LIBMAS/StageController/HDS/Lib/zmotion.cs

using System;
using System.Collections.Generic;
using System.Text;
using System.Runtime.InteropServices;


namespace StageController.HDS
{
    public class zmotion
    {
        //PC库错误码
       public enum ZMC_CONNECTION_TYPE
        {
				    ZMC_CONNECTION_COM = 1,
				    ZMC_CONNECTION_ETH = 2,
				    ZMC_CONNECTION_USB = 3,
				    ZMC_CONNECTION_PCI = 4,
        };
    public struct struct_AxisStates
    {
        public byte m_HomeState; //
        public byte m_AlarmState;
        public byte m_SDState;
        public byte m_INPState;
        public byte m_ElDecState;
        public byte m_ElPlusState;
        public byte m_HandWheelAState;
        public byte m_HandWheelBState;
        public byte m_EncodeAState; //
        public byte m_EncodeBState; //
        public byte m_EMGState; //每个轴都一样
        public byte m_ClearState; //
        public byte m_EnableOut;

        //增加软限位信号
        public byte m_SoftElDecState; //0- 有效
        public byte m_SoftElPlusState;
        public byte m_LatchAState; //锁存信号
        public byte m_LatchBState; //锁存信号
    };

    /*********************************************************
    系统状态定义
    **********************************************************/
    public enum ZBASIC_TASKSTATE
    {
        TASK_STATE_RUNING = 1,
        TASK_STATE_PAUSE = 3,
        TASK_STATE_STOP = 0,

        /************  下面是trio特殊状态, 暂时不支持  ************/
        //步进
        TASK_STATE_STEP = 2,
        TASK_STATE_PAUSING = 4,
        TASK_STATE_STOPING = 5,

        TASK_STATE_ERROR = 100,//查询的时候如果ID错返回这个值, 脚本初始化发现语法错误也返回这个错误
    };

        //缺省的等待时间
        public const int ZMC_DEFAULT_TIMEOUT = 5000;
        //串口延时需要更加长一些
        public const int ZMC_DEFAULT_TIMEOUT_COM = 5000;

        //新增加
        public const int SYS_STATE_CANNOT_CONNECT = 50;//链接不上
        
				
				/*************************************************************
				Description:    //与控制器建立链接
				Input:          //无
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				[DllImport("zmotion.dll", EntryPoint = "ZMC_Open", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				//int32 __stdcall ZMC_Open(ZMC_CONNECTION_TYPE type, char *pconnectstring ,ZMC_HANDLE * phandle);
				public static extern Int32  ZMC_Open(ZMC_CONNECTION_TYPE type, string  pconnectstring, out IntPtr phandle);
				
				/*************************************************************
				Description:    //与控制器建立链接, 可以指定连接的等待时间
				Input:          //无
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				[DllImport("zmotion.dll", EntryPoint = "ZMC_FastOpen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				//int32 __stdcall ZMC_FastOpen(ZMC_CONNECTION_TYPE type, char *pconnectstring, uint32 uims ,ZMC_HANDLE * phandle);
				public static extern Int32  ZMC_FastOpen(ZMC_CONNECTION_TYPE type, string pconnectstring, UInt32 uims,out IntPtr phandle);
				
				/*************************************************************
				Description:    //与控制器建立链接， 串口方式.
				Input:          //无
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_OpenCom(uint32 comid, ZMC_HANDLE * phandle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_OpenCom", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				public static extern Int32  ZMC_OpenCom(UInt32 comid,out IntPtr phandle);
				
				/*************************************************************
				Description:    //可以修改缺省的波特率等设置
				
				uint32 dwByteSize = 8, uint32 dwParity = NOPARITY, uint32 dwStopBits = ONESTOPBIT
				
				Input:          //
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_SetComDefaultBaud(uint32 dwBaudRate, uint32 dwByteSize, uint32 dwParity, uint32 dwStopBits);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_SetComDefaultBaud", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_SetComDefaultBaud(UInt32 dwbaudRate, UInt32 dwByteSize, UInt32 dwParity, UInt32 dwStopBits);        

