Linux采集Fanuc机床数据测试

- 日理万妓 2023-07-18 14:03 89阅读 0赞

## 依赖库文件 ##

*  目录：FOCAS2\\Linux
 *  so文件：libfwlib32.so.1.0.5
 *  头文件：fwlib32.h

## 操作步骤 ##

*  拷贝库文件"libfwlib32.so.1.0.5" 到应用目录(可以直接复制到系统库目录更方便 “/usr/local/lib/”)
 *  运行如下3个命令：

sudo ldconfig
    sudo ln –s /usr/local/lib/libfwlib32.so.1.0.0 /usr/local/lib/libfwlib32.so
    sudo ln –s /usr/local/lib/libfwlib32.so.1.0.0 /usr/local/lib/libfwlib32.so.1(没有这一步会报错)

## 编译过程 ##

GCC编译程序的时候添加如下库依赖 “-lfwlib32 -lstdc++ -lpthread”

1.  FOCAS2/Ethernet library(fwlib32)
2.  GNU Standard C++ library (stdc++)
3.  POSIX thread library (pthread)

gcc test.cpp -o test -lfwlib32 -lstdc++ -lpthread

测试程序

#include <iostream>
    #include <fstream>
    #include <string>
    #include "fwlib32.h"
    #include <cstdlib>
    #include <cstdio>
    #include <cstring>
    
    #define  USHORT unsigned short
    #define  MAXLEN 1280
    
    using namespace std;
    
    short DownloadFile (USHORT h, const char *filepath);
    short UploadFile (USHORT h, short progID, const char *filePath);
    void HexDump (char *buf, int len, int addr);
    
    int
    main (int argc, char **argv)
    {
        
      unsigned short h = 1;
      short ret;
      string ip = "192.168.0.190";
    
      if (argc > 1)
        {
        
          ip = argv[1];
        }
    
      if (EW_OK != cnc_startupprocess (0, "/var/log/foces32.log"))
        {
        
          printf ("statup proceess fialed");
          return -1;
        }
      cout << "ip: " << ip << endl;
      if (EW_OK != cnc_allclibhndl3 (ip.c_str (), 8193, 5, &h))	/// Allocate the library handle(for Ethernet connection)
        {
        
          printf ("Connect Failed!\n");
          system ("Pause");
          return -1;
        }
    
      cout << "machine: " << ip << endl;
    
      ODBST statinfo;
      memset ((void *) &statinfo, 0, sizeof (statinfo));
      ret = cnc_statinfo (h, &statinfo);
    
      if (EW_OK == ret)
        {
        
          cout << "AUTOMATIC/MANUAL mode selection \t:" << statinfo.aut << endl;
          cout << "Status of automatic operation \t\t: " << statinfo.run << endl;
          cout << "Status of axis movement, dwell \t\t: " << statinfo.motion <<
    	endl;
          cout << "Status of M,S,T,B function \t\t: " << statinfo.mstb << endl;
          cout << "Status of alarm \t\t: " << statinfo.alarm << endl;
          cout << "Status of program editing \t\t: " << statinfo.edit << endl;
        }
    
      ODBSYS sysinfo;
      memset ((void *) &sysinfo, 0, sizeof (sysinfo));
      ret = cnc_sysinfo (h, &sysinfo);
      if (EW_OK == ret)
        {
        
          const int STR_MAX = 32;
          char cnc_type[STR_MAX] = {
         0 };
          char mt_type[STR_MAX] = {
         0 };
          char series[STR_MAX] = {
         0 };
          char version[STR_MAX] = {
         0 };
          memcpy (cnc_type, sysinfo.cnc_type, 2 * sizeof (char));
          memcpy (mt_type, sysinfo.mt_type, 2 * sizeof (char));
          memcpy (series, sysinfo.series, 4 * sizeof (char));
          memcpy (version, sysinfo.version, 4 * sizeof (char));
          cout << "cnc type:" << cnc_type << endl;
          cout << "mt type\t:" << mt_type << endl;
          cout << "series\t:" << series << endl;
          cout << "version\t:" << version << endl;
        }
    
      cout << "alarm===================" << endl;
      {
        
        ODBALMMSG msg[10];
        short rnum = 10;
    
        bool isOk = false;
        if (cnc_rdalmmsg ((unsigned short) h, -1, &rnum, msg) == EW_OK)
          {
        
    	for (short i = 0; i < rnum; i++)
    	  {
        
    	    msg[i].alm_msg[31] = '\0';
    	    cout << "ID_" << i << ": " << msg[i].alm_no << ", type: " <<
    	      msg[i].type << endl;
    	    cout << "Msg: " << msg[i].alm_msg << endl;
    	    HexDump (msg[i].alm_msg, msg[i].msg_len, 0);
    	  }
    	isOk = true;
          }
      }
    
