AxisMoveControl.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using OnlineStore.DeviceLibrary;
using OnlineStore.Common;
using System.Threading;
using OnlineStore.LoadCSVLibrary;
using UserFromControl;
using DeviceLib;
namespace OnlineStore.ACPackingStore
{
public partial class AxisMoveControl : UserControl
{
private List<ConfigMoveAxis> axisList = new List<ConfigMoveAxis>();
private TinStoreBean BoxBean= null;
private string PortName = "";
private int SlvAddr = 0;
public AxisMoveControl( )
{
InitializeComponent();
}
public void LoadData(TinStoreBean boxBean, params ConfigMoveAxis[] moveAxis)
{
this.BoxBean = boxBean;
axisList = new List<ConfigMoveAxis>(moveAxis);
if (axisList.Count > 0)
{
comboBox1.Items.Clear();
foreach (ConfigMoveAxis a in axisList)
{
comboBox1.Items.Add(a.Explain);
}
comboBox1.SelectedIndex = 0;
PortName = moveAxis[0].DeviceName;
SlvAddr = moveAxis[0].GetAxisValue();
txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
}
}
private void btnOpenAxis_Click(object sender, EventArgs e)
{
int bro = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
LogUtil.info("点击【打开伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】波特率【"+bro+"】 ");
ACServerManager.OpenPort(PortName,bro);
ACServerManager.AlarmClear(PortName, SlvAddr);
Thread.Sleep(100);
ACServerManager.ServoOn(PortName, SlvAddr);
}
private void btnCloseAxis_Click(object sender, EventArgs e)
{
LogUtil.info("点击【关闭伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
ACServerManager.ServoOff(PortName, SlvAddr);
}
private bool AxisCanMove()
{
if (BoxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr) || BoxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr))
{
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
//旋转轴和升降轴运动时，叉子必须在待机位
if (currValue > InOutDefaultPosition)
{
MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return false;
}
}
if (BoxBean.Config.Stir_Axis.IsSameAxis(PortName, SlvAddr))
{
if (!StoreManager.Store.StirAxisCanMove())
{
MessageBox.Show("搅拌气缸不在上升端，清先上升搅拌气缸", "警告（搅拌气缸上升时，搅拌轴才能动作） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return false;
}
}
return true;
}
private void btnAxisAMove_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed);
if (!AxisCanMove())
{
return;
}
LogUtil.info("点击【绝对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(PortName, SlvAddr, position, speed);
}
private void btnAxisRMove_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed);
if (!AxisCanMove())
{
return;
}
LogUtil.info("点击【相对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.RelMove(PortName, SlvAddr, position, speed);
}
private void btnAxisVMove_Click(object sender, EventArgs e)
{
int speed = FormUtil.GetIntValue(txtASpeed);
if (!AxisCanMove())
{
return;
}
LogUtil.info("点击【匀速运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.SpeedMove(PortName, SlvAddr, speed);
}
private void btnAxisStop_Click(object sender, EventArgs e)
{
LogUtil.info("点击【停止运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
ACServerManager.SuddenStop(PortName, SlvAddr);
}
private void btnComAlarmClear_Click(object sender, EventArgs e)
{
LogUtil.info("点击【清理报警】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
ACServerManager.AlarmClear(PortName, SlvAddr);
Thread.Sleep(100);
ACServerManager.ServoOn(PortName, SlvAddr);
}
private void btnAxisReturnHome_Click(object sender, EventArgs e)
{
int speed = FormUtil.GetIntValue(txtASpeed);
if (!AxisCanMove())
{
return;
}
LogUtil.info("点击【原点返回】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.HomeMove(PortName, SlvAddr, speed);
}
private void btnGetAlarm_Click(object sender, EventArgs e)
{
string PortName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString();
this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString();
this.txtHomeStatus.Text = ACServerManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
this.txtHomeSingle.Text = ACServerManager.GetHomeSingle(PortName, SlvAddr).ToString();
this.txtLimit1.Text = ACServerManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
this.txtLimit2.Text = ACServerManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
int speed = ACServerManager.GetActualSpeed(PortName, SlvAddr);
this.txtS.Text = speed.ToString();
if (axis != null && axis.SpeedChangeV != 1)
{
int r =(int) Math.Round(speed / axis.SpeedChangeV);
lblSpeed.Text = "转速：" + r;
}
