wangxx1809/GrpcPrint
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
GrpcPrint/PrintC/Communication/ServoManager.cpp

331 lines
11 KiB
C++
Raw Normal View History

客户端添加辅机参数等
2024-04-18 11:59:51 +08:00
#include "ServoManager.h"
#include "../config/ConfigManager.h"
#include "../external/imgui/imgui.h"
#include "../global.h"
#include "../LanguageManager.h"
#include "../SystemInfo.h"
//#include "../../external/imgui/implot.h"
#include "../Logger.h"
ServoManager::ServoManager(/*PLCAxis* axis*/)
:m_IsShowServo(false)
//,m_Axis(axis)
, m_UpdateFlag(false)
, m_UpdateThread(INVALID_HANDLE_VALUE)
, m_IsLogReady(false)
, m_IsRun(false)
, m_AxisLog(NULL)
{
InitializeCriticalSection(&m_LogLoadCS);
InitializeCriticalSection(&m_ShowLoadCS);
}
ServoManager::~ServoManager()
{
Shutdown();
DeleteCriticalSection(&m_LogLoadCS);
DeleteCriticalSection(&m_ShowLoadCS);
}
void ServoManager::Startup()
{
if (m_UpdateThread != INVALID_HANDLE_VALUE)return;
m_UpdateFlag = true;
m_UpdateThread = AtlCreateThread(UpdateProc, this);
}
void ServoManager::Shutdown()
{
m_UpdateFlag = false;
if (m_UpdateThread != INVALID_HANDLE_VALUE)
{
if (WaitForSingleObject(m_UpdateThread, 500)==WAIT_TIMEOUT) {
TerminateThread(m_UpdateThread, 1);
}
CloseHandle(m_UpdateThread);
m_UpdateThread = INVALID_HANDLE_VALUE;
}
m_IsRun = false;
}
DWORD WINAPI ServoManager::UpdateProc(ServoManager* _this)
{
if (_this) {
//_this->UpdateRun();
}
return 0;
}
//void ServoManager::UpdateRun()
//{
// m_IsRun = true;
// while (m_UpdateFlag) {
//
// //float moldTorque = m_Axis->m_Mold->GetState()->m_Torque/m_Axis->m_Mold->GetState()->m_AxisCfg->m_MaxLoadValue*100.0f;
// //float loadTorque = m_Axis->m_Load->GetState()->m_Torque/ m_Axis->m_Load->GetState()->m_AxisCfg->m_MaxLoadValue*100.0f;
// //float armTorque = m_Axis->m_Arm->GetState()->m_Torque/ m_Axis->m_Arm->GetState()->m_AxisCfg->m_MaxLoadValue*100.0f;
// //float supplyTorque = m_Axis->m_Supply->GetState()->m_Torque/ m_Axis->m_Supply->GetState()->m_AxisCfg->m_MaxLoadValue*100.0f;
// EnterCriticalSection(&m_LogLoadCS);
// //if (m_IsLogReady) {
// // if (m_MoldStat.logLoadList.size() < ServoStat::MAX_SHOW_LOAD_SIZE * 2)m_MoldStat.logLoadList.push_back(moldTorque);
// // if (m_LoadStat.logLoadList.size() < ServoStat::MAX_SHOW_LOAD_SIZE * 2)m_LoadStat.logLoadList.push_back(loadTorque);
// // if (m_ArmStat.logLoadList.size() < ServoStat::MAX_SHOW_LOAD_SIZE * 2)m_ArmStat.logLoadList.push_back(armTorque);
// // if (m_SupplyStat.logLoadList.size() < ServoStat::MAX_SHOW_LOAD_SIZE * 2)m_SupplyStat.logLoadList.push_back(supplyTorque);
// //}
//
// LeaveCriticalSection(&m_LogLoadCS);
//
// EnterCriticalSection(&m_ShowLoadCS);
// while (m_MoldStat.showLoadList.size() >= ServoStat::MAX_SHOW_LOAD_SIZE) {
// m_MoldStat.showLoadList.pop_front();
// }
