FrmMain.cs
38.4 KB
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AssemblyLine
{
public partial class FrmMain : Form
{
private string debug = "";
private NotifyIcon notify;
private ContextMenuStrip notifyMenu;
private List<string> _log;
public FrmMain(string[] args)
{
if (args.Length == 1)
debug = args[0];
Common.frmMain = this;
InitializeComponent();
}
private void FrmMain_Load(object sender, EventArgs e)
{
Common.config = new Dictionary<string, string>();
//string path = AppDomain.CurrentDomain.BaseDirectory + "Config\\Config.csv";
//string[] text = System.IO.File.ReadAllLines(path);
//for (int i = 0; i < text.Length; i++)
//{
// if (text[i].StartsWith("//")) continue;
// string[] temp = text[i].Split(',');
// if (temp.Length != 2) continue;
// Common.config.Add(temp[0], temp[1]);
//}
//Common.LOCAL_IP = Common.config["Local"];
string path = AppDomain.CurrentDomain.BaseDirectory + "Config\\Config.xml";
System.Xml.XmlDocument doc = new System.Xml.XmlDocument();
System.Xml.XmlNode root;
System.Xml.XmlNode node;
doc.Load(path);
root = doc.LastChild;
int count = root.ChildNodes.Count;
for (int i = 0; i < count; i++)
{
node = root.ChildNodes[i];
if (node.NodeType == System.Xml.XmlNodeType.Element)
Common.config.Add(node.Name, node.InnerText);
}
//Common.LOCAL_IP = Common.config["Local"];
_log = new List<string>();
//RFID
Common.RFID101_Dev = new RFIDInfo("192.168.103.101", "RFID31", "双层线左侧提升机");
Common.RFID102_Dev = new RFIDInfo("192.168.103.102", "RFID32", "双层线中间提升机");
Common.RFID103_Dev = new RFIDInfo("192.168.103.103", "RFID33", "双层线上料工位1");
Common.RFID104_Dev = new RFIDInfo("192.168.103.104", "RFID34", "双层线上料工位2");
Common.RFID105_Dev = new RFIDInfo("192.168.103.105", "RFID35", "双层线右侧提升机");
Common.RFID106_Dev = new RFIDInfo("192.168.103.106", "RFID36", "带包装料线体");
Common.RFID107_Dev = new RFIDInfo("192.168.103.107", "RFID37", "VMI进料线体");
Common.RFID108_Dev = new RFIDInfo("192.168.103.108", "RFID38", "VMI出料线体");
Common.RFID109_Dev = new RFIDInfo("192.168.103.109", "RFID41", "双层线右侧上层");
Common.RFID110_Dev = new RFIDInfo("192.168.103.110", "RFID42", "分盘线体出料");
Common.ReaderAll = new Asa.RFID.ReaderAll();
Common.ReaderAll.LogPath = Common.LOG_PATH;
Common.ReaderAll.ConnectStatus += ReaderAll_ConnectStatus;
Common.ReaderAll.ScanStatus += ReaderAll_ScanStatus;
//ABB
Common.ABB_Dev = new ABBInfo[3];
Common.ABB_Dev[0] = new ABBInfo("192.168.103.51", "ABB1(右)", "", "关闭");
Common.ABB_Dev[1] = new ABBInfo("192.168.103.52", "ABB2(左)", "", "关闭");
Common.ABB_Dev[2] = new ABBInfo("192.168.103.53", "ABB3(下)", "", "关闭");
for (int i = 0; i < Common.ABB_Dev.Length; i++)
DgvABBInfo.Rows.Add(Common.ABB_Dev[i].Name, Common.ABB_Dev[i].IP, Common.ABB_Dev[i].State, Common.ABB_Dev[i].Server);
CboAbbAction.Items.Add(Common.ABB_MOVEGET);
CboAbbAction.Items.Add(Common.ABB_MOVEPUT);
CboAbbAction.Items.Add(Common.ABB_MOVEHOME);
CboAbbAction.Items.Add(Common.ABB_MOVEP);
CboAbbAction.SelectedIndex = 0;
CboAbbType.Items.Add("C：双层线其他规格料格");
CboAbbType.Items.Add("D：双层线7寸料格");
CboAbbType.SelectedIndex = 0;
//MiR小车
Common.Agv = new AgvInfo[4];
