SKMC.API-v3/SKMC.API/Motion/Driver/IMotionDriver.cs


using SKMC.Api.Motion.Model;
using System.Text;

namespace SKMC.Api.Motion.Driver
{
    /// <summary>
    /// 运动控制卡基础控制接口
    /// </summary>
    public interface IMotionDriver
    {
        /// <summary>
        /// 运动控制数据解析器接口
        /// </summary>
        IMotionDriverParser MotionDriverParser { get; set; }

        /// <summary>
        /// 获取型号
        /// </summary>
        /// <returns></returns>
        string GetModelCode();

        /// <summary>
        /// 初始化控制卡
        /// </summary>
        void InitBoard();

        /// <summary>
        /// 获取硬件句柄
        /// </summary>
        /// <returns></returns>
        ulong GetHandler();

        /// <summary>
        /// 关闭控制卡
        /// </summary>
        void CloseBoard();

        /// <summary>
        /// 检测控制卡状态
        /// </summary>
        /// <returns></returns>
        bool CheckHealth();

        /// <summary>
        /// 复位控制卡
        /// </summary>
        void ResetBoard();

        /// <summary>
        /// 获取控制卡Ethercat总线状态
        /// </summary>
        /// <returns>0为正常, 其他为异常</returns>
        int GetEcatStatus();

        /// <summary>
        /// 获取控制卡Ethercat总线错误码
        /// </summary>
        /// <returns>0为正常, 其他为错误码</returns>
        int GetEcatErrorCode();

        /// <summary>
        /// 获取Ethercat总线上的电机数量
        /// </summary>
        /// <returns>电机数量</returns>
        int GetAxisNum();

        /// <summary>
        /// 获取Ethercat总线上的IO输入数量
        /// </summary>
        /// <returns>IO输入数量</returns>
        int GetDiNum();

        /// <summary>
        /// 获取Ethercat总线上的IO输出数量
        /// </summary>
        /// <returns>IO输出数量</returns>
        int GetDoNum();

        /// <summary>
        /// 获取Ethercat总线上的AD输入数量
        /// </summary>
        /// <returns>AD输入数量</returns>
        int GetAdNum();

        /// <summary>
        /// 获取Ethercat总线上的DA输出数量
        /// </summary>
        /// <returns>DA输出数量</returns>
        int GetDaNum();

        /// <summary>
        /// 电机是否使能状态
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>是否使能状态</returns>
        bool IsAxisEnable(short axisNo);

        /// <summary>
        /// 获取电机状态值
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="status">状态数值</param>
        void GetAxisStatus(short axisNo, ref int status);

        /// <summary>
        /// 获取多个电机状态值
        /// </summary>
        /// <param name="count"></param>
        /// <param name="statusArr"></param>
        void GetMultiAxisStatus(short count, ref int[] statusArr);

        /// <summary>
        /// 电机上使能
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        void AxisEnable(short axisNo);

        /// <summary>
        /// 电机下使能
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        void AxisDisable(short axisNo);

        /// <summary>
        /// 电机上使能或下使能
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="enabled">true为上使能, false为下使能</param>
        void AxisEnabled(short axisNo, bool enabled);

        /// <summary>
        /// 设置运动参数(轴状态为到位isDone时生效)
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="moveParam">运动参数</param>
        void SetMoveProfile(short axisNo, AxisMoveParma moveParam);

        /// <summary>
        /// 更新绝对运动/相对运动时运动参数(轴状态为忙碌isBusy时生效)
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="moveParam">运动参数</param>
        void UpdateMoveTargetProfile(short axisNo, AxisMoveParma moveParam);

        /// <summary>
        /// 更新持续运动/Jog运动时运动参数(轴状态为忙碌isBusy时生效)
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="moveParam">运动参数</param>
        void UpdateMoveKeepProfile(short axisNo, AxisMoveParma moveParam);

        /// <summary>
        /// 相对运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="direction">运动方向</param>
        /// <param name="dist">运行步距</param>
        /// <returns>命令返回码</returns>
        short MoveRel(short axisNo, ushort direction, double dist);

        /// <summary>
        /// 绝对运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="direction">运动方向</param>
        /// <param name="dist">运行步距</param>
        /// <returns>命令返回码</returns>
        short MoveAbs(short axisNo, ushort direction, double dist);

        /// <summary>
        /// 中途更换目标位置
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="direction"></param>
        /// <param name="dist"></param>
        /// <returns>命令返回码</returns>
        short MoveAbsUpdate(short axisNo, ushort direction, double dist);

        /// <summary>
        /// 持续运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="vel"></param>
        /// <param name="direction"></param>
        /// <returns>命令返回码</returns>
        short MoveKeep(short axisNo, double vel, ushort direction);

        /// <summary>
        /// 停止运动(减速停止)
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>命令返回码</returns>
        short MoveStop(short axisNo);

        /// <summary>
        /// 暂停运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>命令返回码</returns>
        short MovePause(short axisNo);

