epos driver

MPIBR · Jan 2, 2019 · 9f9e63a · 9f9e63a
1 parent 111f4b3
commit 9f9e63a
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Showing 5 changed files with 257 additions and 7 deletions.
diff --git a/BrainATUMtome/BrainATUMtome.pro b/BrainATUMtome/BrainATUMtome.pro
@@ -46,3 +46,11 @@ FORMS += \
 qnx: target.path = /tmp/$${TARGET}/bin
 else: unix:!android: target.path = /opt/$${TARGET}/bin
 !isEmpty(target.path): INSTALLS += target
+
+win32: LIBS += -L$$PWD/../libs/epos/lib/ -lEposCmd64
+
+INCLUDEPATH += $$PWD/../libs/epos/include
+DEPENDPATH += $$PWD/../libs/epos/include
+
+macx: INCLUDEPATH += $$PWD/../libs/epos/macx
+macx: LIBS += -L$$PWD/../libs/epos/macx -lepos
diff --git a/BrainATUMtome/epos.cpp b/BrainATUMtome/epos.cpp
@@ -1,8 +1,220 @@
 #include "epos.h"
 
-Epos::Epos(QObject *parent) : QObject(parent)
+Epos::Epos(QObject *parent) : QObject(parent),
+    m_keyHandle_lower(nullptr),
+    m_keyHandle_upper(nullptr),
+    m_nodeId(0),
+    m_errorCode(0)
 {
+    // open motor interfaces
+    char portLower[] = "USB0";
+    char portUpper[] = "USB1";
+    m_keyHandle_lower = open(portLower);
+    m_keyHandle_upper = open(portUpper);
 
+    // set velocity mode
+    setVelocityMode(m_keyHandle_lower);
+    setVelocityMode(m_keyHandle_upper);
+}
+
+
+Epos::~Epos()
+{
+    close(m_keyHandle_lower);
+    close(m_keyHandle_upper);
+}
+
+
+HANDLE Epos::open(char *portName)
+{
+
+    char deviceName[] = "EPOS2";
+    char protocolStackName[] = "MAXON SERIAL V2";
+    char interfaceName[] = "USB";
+
+    HANDLE m_keyHandle = VCS_OpenDevice(deviceName,
+                                        protocolStackName,
+                                        interfaceName,
+                                        portName,
+                                        &m_errorCode);
+
+    if (!m_keyHandle)
+    {
+        throwError("failed to open device on port " + QString(portName));
+        return nullptr;
+    }
+
+    emit log(EventLogType::Notify,  "Epos :: device is open on port " + QString(portName));
+
+    return m_keyHandle;
+}
+
+void Epos::close(HANDLE m_keyHandle)
+{
+    if (m_keyHandle == nullptr)
+        return;
+
+    if (!VCS_CloseDevice(m_keyHandle, &m_errorCode))
+    {
+        throwError("failed to close device");
+        return;
+    }
+
+    m_keyHandle = nullptr;
+}
+
+void Epos::clear(HANDLE m_keyHandle)
+{
+    BOOL isFaultState = FALSE;
+
+    if (!m_keyHandle)
+        return;
+
+    if (!VCS_GetFaultState(m_keyHandle, m_nodeId, &isFaultState, &m_errorCode))
+    {
+        throwError("VCS_GetFaultState");
+        return;
+    }
+
+    if (isFaultState)
+    {
+        if (!VCS_ClearFault(m_keyHandle, m_nodeId, &m_errorCode))
+        {
+            throwError("VCS_ClearFault");
+        }
+
+        // led indicator
+        setLedRed(FALSE);
+        setLedGreen(FALSE);
+    }
+}
+
+void Epos::enable(HANDLE m_keyHandle)
+{
+    if (!m_keyHandle)
+        return;
+
+    clear(m_keyHandle);
+
+    if (!VCS_SetEnableState(m_keyHandle, m_nodeId, &m_errorCode))
+    {
+        throwError("VCS_SetEnableState");
+    }
+}
+
+void Epos::disable(HANDLE m_keyHandle)
+{
+    if (!m_keyHandle)
+        return;
+
+    if (!VCS_SetDisableState(m_keyHandle, m_nodeId, &m_errorCode))
+    {
+        throwError("VCS_SetDisableState");
+    }
+}
+
+
+void Epos::setVelocityMode(HANDLE m_keyHandle)
+{
+    if (!m_keyHandle)
+        return;
+
+    // set operation mode
+    if (!VCS_ActivateVelocityMode(m_keyHandle, m_nodeId, &m_errorCode))
+    {
+        throwError("VCS_ActivateVelocityMode");
+    }
+}
+
+void Epos::move(HANDLE m_keyHandle, qint16 velocityMust)
+{
+    enable(m_keyHandle);
+
+    if (!VCS_SetVelocityMust(m_keyHandle, m_nodeId, velocityMust, &m_errorCode))
+    {
+        throwError("VCS_SetVelocityMust");
+    }
+}
+
+void Epos::stop(HANDLE m_keyHandle)
+{
+    if (!VCS_SetQuickStopState(m_keyHandle, m_nodeId, &m_errorCode))
+    {
+        throwError("VCS_SetQuickStopState");
+    }
+
+    disable(m_keyHandle);
+}
+
+void Epos::setDOPin(HANDLE m_keyHandle, WORD digitalOutputNb, WORD configuration, BOOL state)
+{
+    BOOL mask = state;
+    BOOL polarity = FALSE;
+
+    if (!m_keyHandle)
+        return;
+
+    if (!VCS_DigitalOutputConfiguration(m_keyHandle,
+                                        m_nodeId,
+                                        digitalOutputNb,
+                                        configuration,
+                                        state,
+                                        mask,
+                                        polarity,
+                                        &m_errorCode))
+    {
+        throwError("VCS_DigitalOutputConfiguration");
+    }
+}
+
+
+void Epos::setLedGreen(BOOL state)
+{
+    WORD digitalOutputNb = 0x0003;
+    WORD configuration = DIC_GENERAL_PURPOSE_C;
+    setDOPin(m_keyHandle_lower, digitalOutputNb, configuration, state);
+}
+
+
+void Epos::setSound(BOOL state)
+{
+    WORD digitalOutputNb = 0x0004;
+    WORD configuration = DIC_GENERAL_PURPOSE_D;
+    setDOPin(m_keyHandle_lower, digitalOutputNb, configuration, state);
+}
+
+
+void Epos::setTension(BOOL state)
+{
+    WORD digitalOutputNb = 0x0003;
+    WORD configuration = DIC_GENERAL_PURPOSE_C;
+    setDOPin(m_keyHandle_upper, digitalOutputNb, configuration, state);
+}
+
+
+void Epos::setLedRed(BOOL state)
+{
+    WORD digitalOutputNb = 0x0004;
+    WORD configuration = DIC_GENERAL_PURPOSE_D;
+    setDOPin(m_keyHandle_upper, digitalOutputNb, configuration, state);
+}
+
+
+void Epos::throwError(const QString &errorMessage)
+{
+    const WORD errorInfoSize = 256;
+    char errorInfo[errorInfoSize];
+
+    if (!VCS_GetErrorInfo(m_errorCode, errorInfo, errorInfoSize))
+    {
+       //std::copy(errorInfo, "failed to read error information", errorInfoSize);
+    }
+
+    emit log(EventLogType::Warn, "EPOS :: Error, " + errorMessage + "\n" + QString(errorInfo) + ", errorCode: " + QString::number(m_errorCode, 16));
+
+    // led indicator
+    setLedGreen(FALSE);
+    setLedRed(TRUE);
 }
 