Common.Agv[0] = new AgvInfo("MiR_R1467", "10.85.199.67", "Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==");
Common.Agv[1] = new AgvInfo("MiR_R1468", "10.85.199.68", "Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==");
Common.Agv[2] = new AgvInfo("MiR_R1469", "10.85.199.69", "Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==");
Common.Agv[3] = new AgvInfo("MiR_R1470", "10.85.199.70", "Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==");
dataGridView1.Rows.Clear();
for (int i = 0; i < Common.Agv.Length; i++)
dataGridView1.Rows.Add(Common.Agv[i].Name, Common.Agv[i].IP, "脱机", "", "自动");
//托盘菜单
notifyMenu = new ContextMenuStrip();
ToolStripMenuItem item1 = new ToolStripMenuItem("显示(&S)");
item1.Click += Item1_Click;
ToolStripMenuItem item2 = new ToolStripMenuItem("退出(&X)");
item2.Click += Item2_Click;
notifyMenu.Items.Add(item1);
notifyMenu.Items.Add(item2);
//托盘控件
notify = new NotifyIcon { Icon = Icon, Visible = true, ContextMenuStrip = notifyMenu, Text = Text };
notify.MouseDoubleClick += Notify_MouseDoubleClick;
//用于显示完界面后在打开
System.Threading.Thread tTemp = new System.Threading.Thread(new System.Threading.ThreadStart(Dev_Open));
tTemp.Start();
}
private void FrmMain_SizeChanged(object sender, EventArgs e)
{
if (WindowState == FormWindowState.Minimized)
Hide();
}
private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
{
if (debug == "debug")
{
if (Common.line_Double != null)
Common.line_Double.Exit();
if (Common.line_Packing != null)
Common.line_Packing.Exit();
if (Common.ABB_Robot != null)
Common.ABB_Robot.Exit();
if (Common.MiR_AGV != null)
Common.MiR_AGV.Exit();
if (Common.ReaderAll != null)
Common.ReaderAll.Close();
if (Common.controlCenter != null)
Common.controlCenter.Exit();
Dispose();
notify.Dispose();
//Environment.Exit(0);
}
else
{
e.Cancel = true;
Hide();
}
}
private void Dev_Open()
{
System.Threading.Thread.Sleep(50);
Application.DoEvents();
//RFID
Common.ReaderAll.ScanMode = true;
Common.ReaderAll.Open("192.168.103.101", "192.168.103.102", "192.168.103.103",
"192.168.103.104", "192.168.103.105", "192.168.103.106", "192.168.103.109");
//控制中心
Common.controlCenter = new BLL.ControlCenter();
Common.controlCenter.IOStatus += ControlCenter_IOStatus;
Common.controlCenter.AGVText += ControlCenter_AGVText;
Common.controlCenter.Start();
//双层线
Common.line_Double = new BLL.Doubleline();
Common.line_Double.IO_Status += Line_Double_IOStatus;
Common.line_Double.BenQ_Agv_Status += Line_Double_AgvStatus;
Common.line_Double.Start();
//包装线
Common.line_Packing = new BLL.PackingLine();
Common.line_Packing.IOStatus += Line_Packing_IOStatus;
Common.line_Packing.Start();
//ABB机器人
Common.ABB_Robot = new BLL.ABB();
Common.ABB_Robot.StatusChanged += Robot_StatusChanged;
Common.ABB_Robot.ServerChanged += Robot_ServerChanged;
Common.ABB_Robot.Start();
//MiR小车
Common.MiR_AGV = new BLL.MiR();
Common.MiR_AGV.StatusChanged += MiR_AGV_StatusChanged;
string[] s = Common.MiR_AGV.MissionName();
Invoke(new Action(() =>
{
LstAgvPlace.Items.Clear();
LstAgvPlace.Items.AddRange(s);
}));
Common.MiR_AGV.Start();
}
private void ControlCenter_AGVText(string s)
