Atlas atlas torque gun USB communication tutorial based on mtcom

It's impossible to make children's shoes in the automation industry without the tool of torque gun , Then it involves the data collection of torque gun , Generally, the torque and angle values are collected , The torque gun industry is open protocol agreement , be based on WEBSCOKET Collect response data . What I want to introduce to you today is atalas Of USB Communications , be based on MTCOM DLL Function instruction communication .

MTCOM yes atlas Official DLL The function library provides some function instructions about controller data collection , Generally speaking, we only collect torque angles , One thing to note here is that the program needs to use the read function to read in a short time after tightening the station , Otherwise, it cannot be read , That is to say, the reading action needs to be started before tightening , Close after reading , Read by polling . First find it on the controller SN code , Then initialize the connection Turn on the device , Finally, poll the data on demand . The code is as follows ,SDKDLL Download path  MTCOM DLL

Look directly at the code

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using TestTool.Utility;

namespace TestTool.ToolForm
{
    public partial class Atlas400Form : Form
    {
        #region Initialize the library
        /*
         * MT_Init 
         * This function initializes MTCom DLL, Must be in MTCom Before any other function of • Use API
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_Init")]
        public static extern bool MT_Init();

        /*
         * MT_GetVersion 
         * This function is used to retrieve MTCom DLL Version number of . If the function call succeeds , Then the version will contain null The ending version number string .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_GetDllVersion")]
        public static extern bool MT_GetDllVersion([MarshalAs(UnmanagedType.LPStr)] StringBuilder version);

        /*
         * MT_GetDeviceList 
         * This function is used to retrieve the serial number of the currently connected microring device . If the function call succeeds ,oDevices Will contain a semicolon separated list of serial numbers ,oDeviceCount The number of connected devices will be included
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_GetDeviceList")]
        public static extern bool MT_GetDeviceList([MarshalAs(UnmanagedType.LPStr)] StringBuilder devices, out int deviceCount);

        /*
         * MT_GetDeviceInfo 
         * This function is used to retrieve the information of the device with the given serial number . If the function calll success ,oDevicestatus Will remain connected ,oDevicetype The type of device that will remain connected . Please refer to the following table for the list of valid values of the two parameters
         */
        public enum DeviceStatusEnum : int { MT_DEVICE_NOT_FOUND = 0, MT_DEVICE_PRESENT, MT_DEVICE_CONNECTED, MT_DEVICE_READY }

        public enum DeviceTypeEnum : int { MT_DEVICE_UNKNOWN = 0, MT_DEVICE_MICROTEST_MC, MT_DEVICE_MICROTORQUE_G4, MT_DEVICE_ACTA_MT4, MT_DEVICE_MTF400_BASIC, MT_DEVICE_MTF400_ADVANCED }

        [DllImport("MTCom.dll", EntryPoint = "MT_GetDeviceInfo")]
        public static extern bool MT_GetDeviceInfo([MarshalAs(UnmanagedType.LPStr)] string serial, [MarshalAs(UnmanagedType.I4)] out DeviceStatusEnum deviceStatus, [MarshalAs(UnmanagedType.I4)] out DeviceTypeEnum deviceType);

        /*
         * MT_Open 
         * This function opens the connection to the device with the given serial number , And return the handle of the open device . If it cannot open the connection to the device , It will return an invalid handle value . Reserved for future use , And should be set to 0) Retain
         */
        public readonly static IntPtr INVALID_HANDLE_VALUE = new IntPtr(-1);
        [DllImport("MTCom.dll", EntryPoint = "MT_Open")]
        public static extern IntPtr MT_Open([MarshalAs(UnmanagedType.LPStr)] string serial, int reserved);

        /*
         * MT_Close 
         * This function closes the open connection to the device , It doesn't return anything .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_Close")]
        public static extern IntPtr MT_Close(ref IntPtr client);

        /*
         *MT_Clear  
         * This function clears all previously received data sets on the specified channel . If channel number is used 13 or 14 call , It can be used to clear the summary data and summary serial number of the device .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_Clear")]
        public static extern bool MT_Clear(IntPtr client, int channel);