// m_MoldStat.showLoadList.push_back(moldTorque);
//
// while (m_LoadStat.showLoadList.size() >= ServoStat::MAX_SHOW_LOAD_SIZE) {
// m_LoadStat.showLoadList.pop_front();
// }
// m_LoadStat.showLoadList.push_back(loadTorque);
//
// while (m_ArmStat.showLoadList.size() >= ServoStat::MAX_SHOW_LOAD_SIZE) {
// m_ArmStat.showLoadList.pop_front();
// }
// m_ArmStat.showLoadList.push_back(armTorque);
//
// while (m_SupplyStat.showLoadList.size() >= ServoStat::MAX_SHOW_LOAD_SIZE) {
// m_SupplyStat.showLoadList.pop_front();
// }
// m_SupplyStat.showLoadList.push_back(supplyTorque);
// LeaveCriticalSection(&m_ShowLoadCS);
//
// Sleep(100);
// }
// m_IsRun = false;
//}
void ServoManager::StartLog(long jid, size_t layerIndex, int ctype)
{
if (!IsServoRun())return;
if (m_AxisLog) {
delete m_AxisLog;
m_AxisLog = NULL;
}
m_AxisLog = new AxisLog(jid, layerIndex, ctype);
EnterCriticalSection(&m_LogLoadCS);
m_MoldStat.logLoadList.clear();
m_LoadStat.logLoadList.clear();
m_ArmStat.logLoadList.clear();
m_SupplyStat.logLoadList.clear();
m_IsLogReady = true;
LeaveCriticalSection(&m_LogLoadCS);
//m_AxisLog->m_PreArmPos = m_Axis->m_Arm->GetState()->GetShowPos() / 1000.0f;
g_SystemInfo->LockInfo();
m_AxisLog->m_PreLinearEncoderPos = g_SystemInfo->m_EnvState.m_LinearActDistance;
g_SystemInfo->UnlockInfo();
//m_AxisLog->m_PreMoldPos = m_Axis->m_Mold->GetState()->GetShowPos() / 1000.0f;
//m_AxisLog->m_PreLoadPos = m_Axis->m_Load->GetState()->GetShowPos() / 1000.0f;
//m_AxisLog->m_PreSupplyPos = m_Axis->m_Supply->GetState()->GetShowPos() / 1000.0f;
}
void ServoManager::StopLog()
{
if (!m_AxisLog)return;
EnterCriticalSection(&m_LogLoadCS);
m_IsLogReady = false;
if (!m_MoldStat.logLoadList.empty()) {
m_AxisLog->m_MoldDataCount = m_MoldStat.logLoadList.size();
m_AxisLog->m_MoldData = new float[m_AxisLog->m_MoldDataCount];
}
int moldFlag = 0;
for (list<float>::iterator it = m_MoldStat.logLoadList.begin(); it != m_MoldStat.logLoadList.end(); it++) {
m_AxisLog->m_MoldData[moldFlag++] = (*it);
}
if (!m_LoadStat.logLoadList.empty()) {
m_AxisLog->m_LoadDataCount = m_LoadStat.logLoadList.size();
m_AxisLog->m_LoadData = new float[m_AxisLog->m_LoadDataCount];
}
int powderFlag = 0;
for (list<float>::iterator it = m_LoadStat.logLoadList.begin(); it != m_LoadStat.logLoadList.end(); it++) {
m_AxisLog->m_LoadData[powderFlag++] = (*it);
}
if (!m_ArmStat.logLoadList.empty()) {
m_AxisLog->m_ArmDataCount = m_ArmStat.logLoadList.size();
m_AxisLog->m_ArmData = new float[m_AxisLog->m_ArmDataCount];
}
int armFlag = 0;
for (list<float>::iterator it = m_ArmStat.logLoadList.begin(); it != m_ArmStat.logLoadList.end(); it++) {
m_AxisLog->m_ArmData[armFlag++] = (*it);
}
if (!m_SupplyStat.logLoadList.empty()) {
m_AxisLog->m_SupplyDataCount = m_SupplyStat.logLoadList.size();
m_AxisLog->m_SupplyData = new float[m_AxisLog->m_SupplyDataCount];