{
//Invoke(new Action(() =>
//{
// string[] tt = s.Split(',');
// if (tt.Length == 4)
// {
// int idx = Convert.ToInt32(tt[0]);
// if (idx < dataGridView2.Rows.Count)
// {
// dataGridView2.Rows[idx].Cells[0].Value = tt[1];
// dataGridView2.Rows[idx].Cells[1].Value = tt[2];
// dataGridView2.Rows[idx].Cells[2].Value = tt[3];
// }
// else
// {
// dataGridView2.Rows.Add(tt[1], tt[2], tt[3]);
// }
// }
// else
// {
// textBox1.AppendText(s + "\r\n");
// }
//}));
}
private void ReaderAll_ScanStatus(int idx, string ip, bool status)
{
Invoke(new Action(() => {
Label lbl = (Label)groupBox11.Controls["LblRFIDScan" + idx];
if (status)
lbl.BackColor = Color.Lime;
else
lbl.BackColor = Color.Red;
}));
}
private void ReaderAll_ConnectStatus(int idx, string ip, bool status)
{
Invoke(new Action(() => {
Label lbl = (Label)groupBox11.Controls["LblRFIDSta" + idx];
if (status)
lbl.BackColor = Color.Lime;
else
lbl.BackColor = Color.Red;
}));
}
internal void Log_Show(string s)
{
int count = Convert.ToInt32(Common.config["Log_Count"]);
s = string.Format("[{0:HH:mm:ss.fff}] ", DateTime.Now) + s;
if (_log.Count > count)
_log.RemoveAt(0);
_log.Add(s);
Invoke(new Action(() =>
{
TxtLog.Text = string.Join("\r\n", _log);
TxtLog.SelectionStart = TxtLog.Text.Length;
TxtLog.ScrollToCaret();
}));
}
#region 系统托盘
private void Item2_Click(object sender, EventArgs e)
{
if (Common.line_Double != null)
Common.line_Double.Exit();
if (Common.line_Packing != null)
Common.line_Packing.Exit();
if (Common.ABB_Robot != null)
Common.ABB_Robot.Exit();
if (Common.MiR_AGV != null)
Common.MiR_AGV.Exit();
if (Common.ReaderAll != null)
Common.ReaderAll.Close();
if (Common.controlCenter != null)
Common.controlCenter.Exit();
Dispose();
notify.Dispose();
Environment.Exit(0);
}
private void Item1_Click(object sender, EventArgs e)
{
Show();
if (WindowState == FormWindowState.Minimized)
WindowState = FormWindowState.Normal;
}
private void Notify_MouseDoubleClick(object sender, MouseEventArgs e)
{
Show();
if (WindowState == FormWindowState.Minimized)
WindowState = FormWindowState.Normal;
}
#endregion
#region 双层线
internal void DI1_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO21_Dev.DI[i].Sta == sta[i]) continue;
if (i < 4)
ctl = tabPage1;
else if (i < 8)
ctl = groupBox1;
else if (i < 14)
ctl = groupBox6;
else if (i < 16)
ctl = groupBox2;
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DI1_" + i].BackColor = Color.Lime;
else
ctl.Controls["DI1_" + i].BackColor = Color.LightGray;
Common.IO21_Dev.DI[i].Sta = sta[i];
}
}
internal void DI2_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO22_Dev.DI[i].Sta == sta[i]) continue;
switch (i)
{
case 0:
case 1:
ctl = groupBox2;
break;
case 2:
case 3:
case 5:
case 8:
case 9:
ctl = groupBox4;
break;
case 4:
case 6:
case 7:
case 10:
case 11:
ctl = groupBox5;
break;
case 12:
case 13:
ctl = groupBox3;
break;
case 14:
case 15:
ctl = groupBox7;
break;
}
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DI2_" + i].BackColor = Color.Lime;
else
ctl.Controls["DI2_" + i].BackColor = Color.LightGray;
Common.IO22_Dev.DI[i].Sta = sta[i];
