AxisControl.cs
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using DeviceLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace TheMachine
{
public partial class AxisControl : UserControl
{
public AxisControl()
{
InitializeComponent();
RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
if (DesignMode)
return;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
lblLed.Text = "";
lblOkValue.Text = "";
lblSensor.Text = "";
if (Setting_Init.Enable_HideAxisTestBtn)
{
btnAxisRTest.Visible = false;
btnAxisRStop.Visible = false;
}
else
{
btnAxisRTest.Visible = true ;
btnAxisRStop.Visible = true ;
}
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
RobotManage_LoadFinishEvent(true, "");
}
private void RobotManage_LoadFinishEvent(bool state, string msg)
{
if (this.InvokeRequired)
{
this.Invoke((EventHandler)delegate
{
RobotManage_LoadFinishEvent(state, msg);
});
return;
}
if (!state)
return;
axisMoveControl1.LoadData(AxisBean.List);
configControl1.Config = RobotManage.Config;
LogUtil.info("伺服面板加载完成.");
timer1.Start();
}
private void AxisControl_Load(object sender, EventArgs e)
{
}
volatile bool roateloop = false;
private void button2_Click(object sender, EventArgs e)
{
Task.Run(() => {
var p1 = RobotManage.mainMachine.Config.UpDown_P1;
var p1_speed = RobotManage.mainMachine.Config.UpDown_P1_speed;
var axis = RobotManage.mainMachine.UpDown_Axis;
roateloop = true;
while (roateloop)
{
axis.AbsMove(null, p1, p1_speed);
Task.Delay(200).Wait();
while (axis.IsBusy)
{
Task.Delay(100).Wait();
}
if (!roateloop)
break;
Task.Delay(500).Wait();
axis.AbsMove(null, 1, p1_speed);
Task.Delay(200).Wait();
while (axis.IsBusy)
{
Task.Delay(100).Wait();
}
Task.Delay(500).Wait();
}
});
Task.Run(() => {
var p1 = RobotManage.mainMachine.Config.Middle_P1;
var p1_speed = RobotManage.mainMachine.Config.Middle_P1_speed;
var axis = RobotManage.mainMachine.Middle_Axis;
roateloop = true;
while (roateloop)
{
axis.AbsMove(null, p1, p1_speed);
Task.Delay(200).Wait();
while (axis.IsBusy)
{
Task.Delay(100).Wait();
}
if (!roateloop)
break;
Task.Delay(500).Wait();
axis.AbsMove(null, 1, p1_speed);
Task.Delay(200).Wait();
while (axis.IsBusy)
{
Task.Delay(100).Wait();
}
Task.Delay(500).Wait();
}
});
}
private void button3_Click(object sender, EventArgs e)
{
roateloop = false;
}
private bool isPro = false;
private void timer1_Tick(object sender, EventArgs e)
{
if (!this.Visible)
{
return;
}
if (isPro)
{
return;
}
isPro = true;
Task.Run(() =>
{
try
{
if (Setting_Init.Device_LedLight_PortName != "")
{
lblLed.Text = "LED" + Setting_Init.Device_LedLight_PortName + ":" + RobotManage.mainMachine.lastColor.ToString();
}
else
{
lblLed.Text = "";
}
if (Setting_Init.Device_DauxiKS107_PortName != "")
{
RobotManage.dauxiKS107Controller.Quary(out int currValue, out string msg);
lblSensor.Text = $"{crc.GetString("shengbosensor", "声波传感器")}{Setting_Init.Device_DauxiKS107_PortName}：" + currValue + ", /" + Setting_Init.Device_DauxiKS107_BaseValue + "/" + Setting_Init.Device_DauxiKS107_ErrorValue;
}
else
{
lblSensor.Text = "";
}
if (Setting_Init.Device_WeightSensor_PortName != "")
{
lblOkValue.Text = $"{crc.GetString("yalisensor", "压力传感器")}{Setting_Init.Device_WeightSensor_PortName}: {Setting_Init.Device_WeightSensor_MaxValue}";
}
else
{
lblOkValue.Text = "";
}
}
catch (Exception ex)
{
LogUtil.error("出错：" + ex.ToString());
}
finally
{
isPro = false;
}
});
}
}
}