				/*************************************************************
				Description:    //快速控制器建立链接
				Input:          //无
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_PeakCom(uint32 comid, uint32 uims,ZMC_HANDLE * phandle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_PeakCom", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_PeakCom(UInt32 comid, UInt32 uims, out IntPtr phandle);
				
				/*************************************************************
				Description:    //与控制器建立链接
				Input:          //IP地址，字符串的方式输入
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_OpenEth(char *ipaddr, ZMC_HANDLE * phandle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_OpenEth", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_OpenEth(string ipaddr, out IntPtr phandle);
				
				/*************************************************************
				Description:    //与控制器建立链接
				Input:          //IP地址，32位数的IP地址输入, 注意字节顺序
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_OpenEth2(struct in_addr straddr, ZMC_HANDLE * phandle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_OpenEth2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_OpenEth2(UInt32  straddr, out IntPtr phandle);        
                
				/*************************************************************
				Description:    //与控制器建立链接
				Input:          //PCI卡编号
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_OpenPci(uint32 cardnum, ZMC_HANDLE * phandle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_OpenPci", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_OpenPci(UInt32 cardnum,out IntPtr Phandle);

				/*************************************************************
				Description:    //读取PCI的控制卡个数
				Input:          //
				Output:         //
				Return:         //卡数
				*************************************************************/
				//uint32 __stdcall ZMC_GetMaxPciCards();
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_GetMaxPciCards", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern UInt32 ZMC_GetMaxPciCards();

				/*************************************************************
				Description:    //与控制器建立链接, 自动查找COM号
				Input:          //COM号范围
				Output:         //卡链接handle
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_SearchAndOpenCom(uint32 uimincomidfind, uint32 uimaxcomidfind,uint* pcomid, uint32 uims, ZMC_HANDLE * phandle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_SearchAndOpenCom", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_SearchAndOpenCom(UInt32 uimincomidfind, UInt32 uimaxcomidfind, ref UInt32 uims,out IntPtr phandle);        

				/*************************************************************
				Description:    //与控制器建立链接, 自动搜索网络. 暂时不支持
				Input:          //最长等待时间
				Output:         //卡链接handle 连接的IP地址
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_SearchAndOpenEth(char *ipaddr, uint32 uims, ZMC_HANDLE * phandle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_SearchAndOpenEth", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_SearchAndOpenEth( string ipaddr, UInt32 uims,out IntPtr phandle);
				
				/*************************************************************
				Description:    //与控制器建立链接, 自动搜索网络.
				Input:          //最长等待时间
				Output:         //控制器IP地址, 地址间用空格区分。
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_SearchEth(char *ipaddrlist,  uint32 addrbufflength, uint32 uims);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_SearchEth", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_SearchEth(string ipaddrlist, UInt32 addrbufflength, UInt32 uims);		
				
				/*************************************************************
				Description:    //关闭控制器链接
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Close(ZMC_HANDLE  handle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_Close", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_Close(IntPtr handle);		

				/*************************************************************
				Description:    //命令的延时等待时间
				Input:          //卡链接handle 毫秒时间
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_SetTimeOut(ZMC_HANDLE  handle, uint32 timems);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_SetTimeOut", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_SetTimeOut(IntPtr handle, UInt32 timems); 		

				/*************************************************************
				Description:    //命令的延时等待时间
				Input:          //卡链接handle 
				Output:         //毫秒时间
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetTimeOut(ZMC_HANDLE  handle, uint32* ptimems);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_GetTimeOut", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_GetTimeOut(IntPtr handle, ref UInt32 ptimems);		

				/*************************************************************
				Description:    //读取长时间命令的进度
				Input:          //卡链接handle 
				Output:         //
				Return:         //进度， 浮点， 
				*************************************************************/
				//float  __stdcall ZMC_GetProgress(ZMC_HANDLE  handle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_Getprogress", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]				
                public static extern  float ZMC_GetProgress(IntPtr handle);