}
}
internal void DI3_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO23_Dev.DI[i].Sta == sta[i]) continue;
switch (i)
{
case 0:
case 1:
ctl = groupBox3;
break;
case 2:
case 3:
ctl = groupBox7;
break;
}
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DI3_" + i].BackColor = Color.Lime;
else
ctl.Controls["DI3_" + i].BackColor = Color.LightGray;
Common.IO23_Dev.DI[i].Sta = sta[i];
}
}
internal void DO1_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO21_Dev.DO[i].Sta == sta[i]) continue;
switch (i)
{
case 0:
case 1:
case 2:
case 3:
ctl = tabPage1;
break;
case 4:
case 5:
case 6:
case 13:
case 14:
ctl = groupBox1;
break;
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
ctl = groupBox6;
break;
}
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DO1_" + i].BackColor = Color.Lime;
else
ctl.Controls["DO1_" + i].BackColor = Color.Transparent;
Common.IO21_Dev.DO[i].Sta = sta[i];
}
}
internal void DO2_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO22_Dev.DO[i].Sta == sta[i]) continue;
switch (i)
{
case 0:
case 1:
ctl = groupBox6;
break;
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
ctl = groupBox2;
break;
case 8:
case 9:
case 10:
case 11:
ctl = groupBox4;
break;
case 12:
case 13:
ctl = groupBox5;
break;
}
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DO2_" + i].BackColor = Color.Lime;
else
ctl.Controls["DO2_" + i].BackColor = Color.Transparent;
Common.IO22_Dev.DO[i].Sta = sta[i];
}
}
internal void DO3_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
Control ctl = this;
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO23_Dev.DO[i].Sta == sta[i]) continue;
switch (i)
{
case 0:
case 1:
case 4:
case 5:
ctl = groupBox4;
break;
case 2:
case 3:
case 6:
case 7:
ctl = groupBox5;
break;
case 8:
case 9:
ctl = groupBox3;
break;
case 10:
case 11:
case 12:
case 13:
case 18:
case 19:
ctl = groupBox7;
break;
case 14:
case 15:
case 16:
case 17:
ctl = groupBox3;
break;
}
if (sta[i] == Asa.IOModule.Box_Sta.On)
ctl.Controls["DO3_" + i].BackColor = Color.Lime;
else
ctl.Controls["DO3_" + i].BackColor = Color.Transparent;
Common.IO23_Dev.DO[i].Sta = sta[i];
}
}
private void DO1_Click(object sender, EventArgs e)
{
if (!Common.IO21_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 4)
Common.IO21_Dev.Box.WriteDO(5, Asa.IOModule.Box_Sta.Off);
else if (add == 5)
Common.IO21_Dev.Box.WriteDO(4, Asa.IOModule.Box_Sta.Off);
else if (add == 13)
Common.IO21_Dev.Box.WriteDO(14, Asa.IOModule.Box_Sta.Off);
else if (add == 14)
Common.IO21_Dev.Box.WriteDO(13, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO21_Dev.Box.ReadDO(add);
sta = Common.IO21_Dev.Box.ReverseStatus(sta);
Common.IO21_Dev.Box.WriteDO(add, sta);
}
private void DO2_Click(object sender, EventArgs e)
{
if (!Common.IO22_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 2)
Common.IO22_Dev.Box.WriteDO(3, Asa.IOModule.Box_Sta.Off);
else if (add == 3)
Common.IO22_Dev.Box.WriteDO(2, Asa.IOModule.Box_Sta.Off);
else if (add == 4)
Common.IO22_Dev.Box.WriteDO(5, Asa.IOModule.Box_Sta.Off);
else if (add == 5)
