FASTech Ezi-Servo plusR Motion Library(C++) 를 C# 에서 사용하기

기본적인 C# 에서 C++ Library 불러오기

기본적으로 C# DLL 은 지원하지 않는다고 한다.

Connect 관련

EZI_PLUSR_API BOOL WINAPI FAS_Connect(BYTE nPortNo, DWORD dwBaud);
EZI_PLUSR_API BOOL WINAPI FAS_OpenPort(BYTE nPortNo, DWORD dwBaud);
EZI_PLUSR_API BOOL WINAPI FAS_AttachSlave(BYTE nPortNo, BYTE iSlaveNo);
EZI_PLUSR_API void WINAPI FAS_Close(BYTE nPortNo);
EZI_PLUSR_API BOOL WINAPI FAS_IsSlaveExist(BYTE nPortNo, BYTE iSlaveNo);

[DllImport("EziMOTIONPlusRx64.dll")] static extern Boolean  FAS_Connect(Byte nPortNo, UInt32 dwBaud);
[DllImport("EziMOTIONPlusRx64.dll")] static extern Boolean  FAS_OpenPort(Byte nPortNo, UInt32 dwBaud);
[DllImport("EziMOTIONPlusRx64.dll")] static extern Boolean  FAS_AttachSlave(Byte nPortNo, Byte nSlaveNo);
[DllImport("EziMOTIONPlusRx64.dll")] static extern void     FAS_Close(Byte nPortNo);
[DllImport("EziMOTIONPlusRx64.dll")] static extern Boolean  FAS_IsSlaveExist(Byte nPortNo, Byte iSlaveNo);

Read Status and Position 관련

EZI_PLUSR_API int WINAPI FAS_GetAxisStatus(BYTE nPortNo, BYTE iSlaveNo, DWORD* dwAxisStatus);
EZI_PLUSR_API int WINAPI FAS_GetIOAxisStatus(BYTE nPortNo, BYTE iSlaveNo, DWORD* dwInStatus, DWORD* dwOutStatus, DWORD* dwAxisStatus);
EZI_PLUSR_API int WINAPI FAS_GetMotionStatus(BYTE nPortNo, BYTE iSlaveNo, long* lCmdPos, long* lActPos, long* lPosErr, long* lActVel, WORD* wPosItemNo);
EZI_PLUSR_API int WINAPI FAS_GetAllStatus(BYTE nPortNo, BYTE iSlaveNo, DWORD* dwInStatus, DWORD* dwOutStatus, DWORD* dwAxisStatus, long* lCmdPos, long* lActPos, long* lPosErr, long* lActVel, WORD* wPosItemNo);
EZI_PLUSR_API int WINAPI FAS_GetAllStatusEx(BYTE nPortNo, BYTE iSlaveNo, BYTE* pTypes, long* pDatas);

EZI_PLUSR_API int WINAPI FAS_SetCommandPos(BYTE nPortNo, BYTE iSlaveNo, long lCmdPos);
EZI_PLUSR_API int WINAPI FAS_SetActualPos(BYTE nPortNo, BYTE iSlaveNo, long lActPos);
EZI_PLUSR_API int WINAPI FAS_ClearPosition(BYTE nPortNo, BYTE iSlaveNo);
EZI_PLUSR_API int WINAPI FAS_GetCommandPos(BYTE nPortNo, BYTE iSlaveNo, long* lCmdPos);
EZI_PLUSR_API int WINAPI FAS_GetActualPos(BYTE nPortNo, BYTE iSlaveNo, long* lActPos);
EZI_PLUSR_API int WINAPI FAS_GetPosError(BYTE nPortNo, BYTE iSlaveNo, long* lPosErr);
EZI_PLUSR_API int WINAPI FAS_GetActualVel(BYTE nPortNo, BYTE iSlaveNo, long* lActVel);

EZI_PLUSR_API int WINAPI FAS_GetAlarmType(BYTE nPortNo, BYTE iSlaveNo, BYTE* nAlarmType);

[DllImport("EziMOTIONPlusRx64.dll")] public static extern Int32 FAS_GetAxisStatus(Byte nPortNo, Byte iSlaveNo, ref Int32 dwAxisStatus);
[DllImport("EziMOTIONPlusRx64.dll")] public static extern Int32 FAS_GetActualPos(Byte nPortNo, Byte iSlaveNo, ref long lActPos);

이와 같은 방법으로 필요한 API 들을 모두 Import 진행한다.

