#include "StdAfx.h"
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#include "CHAfmControls/AFMControl_Msg.h"
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#include "AFT_LIB/atf_lib.h"
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#include <tchar.h>
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#pragma comment(lib, "legacy_stdio_definitions.lib")
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CAfmControl_Msg::CAfmControl_Msg(int nIndex) : CAfmControl(nIndex)
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{
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m_dSpeed = 1.0;
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m_hMutex = CreateMutex(NULL, FALSE, _T("AFMMutex"));
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}
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CAfmControl_Msg::~CAfmControl_Msg(void)
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{
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CloseHandle(m_hMutex);
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}
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int CAfmControl_Msg::Connect(const CAfmControlInfo& controlInfo)
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{
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WaitForSingleObject(m_hMutex, INFINITE);
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m_bConnected = FALSE;
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m_ControlInfo = controlInfo;
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CString strPort = _T("COM") + m_ControlInfo.GetConnectionPort();
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//strPort.Format(_T("COM%d"), connParam.nPortNum);
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#ifdef UNICODE
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int Ret = 0;
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Ret = WideCharToMultiByte(CP_ACP, 0, strPort, (int)_tcslen(strPort), m_strPort, 15, NULL, NULL);
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m_strPort[Ret] = 0;
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#endif
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//CWinThread* thread = AfxBeginThread(MyThreadProc, m_strPort);
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m_nBaudrate_start = 9600; // upon powercycle sensor always starts with 9600
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int baudrate_run = 57600;
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baudrate_run = 115200;
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DWORD dTest = 115200;
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int point_count = -1;
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// open port, return if failed
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int ret = atf_OpenConnection(m_strPort, m_nBaudrate_start);
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if (ret)
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{
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atf_CloseConnection();
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ReleaseMutex(m_hMutex);
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return 0;
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}
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else
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{
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atf_WriteBaud(115200);
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if(atf_ChangeCommBaudrate(115200))
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{
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atf_CloseConnection();
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ReleaseMutex(m_hMutex);
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return 0;
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}
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//atf_ChangeCommBaudrate(115200);
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/*int nBaudrate = 0;
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ret=atf_ReadBaud(nBaudrate);
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if (atf_ChangeCommBaudrate(dTest))
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{
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atf_CloseConnection();
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ReleaseMutex(m_hMutex);
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return 0;
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}*/
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}
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Sleep(100);
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if(m_bConnected = atf_isSerialConnection())
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{
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atf_SetComIdx(m_nIndex);
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Sleep(100);
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atf_ReadMicrostep(&m_nMicroSteps);
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Sleep(100);
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atf_ReadStepPerMmConversion(&m_nFullsteps);
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Sleep(100);
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atf_ReadHomingZ_Parameters(m_pAFMHomingZParam);
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}
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if (m_bConnected==0)
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{
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ReleaseMutex(m_hMutex);
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return 0;
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}
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m_nRecipeIndex = 0;
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m_strRecipeName = _T("Default");
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int nZoomIndex = m_nZoomIndex = -1;
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ret = atf_ReadObjNum(&nZoomIndex);
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if (ret==0)
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{
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m_nZoomIndex = nZoomIndex;
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}
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RecipeZoom(m_nZoomIndex);
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ReleaseMutex(m_hMutex);
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return 1;
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}
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void CAfmControl_Msg::Disconnect()
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{
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int ret;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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}
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atf_CloseConnection();
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ReleaseMutex(m_hMutex);
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}
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int CAfmControl_Msg::RecipeJogSpeed(double dSpeed)
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{
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m_dSpeed = dSpeed;
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return 1;
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}
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int CAfmControl_Msg::RecipeJogCommand(int nCmd)
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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int nPos = 0;
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switch(nCmd)
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{
