using Microsoft.Extensions.Logging; using PluginInterface; namespace DriverFaunc { [DriverSupported("Fanuc-0i")] [DriverInfo("Fanuc-0i", "V1.0.0", "Copyright IoTGateway© 2022-05-25")] public class Fanuc : IDriver { private ushort _hndl; private int _result = -1; public ILogger _logger { get; set; } private readonly string _device; #region 配置参数 [ConfigParameter("设备Id")] public string DeviceId { get; set; } [ConfigParameter("超时时间ms")] public int Timeout { get; set; } = 3000; [ConfigParameter("最小通讯周期ms")] public uint MinPeriod { get; set; } = 3000; [ConfigParameter("设备Ip")] public string DeviceIp { get; set; } = "127.0.0.1"; [ConfigParameter("设备Port")] public int DevicePort { get; set; } = 8193; #endregion public Fanuc(string device, ILogger logger) { _device = device; _logger = logger; _logger.LogInformation($"Device:[{device}],Create()"); } public bool IsConnected { get { try { Focas1.ODBSYS a = new Focas1.ODBSYS(); _result = FanucFocas.cnc_sysinfo(_hndl, a); if (_result == FanucFocas.EW_OK) return true; return false; } catch { return false; } } } public bool Close() { try { _result = FanucFocas.cnc_freelibhndl(_hndl); if (_result == FanucFocas.EW_OK) return true; return false; } catch { return false; } } public bool Connect() { try { _result = -1; _result = FanucFocas.cnc_allclibhndl3(DeviceIp, Convert.ToUInt16(DevicePort), Convert.ToInt32(Timeout), out _hndl); if (_result == FanucFocas.EW_OK) return true; return false; } catch { return false; } } public void Dispose() { } //设备类型 [Method("Fanuc", description: "读Fanuc设备类型")] public DriverReturnValueModel ReadDeviceType(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBSYS a = new Focas1.ODBSYS(); _result = FanucFocas.cnc_sysinfo(_hndl, a); if (_result == FanucFocas.EW_OK) { string type = new string(a.mt_type); string num = new string(a.cnc_type); ret.Value = type + num; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } [Method("Fanuc", description: "读Fanuc设备运行状态")] public DriverReturnValueModel ReadDeviceRunStatus(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBSYS a = new Focas1.ODBSYS(); _result = FanucFocas.cnc_sysinfo(_hndl, a); if (_result == FanucFocas.EW_OK) { string type = new string(a.mt_type); string num = new string(a.cnc_type); Focas1.ODBST aa = new Focas1.ODBST(); _result = FanucFocas.cnc_statinfo(_hndl, aa); if (_result == FanucFocas.EW_OK) { var strRet = string.Empty; var runRet = aa.run; if (num == "15") { switch (runRet) { case 0: strRet = "STOP"; break; case 1: strRet = "HOLD"; break; case 2: strRet = "START"; break; case 3: strRet = "MSTR(jog mdi)"; break; case 4: strRet = "ReSTART(not blinking)"; break; case 5: strRet = "PRSR(program restart)"; break; case 6: strRet = "NSRC(sequence number search)"; break; case 7: strRet = "ReSTART(blinking)"; break; case 8: strRet = "ReSET"; break; case 9: break; case 10: break; case 11: break; case 12: break; case 13: strRet = "HPCC(during RISC operation)"; break; default: break; } } else if ((num == "16") || (num == "18" && type == "W")) { switch (runRet) { case 0: strRet = "NOT READY"; break; case 1: strRet = "M-READY"; break; case 2: strRet = "C-START"; break; case 3: strRet = "F-HOLD"; break; case 4: strRet = "B-STOP"; break; default: break; } } else { switch (runRet) { case 0: strRet = "****(reset)"; break; case 1: strRet = "STOP"; break; case 2: strRet = "HOLD"; break; case 3: strRet = "STaRT"; break; case 4: strRet = "MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI)"; break; default: break; } } ret.Value = strRet; } } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //详细运行状态 [Method("Fanuc", description: "读Fanuc设备详细运行状态")] public DriverReturnValueModel ReadDeviceDetailRunStatus(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBSYS a = new Focas1.ODBSYS(); _result = FanucFocas.cnc_sysinfo(_hndl, a); if (_result == FanucFocas.EW_OK) { string type = new string(a.mt_type); string num = new string(a.cnc_type); Focas1.ODBST aa = new Focas1.ODBST(); _result = FanucFocas.cnc_statinfo(_hndl, aa); if (_result == FanucFocas.EW_OK) { var strRet = string.Empty; var runRet = aa.run; if (num == "15") { switch (runRet) { case 0: strRet = "STOP"; break; case 1: strRet = "HOLD"; break; case 2: strRet = "STaRT"; break; case 3: strRet = "MSTR(jog mdi)"; break; case 4: strRet = "ReSTaRt(not blinking)"; break; case 5: strRet = "PRSR(program restart)"; break; case 6: strRet = "NSRC(sequence number search)"; break; case 7: strRet = "ReSTaRt(blinking)"; break; case 8: strRet = "ReSET"; break; case 9: break; case 10: break; case 11: break; case 12: break; case 13: strRet = "HPCC(during RISC operation)"; break; default: break; } } else if ((num == "16") || (num == "18" && type == "W")) { switch (runRet) { case 0: strRet = "NOT READY"; break; case 1: strRet = "M-READY"; break; case 2: strRet = "C-START"; break; case 3: strRet = "F-HOLD"; break; case 4: strRet = "B-STOP"; break; default: strRet = runRet.ToString(); break; } } else { switch (runRet) { case 0: strRet = "****(reset)"; break; case 1: strRet = "STOP"; break; case 2: strRet = "HOLD"; break; case 3: strRet = "STaRT"; break; case 4: strRet = "MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI)"; break; default: strRet = runRet.ToString(); break; } } ret.Value = strRet; } } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //操作模式 cnc_statinfo manual //存在问题，未找到manual [Method("Fanuc", description: "读Fanuc设备操作模式")] public DriverReturnValueModel ReadDeviceModel(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBST aa = new Focas1.ODBST(); _result = FanucFocas.cnc_statinfo(_hndl, aa); if (_result == FanucFocas.EW_OK) { var strRet = string.Empty; var manualRet = aa.tmmode; ret.Value = manualRet; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //主轴转速 cnc_acts [Method("Fanuc", description: "读Fanuc设备实际主轴转速")] public DriverReturnValueModel ReadDeviceActSpindleSpeed(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBACT a = new Focas1.ODBACT(); _result = FanucFocas.cnc_acts(_hndl, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.data; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //供给速度 cnc_actf [Method("Fanuc", description: "读Fanuc设备实际进给速度")] public DriverReturnValueModel ReadDeviceActFeedRate(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBACT a = new Focas1.ODBACT(); _result = FanucFocas.cnc_actf(_hndl, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.data; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //主轴倍率 cnc_rdopnlsgnl [Method("Fanuc", description: "读Fanuc设备主轴倍率")] public DriverReturnValueModel ReadDeviceSpindleOvr(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBSGNL a = new Focas1.IODBSGNL(); _result = FanucFocas.cnc_rdopnlsgnl(_hndl, 0, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.spdl_ovrd; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //进给倍率 cnc_rdopnlsgnl [Method("Fanuc", description: "读Fanuc设备进给倍率")] public DriverReturnValueModel ReadDeviceFeedOvr(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBSGNL a = new Focas1.IODBSGNL(); _result = FanucFocas.cnc_rdopnlsgnl(_hndl, 0, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.feed_ovrd; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //设备异常代码：报警号 cnc_rdalmmsg2 [Method("Fanuc", description: "读Fanuc设备报警号")] public DriverReturnValueModel ReadDeviceAlarmNum(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { short inInt = 1; Focas1.ODBALMMSG2 a = new Focas1.ODBALMMSG2(); _result = FanucFocas.cnc_rdalmmsg2(_hndl, -1, ref inInt, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.msg1.alm_no; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //设备异常信息：报警文本 [Method("Fanuc", description: "读Fanuc设备报警文本")] public DriverReturnValueModel ReadDeviceAlarmText(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { short inInt = 1; Focas1.ODBALMMSG2 a = new Focas1.ODBALMMSG2(); _result = FanucFocas.cnc_rdalmmsg2(_hndl, -1, ref inInt, a); if (_result == FanucFocas.EW_OK) { ret.Value = new string(a.msg1.alm_msg); } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //异常类型 [Method("Fanuc", description: "读Fanuc设备报警类型")] public DriverReturnValueModel ReadDeviceAlarmType(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { short inInt = 1; Focas1.ODBALMMSG2 a = new Focas1.ODBALMMSG2(); _result = FanucFocas.cnc_rdalmmsg2(_hndl, -1, ref inInt, a); if (_result == FanucFocas.EW_OK) { short alarmType = -1; var alarmStrType = string.Empty; switch (a.msg1.type) { case 0: alarmStrType = "Parameter switch on"; break; case 1: alarmStrType = "Power off parameter set"; break; case 2: alarmStrType = "I/O error"; break; case 3: alarmStrType = "Foreground P/S"; break; case 4: alarmStrType = "Overtravel,External data"; break; case 5: alarmStrType = "Overheat alarm"; break; case 6: alarmStrType = "Servo alarm"; break; case 