 

diff --git a/BrainATUMtome/epos.h b/BrainATUMtome/epos.h
@@ -3,18 +3,42 @@
 
 #include <QObject>
 
+#include "Definitions.h"
 #include "eventlog.h"
 
 class Epos : public QObject
 {
     Q_OBJECT
 public:
     explicit Epos(QObject *parent = nullptr);
+    ~Epos();
 
 private:
+    HANDLE m_keyHandle_lower;
+    HANDLE m_keyHandle_upper;
+    WORD m_nodeId;
+    DWORD m_errorCode;
+
     const int MOTORID_LOWER = 0;
     const int MOTORID_UPPER = 1;
 
+    HANDLE open(char *portName);
+    void close(HANDLE m_keyHandle);
+    void clear(HANDLE m_keyHandle);
+    void enable(HANDLE m_keyHandle);
+    void disable(HANDLE m_keyHandle);
+    void setVelocityMode(HANDLE m_keyHandle);
+    void move(HANDLE m_keyHandle, qint16 velocityMust);
+    void stop(HANDLE m_keyHandle);
+    void setDOPin(HANDLE m_keyHandle, WORD digitalOutputNb, WORD configuration, BOOL state);
+
+    void setLedRed(BOOL state);
+    void setLedGreen(BOOL state);
+    void setSound(BOOL state);
+    void setTension(BOOL state);
+
+    void throwError(const QString &message);
+
 public slots:
     void on_uirequest_velocity(int motorid, int velocity);
     void on_uirequest_tension(bool state);

diff --git a/BrainATUMtome/mainwindow.h b/BrainATUMtome/mainwindow.h
@@ -38,8 +38,8 @@ class MainWindow : public QMainWindow
     void configure_microtome();
     void configure_syringe();
 
-    static const int EPOS_LOWER_MOTTOR = 0;
-    static const int EPOS_UPPER_MOTTOR = 1;
+    const int EPOS_LOWER_MOTTOR = 0;
+    const int EPOS_UPPER_MOTTOR = 1;
 
 private slots:
     void on_radioButtonsEposSyncToggled(bool checked);

diff --git a/BrainATUMtome/mainwindow.ui b/BrainATUMtome/mainwindow.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1000</width>
-    <height>753</height>
+    <height>769</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -64,7 +64,7 @@
                  <number>15000</number>
                 </property>
                 <property name="singleStep">
-                 <number>1</number>
+                 <number>10</number>
                 </property>
                 <property name="value">
                  <number>1000</number>
@@ -120,7 +120,7 @@
                  <number>15000</number>
                 </property>
                 <property name="singleStep">
-                 <number>1</number>
+                 <number>10</number>
                 </property>
                 <property name="value">
                  <number>1000</number>
@@ -176,7 +176,7 @@
                  <number>15000</number>
                 </property>
                 <property name="singleStep">
-                 <number>1</number>
+                 <number>10</number>
                 </property>
                 <property name="value">
                  <number>1000</number>
@@ -270,6 +270,9 @@
                <property name="maximum">
                 <number>100000</number>
                </property>
+               <property name="singleStep">
+                <number>10</number>
+               </property>
                <property name="value">
                 <number>100</number>
                </property>
@@ -319,6 +322,9 @@
                <property name="maximum">
                 <number>15000</number>
                </property>
+               <property name="singleStep">
+                <number>10</number>
+               </property>
                <property name="value">
                 <number>30</number>
                </property>