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case 0:
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ret = 0;
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break;
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case AfmJogCmd_Down:
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nPos = int( ((double)m_dSpeed * -m_nMicroSteps * m_nFullsteps)/1000.0 );
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ret = atf_MoveZ(nPos);
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break;
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case AfmJogCmd_Up:
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nPos = int( ((double)-m_dSpeed * -m_nMicroSteps * m_nFullsteps)/1000.0 );
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ret = atf_MoveZ(nPos);
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break;
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}
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if(ret) return 0;
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return 1;
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}
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int CAfmControl_Msg::RecipeTracking(int nTracking)
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{
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return 1;
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}
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int CAfmControl_Msg::RecipeZoom(int nZoomIndex)
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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ret = atf_WriteObjNum(nZoomIndex);
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if(ret) return 0;
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return 1;
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}
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int CAfmControl_Msg::RecipeChange(int nRecipeIndex, int nZoomIndex)
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{
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return RecipeZoom(nZoomIndex);
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}
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int CAfmControl_Msg::RecipeChange(const CString& strRecipeName, int nZoomIndex)
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{
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return RecipeZoom(nZoomIndex);
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}
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BOOL CAfmControl_Msg::SetTracking(int nTracking)
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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if(nTracking)
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{
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ret = atf_AFTrack();
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}
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else
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{
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ret = atf_AfStop();
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}
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if(ret) return FALSE;
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return TRUE;
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}
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BOOL CAfmControl_Msg::SetZoomIndex(int nZoomIndex)
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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ret = atf_WriteObjNum(nZoomIndex);
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if(ret) return FALSE;
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m_nZoomIndex = nZoomIndex;
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return TRUE;
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}
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BOOL CAfmControl_Msg::SetRecipeIndex(int nRecipeIdnex, int nZoomIndex)
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{
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int ret;
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if (nZoomIndex!=-1)
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{
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ret = SetZoomIndex(nZoomIndex);
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}
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return ret;
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}
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BOOL CAfmControl_Msg::GetConnected() const
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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return atf_isSerialConnection();
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}
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BOOL CAfmControl_Msg::SetRecipeName(const CString& strRecipeName, int nZoomIndex)
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{
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int ret;
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if (nZoomIndex!=-1)
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{
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ret = SetZoomIndex(nZoomIndex);
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}
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// ReleaseMutex(m_hMutex);
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return ret;
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}
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BOOL CAfmControl_Msg::GetTracking(int& nTracking) const
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{
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nTracking = m_nTracking;
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return TRUE;
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}
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BOOL CAfmControl_Msg::GetZoomIndex(int& nZoomIndex) const
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{
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nZoomIndex = m_nZoomIndex;
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return TRUE;
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}
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BOOL CAfmControl_Msg::GetRecipeIndex(int& nRecipeIdnex, int& nZoomIndex) const
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{
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nRecipeIdnex = m_nRecipeIndex;
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nZoomIndex = m_nZoomIndex;
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return TRUE;
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}
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BOOL CAfmControl_Msg::GetRecipeName(CString& strRecipeName, int& nZoomIndex) const
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{
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strRecipeName = strRecipeName;
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nZoomIndex = m_nZoomIndex;
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return TRUE;
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}
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BOOL CAfmControl_Msg::MoveToLimitPlus()
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{
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return FALSE;
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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//ret = atf_MoveZ(((double)300000 * m_nMicroSteps * m_nFullsteps)/1000);
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int arrHomeParam[8];
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memcpy(arrHomeParam, m_pAFMHomingZParam, sizeof(int) * 8);
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arrHomeParam[3] = arrHomeParam[7] = 0;
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ret = atf_RunHomingZ(arrHomeParam);