        /*
         *MT_WriteSet 
         * This function writes the data set to the device . The application can choose to build the entire data set , Include control characters , Channel number and checksum , And pass it on to MT WriteSet Or it can choose the command , Give Way MTCom Constructed dat
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_WriteSet")]
        public static extern bool MT_WriteSet(IntPtr client, int channel, [MarshalAs(UnmanagedType.LPArray)] byte[] dataset, int noBytes);

        /*
         *MT_ReadSet  
         * This function reads the data set from the device . If an actual error occurs , This function will only indicate failure ( return FALSE). If it times out waiting for the data set , It will return TRUE And will oBytesRead Set to zero .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_ReadSet")]
        public static extern bool MT_ReadSet(IntPtr client, int channel, [MarshalAs(UnmanagedType.LPArray)][Out] byte[] buffer, [MarshalAs(UnmanagedType.I4)] out int noBytes, int timeOut);

        /*
         * MT_GetSummary 
         * This function retrieves MTCom The last summary received ( The last joint result ). When a joint is finished , Micro torque device in channel 13 and 14 Automatically send summary protocol data on . Because this function only returns MTCom The last summary received , Therefore, applications that rely on this function to retrieve summary data should track serial numbers , To ensure that the retrieved summary is correct . See the example in the next chapter . As oSummary The size of the byte array passed must be equal to or greater than 1kb
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_GetSummary")]
        public static extern bool MT_GetSummary(IntPtr client, [MarshalAs(UnmanagedType.LPArray)][Out] byte[] summary, [MarshalAs(UnmanagedType.I4)] out int noBytes, [MarshalAs(UnmanagedType.I4)] out int sequenceNo);

        /*
         *  MT_GetNoTraceChannels  
         * This function is used to obtain the maximum number of tracking channels of the micro torque device .
         */
        [DllImport(@"MTCom.dll", EntryPoint = "MT_GetNoTraceChannels")]
        public static extern bool MT_GetNoTraceChannels(IntPtr client, [MarshalAs(UnmanagedType.I4)] out int noTraceChannels);

        /*
         *  MT_GetTraceInfo  
         * This function is used to get information about MTCom Tracking information of the last buffered joint in . I will retrieve the points in the trace 、 Sampling rate ( To sample / Seconds per unit ) And torque unit
         */
        public enum UnitEnum : int { MTU_mNm = 0, MTU_cNm, MTU_Nm, MTU_mN, MTU_N, MTU_kN, MTU_inlbf, MTU_lbf, MTU_inozf, MTU_gcm, MTU_kgm, MTU_ftlbf, MTU_ozf, MTU_kgf, MTU_gf, MTU_INVALID = -1, }

        [DllImport("MTCom.dll", EntryPoint = "MT_GetTraceInfo")]
        public static extern bool MT_GetTraceInfo(IntPtr client, int traceChannel, [MarshalAs(UnmanagedType.I4)] out int noPoints, [MarshalAs(UnmanagedType.I4)] out int sampleRate, [MarshalAs(UnmanagedType.I4)] out int torqueUnit);

        /*
         *  MT_GetTracePoints  
         * This function retrieves MTCom The actual trace point of the currently cached trace in . You should call... First MT GetTraceInfo To get available points . According to the parameters passed to it , You can use this function to retrieve the entire trace or part of the trace . Variable traceChannel Express MTCom For which channel should trace data be retrieved . Usually this is the passage 0( stay G4 Drive in , stay acme - mt4 Is the first sensor ). As TracePoints Delivered MT The trace point structure array should be able to be saved in variables maxPoints The number of points passed in . Integer starting point indicates MTCom Where should I start copying trace points of trace data .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_GetTracePoints")]
        public static extern bool MT_GetTracePoints(IntPtr client, int traceChannel, [MarshalAs(UnmanagedType.LPArray)][Out] TracePointStruct[] points, int startPoint, int maxPoints, [MarshalAs(UnmanagedType.I4)] out int noPoints);

        [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 16)]
        public struct TracePointStruct
        {
            [MarshalAs(UnmanagedType.R8)]
            public double torque;