      cout << "test prog............." << endl;
    
      char ORG_NAME[] = "0221";
      char *prog_name = ORG_NAME;
      if (argc > 2)
        prog_name = argv[2];
      short code = cnc_delete (h, atoi (prog_name));
      printf ("Delete file: %s, code: %d\n", prog_name, code);
      code = DownloadFile (h, prog_name);
      printf ("download file: %s, code: %d\n", prog_name, code);
      string temp = prog_name;
      temp += ".nc";
      code = UploadFile (h, atoi (prog_name), temp.c_str ());
      printf ("upload file: %s, code: %d\n", prog_name, code);
      cnc_freelibhndl (h);
    
    
      cout << "end ..............:" << endl;
      return 0;
    }
    
    short
    UploadFile (USHORT h, short progID, const char *filePath)
    {
        
      short code = -1;
      if (h > 0)
        {
        
          FILE *outfile = NULL;
          outfile = fopen (filePath, "wb");
          if (outfile != NULL)
    	{
        
    	  if (cnc_upstart3 (h, 0, progID, progID) == EW_OK)
    	    {
        
    	      long len = MAXLEN;
    	      char buf[MAXLEN + 1];
    
    	      do
    		{
        
    		  len = MAXLEN;
    		  code = cnc_upload3 (h, &len, buf);
    		  if (code == EW_BUFFER)
    		    {
        
    		      continue;
    		    }
    		  if (code == EW_OK)
    		    {
        
    		      buf[len] = '\0';
    		      fwrite (buf, sizeof (char), len, outfile);
    		    }
    		  if (buf[len - 1] == '%')
    		    {
        
    		      break;
    		    }
    		}
    	      while ((code == EW_OK) || (code == EW_BUFFER));
    	      code = cnc_upend3 (h);
    	    }
    	  fclose (outfile);
    	}
        }
      return code;
    }
    
    
    short
    DownloadFile (USHORT h, const char *filepath)
    {
        
      short ret = -1;
      if (h > 0)
        {
        
          FILE *readFile = fopen (filepath, "rb");
          if (readFile != NULL)
    	{
        
    	  if (cnc_dwnstart3 (h, 0) == EW_OK)
    	    {
        
    	      long rc;
    	      unsigned char buf[MAXLEN] = {
         0 };
    	      while (true)
    		{
        
    		  rc = fread (buf, sizeof (unsigned char), MAXLEN, readFile);
    		  if (rc <= 0)
    		    {
        
    		      break;
    		    }
    
    		  do
    		    {
        
    		      ret = cnc_download3 (h, &rc, (char *) buf);
    		    }
    		  while (ret == EW_BUFFER);
    
    		  if (ret != EW_OK)
    		    {
        
    		      break;
    		    }
    		}
    	      ret = cnc_dwnend3 ((short) h);
    	    }
    	  fclose (readFile);
    	}
        }
      return ret;
    }
    
    
    void
    HexDump (char *buf, int len, int addr)
    {
        
      int i, j, k;
      char binstr[80];
    
      for (i = 0; i < len; i++)
        {
        
          if (0 == (i % 16))
    	{
        
    	  sprintf (binstr, "%08x -", i + addr);
    	  sprintf (binstr, "%s %02x", binstr, (unsigned char) buf[i]);
    	}
          else if (15 == (i % 16))
    	{
        
    	  sprintf (binstr, "%s %02x", binstr, (unsigned char) buf[i]);
    	  sprintf (binstr, "%s  ", binstr);
    	  for (j = i - 15; j <= i; j++)
    	    {
        
    	      sprintf (binstr, "%s%c", binstr,
    		       ('!' < buf[j] && buf[j] <= '~') ? buf[j] : '.');
    	    }
    	  printf ("%s\n", binstr);
    	}
          else
    	{
        
    	  sprintf (binstr, "%s %02x", binstr, (unsigned char) buf[i]);
    	}
        }
      if (0 != (i % 16))
        {
        
          k = 16 - (i % 16);
          for (j = 0; j < k; j++)
    	{
        
    	  sprintf (binstr, "%s   ", binstr);
    	}
          sprintf (binstr, "%s  ", binstr);
          k = 16 - k;
          for (j = i - k; j < i; j++)
    	{
        
    	  sprintf (binstr, "%s%c", binstr,
    		   ('!' < buf[j] && buf[j] <= '~') ? buf[j] : '.');
    	}
          printf ("%s\n", binstr);
        }
    }

到此就完成了所有工作

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