				/*************************************************************
				Description:    //读取连接的类型
				Input:          //卡链接handle 
				Output:         //
				Return:         //ZMC_CONNECTION_TYPE
				*************************************************************/
				//uint8  __stdcall ZMC_GetConnectType(ZMC_HANDLE  handle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_GetConnectType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern byte ZMC_GetConnectType(IntPtr handle);

				/*************************************************************
				Description:    //读取连接的名称
				Input:          //卡链接handle 
				Output:         //
				Return:         //string
				*************************************************************/
				//const char*  __stdcall ZMC_GetConnectString(ZMC_HANDLE  handle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_GetConnectString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern byte[] ZMC_GetConnectString(IntPtr handle);		

				//#if 0
				//#endif
				/***************************************************
					ZBASIC命令，文件相关函数列表
				***************************************************/
				
				
				/*************************************************************
				Description:    ////读取系统状态
				Input:          //卡链接handle
				Output:         //状态 ZBASIC_TASKSTATE
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetState(ZMC_HANDLE handle,uint8 *pstate);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_GetState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_GetState(IntPtr handle,  ref byte pstate);		

				/*************************************************************
				Description:    //读取暂停导致的任务号
				Input:          //卡链接handle
				Output:         //任务号
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetStopPauseTaskid(ZMC_HANDLE handle,uint8 *ptaskid);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_GetStopPauseTaskid", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_GetStopPauseTaskid(IntPtr handle, ref byte ptaskid);
				
				/*************************************************************
				Description:    ////读取链接控制器的总虚拟轴数
				Input:          //卡链接handle
				Output:         //
				Return:         //轴数，出错0
				*************************************************************/
				//uint8 __stdcall ZMC_GetAxises(ZMC_HANDLE handle);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_GetAxises", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern byte ZMC_GetAxises(IntPtr handle);

				/*************************************************************
				Description:    //通用的命令执行接口,此命令不读取控制器的应答.  当控制器没有缓冲时自动阻赛
				Input:          //卡链接handle     pszCommand命令串,  uimswait 最长等待ms时间 
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_ExecuteNoAck(ZMC_HANDLE handle, const char* pszCommand, uint32 uimswait);
			    [DllImport("zmotion.dll", EntryPoint = "ZMC_ExecuteNoAck", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
                public static extern Int32 ZMC_ExecuteNoAck(IntPtr handle, string pszCommand, UInt32 uimswait);

				/*************************************************************
				Description:    //通用的命令执行接口  当控制器没有缓冲时自动阻赛
				Input:          //卡链接handle  pszCommand命令串,    uimswait 最长等待ms时间 
				Output:         //psResponse 接收控制器的执行结果输出
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Execute(ZMC_HANDLE handle, const char* pszCommand, uint32 uimswait, char* psResponse, uint32 uiResponseLength);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_Execute", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_Execute(IntPtr handle, string pszCommand, UInt32 uimswait, byte[]  psResponse, UInt32 uiResponseLength);

				/*************************************************************
				Description:    //等待前面的命令执行结束，控制器执行的应答被丢掉. 当没有缓冲时自动阻赛
				Input:          //卡链接handle  uimswait 最长等待ms时间 
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_ExecuteWaitDown(ZMC_HANDLE handle, uint32 uimaxms);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_ExecuteWaitDown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_ExecuteWaitDown(IntPtr handle, UInt32 uimaxms);

				/*************************************************************
				Description:    //读取在线命令的应答， 对没有接收应答的命令有用.
								此函数不阻赛
				Input:          //卡链接handle  uimax 缓冲长度
				Output:         //pbuff 返回读取结果，  puiread 读取的长度，  pbifExcuteDown 是否已经执行结束
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_ExecuteGetReceive(ZMC_HANDLE handle, char * pbuff, uint32 uimax, uint32 *puiread, uint8 *pbifExcuteDown);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_ExecuteGetReceive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_ExecuteGetReceive(IntPtr handle, string pbuff, UInt32 uimax, ref UInt32 puiread, ref byte pbifExcuteDown);		