        /// <summary>
        /// 恢复运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>命令返回码</returns>
        short MoveResume(short axisNo);

        /// <summary>
        /// 回零运动
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="homeParam"></param>
        /// <returns>命令返回码</returns>
        short Home(short axisNo, AxisHomeParam homeParam);

        /// <summary>
        /// 获取回零状态
        /// </summary>
        /// <param name="axisNo"></param>
        /// <returns>0: 回零成功,  1: 回零中,  2: 回零异常</returns>
        short GetHomeStatus(short axisNo);

        /// <summary>
        /// 退出回零运动
        /// </summary>
        /// <param name="axisNo"></param>
        /// <returns></returns>
        short EndHome(short axisNo);

        /// <summary>
        /// 获取编码器反馈值
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>反馈值</returns>
        double GetEncPos(short axisNo);

        /// <summary>
        /// 获取运动目标值
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>目标值</returns>
        double GetPrfPos(short axisNo);

        /// <summary>
        /// 设置当前编码器位置(慎用)
        /// 注意: 调用该方法时需要确认电机上使能并且是静止状态
        /// 绝对值编码器不推荐使用
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <param name="encPos">编码器位置</param>
        /// <returns></returns>
        short SetEncPos(short axisNo, double encPos);

        /// <summary>
        /// 急停
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        /// <returns>命令返回码</returns>
        short EmgStop(short axisNo);

        /// <summary>
        /// 清除反馈值及目标值
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        void ClearCounter(short axisNo);

        /// <summary>
        /// 清除报错(是否有效取决于具体错误)
        /// </summary>
        /// <param name="axisNo">电机轴号</param>
        void ClearError(short axisNo);

        /// <summary>
        /// 获取一个DI点位数值
        /// </summary>
        /// <param name="dno">DI序号</param>
        /// <returns>数值</returns>
        byte GetDnoDi(short dno);

        /// <summary>
        /// 获取一个DI逻辑组中的数值集
        /// </summary>
        /// <param name="grpno"></param>
        /// <returns>数值集</returns>
        short GetGrpDi(short grpno);

        /// <summary>
        /// 获取多个DI包的数值集合, 每个包有16位数据
        /// </summary>
        /// <param name="packIndex"></param>
        /// <param name="packCnt"></param>
        /// <returns></returns>
        ushort[] GetPackDi(short packIndex, short packCnt);

        /// <summary>
        /// 获取一个DO点位数值
        /// </summary>
        /// <param name="dno">DO序号</param>
        /// <returns>数值</returns>
        byte GetDnoDo(short dno);

        /// <summary>
        /// 获取一个DO逻辑组中的数值集
        /// </summary>
        /// <param name="grpno"></param>
        /// <returns>数值集</returns>
        short GetGrpDo(short grpno);

        /// <summary>
        /// 获取多个DO包的数值集合, 每个包有16位数据
        /// </summary>
        /// <param name="packIndex"></param>
        /// <param name="packCnt"></param>
        /// <returns></returns>
        ushort[] GetPackDo(short packIndex, short packCnt);

        /// <summary>
        /// 设置一个DO点位数值
        /// </summary>
        /// <param name="dno">DO序号</param>
        /// <param name="value"></param>
        /// <returns>命令返回码</returns>
        short SetDnoDo(short dno, short value);

        /// <summary>
        /// 获取一个AD点位数值
        /// </summary>
        /// <param name="dno">DO序号</param>
        /// <returns>数值</returns>
        short GetDnoAd(short dno);

        /// <summary>
        /// 批量获取多个AD点位数值
        /// </summary>
        /// <param name="adIndex"></param>
        /// <param name="adCnt"></param>
        /// <returns></returns>
        short[] GetGrpAd(short adIndex, short adCnt);

        /// <summary>
        /// 写入SDO数据
        /// </summary>
        /// <param name="motionSdo">Sdo对象</param>
        /// <returns>命令返回码</returns>
        short WriteSdoData(MotionSdo motionSdo);

        /// <summary>
        /// 写入SDO数据
        /// </summary>
        /// <param name="motionSdo">Sdo对象</param>
        /// <returns>读取的SDO数据长度</returns>
        int ReadSdoData(MotionSdo motionSdo);

        /// <summary>
        /// 初始化Pdo配置
        /// </summary>
        /// <returns></returns>
        short GetPdoConfig();

        /// <summary>
        /// 写入PDO数据
        /// </summary>
        /// <param name="motionPdo">Pdo对象</param>
        /// <returns></returns>
        short WritePdoData(MotionPdo motionPdo);

        /// <summary>
        /// 读取Pdo数据
        /// </summary>
        /// <param name="motionPdo">Pdo对象</param>
        /// <returns>读取的PDO数据长度</returns>
        int ReadPdoData(MotionPdo motionPdo);

        uint WriteUserCode(string data);

        uint CheckUserCode(string data);

        uint WriteUserData(string data);

        uint ReadUserData(ref StringBuilder dataBuilder, short len);
    }
}