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if(ret) return FALSE;
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return TRUE;
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}
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BOOL CAfmControl_Msg::MoveToLimitMinus()
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{
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return FALSE; //
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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//ret = atf_MoveZ(((double)-300000 * m_nMicroSteps * m_nFullsteps)/1000);
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int arrHomeParam[8];
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memcpy(arrHomeParam, m_pAFMHomingZParam, sizeof(int) * 8);
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// arrHomeParam[3] = arrHomeParam[7] = 0;
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//
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// arrHomeParam[0] *= -1;
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//
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// arrHomeParam[1] *= -1;
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//
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// arrHomeParam[2] *= -1;
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//ret = atf_RunHomingZ(arrHomeParam);
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const int homing_distance = -10000;
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const int homing_back_stepsize = 1;
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const int limit_sw=(1<<16);
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const int moving=(1<<12);
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ret = atf_MoveZum(homing_distance);
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if (ret) return FALSE;
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int hw_status;
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clock_t ts=clock();
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do
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{
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ret = atf_ReadHwStat(&hw_status);
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if (ret) return FALSE;
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}while(~hw_status & limit_sw && hw_status & moving || clock()-ts<CLK_TCK*10);
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do
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{
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ret = atf_MoveZum(homing_back_stepsize);
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if(ret) return FALSE;
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do
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{
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ret = atf_ReadHwStat(&hw_status);
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if(ret) return FALSE;
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} while (hw_status & moving);
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}while(hw_status&limit_sw);
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if(ret) return FALSE;
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return TRUE;
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}
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int CAfmControl_Msg::MoveToHomePosition(int nHomePos) // 문제 부분
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 2;
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}
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DWORD dwTime = GetTickCount();
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int stepspermm=5000;
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int nLensNum = -1;
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ret = atf_ReadObjNum(&nLensNum);
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if(ret) return 3;
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const int lensnumber=nLensNum;
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float currentspeed;
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// Read current Speed
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ret = atf_ReadSpeed(lensnumber, ¤tspeed);
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if (ret) return 4;
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// write low speed
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ret = atf_WriteSpeed(lensnumber, currentspeed/(float)3.0);
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u_short currentstepspermm;
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ret = atf_ReadStepPerMmConversion( ¤tstepspermm );
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if (ret) return 5;
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stepspermm = (int)currentstepspermm;
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const int homing_distance_steps = 10000*stepspermm/1000;
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const int homing_back_stepsize = -2*stepspermm/1000;
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// ★ homing target distance steps is Reference Position ( Setting parameter need! )
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const int homing_target_distance_steps = nHomePos * stepspermm/1000.;
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const int homing_timeout_s=10;
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const int limit_sw=(1<<18);
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const int moving=(1<<12);
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// const float homingspeed_mm_per_s=(float)50000.0/stepspermm;
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// ret = atf_WriteSpeed(lensnumber, homingspeed_mm_per_s );
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// if (ret) return FALSE;
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// 1. Move to Limit
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ret = atf_MoveZ(homing_distance_steps);
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if (ret) return 6;
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int hw_status;
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clock_t t1=clock();
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//2. Read Limit Sensor?
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do
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{
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ret = atf_ReadHwStat(&hw_status);
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if (ret) return 7;
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}while(~hw_status & limit_sw && clock()-t1 < CLK_TCK*homing_timeout_s);
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if(~hw_status & limit_sw) return 8;
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do
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{
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// 3. move out ( not Limit / small down)
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ret = atf_MoveZ(homing_back_stepsize);
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if(ret) return 9;
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do
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{
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// check Limit ( not Limit )
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ret = atf_ReadHwStat(&hw_status);
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if(ret) return 10;
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} while (hw_status & moving);
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}while(hw_status&limit_sw);
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// Current Position is Zero.