				/*************************************************************
				Description:    //读取在线命令的当前剩余缓冲
				Input:          //卡链接handle
				Output:         //
				Return:         //剩余空间 出错 - 0
				*************************************************************/
				//uint32 __stdcall ZMC_ExecuteGetRemainBuffSpace(ZMC_HANDLE handle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_ExecuteGetRemainBuffSpace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				public static extern UInt32 ZMC_ExecuteGetRemainBuffSpace(IntPtr handle);
				
				
				/*************************************************************
				Description:    //直接命令接口，用于调试, 只支持少数命令 暂时不支持
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_DirectCommand(ZMC_HANDLE handle, const char* pszCommand, char* psResponse, uint32 uiResponseLength);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_DirectCommand", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				public static extern Int32 ZMC_DirectCommand(IntPtr handle, string pszCommand, byte[] psResponse, UInt32 uiResponseLength);
				
				/*************************************************************
				Description:    //打下载包ZAR, 
				Input:          //卡链接handle
				                pZpjfilename 项目文件名 带路径
				                pZarfilename ZAR文件名 
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZar(const char* pZpjfilename, const char* pZarfilename, const char *pPass, uint32 uid);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_MakeZar(string pZpjfilename, string pZarfilename, string pPass, UInt32 uid);		

				/*************************************************************
				Description:    //打下载包ZAR, 输入二进制的zpj文件
				Input:          //卡链接handle  
				                pzpj 文件缓冲
				                pBasDir bas程序文件路径 
				                pZarfilename ZAR文件名 
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZar2(void *pzpj,const char *pBasDir, const char* pZarfilename, const char *pPass, uint32 uid);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZar2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeZar2(IntPtr pzpj, string pBasDir, string pZarfilename, string pPass, UInt32 uid);

				/*************************************************************
				Description:    //下载包文件
				Input:          //卡链接handle 
				                pfilename  zar文件名
				                pfilenameinControl  BASIC系统只有一个包文件，可以不指定.
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_DownZar(ZMC_HANDLE handle, const char* pfilename, const char* pfilenameinControl);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_DownZar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_DownZar(IntPtr handle , string pfilename, string pfilenameinControl);

				/*************************************************************
				Description:    //下载包文件
				Input:          //卡链接handle
				                pbuffer     zar文件在内存中的地址
				                buffsize    zar文件长度
				                pfilenameinControl 控制器上文件的名字 , BASIC系统只有一个包文件，可以不指定.
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_DownMemZar(ZMC_HANDLE handle, const char* pbuffer, uint32 buffsize, const char* pfilenameinControl);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_DownMemZar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				public static extern Int32 ZMC_DownMemZar(IntPtr handle, string pbuffer , UInt32 buffsize, string pfilenameinControl);
				
				/*************************************************************
				Description:    //运行包
				Input:          //卡链接handle 
				                pfilenameinControl 文件名， 当为NULL的时候运行缺省文件 , BASIC系统只有一个包文件，可以不指定.
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_RunZarFile(ZMC_HANDLE handle, const char* pfilenameinControl);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_RunZarFile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_RunZarFile(IntPtr handle, string pfilenameinControl);

				/*************************************************************
				Description:    //暂停继续运行
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Resume(ZMC_HANDLE handle);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_Resume", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_Resume(IntPtr handle);

				/*************************************************************
				Description:    //下载到ram中运行
				Input:          //卡链接handle 
				                pfilename zar文件名, 带路径
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_DownZarToRamAndRun(ZMC_HANDLE handle, const char* pfilename);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_DownZarToRamAndRun", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_DownZarToRamAndRun(IntPtr handle , string pfilename);

				/*************************************************************
				Description:    //下载包到ram中运行
				Input:          //卡链接handle
				                pbuffer     zar文件在内存中的地址
				                buffsize    zar文件长度
				Output:         // 
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_DownMemZarToRamAndRun(ZMC_HANDLE handle, const char* pbuffer, uint32 buffsize);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_DownMemZarToRamAndRun", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_DownMemZarToRamAndRun(IntPtr handle , string buffer, UInt32 buffsize);