7: alarmStrType = "Data I/O error"; break; case 8: alarmStrType = "Macro alarm"; break; case 9: alarmStrType = "Macro alarm"; break; case 10: alarmStrType = "Other alarm(DS)"; break; case 11: alarmStrType = "Alarm concerning Malfunction prevent functions (IE) "; break; case 12: alarmStrType = "Background P/S (BG) "; break; case 13: alarmStrType = "Syncronized error (SN) "; break; case 14: alarmStrType = "(reserved)"; break; case 15: alarmStrType = "External alarm message (EX) "; break; case 16: alarmStrType = "(reserved)"; break; case 17: alarmStrType = "(reserved)"; break; case 18: alarmStrType = "(reserved)"; break; case 19: alarmStrType = "PMC error (PC) "; break; case -1: alarmStrType = "All type"; break; default: alarmStrType = a.msg1.type.ToString(); break; } ret.Value = alarmStrType; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //执行程序名 cnc_rdprgnum [Method("Fanuc", description: "读Fanuc设备执行程序号")] public DriverReturnValueModel ReadDeviceExeProgamNumber(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBPRO a = new Focas1.ODBPRO(); _result = FanucFocas.cnc_rdprgnum(_hndl, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.data; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //工件计数 [Method("Fanuc", description: "读Fanuc设备计数器值")] public DriverReturnValueModel ReadDeviceCountVaule(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { int a = 0; _result = FanucFocas.cnc_rdblkcount(_hndl, out a); if (_result == FanucFocas.EW_OK) { ret.Value = a; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //刀具号 [Method("Fanuc", description: "读Fanuc设备刀具号")] public DriverReturnValueModel ReadDeviceToolNumber(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.ODBTLIFE4 a = new Focas1.ODBTLIFE4(); _result = FanucFocas.cnc_toolnum(_hndl, 0, 0, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.data; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //上电总时间 cnc_rdtimer [Method("Fanuc", description: "读Fanuc设备上电时间")] public DriverReturnValueModel ReadDevicePowerTime(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBTIME a = new Focas1.IODBTIME(); _result = FanucFocas.cnc_rdtimer(_hndl, 0, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.minute; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //运行总时间 [Method("Fanuc", description: "读Fanuc设备运行时间")] public DriverReturnValueModel ReadDeviceOperateTime(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBTIME a = new Focas1.IODBTIME(); _result = FanucFocas.cnc_rdtimer(_hndl, 1, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.minute * 60 + a.msec; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //切削总时间 [Method("Fanuc", description: "读Fanuc设备切削时间")] public DriverReturnValueModel ReadDeviceCutTime(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBTIME a = new Focas1.IODBTIME(); _result = FanucFocas.cnc_rdtimer(_hndl, 2, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.minute * 60 + a.msec; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //循环时间 [Method("Fanuc", description: "读Fanuc设备循环时间")] public DriverReturnValueModel ReadDeviceCycleTime(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { Focas1.IODBTIME a = new Focas1.IODBTIME(); _result = FanucFocas.cnc_rdtimer(_hndl, 2, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.minute * 60 + a.msec; } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } //主轴负载 cnc_rdspmeter [Method("Fanuc", description: "读Fanuc设备主轴负载")] public DriverReturnValueModel ReadDeviceSpindle(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; if (IsConnected) { try { short num = 4; Focas1.ODBSPLOAD a = new Focas1.ODBSPLOAD(); _result = FanucFocas.cnc_rdspmeter(_hndl, 0, ref num, a); if (_result == FanucFocas.EW_OK) { ret.Value = a.spload1.spload.data * Math.Pow(10, a.spload1.spload.dec); } } catch (Exception ex) { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = $"读取失败,{ex.Message}"; } } else { ret.StatusType = VaribaleStatusTypeEnum.Bad; ret.Message = "连接失败"; } return ret; } #region 无用方法 public DriverReturnValueModel Read(DriverAddressIoArgModel ioarg) { var ret = new DriverReturnValueModel { StatusType = VaribaleStatusTypeEnum.Good }; return ret; } public Task WriteAsync(string requestId, string method, DriverAddressIoArgModel ioarg) { RpcResponse rpcResponse = new() { IsSuccess = false, Description = "设备驱动内未实现写入功能" }; return Task.FromResult(rpcResponse); } #endregion } }