구조체(Union) 를 C# 으로 Wrapping 하기

BitField, Union 으로 된 구조체는 비트연산을 응용하여 변환한다.

typedef union
{
 DWORD dwValue;
 struct
 {
  unsigned FFLAG_ERRORALL   : 1; // = 0x00000001;
  unsigned FFLAG_HWPOSILMT   : 1; // = 0x00000002;
  unsigned FFLAG_HWNEGALMT   : 1; // = 0x00000004;
  unsigned FFLAG_SWPOGILMT   : 1; // = 0x00000008;
  unsigned FFLAG_SWNEGALMT   : 1; // = 0x00000010;
  unsigned FFLAG_RESERVED0   : 1; // = 0x00000020;
  unsigned FFLAG_RESERVED1   : 1; // = 0x00000040;
  unsigned FFLAG_ERRPOSOVERFLOW : 1; // = 0x00000080;
  unsigned FFLAG_ERROVERCURRENT : 1; // = 0x00000100;
  unsigned FFLAG_ERROVERSPEED  : 1; // = 0x00000200;
  unsigned FFLAG_ERRPOSTRACKING : 1; // = 0x00000400;
  unsigned FFLAG_ERROVERLOAD  : 1; // = 0x00000800;
  unsigned FFLAG_ERROVERHEAT  : 1; // = 0x00001000;
  unsigned FFLAG_ERRBACKEMF  : 1; // = 0x00002000;
  unsigned FFLAG_ERRMOTORPOWER  : 1; // = 0x00004000;
  unsigned FFLAG_ERRINPOSITION  : 1; // = 0x00008000;
  unsigned FFLAG_EMGSTOP   : 1; // = 0x00010000;
  unsigned FFLAG_SLOWSTOP   : 1; // = 0x00020000;
  unsigned FFLAG_ORIGINRETURNING : 1; // = 0x00040000;
  unsigned FFLAG_INPOSITION  : 1; // = 0x00080000;
  unsigned FFLAG_SERVOON   : 1; // = 0x00100000;
  unsigned FFLAG_ALARMRESET  : 1; // = 0x00200000;
  unsigned FFLAG_PTSTOPPED   : 1; // = 0x00400000;
  unsigned FFLAG_ORIGINSENSOR  : 1; // = 0x00800000;
  unsigned FFLAG_ZPULSE   : 1; // = 0x01000000;
  unsigned FFLAG_ORIGINRETOK  : 1; // = 0x02000000;
  unsigned FFLAG_MOTIONDIR   : 1; // = 0x04000000;
  unsigned FFLAG_MOTIONING   : 1; // = 0x08000000;
  unsigned FFLAG_MOTIONPAUSE  : 1; // = 0x10000000;
  unsigned FFLAG_MOTIONACCEL  : 1; // = 0x20000000;
  unsigned FFLAG_MOTIONDECEL  : 1; // = 0x40000000;
  unsigned FFLAG_MOTIONCONST  : 1; // = 0x80000000;
 };
} EZISERVO_AXISSTATUS;

[Flags]
public enum EZSERVO_AXISSTATUS : int
{
    None = 0,
    FFLAG_ERRORALL =        1,
    FFLAG_HWPOSILMT =       1 << 1,
    FFLAG_HWNEGALMT =       1 << 2,
    FFLAG_SWPOGILMT =       1 << 3,
    FFLAG_SWNEGALMT =       1 << 4,
    FFLAG_RESERVED0 =       1 << 5,
    FFLAG_RESERVED1 =       1 << 6,
    FFLAG_ERRPOSOVERFLOW =  1 << 7,
    FFLAG_ERROVERCURRENT =  1 << 8,
    FFLAG_ERROVERSPEED =    1 << 9,
    FFLAG_ERRPOSTRACKING =  1 << 10,
    FFLAG_ERROVERLOAD =     1 << 11,
    FFLAG_ERROVERHEAT =     1 << 12,
    FFLAG_ERRBACKEMF =      1 << 13,
    FFLAG_ERRMOTORPOWER =   1 << 14,
    FFLAG_ERRINPOSITION =   1 << 15,
    FFLAG_EMGSTOP =         1 << 16,
    FFLAG_SLOWSTOP =        1 << 17,
    FFLAG_ORIGINRETURNING = 1 << 18,
    FFLAG_INPOSITION =      1 << 19,
    FFLAG_SERVOON =         1 << 20,
    FFLAG_ALARMRESET =      1 << 21,
    FFLAG_PTSTOPPED =       1 << 22,
    FFLAG_ORIGINSENSOR =    1 << 23,
    FFLAG_ZPULSE =          1 << 24,
    FFLAG_ORIGINRETOK =     1 << 25,
    FFLAG_MOTIONDIR =       1 << 26,
    FFLAG_MOTIONING =       1 << 27,
    FFLAG_MOTIONPAUSE =     1 << 28,
    FFLAG_MOTIONACCEL =     1 << 29,
    FFLAG_MOTIONDECEL =     1 << 30,
    FFLAG_MOTIONCONST =     1 << 31
}