				/*************************************************************
				Description:    //打下载包ZAR， 并下载到RAM运行
				Input:          //卡链接handle 文件名
				                pZpjfilename 项目文件名 带路径
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZarAndRamRun(const char* pZpjfilename,const  char *pPass, uint32 uid);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZarAndRamRun", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeZarAndRamRun(string pZpjfilename, string pPass, UInt32 uid);

				/*************************************************************
				Description:    //打下载包ZAR， 并下载到RAM运行
				Input:          //卡链接handle 文件名
				                pzpj 文件缓冲
				                pBasDir bas程序文件路径 
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZarAndRamRun2(ZMC_HANDLE handle, void *pzpj,const char *pBasDir,const  char *pPass, uint32 uid);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZarAndRamRun2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeZarAndRamRun2(IntPtr handle , IntPtr pzpj , string pBasDir, string pPass, UInt32 uid);

				/*************************************************************
				Description:    //打下载包ZAR, 并下载到控制器ROM
				Input:          //卡链接handle 文件名
				                pZpjfilename 项目文件名 带路径
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZarAndDown(const char* pZpjfilename,const  char *pPass, uint32 uid);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZarAndDown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeZarAndDown(string pZpjfilename, string pPass, UInt32 uid);

				/*************************************************************
				Description:    //打下载包ZAR, 并下载到控制器ROM
				Input:          //卡链接handle 文件名
				                pzpj 文件缓冲
				                pBasDir bas程序文件路径 
				                pPass 软件密码, 绑定APP_PASS  没有密码时pPass = NULL
				                uid 绑定控制器唯一ID， 0-不绑定
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZarAndDown2(ZMC_HANDLE handle, void *pzpj,const char *pBasDir,const  char *pPass, uint32 uid);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZarAndDown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_MakeZarAndDown2(IntPtr handle, IntPtr pzpj, string pBasDir , string pPass, UInt32 uid);

				/*************************************************************
				Description:    //制作单文件的二进制ZPJ文件
				Input:          //pBasfilename basic文件名，带路径 
				Output:         //pzpj     项目文件缓冲
				                  pBasDir  BAS文件路径输出
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeOneFileZpj(void *pZpjBuff,  char *pBasDir, const char* pBasfilename);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeOneFileZpj", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeOneFileZpj(IntPtr pZpjBuff, string pBaDir, string pBasfilename);

				/*************************************************************
				Description:    //ZPJ文件重新生成, 用于和上传的ZPJ比较是否修改.
				Input:          //pZpjfilename 二进制zpj文件名，带路径
				Output:         //
				                pbuffer 缓冲，缓冲长度不能小于文件长度
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeRealZpj(const char* pZpjfilename, char* pbuffer, uint32 buffsize);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_MakeRealZpj", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_MakeRealZpj(string pZpjfilename , string pbuffer, UInt32 buffsize);		

				/*************************************************************
				Description:    //ZPJ文件重新生成, 用于和上传的ZPJ比较是否修改.
				                  全部在buff里面
				Input:          //pBasDir basic文件的路径
				                pzpj 缓冲，二进制zpj文件， 同时作为输出
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeRealZpjMem(const char* pBasDir, void *pzpj);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeRealZpjMem", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeRealZpjMem(string pBasDir, IntPtr pzpj);

				/*************************************************************
				Description:    //制作ZLIB文件
				Input:          //pfilenameBas  basic 文件
				                pfilenameZlb    zlb 文件
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_MakeZlib(const char* pfilenameBas, const char* pfilenameZlb);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_MakeZlib", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_MakeZlib(string pfilenameBas, string pfilenameZlb);

				/*************************************************************
				Description:    //获取ZLIB文件的全局描述，包括变量，SUB等
				Input:          //pfilenameZlb  lib文件名，带路径
				Output:         //pbuffer 返回全局描述
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetZlibGlobalDefine(const char* pfilenameZlb, char* pbuffer, uint32 buffsize);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_GetZlibGlobalDefine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_GetZlibGlobalDefine(string pfilenameZlb, byte[] pbuffer, UInt32 buffsize);
				