else
{
lblSpeed.Text = "";
}
UpdatePosition();
}
private void btnReadPosition_Click(object sender, EventArgs e)
{
ReadPosistion();
UpdatePosition();
}
private void ReadPosistion()
{
//判断私服是否打开、
if (ACServerManager.ServerOnStatus(PortName, SlvAddr))
{
txtServoStatue.Text = "✔";
}
else
{
txtServoStatue.Text = "✘";
}
// ReadA(BoxBean.Config.Middle_Axis, lblActual1, lblTargetP1, txtMiddleTarget, axis_1_Alarm);
// ReadA(BoxBean.Config.UpDown_Axis, lblActual2, lblTargetP2, txtUpdownTarget, axis_2_Alarm);
// ReadA(BoxBean.Config.InOut_Axis, lblActual3, lblTargetP3, txtInoutTarget, axis_3_Alarm);
//ReadA(BoxBean.Config.Comp_Axis, lblActual4, lblTargetP4, txt4Target, axis_4_Alarm);
}
private void ReadA(ConfigMoveAxis axis, TextBox lblActual, TextBox lblTarget, TextBox lblT, IOStatusControl sta)
{
if (ACServerManager.ServerOnStatus(axis.DeviceName, axis.GetAxisValue()))
{
sta.IOValue = ACServerManager.GetAlarmStatus(axis.DeviceName, axis.GetAxisValue());
int tP = ACServerManager.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
lblTarget.Text = string.Format("{0:d}", tP);
int aP = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
lblActual.Text = string.Format("{0:d}", aP);
lblT.Text = axis.TargetPosition.ToString();
if (axis.IsSameAxis(PortName, SlvAddr))
{
txtP.Text = lblActual.Text;
}
}
}
private ConfigMoveAxis axis = null;
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBox1.SelectedIndex >= 0)
{
axis = axisList[comboBox1.SelectedIndex];
PortName = axis.DeviceName;
SlvAddr = axis.GetAxisValue();
txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
Color color = Color.Black;
if (BoxBean.Config.Middle_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = Color.Red;
}
else if (BoxBean.Config.UpDown_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = Color.Blue;
}
else if (BoxBean.Config.InOut_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = Color.Green;
}
else if (BoxBean.Config.Warming_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192))))); ;
}
else if (BoxBean.Config.Colding_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
}
else if (BoxBean.Config.Stir_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
{
color = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
}
btnOpenAxis.ForeColor = color;
btnCloseAxis.ForeColor = color;
btnAxisAMove.ForeColor = color;
btnAxisRMove.ForeColor = color;
btnAxisVMove.ForeColor = color;
btnAxisReturnHome.ForeColor = color;
btnAxisStop.ForeColor = color;
btnComAlarmClear.ForeColor = color;
btnReadPosition.ForeColor = color;
btnGetAlarm.ForeColor = color;
btnMove.ForeColor = color;
btnMovej.ForeColor = color;
}
}
private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
}
private void groupAxis_Enter(object sender, EventArgs e)
{
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
Clipboard.SetDataObject(txtP.Text, true);
}
private void AxisMove(int speed)
{
LogUtil.debug("点动：[" + PortName + "_" + SlvAddr + "]，speed=" + speed);
ACServerManager.SpeedMove(PortName, SlvAddr, speed);
}
public void UpdatePosition()
{
int position = ACServerManager.GetTargetPosition(PortName, SlvAddr);
if (!txtP.Text.Equals(position.ToString()))
{
txtP.Text = position.ToString();
}
}
private void btnMove_MouseDown(object sender, MouseEventArgs e)
{
if (!AxisCanMove())
{
return;
}
if (btnMove.BackColor.Equals(System.Drawing.SystemColors.Control))
{
int speed = FormUtil.GetIntValue(txtASpeed);
if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
txtASpeed.Focus();
return;
}
btnMove.BackColor = Color.Green;
AxisMove(speed);
}
}
private void btnMove_MouseUp(object sender, MouseEventArgs e)
{
if (btnMove.BackColor == Color.Green)
{
btnMove.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(PortName, SlvAddr);
UpdatePosition();
}
}
private void btnMovej_MouseDown(object sender, MouseEventArgs e)
{
if (!AxisCanMove())
{
return;
}
if (btnMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
{
int speed = FormUtil.GetIntValue(txtASpeed);
if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
txtASpeed.Focus();
return;
}
btnMovej.BackColor = Color.Green;
AxisMove(-speed);
}
}
private void btnMovej_MouseUp(object sender, MouseEventArgs e)
{
if (btnMovej.BackColor == Color.Green)
{
btnMovej.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(PortName, SlvAddr);
UpdatePosition();
}
}
}
}