FrmMain.cs
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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 Test
{
public partial class FrmMain : Form
{
private readonly log4net.ILog LOG;
private Neotel.Rmaxis axis;
private bool testLoop;
private System.Threading.Thread tStatus;
private System.Threading.Thread tTest;
public FrmMain()
{
InitializeComponent();
LOG = log4net.LogManager.GetLogger("Test");
}
private void ReadStatus()
{
while (true)
{
if (!axis.IsPortOpen) break;
LblStatus.Invoke(new Action(() =>
{
LblStatus.Text = "出力：" + axis.GetTorque() + "\r\n速度：" + axis.GetVelocity() + "\r\n位置：" + axis.GetPosition() + "\r\n错误代码：" + axis.ErrorCode;
}));
System.Threading.Thread.Sleep(50);
}
}
private void PushTest(object obj)
{
int[] param = (int[])obj;
int times = 0;
int timeout = 5000;
bool push = false;
bool rtn;
while (testLoop)
{
if (times == param[3])
{
StopTest();
break;
}
if (push)
{
rtn = axis.PushWait(param[0], param[1], param[2], timeout);
times++;
}
else
{
rtn = axis.GoHomeWait(timeout);
}
Invoke(new Action(() => { TsslStatus.Text = string.Format("PushWait {0} 次数{1}", rtn, times); }));
if (!rtn)
{
StopTest();
break;
}
push = !push;
System.Threading.Thread.Sleep(param[4]);
}
}
private void StopTest()
{
testLoop = false;
BtnStability.Invoke(new Action(() => { BtnStability.Text = "测试"; }));
}
private void FrmMain_Load(object sender, EventArgs e)
{
for (int i = 1; i <= 30; i++)
CboPort.Items.Add("COM" + i);
axis = new Neotel.Rmaxis();
}
private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
{
axis.ClosePort();
if (tStatus != null) tStatus.Abort();
}
private void BtnOpenPort_Click(object sender, EventArgs e)
{
bool rtn = axis.OpenPort(CboPort.Text);
TsslStatus.Text = BtnOpenPort.Text + " " + rtn;
if (rtn)
{
LblVersion.Text = "版本号\r\n" + axis.GetVersion();
tStatus = new System.Threading.Thread(new System.Threading.ThreadStart(ReadStatus));
tStatus.Start();
}
}
private void BtnClosePort_Click(object sender, EventArgs e)
{
axis.ClosePort();
if (tStatus != null) tStatus.Abort();
TsslStatus.Text = BtnClosePort.Text;
}
private void BtnGoHome_Click(object sender, EventArgs e)
{
bool rtn = axis.GoHomeWait(5000);
TsslStatus.Text = "GoHomeWait " + rtn;
}
private void BtnPush_Click(object sender, EventArgs e)
{
bool rtn = axis.PushWait(Convert.ToSingle(NudForce1.Value),
Convert.ToSingle(NudDistance1.Value), Convert.ToSingle(NudVelocity1.Value), 5000);
TsslStatus.Text = "PushWait " + rtn + " IsPushEmpty=" + axis.IsPushEmpty;
}
private void BtnAbsolute_Click(object sender, EventArgs e)
{
bool rtn = axis.MoveAbsoluteWait(Convert.ToSingle(NudPosition.Value),
Convert.ToSingle(NudVelocity2.Value), Convert.ToSingle(NudAcceleration.Value),
Convert.ToSingle(NudDeacceleration.Value), Convert.ToSingle(NudBand.Value), 5000);
TsslStatus.Text = "MoveAbsoluteWait " + rtn;
}
private void BtnReset_Click(object sender, EventArgs e)
{
axis.ResetError();
}
private void BtnStability_Click(object sender, EventArgs e)
{
if (testLoop)
{
StopTest();
return;
}
testLoop = true;
BtnStability.Text = "停止";
int[] param = new int[5];
param[0] = Convert.ToInt32(NudForce2.Value);
param[1] = Convert.ToInt32(NudDistance2.Value);
param[2] = Convert.ToInt32(NudVelocity3.Value);
param[3] = Convert.ToInt32(NudTimes.Value);
param[4] = Convert.ToInt32(NudInterval.Value);
tTest = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(PushTest));
tTest.Start(param);
}
}
}