Windows实时运动控制软核(六):LOCAL高速接口测试之Matlab

% --- IP链接方式链接控制器Executes on button press in btn_open_eth.
function btn_open_eth_Callback(hObject, eventdata, handles)
global g_handleptr;%定义连接句柄
calllib('zauxdll','ZAux_Close',g_handleptr);
str_zmc_connect =get(handles.edit_ip,'String');
disp("连接控制器:"+str_zmc_connect);
[res,~] = calllib('zauxdll','ZAux_OpenEth',str_zmc_connect ,g_handleptr);
commandCheckHandler("ZAux_OpenEth",res);
if res==0
    fprintf('ETH连接控制器成功\n');
    set(gcf,'NumberTitle', 'off', 'Name', '(网口连接成功)');
else
    fprintf('ETH连接控制器失败,错误码%d\n',res);
    set(gcf,'NumberTitle', 'off', 'Name', '(未连接)');
    msgbox('Connection failure，Please check the IP！');%连接控制器失败，请检查IP地址
    return;
end

% --- Local链接方式链接控制器Executes on button press in btn_open_local.
function btn_open_local_Callback(hObject, eventdata, handles)
global g_handleptr;%定义连接句柄
calllib('zauxdll','ZAux_Close',g_handleptr);
str_zmc_connect =get(handles.edit_local,'String');
disp("连接控制器:LOCAL");
[res,~] = calllib('zauxdll','ZAux_FastOpen',5,str_zmc_connect ,3000,g_handleptr);
commandCheckHandler("ZAux_FastOpen",res);
if res==0
    fprintf('LOCAL连接控制器成功\n');
    set(gcf,'NumberTitle', 'off', 'Name', '(LOCAL连接成功)');
else
    fprintf('连接控制器失败,错误码%d\n',res);
    set(gcf,'NumberTitle', 'off', 'Name', '(未连接)');
    msgbox('Connection failure，Please check the LOCAL！');%连接控制器失败，请检查IP地址
    return;
end

% ---断开连接 Executes on button press in btn_close.
function btn_close_Callback(hObject, eventdata, handles)
global g_handleptr;%定义连接句柄
[res,~] =calllib('zauxdll','ZAux_Close',g_handleptr);
commandCheckHandler("ZAux_FastOpen",res);
disp("关闭与控制器连接");%打印

% --- 启动Executes on button press in btn_test1.
function btn_test1_Callback(hObject, eventdata, handles)
global g_handleptr;
h = animatedline; %创建空白动态曲线
axis([-500 2000 -500 1000]) %设置坐标系范围
Response =char(512*512);
cmd=char('?dpos(0),dpos(1),dpos(2),dpos(3),axisstatus(0),axisstatus(1),axisstatus(2),axisstatus(3),in(0),in(1),in(2),in(3)');
char Response;
cmdpath=char('C:\Users\Lemon\MATLAB\Projects\LocalRunSP\Basic1.bas');
[~,~,~]=calllib('zauxdll','ZAux_BasDown',g_handleptr, cmdpath,1);
for k = 1:10000
[~,~,~,Response]=calllib('zauxdll','ZAux_DirectCommand',g_handleptr, cmd, Response,255);
    Para = strsplit(Response,' ');
    x=str2double(Para(1));
    y=str2double(Para(2));
    set(handles.edit_dpos0,'String',Para(1));
    set(handles.edit_dpos1,'String',Para(2));
    set(handles.edit_dpos2,'String',Para(3));
    set(handles.edit_dpos3,'String',Para(4));
    set(handles.edit_axisstatus0,'String',Para(5));
    set(handles.edit_axisstatus1,'String',Para(6));
    set(handles.edit_axisstatus2,'String',Para(7));
    set(handles.edit_axisstatus3,'String',Para(8));
    set(handles.edit_in0,'String',Para(9));
    set(handles.edit_in1,'String',Para(10));
    set(handles.edit_in2,'String',Para(11));
    set(handles.edit_in3,'String',Para(12));
    addpoints(h,x,y);
    drawnow
end