            [MarshalAs(UnmanagedType.R8)]
            public double angle;
        }

        /*
         *  MT_GetOutput 
         * It returns the status of the internal output of the device . The retrieved value is a bitmask , According to the type of equipment queried , Its meaning is also different .
         */
        [DllImport("MTCom.dll", EntryPoint = "MT_GetOutput")]
        public static extern bool MT_GetOutput(IntPtr client, [MarshalAs(UnmanagedType.I4)] out int output);

        /*
         *  MT_GetLastError  
         *   This function returns the error code of the last failed function . It can be in any MTCom API 1 Then call
         */
        public enum ErrorCodeEnum : int
        {
            MT_OK = 0,
            MT_ERR_INVALID_VERSION = -1,
            MT_ERR_INVALID_PARAMETER = -2,
            MT_ERR_INVALID_DATA = -3,
            MT_ERR_INVALID_CHECKSUM = -4,
            MT_ERR_CONNECTION_ERROR = -5,
            MT_ERR_INVALID_MESSAGE_ID = -6,
            MT_ERR_MUTEX_TIMEOUT = -7,
            MT_ERR_PIPE_READ_FAILED = -8,
            MT_ERR_PIPE_WRITE_FAILED = -9,
            MT_ERR_USB_READ_FAILED = -10,
            MT_ERR_USB_WRITE_FAILED = -11,
        }

   

        [DllImport("MTCom.dll", EntryPoint = "MT_GetLastError")]
        public static extern ErrorCodeEnum MT_GetLastError();

        #endregion
        public Atlas400Form()
        {
            InitializeComponent();
            this.Load += Atlas400Form_Load;
        }

        private void ShowLog(string str) {
            logLines.Insert(0,DateTime.Now.ToString("yyyy-MM-dd HHmmss")+" "+str);
            this.Invoke(new Action(() =>
            {

                TxtLog.Lines = logLines.ToArray();
            }));
        }
        
        List<string> logLines = new List<string>();
        private void Atlas400Form_Load(object sender, EventArgs e)
        {
            bool initMt = MT_Init();
            ShowLog($" initialization COM {initMt}");
            if (initMt)
            {
             
               
            }
        }
        IntPtr client;
        private void BtnOpen_Click(object sender, EventArgs e)
        {
            if (TxtSn.Text.Trim() == "")
            {
                ShowLog(" equipment SN Can't be empty ");
                return;
            }
            string serialNo = TxtSn.Text.Trim();

            client = MT_Open(serialNo, 0);
            if (client != INVALID_HANDLE_VALUE)
            {
                ShowLog(" Device connected successfully ！");
                // byte[] request = System.Text.Encoding.ASCII.GetBytes("IV");
                // bool success = MT_WriteSet(client, 5, request, request.Length);

                //MT_Close(ref client);
            }
            else {
                ShowLog(" Device connection failed ！");
            }
        }

        private void BtnRead_Click(object sender, EventArgs e)
        {

            bool success = MT_GetTraceInfo(client, 13, out int noNopoints, out int sampleRate, out int torqueUnit);

            if (success)
            {
                byte[] reply = new byte[4096];
                Task.Run(async () => {
                    while (true)
                    {
                        success = MT_ReadSet(client, 13, reply, out int noBytes, 1000);
                        if (noBytes > 0)
                        {
                            ShowLog($"Reply: {System.Text.Encoding.ASCII.GetString(reply, 0, noBytes)}");
                            break;
                        }
                        else
                        {
                            ShowLog($" Read failed , Overtime ");
                            // Timed out.         
                        }
                        await Task.Delay(1000);
                    }
                });
               
                //TracePointStruct[] points = new TracePointStruct[noNopoints];
               // MT_GetTracePoints(client, TxtChannel.Value.ToInt(), points, 0, points.Length - 1, out int nopoints);

            }
            else
            {
                ShowLog($"Operation failed w/err: { MT_GetLastError()}.");
            }   
        }

        private void BtnChannel_Click(object sender, EventArgs e)
        {
            MT_GetNoTraceChannels(client, out int num);
            ShowLog($" passageway ：{num}");
        }
    }
}