}
int supplyFlag = 0;
for (list<float>::iterator it = m_SupplyStat.logLoadList.begin(); it != m_SupplyStat.logLoadList.end(); it++) {
m_AxisLog->m_SupplyData[supplyFlag++] = (*it);
}
LeaveCriticalSection(&m_LogLoadCS);
//m_AxisLog->m_AftArmPos = m_Axis->m_Arm->GetState()->GetShowPos() /1000.0f;
g_SystemInfo->LockInfo();
m_AxisLog->m_AftLinearEncoderPos = g_SystemInfo->m_EnvState.m_LinearActDistance;
g_SystemInfo->UnlockInfo();
//m_AxisLog->m_AftMoldPos = m_Axis->m_Mold->GetState()->GetShowPos() / 1000.0f;
//m_AxisLog->m_AftLoadPos = m_Axis->m_Load->GetState()->GetShowPos() / 1000.0f;
//m_AxisLog->m_AftSupplyPos = m_Axis->m_Supply->GetState()->GetShowPos() / 1000.0f;
g_log->m_LogDao->AddAxisLog(m_AxisLog);
delete m_AxisLog;
m_AxisLog = NULL;
}
void ServoManager::ResetLogServo()
{
EnterCriticalSection(&m_LogLoadCS);
m_MoldStat.logLoadList.clear();
m_LoadStat.logLoadList.clear();
m_ArmStat.logLoadList.clear();
m_SupplyStat.logLoadList.clear();
m_IsLogReady = false;
LeaveCriticalSection(&m_LogLoadCS);
}
//void ServoManager::DrawServo()
//{
// if (!m_IsShowServo)return;
// ImGui::Begin(_(u8"扭力状态").c_str(), &m_IsShowServo, ImGuiWindowFlags_NoDocking);
// vector<double> moldLoad;
// vector<double> loadLoad;
// vector<double> armLoad;
// vector<double> supplyLoad;
//
// double maxValue = 110.0;
//
// EnterCriticalSection(&m_ShowLoadCS);
// for (list<float>::iterator it = m_MoldStat.showLoadList.begin(); it != m_MoldStat.showLoadList.end(); it++) {
// moldLoad.push_back((*it));
// }
//
// for (list<float>::iterator it = m_LoadStat.showLoadList.begin(); it != m_LoadStat.showLoadList.end(); it++) {
// loadLoad.push_back(*it);
// }
//
// for (list<float>::iterator it = m_ArmStat.showLoadList.begin(); it != m_ArmStat.showLoadList.end(); it++) {
// armLoad.push_back(*it);
// }
//
// for (list<float>::iterator it = m_SupplyStat.showLoadList.begin(); it != m_SupplyStat.showLoadList.end(); it++) {
// supplyLoad.push_back(*it);
// }
// LeaveCriticalSection(&m_ShowLoadCS);
//
// float cHeight = (ImGui::GetContentRegionAvail().y - 30.0f) / 4.0f;
// float cWidth = ImGui::GetContentRegionAvail().x - 50;
// ImGui::BeginChild("moldtorque", ImVec2(-1, cHeight), true);
// ImGui::Text(_(u8"成型缸负载曲线").c_str());
// if (ImPlot::BeginPlot("moldline", ImVec2(-1, -1), ImPlotFlags_NoLegend | ImPlotFlags_NoTitle)) {
// ImPlot::SetupAxes(NULL, NULL, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoGridLines, ImPlotAxisFlags_AutoFit);
// ImPlot::SetupAxisLimits(ImAxis_Y1, -10.0, maxValue, ImPlotCond_Always);
// int ndata = (int)moldLoad.size();
// if (ndata > 0) {
//
// ImPlot::PlotLine("LinePlot", &moldLoad[0], ndata);
// if (ImPlot::IsPlotHovered())
// {
// ImPlotPoint mouse = ImPlot::GetPlotMousePos();
// int posX = round(mouse.x);
// if (posX >= 0 && posX < ndata) {