				/*************************************************************
				Description:    //上传zpj，用于PC和控制器文件比较
				Input:          //卡链接handle
				                pbuffer 接收zpj文件的缓冲 buffsize 缓冲最大长度                
				Output:         //puifilesize 读取的zpj文件长度
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_UpCurZpjToMem(ZMC_HANDLE handle, char* pbuffer, uint32 buffsize, uint32* puifilesize);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_UpCurZpjToMem", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
		        public static extern Int32 ZMC_UpCurZpjToMem(IntPtr handle, string pbufferm, UInt32 buffsize);		

				/*************************************************************
				Description:    //暂停
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Pause(ZMC_HANDLE handle);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_Pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_Pause(IntPtr handle);

				/*************************************************************
				Description:    //停止
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Stop(ZMC_HANDLE handle);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_Stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
				public static extern Int32 ZMC_Stop(IntPtr handle);
				
				
				/*********************************************************
				    3次文件功能暂时不支持.
				**********************************************************/
				
				/*************************************************************
				Description:    //检查文件是否存在  
				Input:          //卡链接handle 控制器上文件名，不带扩展
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Check3File(ZMC_HANDLE handle, const char* pfilenameinControl, uint8 *pbIfExist, uint32 *pFileSize);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_Check3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_Check3File(IntPtr handle, string pfilenameinControl, ref byte pbIfExist, ref UInt32 pFileSize);

				/*************************************************************
				Description:    //查找控制器上的文件， 文件名为空表示文件不不存在
				Input:          //卡链接handle 控制器上文件名，不带扩展
				Output:         // 是否存在 文件大小
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_FindFirst3File(ZMC_HANDLE handle, char* pfilenameinControl, uint32 *pFileSize);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_FindFirst3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
                public static extern Int32 ZMC_FindFirst3File(Int32 handle, string pfilenameinControl, ref UInt32 pFileSize);

				/*************************************************************
				Description:    //查找控制器上的文件， 文件名为空表示文件不不存在
				Input:          //卡链接handle 控制器上文件名，不带扩展
				Output:         // 是否存在 文件大小
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_FindNext3File(ZMC_HANDLE handle, char* pfilenameinControl, uint32 *pFileSize);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_FindNext3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]		
		        public static extern Int32 ZMC_FindNext3File(Int32 handle, string pfilenameinControl, ref UInt32 pFileSize);    

				/*************************************************************
				Description:    //查找控制器上的当前文件
				Input:          //卡链接handle 控制器上文件名，不带扩展
				Output:         // 是否存在 文件大小(暂时不支持)
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetCur3File(ZMC_HANDLE handle, char* pfilenameinControl, uint32 *pFileSize);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_GetCur3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]			
                public static extern Int32 ZMC_FindNext3File(IntPtr handle, string pfilenameinControl, ref UInt32 pFileSize);

				/*************************************************************
				Description:    //删除控制器上的文件
				Input:          //卡链接handle 控制器上文件名，不带扩展
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_Delete3File(ZMC_HANDLE handle, const char* pfilenameinControl);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_Delete3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
		        public static extern Int32 ZMC_Delete3File(IntPtr handle, string pfilenameinControl);		

				/*************************************************************
				Description:    //删除控制器上的文件
				Input:          //卡链接handle
				Output:         //
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_RemoveAll3Files(ZMC_HANDLE handle);
		        [DllImport("zmotion.dll", EntryPoint = "ZMC_RemoveAll3File", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]			
                public static extern Int32 ZMC_RemoveAll3File(IntPtr handle);

				/*************************************************************
				Description:    //写用户flash块, float数据
				Input:          //卡链接handle
									uiflashid 	flash块号
									uinumes		变量个数
				Output:         //
				Return:         //错误码
				*************************************************************/
		   		//int32 __stdcall ZMC_FlashWritef(ZMC_HANDLE handle, uint16 uiflashid, uint32 uinumes, float *pfvlue);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_FlashWrite", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
		        public static extern Int32 ZMC_FlashWritef(IntPtr handle, UInt16 uiflashid, UInt32 uinumes, float[] pfvlue);		

