, int mark); +DMC_API short __stdcall dmc_conti_pack_on(WORD CardNo); +DMC_API short __stdcall dmc_conti_pack_off(WORD CardNo); +DMC_API short __stdcall dmc_conti_pack_flush(WORD CardNo); + +DMC_API short __stdcall dmc_sine_oscillate_extern(WORD CardNo,WORD Axis,double Amplitude,double Frequency,double cycle,WORD param); +DMC_API short __stdcall dmc_sine_oscillate_extern_unit(WORD CardNo,WORD Axis,double Amplitude,double Frequency,double cycle,WORD param); +DMC_API short __stdcall dmc_write_outport_array(WORD CardNo, uint32 portNum, uint32 *status); +DMC_API short __stdcall dmc_conti_set_node_od(WORD CardNo,WORD Crd,WORD NodeNum, WORD Index,WORD SubIndex,WORD ValLength, uint32 Value); +DMC_API short __stdcall dmc_m_add_trigger_set_od(WORD CardNo,WORD Group,WORD NodeNum, WORD Index,WORD SubIndex,WORD ValLength,uint32 Value, uint32 Mark); +DMC_API short __stdcall dmc_conti_set_rxpdo_extra(WORD CardNo,WORD Crd,WORD Address, WORD DataLen,WORD Mode,WORD ModeVal,uint32 Value); +DMC_API short __stdcall dmc_m_add_trigger_set_rxpdo_extra(WORD CardNo,WORD Group,WORD Address, WORD DataLen,WORD Mode,WORD ModeVal,uint32 Value,uint32 Mark); + +DMC_API short __stdcall dmc_set_profile_limit_by_axis(WORD CardNo, WORD axis, WORD enable); +DMC_API short __stdcall dmc_get_profile_limit_by_axis(WORD CardNo, WORD axis, WORD* enable); + +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_config_unit(WORD CardNo, WORD axis, WORD* ref_axis,double* ref_axis_start_pos, double* ref_axis_length,WORD* ref_axis_segment, double* Compos); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_config_unit(WORD CardNo, WORD axis, WORD* ref_axis,double* ref_axis_start_pos, double* ref_axis_length, WORD* ref_axis_segment, double* Compos); +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_angle_unit(WORD CardNo, WORD axis, WORD*ref_axis, double* ref_axis_start_pos, double* ref_axis_length, double angle); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_angle_unit(WORD CardNo, WORD axis, WORD*ref_axis, double* ref_axis_start_pos, double* ref_axis_length, double *angle); +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_enable(WORD CardNo, WORD axis, WORD mode, WORD enable); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_enable(WORD CardNo, WORD axis, WORD *mode, WORD *enable); + +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_config_unit_ex(WORD CardNo, WORD table_index, WORD comp_axis, WORD* ref_axis, double* ref_axis_start_pos, double* ref_axis_length, WORD* ref_axis_segment, double* value); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_config_unit_ex(WORD CardNo, WORD table_index, WORD* comp_axis, WORD* ref_axis, double* ref_axis_start_pos, double* ref_axis_length, WORD* ref_axis_segment, double* value); +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_angle_unit_ex(WORD CardNo, WORD table_index, WORD comp_axis, WORD* ref_axis, double* ref_axis_start_pos, double* ref_axis_length, double angle); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_angle_unit_ex(WORD CardNo, WORD table_index, WORD* comp_axis, WORD* ref_axis, double* ref_axis_start_pos, double* ref_axis_length, double *angle); +DMC_API short __stdcall dmc_set_leadscrew_comp_2D_enable_ex(WORD CardNo, WORD table_index, WORD mode, WORD enable); +DMC_API short __stdcall dmc_get_leadscrew_comp_2D_enable_ex(WORD CardNo, WORD table_index, WORD* mode, WORD* enable); + +//ip地址 +DMC_API short __stdcall dmc_set_ipaddr( WORD CardNo,const char* IpAddr); +DMC_API short __stdcall dmc_get_ipaddr( WORD CardNo,char* IpAddr); + +DMC_API short __stdcall dmc_clear_io_action(WORD CardNo,WORD Crd,WORD IoMask, WORD Mode); + +DMC_API short __stdcall dmc_m_remain_space(WORD CardNo, WORD Crd, uint32* data); + +DMC_API short __stdcall dmc_conti_set_trans_arc_speed_mode(WORD CardNo, WORD Crd, WORD mode); +DMC_API short __stdcall dmc_conti_get_trans_arc_speed_mode(WORD CardNo, WORD Crd, WORD *mode); + +DMC_API short __stdcall dmc_conti_set_node_da_follow_speed(WORD CardNo, WORD Crd, WORD node_id, WORD da_no, double MaxVel, double MaxValue, double acc_offset, double dec_offset, double acc_dist, double dec_dist); +DMC_API short __stdcall dmc_conti_get_node_da_follow_speed(WORD CardNo, WORD Crd, WORD node_id, WORD da_no, double* MaxVel, double* MaxValue, double* acc_offset, double* dec_offset, double* acc_dist, double* dec_dist); +DMC_API short __stdcall dmc_m_set_factor_error(WORD CardNo, WORD axis, WORD enable, double Positive_error, double Negative_error, WORD retain); + +DMC_API short __stdcall dmc_rAxis_comp_config(WORD CardNo,short axis, short enable, int cnt, double *angle, double *xPos, double *yPos); +DMC_API short __stdcall dmc_rAxis_comp_loop(WORD CardNo,short axis, short mode, double angle, double xPos, double yPos, double *new_xPos, double *new_yPos); + +DMC_API short __stdcall dmc_pmove_pro_unit(WORD CardNo, WORD axis_no, double pos, WORD pos_mode, WORD plan_mode, unsigned char* vel_param,unsigned char* plan_result); + +DMC_API