Common.IO22_Dev.Box.WriteDO(4, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO22_Dev.Box.ReadDO(add);
sta = Common.IO22_Dev.Box.ReverseStatus(sta);
Common.IO22_Dev.Box.WriteDO(add, sta);
}
private void DO3_Click(object sender, EventArgs e)
{
if (!Common.IO23_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 0)
Common.IO23_Dev.Box.WriteDO(1, Asa.IOModule.Box_Sta.Off);
else if (add == 1)
Common.IO23_Dev.Box.WriteDO(0, Asa.IOModule.Box_Sta.Off);
else if (add == 2)
Common.IO23_Dev.Box.WriteDO(3, Asa.IOModule.Box_Sta.Off);
else if (add == 3)
Common.IO23_Dev.Box.WriteDO(2, Asa.IOModule.Box_Sta.Off);
else if (add == 4)
Common.IO23_Dev.Box.WriteDO(5, Asa.IOModule.Box_Sta.Off);
else if (add == 5)
Common.IO23_Dev.Box.WriteDO(4, Asa.IOModule.Box_Sta.Off);
else if (add == 6)
Common.IO23_Dev.Box.WriteDO(7, Asa.IOModule.Box_Sta.Off);
else if (add == 7)
Common.IO23_Dev.Box.WriteDO(6, Asa.IOModule.Box_Sta.Off);
else if (add == 8)
Common.IO23_Dev.Box.WriteDO(9, Asa.IOModule.Box_Sta.Off);
else if (add == 9)
Common.IO23_Dev.Box.WriteDO(8, Asa.IOModule.Box_Sta.Off);
else if (add == 14)
Common.IO23_Dev.Box.WriteDO(15, Asa.IOModule.Box_Sta.Off);
else if (add == 15)
Common.IO23_Dev.Box.WriteDO(14, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO23_Dev.Box.ReadDO(add);
sta = Common.IO23_Dev.Box.ReverseStatus(sta);
Common.IO23_Dev.Box.WriteDO(add, sta);
}
private void BtnRFID_Click(object sender, EventArgs e)
{
Control ctl = sender as Control;
string s = ctl.Name.Substring(3);
string val = "";
switch (s)
{
case "101":
val = Common.ReaderAll.ReadStr(Common.RFID101_Dev.IP);
break;
case "102":
val = Common.ReaderAll.ReadStr(Common.RFID102_Dev.IP);
break;
case "103":
val = Common.ReaderAll.ReadStr(Common.RFID103_Dev.IP);
break;
case "104":
val = Common.ReaderAll.ReadStr(Common.RFID104_Dev.IP);
break;
case "105":
val = Common.ReaderAll.ReadStr(Common.RFID105_Dev.IP);
break;
case "106":
val = Common.ReaderAll.ReadStr(Common.RFID106_Dev.IP);
break;
case "107":
val = Common.ReaderAll.ReadStr(Common.RFID107_Dev.IP);
break;
case "108":
val = Common.ReaderAll.ReadStr(Common.RFID108_Dev.IP);
break;
case "109":
val = Common.ReaderAll.ReadStr(Common.RFID109_Dev.IP);
break;
case "110":
val = Common.ReaderAll.ReadStr(Common.RFID110_Dev.IP);
break;
default:
return;
}
ctl.Text = "RFID:" + val;
}
private void Line_Double_IOStatus(int idx, string ip, bool status)
{
Invoke(new Action(() => {
Label lbl = (Label)groupBox12.Controls["LblIOSta" + idx];
if (status)
lbl.BackColor = Color.Lime;
else
lbl.BackColor = Color.Red;
}));
}
private void Line_Double_AgvStatus(int idx, string ip, bool status)
{
if (status)
label19.BackColor = Color.Lime;
else
label19.BackColor = Color.Red;
}
private void ChkAGVServer_CheckedChanged(object sender, EventArgs e)
{
Common.line_Double.AgvTest(ChkAGVServer.Checked);
BtnAgvEnter.Enabled = ChkAGVServer.Checked;
BtnAgvLeave.Enabled = ChkAGVServer.Checked;
}
private void BtnAgvLeave_Click(object sender, EventArgs e)
{
Common.line_Double.AgvLeave();
}
private void BtnAgvEnter_Click(object sender, EventArgs e)
{
Common.line_Double.AgvEnter();
}
#endregion
#region 包装线