// ImGui::BeginTooltip();
// ImGui::Text(_(u8"负载值:%.1f %%").c_str(), moldLoad[posX]);
// ImGui::EndTooltip();
// }
// }
// }
// ImPlot::EndPlot();
// }
//
// ImGui::EndChild();
//
//
// ImGui::BeginChild("loadtorque", ImVec2(-1, cHeight), true);
// ImGui::Text(_(u8"移栽轴负载曲线").c_str());
// if (ImPlot::BeginPlot("loadline", ImVec2(-1, -1), ImPlotFlags_NoLegend | ImPlotFlags_NoTitle)) {
// ImPlot::SetupAxes(NULL, NULL, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoGridLines, ImPlotAxisFlags_AutoFit);
// ImPlot::SetupAxisLimits(ImAxis_Y1, -10.0, maxValue, ImPlotCond_Always);
// int ndata = (int)loadLoad.size();
// if (ndata > 0) {
//
// ImPlot::PlotLine("LinePlot", &loadLoad[0], ndata);
// if (ImPlot::IsPlotHovered())
// {
// ImPlotPoint mouse = ImPlot::GetPlotMousePos();
// int posX = round(mouse.x);
// if (posX >= 0 && posX < ndata) {
// ImGui::BeginTooltip();
// ImGui::Text(_(u8"负载值:%.1f %%").c_str(), loadLoad[posX]);
// ImGui::EndTooltip();
// }
// }
// }
// ImPlot::EndPlot();
// }
//
// ImGui::EndChild();
//
// ImGui::BeginChild("armtorque", ImVec2(-1, cHeight), true);
// ImGui::Text(_(u8"铺粉轴负载曲线").c_str());
// if (ImPlot::BeginPlot("armline", ImVec2(-1, -1), ImPlotFlags_NoLegend | ImPlotFlags_NoTitle)) {
// ImPlot::SetupAxes(NULL, NULL, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoGridLines, ImPlotAxisFlags_AutoFit);
// ImPlot::SetupAxisLimits(ImAxis_Y1, -10.0, maxValue, ImPlotCond_Always);
// int ndata = (int)armLoad.size();
// if (ndata > 0) {
//
// ImPlot::PlotLine("LinePlot", &armLoad[0], ndata);
// if (ImPlot::IsPlotHovered())
// {
// ImPlotPoint mouse = ImPlot::GetPlotMousePos();
// int posX = round(mouse.x);
// if (posX >= 0 && posX < ndata) {
// ImGui::BeginTooltip();
// ImGui::Text(_(u8"负载值:%.1f %%").c_str(), armLoad[posX]);
// ImGui::EndTooltip();
// }
// }
// }
// ImPlot::EndPlot();
// }
// ImGui::EndChild();
//
//
// ImGui::BeginChild("supplytorque", ImVec2(-1, cHeight), true);
// ImGui::Text(_(u8"下粉轴负载曲线").c_str());
// if (ImPlot::BeginPlot("supplyline", ImVec2(-1, -1), ImPlotFlags_NoLegend | ImPlotFlags_NoTitle)) {
// ImPlot::SetupAxes(NULL, NULL, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoGridLines, ImPlotAxisFlags_AutoFit);
// ImPlot::SetupAxisLimits(ImAxis_Y1, -10.0, maxValue, ImPlotCond_Always);
// int ndata = (int)supplyLoad.size();
// if (ndata > 0) {
//
// ImPlot::PlotLine("LinePlot", &supplyLoad[0], ndata);
// if (ImPlot::IsPlotHovered())
// {
// ImPlotPoint mouse = ImPlot::GetPlotMousePos();
// int posX = round(mouse.x);
// if (posX >= 0 && posX < ndata) {
// ImGui::BeginTooltip();
// ImGui::Text(_(u8"负载值:%.1f %%").c_str(), supplyLoad[posX]);
// ImGui::EndTooltip();
// }
// }
// }
// ImPlot::EndPlot();
// }
//
// ImGui::EndChild();
//
// ImGui::End();
//}
Reference in New Issue Copy Permalink