				/*************************************************************
				Description:    //读取用户flash块, float数据
				Input:          //卡链接handle
									uiflashid 	flash块号
									uibuffnum	缓冲变量个数
				Output:         //
									puinumesread 读取到的变量个数
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_FlashReadf(ZMC_HANDLE handle, uint16 uiflashid, uint32 uibuffnum, float *pfvlue, uint32* puinumesread);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_FlashReadf", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
				public  static extern Int32 ZMC_FlashReadf(IntPtr handle, UInt16 uiflashid, UInt32 uibuffnum,  float[] pfvlue, ref UInt32 puinumesread);
				
				/*************************************************************
				Description:    //读取当前控制器的IP地址, 
				Input:          //卡链接handle
				Output:         //sIpAddr  返回IP地址，  注意:当设置dhcp以后，设置的IP与实际的不一致。
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetCurIpAddr(ZMC_HANDLE handle, char* sIpAddr);
				[DllImport("zmotion.dll", EntryPoint = "ZMC_GetCurIpAddr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
		        public static extern Int32 ZMC_GetCurIpAddr(IntPtr handle , byte[] sIpAddr);		

				/*************************************************************
				Description:    //读取字符串在当前控制器上的类型
				Input:          //卡链接handle
				Output:         //type  类型，string_types
				                  TYPE2 当类型为数组时，代表数组的长度 
				                  pvalue 变量直接返回值
				Return:         //错误码
				*************************************************************/
				//int32 __stdcall ZMC_GetStringType(ZMC_HANDLE handle, const char *sname, uint16 filenum, uint16* type, uint32* type2, double *pvalue);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_GetStringType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]	
                public static extern Int32 ZMC_GetStringType(IntPtr handle, string sname, UInt16 filenum,  UInt16[] type, ref UInt32 type2,ref double  pvalue);


                /*************************************************************
                  Description:    //读取脚本输出的信息
                  Input:          //卡链接handle
                  Output:         //
                  Return:         //错误码
                *************************************************************/
                //int32 __stdcall ZMC_ReadMessage(ZMC_HANDLE handle, char * pbuff, uint32 uimax, uint32 *puiread);
                [DllImport("zmotion.dll", EntryPoint = "ZMC_ReadMessage", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
                public static extern Int32 ZMC_ReadMessage(IntPtr handle, byte[] pbuff, UInt32 uimax, ref UInt32 puiread);
                
                
			//uint32 __stdcall ZMC_Modbus_Set0x(ZMC_HANDLE handle, uint16 start, uint16 inum, uint8* pdata);
			[DllImport("zmotion.dll", EntryPoint = "ZMC_Modbus_Set0x", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
			public static extern Int32 ZMC_Modbus_Set0x(IntPtr handle, UInt16 start, UInt16 inum, byte[] pdata);
			
			//uint32 __stdcall ZMC_Modbus_Get0x(ZMC_HANDLE handle, uint16 start, uint16 inum, uint8* pdata);
			[DllImport("zmotion.dll", EntryPoint = "ZMC_Modbus_Get0x", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
			public static extern Int32 ZMC_Modbus_Get0x(IntPtr handle, UInt16 start, UInt16 inum, byte[] pdata);
			
			//uint32 __stdcall ZMC_Modbus_Get4x(ZMC_HANDLE handle, uint16 start, uint16 inum, uint16* pdata);
			[DllImport("zmotion.dll", EntryPoint = "ZMC_Modbus_Get4x", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
			public static extern Int32 ZMC_Modbus_Get4x(IntPtr handle, UInt16 start, UInt16 inum, UInt16[] pdata);
			
			
			//uint32 __stdcall ZMC_Modbus_Set4x(ZMC_HANDLE handle, uint16 start, uint16 inum, uint16* pdata);                
			[DllImport("zmotion.dll", EntryPoint = "ZMC_Modbus_Set4x", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
			public static extern Int32 ZMC_Modbus_Set4x(IntPtr handle, UInt16 start, UInt16 inum, UInt16[] pdata);

                
    }
}