internal void DI4_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO24_Dev.DI[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage2.Controls["DI4_" + i].BackColor = Color.Lime;
else
tabPage2.Controls["DI4_" + i].BackColor = Color.LightGray;
Common.IO24_Dev.DI[i].Sta = sta[i];
}
}
internal void DO4_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO24_Dev.DO[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage2.Controls["DO4_" + i].BackColor = Color.Lime;
else
tabPage2.Controls["DO4_" + i].BackColor = Color.Transparent;
Common.IO24_Dev.DO[i].Sta = sta[i];
}
}
private void DO4_Click(object sender, EventArgs e)
{
if (!Common.IO24_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 7)
Common.IO24_Dev.Box.WriteDO(8, Asa.IOModule.Box_Sta.Off);
else if (add == 8)
Common.IO24_Dev.Box.WriteDO(7, Asa.IOModule.Box_Sta.Off);
if (add == 10)
Common.IO24_Dev.Box.WriteDO(11, Asa.IOModule.Box_Sta.Off);
else if (add == 11)
Common.IO24_Dev.Box.WriteDO(10, Asa.IOModule.Box_Sta.Off);
if (add == 12)
Common.IO24_Dev.Box.WriteDO(13, Asa.IOModule.Box_Sta.Off);
else if (add == 13)
Common.IO24_Dev.Box.WriteDO(12, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO24_Dev.Box.ReadDO(add);
sta = Common.IO24_Dev.Box.ReverseStatus(sta);
Common.IO24_Dev.Box.WriteDO(add, sta);
}
private void Line_Packing_IOStatus(int idx, string ip, bool status)
{
Invoke(new Action(() => {
Label lbl = (Label)groupBox12.Controls["LblIOSta" + (idx + 3).ToString()];
if (status)
lbl.BackColor = Color.Lime;
else
lbl.BackColor = Color.Red;
}));
}
#endregion
#region 其他
private void ChkServerPause_CheckedChanged(object sender, EventArgs e)
{
Common.line_Double.ServerPause = ChkServerPause.Checked;
}
private void BtnPlaceLeft_Click(object sender, EventArgs e)
{
Common.line_Double.PlaceLeft = 1;
}
private void BtnPlaceRight_Click(object sender, EventArgs e)
{
Common.line_Double.PlaceRight = 1;
}
private void BtnNeedTypeD_Click(object sender, EventArgs e)
{
Common.line_Double.NeedTypeD = 1;
}
private void BtnNeedTypeC_Click(object sender, EventArgs e)
{
Common.line_Double.NeedTypeC = 1;
}
private void BtnGoPlace1_Click(object sender, EventArgs e)
{
Common.line_Double.GoPlace1 = 1;
}
private void BtnGoPlace2_Click(object sender, EventArgs e)
{
Common.line_Double.GoPlace2 = 1;
}
private void BtnPlace1Leave_Click(object sender, EventArgs e)
{
Common.line_Double.Place1Leave = 1;
}
private void BtnPlace2Leave_Click(object sender, EventArgs e)
{
Common.line_Double.Place2Leave = 1;
}
#endregion
#region ABB
private void BtnAbbMove_Click(object sender, EventArgs e)
{
if (DgvABBInfo.SelectedCells.Count == 0) return;
int idx = DgvABBInfo.SelectedCells[0].RowIndex;
string command = CboAbbAction.Text;
string point = "p" + numericUpDown1.Value;
if (command == Common.ABB_MOVEPUT)
{
if (CboAbbType.SelectedIndex == 0)
point = "cp" + numericUpDown1.Value;
else
point = "dp" + numericUpDown1.Value;
}
string movement = RdoAbbMove1.Checked ? "L" : "J";
int speed = Convert.ToInt32(NudAbbSpeed.Value);
string s = string.Format("{0},{1},{2},{3}", command, point, movement, speed);