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ret = atf_WriteAbsZPos(0);
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if(ret) return 11;
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ret = atf_WriteSpeed(lensnumber, currentspeed);
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Sleep(50);
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// Target Position
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ret = atf_MoveZ(homing_target_distance_steps);
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dwTime = GetTickCount() - dwTime;
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// to read the position counter
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//atf_ReadAbsZPos
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if(ret) return 12;
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return TRUE;
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}
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BOOL CAfmControl_Msg::MoveToBasePosition(int nZoomIndex)
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{
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int ret;
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// if(!atf_isSerialConnection()) return 0;
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if(!m_bConnected) return 0;
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if(atf_GetComIdx() != m_nIndex)
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{
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ret = atf_SetComIdx(m_nIndex);
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if(ret) return 0;
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}
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//ret = atf_MoveZ(((double)-100 * m_nMicroSteps * m_nFullsteps)/1000);
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//if(ret) return FALSE;
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//Sleep(100);
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// ret = atf_RunHomingZ(m_pAFMHomingZParam);
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int nPos = int( ((double)m_pAFMHomingZParam[3] * m_nMicroSteps * m_nFullsteps)/1000.0 );
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ret = atf_MoveZ(nPos);
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if(ret) return FALSE;
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return TRUE;
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}
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BOOL CAfmControl_Msg::MoveToTargetPosition( double dPos )
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{
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u_short currentstepspermm;
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BOOL bRet = atf_ReadStepPerMmConversion( ¤tstepspermm );
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if (bRet) return FALSE;
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const int nTarget_distance_steps = int(currentstepspermm/1000 * dPos);
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bRet = atf_MoveZ(nTarget_distance_steps);
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if(bRet) return FALSE;
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return TRUE;
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}
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int CAfmControl_Msg::JumpAF()
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{
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int ret = atf_AfDuvJump();
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return ret;
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}
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void CAfmControl_Msg::WorkThreadProcess(PVOID pParameter)
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{
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bool m_bIsWorking = FALSE;
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while(!m_bIsWorking){
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WaitForSingleObject(m_hMutex, INFINITE);
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atf_CloseConnection();
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int ret = atf_OpenConnection(m_strPort, m_nBaudrate_start);
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if (ret)
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{
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ReleaseMutex(m_hMutex);
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return ;
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}
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atf_IsInHomePosition(&m_bIsWorking);
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ReleaseMutex(m_hMutex);
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Wait(100);
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}
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WaitForSingleObject(m_hMutex, INFINITE);
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atf_CloseConnection();
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int ret = atf_OpenConnection(m_strPort, m_nBaudrate_start);
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if (ret)
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{
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ReleaseMutex(m_hMutex);
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return ;
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}
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atf_AFTrack();
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ReleaseMutex(m_hMutex);
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}
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void CAfmControl_Msg::Wait(DWORD dwMillisecond)
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{
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MSG msg;
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DWORD dwStart;
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dwStart = GetTickCount();
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while(GetTickCount() - dwStart < dwMillisecond)
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{
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while(PeekMessage(&msg, NULL, 0, 0, PM_REMOVE))
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{
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TranslateMessage(&msg);
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DispatchMessage(&msg);
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}
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}
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}
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BOOL CAfmControl_Msg::GetInFocus(BOOL* pRtCheck)
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{
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// bit 13 (MsInFocus)
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// 0 = sensor beyond the In-Focus Range parameter (not in focus)
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// 1 = sensor inside In-Focus Range parameter (In-focus position)
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if(pRtCheck == NULL) return FALSE;
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short shStatus;
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if(atf_ReadStatus(&shStatus) == 0)
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{
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if((shStatus & (1 << 13)) != 0)
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{
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*pRtCheck = TRUE;
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return TRUE;
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}
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else
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{
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*pRtCheck = TRUE;
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}
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}
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return FALSE;
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}
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int CAfmControl_Msg::GetAFMHomePosition(bool &bHome) const
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{
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int nRet = atf_IsInHomePosition(&bHome);
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return nRet;
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// DWORD dwStart;
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// dwStart = GetTickCount();
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// int nRet;
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// while(GetTickCount() - dwStart < 5000)
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// {
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// nRet = atf_IsInHomePosition(&bHome);
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// if(bHome == TRUE)
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// {
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// return nRet;
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// }
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// Sleep(100);
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// }
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// Output Boolean *pbInHome
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// True = in home position
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// False = not in home
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// position Return
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// value int
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// 0 (ErrOK) = operation successful
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// 8 (ErrNoresources) = insufficient command buffer size
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// 10 (ErrOperFailed) = sending command to the sensor failure, sensor data receiving error or sensor responded with NACK
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// 11 (ErrTimeout) = erroneous or no response
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}
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BOOL CAfmControl_Msg::GetCurPos( double& dPos )
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{
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u_short currentstepspermm;
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BOOL bRet = atf_ReadStepPerMmConversion( ¤tstepspermm );
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if (bRet) return FALSE;
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int nPos = 0;
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bRet = atf_ReadAbsZPos(&nPos);
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if(bRet)
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return FALSE;
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dPos = nPos/ (currentstepspermm/1000) ;
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return TRUE;
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}
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BOOL CAfmControl_Msg::SetSystemTime( SYSTEMTIME stCurrentTime )
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{
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return TRUE;
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}
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