short __stdcall dmc_conti_delay_node_da_follow_to_start(WORD CardNo, WORD Crd, WORD node_id, WORD da_no, WORD delay_mode, double delay_value, double min_value, double max_value, double period); +DMC_API short __stdcall dmc_conti_ahead_node_da_follow_to_stop(WORD CardNo, WORD Crd, WORD node_id, WORD da_no, WORD ahead_mode, double ahead_value, double min_value, double max_value, double period); + +DMC_API short __stdcall dmc_printall_time(); +DMC_API short __stdcall dmc_clear_time(); + +DMC_API short __stdcall dmc_get_pmove_consumed_time (WORD CardNo,WORD* time_receive, WORD* time_process, WORD* time_send); + +DMC_API short __stdcall dmc_t_pmove_extern_unit_acc(WORD CardNo, WORD axis, double MidPos,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,WORD posi_mode); +DMC_API short __stdcall dmc_t_pmove_extern_acc(WORD CardNo, WORD axis, double MidPos,double TargetPos, double Min_Vel,double Max_Vel, double stop_Vel, double acc,double dec,WORD posi_mode); +DMC_API short __stdcall dmc_t_pmove_extern_softstart_unit_acc(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); +DMC_API short __stdcall dmc_t_pmove_extern_softstart_acc(WORD CardNo, WORD axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, DWORD delay_ms, double Max_Vel2,double stop_vel2, double acc_time, double dec_time, WORD posi_mode); +DMC_API short __stdcall dmc_change_speed_unit_acc(WORD CardNo,WORD axis, double New_Vel,double Taccdec); +DMC_API short __stdcall dmc_change_speed_acc(WORD CardNo,WORD axis,double Curr_Vel,double Taccdec); + +DMC_API short __stdcall dmc_set_node_da_follow_speed_extern(WORD CardNo, WORD node_id, WORD da_channel, WORD axis, WORD mode, WORD segment, double*vel,double*value); +DMC_API short __stdcall dmc_get_node_da_follow_speed_extern(WORD CardNo, WORD node_id, WORD da_channel, WORD*axis, WORD*mode, WORD *segment, double* vel,double* value); +DMC_API short __stdcall dmc_set_node_da_follow_speed_enable(WORD CardNo, WORD node_id, WORD da_channel, WORD enable); +DMC_API short __stdcall dmc_get_node_da_follow_speed_enable(WORD CardNo, WORD node_id, WORD da_channel, WORD *enable); + + +DMC_API short __stdcall nmc_set_clear_fieldbus_state_on_soft_reset(WORD CardNo, WORD enable); +DMC_API short __stdcall nmc_get_clear_fieldbus_state_on_soft_reset(WORD CardNo, WORD *enable); + +DMC_API short __stdcall dmc_m_set_profile_unit_acc(WORD CardNo, WORD group, WORD axis, double start_vel, double max_vel, double tacc, double tdec, double stop_vel); +DMC_API short __stdcall nmc_get_master_state(WORD CardNo, uint32*States); + +DMC_API short __stdcall dmc_m_set_profile_unit_acc(WORD CardNo, WORD group, WORD axis, double start_vel, double max_vel, double tacc, double tdec, double stop_vel); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/LTDMC.lib b/LTDMC.lib new file mode 100644 index 0000000..1e8ad8b Binary files /dev/null and b/LTDMC.lib differ diff --git a/PosCalibrate.pro b/PosCalibrate.pro new file mode 100644 index 0000000..69382f7 --- /dev/null +++ b/PosCalibrate.pro @@ -0,0 +1,60 @@ +QT += core gui serialport + +greaterThan(QT_MAJOR_VERSION, 4): QT += widgets + +CONFIG += c++17 + +# You can make your code fail to compile if it uses deprecated APIs. +# In order to do so, uncomment the following line. +#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 + +SOURCES += \ + camera.cpp \ + imageview.cpp \ + main.cpp \ + mainwindow.cpp \ + posdevice.cpp \ + rotationstage.cpp + +HEADERS += \ + LTDMC.h \ + calPoint.h \ + camera.h \ + LTDMC.h \ + imageview.h \ + mainwindow.h \ + posdevice.h \ + rotationstage.h + +FORMS += \ + mainwindow.ui + + +INCLUDEPATH+=\ + "C:\opencv\build\include"\ + "C:\Program Files\Basler\pylon 6\Development\include"\ + + +LIBS+= -L"C:\opencv\build\x64\vc16\lib" +LIBS+= -L"C:\Program Files\Basler\pylon 6\Development\lib\x64" +LIBS+= -L$$PWD + + + +CONFIG(debug,debug|release):LIBS+= \ +-lopencv_world4120d \ +-lPylonC \ +-lLTDMC \ + + + +CONFIG(release,debug|release):LIBS+= \ +-lopencv_world4120 \ +-lPylonC \ +-lLTDMC \ + + +# Default rules for deployment. +qnx: target.path = /tmp/$${TARGET}/bin +else: unix:!android: target.path = /opt/$${TARGET}/bin +!isEmpty(target.path): INSTALLS += target diff --git a/calPoint.h b/calPoint.h new file mode 100644 index 0000000..1516063 --- /dev/null +++ b/calPoint.h @@ -0,0 +1,168 @@ +#ifndef CALPOINT_H +#define CALPOINT_H +#include "qglobal.h" +#include +#include "QDebug" +// 定义常量 +const double Re = 6378.14; // 地球半径，km +const double PI = 3.14159265358979323846; +const double Heading_IMUBase =63.888; +const double Pitch_IMUBase = -0.121; +const double Roll_IMUBase = -0.082; + +const double Heading_OPABase=64.062; +const double Pitch_OPABase = -0.332; +const double Roll_OPABase = 89.812; + +const double OpticalAxisAngle_N0=90; +const double OpticalAxisAngle_E0= 90; +const double OpticalAxisAngle_D0=0; + +// 角度转弧度函数 +double deg2rad(double deg) { + return deg * PI / 180.0; +} + +// 弧度转角度函数 +double rad2deg(double rad) { + return rad * 180.0 / PI; +} + +// 模运算函数 +double mod(double x, double y) { + return x - y * std::floor(x / y); +} + +// 矩阵乘法函数 +void matrixMultiply(double A[3][3], double B[3][3], double result[3][3]) { + for(int i=0; i<3; i++) { + for(int j=0; j<3; j++) { + result[i][j] = 0; + for(int k=0; k<3; k++) { + result[i][j] += A[i][k] * B[k][j]; + } + } + } +} + +void matrixMultiplyVector(double A[3][3], double B[3], double result[3]) { + for(int i=0; i<3; i++) { + result[i] = 0; + for(int j=0; j<3; j++) { + result[i] += A[i][j] * B[j]; + } + } +} + +QVector calRes(double Lon_A,double Lat_A,double Hei_A,double Lon_B,double Lat_B, double Hei_B,double HeadingReal,double PitchReal,double RollReal){ + // 将角度由度转化为弧度 + double Lon_A_Rad = deg2rad(Lon_A); // A机经度，rad + double Lat_A_Rad = deg2rad(Lat_A); // A机纬度，rad + double Lon_B_Rad = deg2rad(Lon_B); // B机经度，rad + double Lat_B_Rad = deg2rad(Lat_B); // B机纬度，rad + + // 双机位置（地心直角坐标系）及双机距离，km + double X_A = (Re + Hei_A) * std::cos(Lat_A_Rad) * std::cos(Lon_A_Rad); + double Y_A = (Re + Hei_A) * std::cos(Lat_A_Rad) * std::sin(Lon_A_Rad); + double Z_A = (Re + Hei_A) * std::sin(Lat_A_Rad); + + double X_B = (Re + Hei_B) * std::cos(Lat_B_Rad) * std::cos(Lon_B_Rad); + double Y_B = (Re + Hei_B) * std::cos(Lat_B_Rad) * std::sin(Lon_B_Rad); + double Z_B = (Re + Hei_B) * std::sin(Lat_B_Rad); + + // B机相对于A机的直角坐标，km + double XYZ_BA[3] = {X_B - X_A, Y_B - Y_A, Z_B - Z_A}; + + // 双机距离，km + double D_BA = std::sqrt(XYZ_BA[0]*XYZ_BA[0] + XYZ_BA[1]*XYZ_BA[1] + XYZ_BA[2]*XYZ_BA[2]); + qDebug()<< "双机距离: "< res; + res.append(OpticalAxisRotate_E); + res.append(OpticalAxisRotate_N); + return res; +} + +#endif // CALPOINT_H diff --git a/camera.cpp b/camera.cpp new file mode 100644 index 0000000..ef988cf --- /dev/null +++ b/camera.cpp @@ -0,0 +1,130 @@ +#include "camera.h" + +Camera::Camera(QObject *parent) + : QObject{parent} +{ + state = false; + PylonInitialize(); + cam = new CBaslerUniversalInstantCamera ( CTlFactory::GetInstance().CreateFirstDevice()); + qDebug() << "Using device " << cam->GetDeviceInfo().GetModelName() ; + + +} + +Camera::~Camera() +{ + state = false; + task->join(); + PylonTerminate(); +} + +void Camera::open() +{ + state = true; + try { + // 确保相机未在采集 + if(cam->IsGrabbing()){ + cam->StopGrabbing(); + } + + // 重新打开相机确保干净状态 + if(cam->IsOpen()) { + cam->Close(); + } + cam->Open(); + + // 等待相机初始化 + Sleep(50); + + INodeMap& nodemap = cam->GetNodeMap(); + + // 使用安全的方式设置参数 + auto setIntegerParameter = [&nodemap](const char* name, int64_t value) { + try { + CIntegerParameter param(nodemap, name); + if (param.IsWritable()) { + // 检查值范围 + int64_t min = param.GetMin(); + int64_t max = param.GetMax(); + int64_t inc = param.GetInc(); + + // 调整值到有效范围内 + int64_t adjustedValue = max(min, min(value, max)); + // 对齐到步长 + if (inc > 1) { + adjustedValue = (adjustedValue / inc) * inc; + } + + param.SetValue(adjustedValue); + qDebug() << name << "set to:" << adjustedValue; + return true; + } else { + qDebug() << name << "is not writable"; + return false; + } + } catch (const GenericException& e) { + qDebug() << "Failed to set" << name << ":" << e.GetDescription(); + return false; + } + }; + + // 设置参数 + setIntegerParameter("OffsetX", 1736); + setIntegerParameter("OffsetY", 1264); + setIntegerParameter("Width", 640); + setIntegerParameter("Height", 480); + + // 设置自动曝光 + if (cam->ExposureAuto.IsWritable()) { + cam->ExposureAuto.SetValue(Basler_UniversalCameraParams::ExposureAuto_Continuous); + } + } catch (const GenericException &e) { + qDebug() << "Exception in setCameraParameters:" << e.GetDescription(); + } + + + + + + task = new std::thread(&Camera::getSinglePic,this); +} + +void Camera::close(){ + state = false; + task->join(); + PylonTerminate(); +} +void Camera::getSinglePic() +{ + float sec = 1/FRAME; + int timeout = GRABTIMEOUT; + while(state){ + CGrabResultPtr ptrGrabResult; + + // auto now = std::chrono::system_clock::now(); + + try { + cam->GrabOne(timeout,ptrGrabResult,TimeoutHandling_ThrowException); + } catch (const GenericException &e) { + qDebug() << "Exception in setCameraParameters:" << e.GetDescription(); + } + + // auto now_ = std::chrono::system_clock::now(); + // auto duration = now_ - now; + // auto ms = std::chrono::duration_cast(duration).count(); + + // qDebug()<GetWidth(); + // qDebug()<GetHeight(); + if(ptrGrabResult->GrabSucceeded()){ + uint8_t *pImageBuffer = (uint8_t *) ptrGrabResult->GetBuffer(); + QImage img(pImageBuffer,ptrGrabResult->GetWidth(),ptrGrabResult->GetHeight(),ptrGrabResult->GetWidth(),QImage::Format_Grayscale8); + emit sendPicData(img.copy()); + } + std::this_thread::sleep_for(std::chrono::milliseconds((int)(sec*1000))); + } + + // qDebug()<GetW + +} + diff --git a/camera.h b/camera.h new file mode 100644 index 0000000..8269fdd --- /dev/null +++ b/camera.h @@ -0,0 +1,48 @@ +#ifndef CAMERA_H +#define CAMERA_H + +#include +#include "pylon/PylonIncludes.h" +#include "QDebug" +#include "thread" +#include "chrono" +#include "QImage" +#include +#include "algorithm" + +#define FRAME 10; +#define GRABTIMEOUT 5000; + + +// Namespace for using pylon objects. +using namespace Pylon; + +// Namespace for using GenApi objects. +using namespace GenApi; + +// Namespace for using cout. +using namespace std; + + + +class Camera : public QObject +{ + Q_OBJECT +public: + explicit Camera(QObject *parent = nullptr); + ~Camera(); + void open(); + void close(); + void getSinglePic(); + + +signals: + void sendPicData(QImage); + +private: + CBaslerUniversalInstantCamera *cam; + std::thread *task; + bool state; +}; + +#endif // CAMERA_H diff --git a/imageview.cpp b/imageview.cpp new file mode 100644 index 0000000..939747e --- /dev/null +++ b/imageview.cpp @@ -0,0 +1,80 @@ +#include "imageview.h" +#include + +ImageView::ImageView(QWidget *parent) + : QGraphicsView(parent), + rubberBand(nullptr) +{ + scene = new QGraphicsScene(this); + setScene(scene); + pximg = new QGraphicsPixmapItem(); + scene->addItem(pximg); + + + setDragMode(QGraphicsView::NoDrag); + setRenderHint(QPainter::Antialiasing); + + // 设置视图属性 + setHorizontalScrollBarPolicy(Qt::ScrollBarAsNeeded); + setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); + setTransformationAnchor(QGraphicsView::AnchorUnderMouse); + setResizeAnchor(QGraphicsView::AnchorUnderMouse); + state = false; +} + + + +void ImageView::mousePressEvent(QMouseEvent *event) +{ + if (event->button() == Qt::LeftButton && pximg) + { + origin = event->pos(); + if (!rubberBand) + rubberBand = new QRubberBand(QRubberBand::Rectangle, this); + rubberBand->setGeometry(QRect(origin, QSize())); + rubberBand->show(); + } + if(event->button()==Qt::RightButton){ + state = false; + } + QGraphicsView::mousePressEvent(event); +} + +void ImageView::mouseMoveEvent(QMouseEvent *event) +{ + if (rubberBand && rubberBand->isVisible()) + { + rubberBand->setGeometry(QRect(origin, event->pos()).normalized()); + } + QGraphicsView::mouseMoveEvent(event); +} + +void ImageView::mouseReleaseEvent(QMouseEvent *event) +{ + if (event->button() == Qt::LeftButton && rubberBand && pximg) + { + rubberBand->hide(); + + // 获取ROI区域（视图坐标） + QRect roiRect = rubberBand->geometry(); + + // 转换为场景坐标 + QPointF topLeft = mapToScene(roiRect.topLeft()); + QPointF bottomRight = mapToScene(roiRect.bottomRight()); + QRectF sceneRect(topLeft, bottomRight); + + // 确保在图片范围内 + QRectF imageRect = pximg->boundingRect(); + sceneRect = sceneRect.intersected(imageRect); + + if (!sceneRect.isEmpty()) + { + // 发出信号 + qDebug()<<"跟踪清除"; + emit roiSelected(sceneRect); + // qDebug() << "ROI Selected - Position:" << sceneRect.topLeft() + // << "Size:" << sceneRect.size(); + } + } + QGraphicsView::mouseReleaseEvent(event); +} diff --git a/imageview.h b/imageview.h new file mode 100644 index 0000000..ecfee19 --- /dev/null +++ b/imageview.h @@ -0,0 +1,40 @@ +#ifndef IMAGEVIEW_H +#define IMAGEVIEW_H + +#include +#include +#include +#include +#include +#include "QGraphicsScene" +#include "QGraphicsView" +#include "QGraphicsPixmapItem" + +class ImageView : public QGraphicsView +{ + Q_OBJECT + +public: + explicit ImageView(QWidget *parent = nullptr); + QGraphicsPixmapItem *pximg; + QGraphicsScene *scene; + bool state; + + +protected: + void mousePressEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override; + + +signals: + void roiSelected(const QRectF &roi); + +private: + + QRubberBand *rubberBand; + QPoint origin; + +}; + +#endif // IMAGEVIEW_H diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..aff48df --- /dev/null +++ b/main.cpp @@ -0,0 +1,11 @@ +#include "mainwindow.h" + +#include + +int main(int argc, char *argv[]) +{ + QApplication a(argc, argv); + MainWindow w; + w.show(); + return a.exec(); +} diff --git a/mainwindow.cpp b/mainwindow.cpp new file mode 100644 index 0000000..0f23bae --- /dev/null +++ b/mainwindow.cpp @@ -0,0 +1,638 @@ +#include "mainwindow.h" +#include "ui_mainwindow.h" +#include "calPoint.h" + +MainWindow::MainWindow(QWidget *parent) + : QMainWindow(parent) + , ui(new Ui::MainWindow) +{ + ui->setupUi(this); + pos = new PosDevice(this); + cam = new Camera(this); + + rs = new RotationStage(this); + tz = new QTimer(this); + tz_ = new QTimer(this); + tu = new QTimer(this); + tu_ = new QTimer(this); + + topLeft=0; + topRight=0; + selectWidth=0; + selectHeight=0; + isFirstFrame=false; + loopState = false; + + + ui->lineEdit->setMaxLength(500); + ui->lineEdit_2->setMaxLength(500); + ui->lineEdit_3->setMaxLength(500); + ui->lineEdit_9->setMaxLength(500); + ui->lineEdit_10->setMaxLength(500); + ui->lineEdit_11->setMaxLength(500); + + + + + tz->setInterval(10); + tz_->setInterval(10); + tu->setInterval(10); + tu_->setInterval(10); + + + + + connect(pos,&PosDevice::sendPosData,this,&MainWindow::revPosData); + connect(cam,&Camera::sendPicData,this,&MainWindow::revPicData); + connect(rs,&RotationStage::sendRotateData,this,&MainWindow::revRotateData); + + connect(tz,&QTimer::timeout,this,&MainWindow::zmove); + connect(tz_,&QTimer::timeout,this,&MainWindow::zmove_); + connect(tu,&QTimer::timeout,this,&MainWindow::umove); + connect(tu_,&QTimer::timeout,this,&MainWindow::umove_); + + connect(ui->graphicsView, &ImageView::roiSelected, this, &MainWindow::onRoiSelected); + +} + +MainWindow::~MainWindow() +{ + delete ui; +} + +cv::Rect MainWindow::trackRoiWithCorrelation(const cv::Mat &frame) +{ + if(roiTemplate.empty()) { + qDebug() << "模板为空"; + return cv::Rect(); + } + + // 定义搜索区域（在上一帧ROI周围扩大区域） + int searchMargin = 30; // 搜索边界，可根据需要调整 + cv::Rect searchArea; + searchArea.x = std::max(0, lastRoi.x - searchMargin); + searchArea.y = std::max(0, lastRoi.y - searchMargin); + searchArea.width = std::min(frame.cols - searchArea.x, + lastRoi.width + 2 * searchMargin); + searchArea.height = std::min(frame.rows - searchArea.y, + lastRoi.height + 2 * searchMargin); + + // 检查搜索区域有效性 + if(searchArea.width <= 0 || searchArea.height <= 0) { + qDebug() << "搜索区域无效"; + return lastRoi; + } + + // 提取搜索区域 + cv::Mat searchRegion = frame(searchArea); + + // 检查模板和搜索区域大小 + if(searchRegion.rows < roiTemplate.rows || searchRegion.cols < roiTemplate.cols) { + // 搜索区域比模板小，调整模板大小 + double scaleX = static_cast(searchRegion.cols) / roiTemplate.cols; + double scaleY = static_cast(searchRegion.rows) / roiTemplate.rows; + double scale = std::min(scaleX, scaleY) * 0.9; // 稍微缩小一点确保安全 + + cv::Mat resizedTemplate; + cv::resize(roiTemplate, resizedTemplate, cv::Size(), scale, scale, cv::INTER_AREA); + + // 模板匹配 + cv::Mat result; + cv::matchTemplate(searchRegion, resizedTemplate, result, cv::TM_CCOEFF_NORMED); + + // 找到最佳匹配位置 + double maxVal; + cv::Point maxLoc; + cv::minMaxLoc(result, nullptr, &maxVal, nullptr, &maxLoc); + + // 设置匹配阈值 + double correlationThreshold = 0.5; + if(maxVal < correlationThreshold) { + qDebug() << "匹配度低:" << maxVal; + return lastRoi; + } + + // 计算新的ROI位置 + cv::Rect newRoi; + newRoi.x = searchArea.x + maxLoc.x; + newRoi.y = searchArea.y + maxLoc.y; + newRoi.width = resizedTemplate.cols; + newRoi.height = resizedTemplate.rows; + + qDebug() << "模板匹配成功, 相似度:" << maxVal << "位置:" << newRoi.x << newRoi.y; + lastRoi = newRoi; + return newRoi; + } else { + // 正常情况下的模板匹配 + cv::Mat result; + cv::matchTemplate(searchRegion, roiTemplate, result, cv::TM_CCOEFF_NORMED); + + // 找到最佳匹配位置 + double maxVal; + cv::Point maxLoc; + cv::minMaxLoc(result, nullptr, &maxVal, nullptr, &maxLoc); + + // 设置匹配阈值 + double correlationThreshold = 0.6; + if(maxVal < correlationThreshold) { + qDebug() << "匹配度低:" << maxVal; + return lastRoi; + } + + // 计算新的ROI位置 + cv::Rect newRoi; + newRoi.x = searchArea.x + maxLoc.x; + newRoi.y = searchArea.y + maxLoc.y; + newRoi.width = roiTemplate.cols; + newRoi.height = roiTemplate.rows; + + qDebug() << "模板匹配成功, 相似度:" << maxVal << "位置:" << newRoi.x << newRoi.y; + lastRoi = newRoi; + return newRoi; + } +} + +void MainWindow::updateTemplate(const cv::Mat &frame, const cv::Rect &roi) +{ + static int updateCounter = 0; + updateCounter++; + + // 每N帧更新一次模板 + if(updateCounter % 15 == 0) { // 每15帧更新一次 + if(roi.x >= 0 && roi.y >= 0 && + roi.x + roi.width <= frame.cols && + roi.y + roi.height <= frame.rows) { + + cv::Mat newTemplate = frame(roi).clone(); + + // 使用加权平均更新模板 + double alpha = 0.1; // 学习率，较小的值使模板更新更慢 + + if(roiTemplate.size() == newTemplate.size()) { + cv::addWeighted(roiTemplate, 1.0 - alpha, newTemplate, alpha, 0, roiTemplate); + qDebug() << "模板已更新"; + } + } + updateCounter = 0; + } +} + +QImage MainWindow::cvMatToQImage(const cv::Mat &mat) +{ + switch(mat.type()) { + case CV_8UC1: { // 灰度图 + QImage img(mat.data, mat.cols, mat.rows, + static_cast(mat.step), QImage::Format_Grayscale8); + return img.copy(); // 创建副本以避免内存问题 + } + case CV_8UC3: { // 彩色图 + QImage img(mat.data, mat.cols, mat.rows, + static_cast(mat.step), QImage::Format_RGB888); + return img.rgbSwapped().copy(); + } + case CV_8UC4: { // 带透明度的彩色图 + QImage img(mat.data, mat.cols, mat.rows, + static_cast(mat.step), QImage::Format_ARGB32); + return img.copy(); + } + default: + qWarning() << "不支持的图像格式:" << mat.type(); + return QImage(); + } +} + +cv::Point2f MainWindow::calculateCentroid(const cv::Mat &image, const cv::Rect &roi) +{ + // 提取ROI区域 + cv::Mat roiRegion = image(roi); + + // 使用灰度图像直接计算矩 + cv::Moments m = cv::moments(roiRegion, true); + + if(m.m00 == 0) { + qDebug() << "无法计算质心：区域可能为全黑"; + return cv::Point2f(-1, -1); + } + + // 计算质心坐标 + float centroidX = static_cast(m.m10 / m.m00); + float centroidY = static_cast(m.m01 / m.m00); + + // 转换为图像坐标系 + centroidX += roi.x; + centroidY += roi.y; + + return cv::Point2f(centroidX, centroidY); +} + +void MainWindow::closeloop() +{ + + + // if(ui->lineEdit_4->text().isEmpty()||ui->lineEdit_5->text().isEmpty()||ui->lineEdit_6->text().isEmpty()){ + // qDebug()<<"Error --> B Longtitude/Lantitude/Altitude is empty."; + // return ; + // } + + while(loopState){ + + double ALon =ui->lineEdit_9->text().toDouble(); + double ALan = ui->lineEdit_10->text().toDouble(); + double AAlt = ui->lineEdit_11->text().toDouble(); + + double AHeading = ui->lineEdit->text().toDouble(); + double APitch = ui->lineEdit_2->text().toDouble(); + double ARoll = ui->lineEdit_3->text().toDouble(); + + // ALon = 120.30071541667; // A机经度，deg + // ALan = 30.2623007866115; // A机纬度，deg + // AAlt = 60.0/1000; // A机高度，km + + + + double BLon = ui->lineEdit_4->text().toDouble(); + double BLan = ui->lineEdit_5->text().toDouble(); + double BAlt= ui->lineEdit_6->text().toDouble(); + + + + + // qDebug()<<"A Longtitude is "< res = calRes(ALon,ALan,AAlt,BLon,BLan,BAlt,AHeading,APitch,ARoll); //返回指向的方位角和俯仰角度数 E-->Z, N-->U,DEGEE + + rs->move(0,2,res.at(0)*67108864/360); + rs->move(0,3,res.at(1)*67108864/360); + std::this_thread::sleep_for(std::chrono::milliseconds((int)(50))); + + } +} + +void MainWindow::on_pushButton_clicked() +{ + pos->open(); +} + +void MainWindow::revPosData(QVector posData) +{ + ui->lineEdit->setText(posData.at(0)); //Heading + ui->lineEdit_2->setText(posData.at(1)); //Pitch + ui->lineEdit_3->setText(posData.at(2)); //Roll + + ui->lineEdit_10->setText(posData.at(3)); //Lantitude + ui->lineEdit_9->setText(posData.at(4)); //Longtitude + ui->lineEdit_11->setText(QString::number(posData.at(5).toDouble()/1000.0)); //Altitude + +} + + +void MainWindow::on_pushButton_3_clicked() +{ + cam->open(); +} + + +void MainWindow::on_pushButton_5_clicked() +{ + pos->close(); +} + + +void MainWindow::on_pushButton_4_clicked() +{ + cam->close(); +} + +void MainWindow::revPicData(QImage img){ + QPixmap tmppximg = QPixmap::fromImage(img); + if(!ui->graphicsView->state){ + ui->graphicsView->pximg->setPixmap(tmppximg); + }else{ + cv::Mat cvImg; //origin pic + cvImg = cv::Mat(img.height(), img.width(), CV_8UC1, + (void*)img.constBits(), img.bytesPerLine()); + + // 定义ROI区域 + cv::Rect currentRoi; + + if(isFirstFrame) { + // 第一帧，使用初始ROI + currentRoi = cv::Rect(topLeft, topRight, + selectWidth, selectHeight); + + // 保存模板 + if(currentRoi.x >= 0 && currentRoi.y >= 0 && + currentRoi.x + currentRoi.width <= cvImg.cols && + currentRoi.y + currentRoi.height <= cvImg.rows) { + roiTemplate = cvImg(currentRoi).clone(); + lastRoi = currentRoi; + isFirstFrame = false; + + qDebug() << "初始ROI设置: " << currentRoi.x << currentRoi.y + << currentRoi.width << "x" << currentRoi.height; + + centroidInit = calculateCentroid(cvImg, currentRoi); + qDebug() << "初始ROI质心坐标: (" << centroidInit.x << "," << centroidInit.y << ")"; + } + } else { + // 后续帧使用模板匹配 + currentRoi = trackRoiWithCorrelation(cvImg); + } + + // 在图像上绘制ROI矩形 + if(currentRoi.width > 0 && currentRoi.height > 0) { + // 为了在灰度图上显示彩色矩形，先转换为BGR + cv::Mat colorImg; + cv::cvtColor(cvImg, colorImg, cv::COLOR_GRAY2BGR); + cv::rectangle(colorImg, currentRoi, cv::Scalar(255, 0, 0), 1); + + centroid = calculateCentroid(cvImg, currentRoi); + + if(centroid.x >= 0 && centroid.y >= 0) { + // 在质心位置绘制红色圆点 + cv::circle(colorImg, centroid, 5, cv::Scalar(255, 0, 0), -1); // 红色实心圆 + + // 绘制十字线 + cv::line(colorImg, + cv::Point(centroid.x - 10, centroid.y), + cv::Point(centroid.x + 10, centroid.y), + cv::Scalar(0, 0, 255), 2); // 水平线 + cv::line(colorImg, + cv::Point(centroid.x, centroid.y - 10), + cv::Point(centroid.x, centroid.y + 10), + cv::Scalar(0, 0, 255), 2); // 垂直线 + + // 显示质心坐标 + std::string centroidText = "Centroid: (" + + std::to_string(centroid.x).substr(0, 5) + ", " + + std::to_string(centroid.y).substr(0, 5) + ")"; + + cv::putText(colorImg, centroidText, + cv::Point(currentRoi.x, currentRoi.y - 20), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1); + + + + + std::string xTBL = "xTBL: " + std::to_string((centroid.x-centroidInit.x)*0.003953).substr(0, 5)+" degree"; + std::string yTBL = "yTBL: " + std::to_string((centroid.y-centroidInit.y)*0.003953).substr(0, 5)+" degree"; + + + cv::putText(colorImg, xTBL, + cv::Point(20, 20), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1); + + cv::putText(colorImg, yTBL, + cv::Point(20, 40), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1); + + // qDebug() << "ROI质心坐标: (" << centroid.x << "," << centroid.y << ")"; + qDebug()<<"X 脱靶量（像素）"<< centroid.x-centroidInit.x; + qDebug()<<"Y 脱靶量（像素）"<< centroid.y-centroidInit.y; + + + // 更新模板 + updateTemplate(cvImg, currentRoi); + + // 转换回QImage显示 + QImage resultImg = cvMatToQImage(colorImg); + ui->graphicsView->pximg->setPixmap(QPixmap::fromImage(resultImg)); + } else { + // 如果没有有效ROI，直接显示原图 + ui->graphicsView->pximg->setPixmap(tmppximg); + } + } + } +} + + +void MainWindow::revRotateData(QVector rData) +{ + ui->lineEdit_7->setText(QString::number(rData[0],'f',3)); + ui->lineEdit_8->setText(QString::number(rData[1],'f',3)); + +} + +void MainWindow::on_pushButton_10_clicked() +{ + rs->open(); +} + + +void MainWindow::on_pushButton_6_pressed() +{ + tz->start(); +} + + +void MainWindow::on_pushButton_6_released() +{ + tz->stop(); +} + + +void MainWindow::zmove(){ + rs->move(0,2,1000); +} + +void MainWindow::zmove_() +{ + rs->move(0,2,-1000); +} + +void MainWindow::umove() +{ + rs->move(0,3,1000); +} + +void MainWindow::umove_() +{ + rs->move(0,3,-1000); +} + + + +void MainWindow::on_pushButton_7_pressed() +{ + + if(rs->state){ + tz_->start(); + } + +} + + +void MainWindow::on_pushButton_7_released() +{ + if(rs->state){ + tz_->stop(); + } + +} + + +void MainWindow::on_pushButton_8_pressed() +{ + + if(rs->state){ + tu->start(); + } +} + + +void MainWindow::on_pushButton_8_released() +{ + if(rs->state){ + tu->stop(); + } +} + + +void MainWindow::on_pushButton_9_pressed() +{ + + if(rs->state){ + tu_->start(); + } +} + + +void MainWindow::on_pushButton_9_released() +{ + if(rs->state){ + tu_->stop(); + } +} + + +void MainWindow::on_pushButton_11_clicked() +{ + rs->close(); +} + +void MainWindow::onRoiSelected(const QRectF &roi) +{ + + qDebug() << "ROI Selected - Position:" << roi.topLeft() + << "Size:" << roi.size(); + topLeft = roi.topLeft().x(); + topRight = roi.topRight().y(); + selectWidth=roi.width(); + selectHeight=roi.height(); + isFirstFrame=true; + ui->graphicsView->state=true; + +} + + +void MainWindow::on_pushButton_2_clicked() +{ + double ALon =ui->lineEdit_9->text().toDouble(); + double ALan = ui->lineEdit_10->text().toDouble(); + double AAlt =ui->lineEdit_11->text().toDouble(); + + double AHeading = ui->lineEdit->text().toDouble(); + double APitch = ui->lineEdit_2->text().toDouble(); + double ARoll = ui->lineEdit_3->text().toDouble(); + + // if(ui->lineEdit_4->text().isEmpty()||ui->lineEdit_5->text().isEmpty()||ui->lineEdit_6->text().isEmpty()){ + // QMessageBox::critical(this,"Error","B Longtitude/Lantitude/Altitude is empty."); + // return ; + // } + double BLon = ui->lineEdit_4->text().toDouble(); + double BLan = ui->lineEdit_5->text().toDouble(); + double BAlt= ui->lineEdit_6->text().toDouble(); + + + + // gcal->setPositionA(ALon,ALan,AAlt); + // gcal->setPositionB(BLon,BLan,BAlt); + // gcal->setRealTimeAttitude(AHeading,APitch,ARoll); + + + + + // // // A机位置 + // ALon = 120.30071541667; // A机经度，deg + // ALan = 30.2623007866115; // A机纬度，deg + // AAlt = 60.0/1000; // A机高度，km + + // // // B机位置 + // BLon = 120.300913900136; // B机经度，deg + // BLan = 30.2622503984337; // B机纬度，deg + // BAlt = 60.0/1000 ; + + + // // // 根据POS设备实时姿态角解算B机在A机载体坐标系中的位置 + // AHeading = 65.516; + // APitch = -0.112; + // ARoll = 1.648; + + qDebug()<<"A Longtitude is "< res = calRes(ALon,ALan,AAlt,BLon,BLan,BAlt,AHeading,APitch,ARoll); //返回指向的方位角和俯仰角度数 E-->Z, N-->U,DEGEE + + rs->move(0,2,res.at(0)*67108864/360); + rs->move(0,3,res.at(1)*67108864/360); + + qDebug() <<"Single Close Loop track done"; + +} + + +void MainWindow::on_pushButton_12_clicked() +{ + rs->stop(); + loopState= false; + // task->join(); + qDebug() <<"Open Loop track"; + +} + + +void MainWindow::on_pushButton_13_clicked() +{ + double zDegree; + if(ui->lineEdit_12->text().isEmpty()){ + zDegree = 0.0; + }else{ + if(ui->lineEdit_12->text().toDouble()<0 ||ui->lineEdit_12->text().toDouble()>360 ){ + QMessageBox::critical(this,"Error","Z Degree < 0 or Z Degree > 360"); + return; + } + zDegree = ui->lineEdit_12->text().toDouble(); + } + + double uDegree; + if(ui->lineEdit_13->text().isEmpty()){ + uDegree = 0.0; + }else{ + if(ui->lineEdit_13->text().toDouble()<0 ||ui->lineEdit_13->text().toDouble()>360 ){ + QMessageBox::critical(this,"Error","U Degree < 0 or U Degree > 360"); + return ; + } + uDegree = ui->lineEdit_13->text().toDouble(); + } + + + + rs->move(1,2,zDegree*67108864/360); + rs->move(1,3,uDegree*67108864/360); + +} + + +void MainWindow::on_pushButton_14_clicked() +{ + + loopState =true ; + qDebug() <<"Start RT Close Loop track"; + // task = std::thread(&MainWindow::closeloop,this); + task = new std::thread(&MainWindow::closeloop,this); +} + diff --git a/mainwindow.h b/mainwindow.h new file mode 100644 index 0000000..322a035 --- /dev/null +++ b/mainwindow.h @@ -0,0 +1,107 @@ +#ifndef MAINWINDOW_H +#define MAINWINDOW_H + +#include +#include "posdevice.h" +#include "camera.h" +#include "QImage" +#include "QPixmap" +#include +#include "rotationstage.h" +#include "QTimer" +#include "imageview.h" + +QT_BEGIN_NAMESPACE +namespace Ui { +class MainWindow; +} +QT_END_NAMESPACE + +class MainWindow : public QMainWindow +{ + Q_OBJECT + +public: + MainWindow(QWidget *parent = nullptr); + ~MainWindow(); + cv::Rect trackRoiWithCorrelation(const cv::Mat& frame); + void updateTemplate(const cv::Mat& frame, const cv::Rect& roi); + QImage cvMatToQImage(const cv::Mat& mat); + cv::Point2f calculateCentroid(const cv::Mat& image, const cv::Rect& roi); + void closeloop(); + + + +private slots: + void on_pushButton_clicked(); + void revPosData(QVector); + void revPicData(QImage); + void revRotateData(QVector); + + void on_pushButton_3_clicked(); + + void on_pushButton_5_clicked(); + + void on_pushButton_4_clicked(); + + void on_pushButton_10_clicked(); + + void on_pushButton_6_pressed(); + + void on_pushButton_6_released(); + void zmove(); + void zmove_(); + void umove(); + void umove_(); + + + + void on_pushButton_7_pressed(); + + void on_pushButton_7_released(); + + void