Common.ABB_Robot.SendCommand(idx, s);
}
private void BtnAbbMove2_Click(object sender, EventArgs e)
{
if (DgvABBInfo.SelectedCells.Count == 0) return;
int idx = DgvABBInfo.SelectedCells[0].RowIndex;
string command = CboAbbAction.Text;
string point = "p{0}";
if (command == Common.ABB_MOVEPUT)
{
if (CboAbbType.SelectedIndex == 0)
point = "cp{0}";
else
point = "dp{0}";
}
int p1 = Convert.ToInt32(numericUpDown1.Value);
int p2 = Convert.ToInt32(numericUpDown2.Value);
string movement = RdoAbbMove1.Checked ? "L" : "J";
int speed = Convert.ToInt32(NudAbbSpeed.Value);
string s = string.Format("{0},{1},{2},{3}", command, point, movement, speed);
Common.ABB_Robot.Multitask(idx, s, p1, p2);
}
private void Robot_StatusChanged(int idx, string sta)
{
Invoke(new Action(() =>
{
DgvABBInfo.Rows[idx].Cells[2].Value = sta;
Common.ABB_Dev[idx].State = sta;
groupBox13.Controls["LblABBSta" + idx].BackColor = Color.Lime;
}));
}
private void Robot_ServerChanged(int idx, string sta)
{
Invoke(new Action(() =>
{
DgvABBInfo.Rows[idx].Cells[3].Value = sta;
Common.ABB_Dev[idx].Server = sta;
}));
}
#endregion
#region 出料皮带线
internal void DI6_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO26_Dev.DI[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage7.Controls["DI6_" + i].BackColor = Color.Lime;
else
tabPage7.Controls["DI6_" + i].BackColor = Color.LightGray;
Common.IO26_Dev.DI[i].Sta = sta[i];
}
}
internal void DI7_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO27_Dev.DI[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage7.Controls["DI7_" + i].BackColor = Color.Lime;
else
tabPage7.Controls["DI7_" + i].BackColor = Color.LightGray;
Common.IO27_Dev.DI[i].Sta = sta[i];
}
}
internal void DO6_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO26_Dev.DO[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage7.Controls["DO6_" + i].BackColor = Color.Lime;
else
tabPage7.Controls["DO6_" + i].BackColor = Color.Transparent;
Common.IO26_Dev.DO[i].Sta = sta[i];
}
}
internal void DO7_Changed(Asa.IOModule.AIOBOX box, Asa.IOModule.Box_Sta[] sta)
{
for (int i = 0; i < sta.Length; i++)
{
if (Common.IO27_Dev.DO[i].Sta == sta[i]) continue;
if (sta[i] == Asa.IOModule.Box_Sta.On)
tabPage7.Controls["DO7_" + i].BackColor = Color.Lime;
else
tabPage7.Controls["DO7_" + i].BackColor = Color.Transparent;
Common.IO27_Dev.DO[i].Sta = sta[i];
}
}
private void DO6_Click(object sender, EventArgs e)
{
if (!Common.IO26_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 1)
Common.IO26_Dev.Box.WriteDO(2, Asa.IOModule.Box_Sta.Off);
else if (add == 2)
Common.IO26_Dev.Box.WriteDO(1, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO26_Dev.Box.ReadDO(add);
sta = Common.IO26_Dev.Box.ReverseStatus(sta);
Common.IO26_Dev.Box.WriteDO(add, sta);
}
private void DO7_Click(object sender, EventArgs e)
{
if (!Common.IO27_Dev.Box.IsConn) return;
int add = Convert.ToInt32((sender as Control).Name.Substring(4));
if (add == 1)
Common.IO27_Dev.Box.WriteDO(2, Asa.IOModule.Box_Sta.Off);
else if (add == 2)
Common.IO27_Dev.Box.WriteDO(1, Asa.IOModule.Box_Sta.Off);
Asa.IOModule.Box_Sta sta = Common.IO27_Dev.Box.ReadDO(add);
