75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
#include "rotationstage.h"
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RotationStage::RotationStage(QObject *parent)
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: QObject{parent}
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{
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m_ConnectNum = 8;
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m_strIPAdress = "192.168.5.11";
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short num = dmc_board_init_eth(m_ConnectNum,m_strIPAdress);
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qDebug()<<"dmc_board_init_eth返回值="<<num;
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if(num != 0)
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{
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QMessageBox::question(NULL,"错误","初始化卡失败！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
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}
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else
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{
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QMessageBox::question(NULL,"正确","初始化卡成功！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
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}
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ushort CardNum;
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DWORD CardTypeList[8];
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ushort CardIdList[8];
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rtn = dmc_get_CardInfList(&CardNum,CardTypeList,CardIdList);
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if(rtn != 0)
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{
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QMessageBox::question(NULL,"错误","获取卡信息失败！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
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}
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else
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{
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QMessageBox::question(NULL,"正确","获取卡信息成功！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
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CardNo = CardIdList[0];
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}
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state = false;
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}
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void RotationStage::open()
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{
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state = true;
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task = new std::thread(&RotationStage::aquireData,this);
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}
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void RotationStage::aquireData()
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{
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double factor = 67108864/360;
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while(state){
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QVector<double> rData;
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double rDataAxisZ = 0;
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double rDataAxisU = 0;
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dmc_get_position_unit(CardNo,2,&rDataAxisZ);
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dmc_get_position_unit(CardNo,3,&rDataAxisU);
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rData.append(rDataAxisZ/factor);
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rData.append(rDataAxisU/factor);
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// qDebug()<<rDataAxisZ;
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// qDebug()<<rDataAxisU;
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emit sendRotateData(rData);
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std::this_thread::sleep_for(std::chrono::milliseconds(50));
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}
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}
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void RotationStage::move(int mode, int axis, int dis) //mode:0, axis:2(z),3(u),dis
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{
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dmc_pmove_unit(CardNo,axis,dis,mode);//定长运动
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}
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void RotationStage::stop()
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{
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dmc_emg_stop(CardNo);
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}
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void RotationStage::close()
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{
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state=false;
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task->join();
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}
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