on_pushButton_8_pressed(); + + void on_pushButton_8_released(); + + void on_pushButton_9_pressed(); + + void on_pushButton_9_released(); + + void on_pushButton_11_clicked(); + + void onRoiSelected(const QRectF &roi); + + void on_pushButton_2_clicked(); + + void on_pushButton_12_clicked(); + + + void on_pushButton_13_clicked(); + + void on_pushButton_14_clicked(); + +private: + Ui::MainWindow *ui; + PosDevice *pos; + Camera *cam; + QGraphicsScene *scene; + RotationStage *rs; + QTimer *tz,*tz_,*tu,*tu_; + QGraphicsPixmapItem *pximg; + int topLeft,topRight,selectWidth,selectHeight; + bool isFirstFrame; + + cv::Mat roiTemplate; // ROI模板 + cv::Rect lastRoi; // 上一帧的ROI位置 + + cv::Point2f centroidInit; // 初始位置 + cv::Point2f centroid; //当前位置 + + bool loopState; + std::thread *task; + + + +}; +#endif // MAINWINDOW_H diff --git a/mainwindow.ui b/mainwindow.ui new file mode 100644 index 0000000..621144c --- /dev/null +++ b/mainwindow.ui @@ -0,0 +1,359 @@ + + + MainWindow + + + + 0 + 0 + 829 + 937 + + + + MainWindow + + + + + + + Camera + + + + + + Connect to Camera + + + + + + + + + + Disconnect + + + + + + + + + + Pos + + + + + + Target Postion + + + + + + Oepn Loop Track + + + + + + + Altitude: + + + Qt::AlignCenter + + + + + + + + + + Real Time Close Loop Track + + + + + + + Single Close Loop Track + + + + + + + + + + + + + Longtitude: + + + Qt::AlignCenter + + + + + + + Latitude: + + + Qt::AlignCenter + + + + + + + + + + Pos Info + + + + + + + + + + + + + + + + + + Pitch: + + + Qt::AlignCenter + + + + + + + Heading: + + + Qt::AlignCenter + + + + + + + + + + + + + Roll: + + + Qt::AlignCenter + + + + + + + Altitude: + + + Qt::AlignCenter + + + + + + + Longtitude: + + + Qt::AlignCenter + + + + + + + Latitude: + + + Qt::AlignCenter + + + + + + + + + + Disconnect + + + + + + + Connect to PosDevice + + + + + + + + + + Rotation Stage + + + + + + Z (Current Degree) ： + + + + + + + U (Current Degree) ： + + + + + + + Disconnect + + + + + + + Connect to Rotation Stage + + + + + + + Set Absolute Location + + + + + + + + + - + + + + + + + + + + + + + + + U(Degree): + + + + + + + + + + Z(Degree): + + + + + + + + + + + + + + + - + + + + + + + + 0 + 0 + + + + Set AbsLocation + + + + + + + + + + + + + + + + + + + + + 0 + 0 + 829 + 21 + + + + + + + + ImageView + QGraphicsView +
imageview.h
+ + + + + diff --git a/posdevice.cpp b/posdevice.cpp new file mode 100644 index 0000000..45be791 --- /dev/null +++ b/posdevice.cpp @@ -0,0 +1,47 @@ +#include "posdevice.h" + +PosDevice::PosDevice(QObject *parent) + : QObject{parent} +{ + serialHandler = new QSerialPort(this); + serialHandler->setPortName(COMNAME); + serialHandler->setBaudRate(460800); + + +} + +bool PosDevice::open(){ + bool bState = false; + if(serialHandler->open(QIODevice::ReadWrite)){ + bState = true; + } + connect(serialHandler,&QSerialPort::readyRead,this,&PosDevice::readData); + return bState; +} + +void PosDevice::close(){ + disconnect(serialHandler,&QSerialPort::readyRead,this,&PosDevice::readData); + serialHandler->close(); +} + + +void PosDevice::readData(){ + QByteArray datatmp = serialHandler->readAll(); + if(!datatmp.isEmpty()){ + QString data = QString::fromUtf8(datatmp); + QVector posdata; + // qDebug()< +#include "QSerialPort" +#define COMNAME "com6" +#include "QDebug" +#include "QString" +#include "QVector" + + + +class PosDevice : public QObject +{ + Q_OBJECT +public: + explicit PosDevice(QObject *parent = nullptr); + bool open(); + void close(); + void readData(); + +signals: + void sendPosData(QVector); + +private: + QSerialPort *serialHandler; + + +}; + +#endif // POSDEVICE_H diff --git a/rotationstage.cpp b/rotationstage.cpp new file mode 100644 index 0000000..8b3d0c7 --- /dev/null +++ b/rotationstage.cpp @@ -0,0 +1,74 @@ +#include "rotationstage.h" + +RotationStage::RotationStage(QObject *parent) + : QObject{parent} +{ + m_ConnectNum = 8; + m_strIPAdress = "192.168.5.11"; + short num = dmc_board_init_eth(m_ConnectNum,m_strIPAdress); + qDebug()<<"dmc_board_init_eth返回值="< rData; + double rDataAxisZ = 0; + double rDataAxisU = 0; + dmc_get_position_unit(CardNo,2,&rDataAxisZ); + dmc_get_position_unit(CardNo,3,&rDataAxisU); + rData.append(rDataAxisZ/factor); + rData.append(rDataAxisU/factor); + // qDebug()<join(); +} diff --git a/rotationstage.h b/rotationstage.h new file mode 100644 index 0000000..033cdd3 --- /dev/null +++ b/rotationstage.h @@ -0,0 +1,39 @@ +#ifndef ROTATIONSTAGE_H +#define ROTATIONSTAGE_H + +#include +#include "LTDMC.h" +#include "QDebug" +#include "QMessageBox" +#include "thread" + +class RotationStage : public QObject +{ + Q_OBJECT +public: + explicit RotationStage(QObject *parent = nullptr); + void open(); + void aquireData(); + void move(int mode, int axis,int dis); + void stop(); + void close(); + + bool state; + + + + +signals: + void sendRotateData(QVector); + +private: + short rtn; + ushort CardNo; + WORD m_ConnectNum; + const char* m_strIPAdress; + + std::thread *task; +}; + + +#endif // ROTATIONSTAGE_H