sta = Common.IO27_Dev.Box.ReverseStatus(sta);
Common.IO27_Dev.Box.WriteDO(add, sta);
}
#endregion
private void ControlCenter_IOStatus(int idx, string ip, bool status)
{
Invoke(new Action(() => {
Label lbl = (Label)groupBox12.Controls["LblIOSta" + (idx + 5)];
if (status)
lbl.BackColor = Color.Lime;
else
lbl.BackColor = Color.Red;
}));
}
private void MiR_AGV_StatusChanged(int idx, string sta)
{
Invoke(new Action(() =>
{
dataGridView1.Rows[idx].Cells[2].Value = sta;
}));
}
private void button13_Click(object sender, EventArgs e)
{
if (dataGridView1.SelectedCells.Count == 0) return;
int idx = dataGridView1.SelectedCells[0].RowIndex;
if (!Common.Agv[idx].IsCancel)
Common.MiR_AGV.Mission(idx, LstAgvPlace.Text);
}
private void button27_Click(object sender, EventArgs e)
{
if (dataGridView1.SelectedCells.Count == 0) return;
int idx = dataGridView1.SelectedCells[0].RowIndex;
if (!Common.Agv[idx].IsCancel)
Common.MiR_AGV.RunMission(idx);
}
private void button28_Click(object sender, EventArgs e)
{
if (dataGridView1.SelectedCells.Count == 0) return;
int idx = dataGridView1.SelectedCells[0].RowIndex;
if (!Common.Agv[idx].IsCancel)
Common.MiR_AGV.PauseMission(idx);
}
private void button30_Click(object sender, EventArgs e)
{
Common.ABB_Robot.StopMultitask = true;
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
Common.ABB_Robot.LoadController();
}
private void BtnPackingGoPlace_Click(object sender, EventArgs e)
{
Common.line_Packing.GoPlace = 1;
}
private void BtnPackingPlaceLeave_Click(object sender, EventArgs e)
{
Common.line_Packing.PlaceLeave = 1;
}
private void CboAbbType_SelectedIndexChanged(object sender, EventArgs e)
{
if (CboAbbType.SelectedIndex == 0)
{
numericUpDown1.Maximum = 12;
numericUpDown2.Maximum = 12;
}
else if(CboAbbType.SelectedIndex == 1)
{
numericUpDown1.Maximum = 92;
numericUpDown2.Maximum = 92;
}
}
private void button1_Click(object sender, EventArgs e)
{
Common.line_Packing.Leave = true;
}
private void button2_Click(object sender, EventArgs e)
{
Common.line_Double.Place1ToPlace2 = 1;
}
private void button3_Click(object sender, EventArgs e)
{
Common.controlCenter.ClearNodeBuff();
}
private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
//if (e.ColumnIndex == 4)
//{
// DataGridViewCell cell = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex];
// Common.Agv[e.RowIndex].IsCancel = Convert.ToBoolean(cell.Value);
//}
}
private void button5_Click(object sender, EventArgs e)
{
button5.Text = "Place: " + Common.line_Double.Place1RFID;
}
private void button6_Click(object sender, EventArgs e)
{
button6.Text = "Place: " + Common.line_Double.Place2RFID;
}
private void dataGridView1_CellClick(object sender, DataGridViewCellEventArgs e)
{
if (e.ColumnIndex == 4 && e.RowIndex > -1)
{
DataGridViewCell cell = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex];
Common.Agv[e.RowIndex].IsCancel = !Common.Agv[e.RowIndex].IsCancel;
cell.Value = Common.Agv[e.RowIndex].IsCancel ? "手动" : "自动";
}
}
private void BtnPlaceBackflow_Click(object sender, EventArgs e)
{
Common.line_Packing.PlaceBefore = 1;
}
}
}