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Commit 8fd26869 由 张东亮
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添加称重

1 个父辈 233b9f3d
内嵌 并排
正在显示 9 个修改的文件 包含 372 行增加 和 69 行删除
DeviceLibrary/DeviceLibrary.csproj
...@@ -83,6 +83,7 @@ ...@@ -83,6 +83,7 @@
<Compile Include="DeviceLibrary\LiftMonitor.cs" /> <Compile Include="DeviceLibrary\LiftMonitor.cs" />
<Compile Include="DeviceLibrary\LineRunMonitor.cs" /> <Compile Include="DeviceLibrary\LineRunMonitor.cs" />
<Compile Include="DeviceLibrary\C8WeightSensor.cs" /> <Compile Include="DeviceLibrary\C8WeightSensor.cs" />
<Compile Include="DeviceLibrary\BSQController.cs" />
<Compile Include="DeviceLibrary\OKLEController.cs" /> <Compile Include="DeviceLibrary\OKLEController.cs" />
<Compile Include="DeviceLibrary\ServerCommunication.cs" /> <Compile Include="DeviceLibrary\ServerCommunication.cs" />
<Compile Include="theMachine\AxisBean.cs" /> <Compile Include="theMachine\AxisBean.cs" />
......
DeviceLibrary/DeviceLibrary/BSQController.cs 0 → 100644
using DeviceLibrary;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static OnlineStore.NetTCPServer;
public class BSQController
{
private static int bautRate = 9600;//波特率
private static Parity parity = Parity.None;//校验位
private static int dataBits = 8;//数据位
private static StopBits stopBits = StopBits.One; //停止位
private static Dictionary<string, AcSerialBean> SerialMap = new Dictionary<string, AcSerialBean>();
private static Dictionary<string, double> ValueBuffer = new Dictionary<string, double>();
private static string LogName = "";
private static AcSerialBean GetSerialBean(string port)
{
if (SerialMap.ContainsKey(port))
{
return SerialMap[port];
}
return null;
}
public static void OpenAll(string[] ports)
{
foreach (string port in ports)
{
Init(port);
}
}
public static bool Init(string port)
{
if (SerialMap.ContainsKey(port))
{
return true;
}
LogName = "[BSQ_" + port + "]";
if (!ValueBuffer.ContainsKey(port))
ValueBuffer.Add(port, 0);
AcSerialBean sb = new AcSerialBean(port, bautRate, parity, dataBits, stopBits);
try
{
if (sb.openPort())
{
if (SerialMap.ContainsKey(port))
{
SerialMap.Remove(port);
}
SerialMap.Add(port, sb);
return true;
}
else
{
LogUtil.error(LogName + "串口打开失败！");
return false;
}
}
catch (Exception ex)
{
LogUtil.error(LogName + "打开出错：" + ex.ToString());
}
return true;
}
public static bool IsRun(string port)
{
if (GetSerialBean(port) != null)
{
return true;
}
return false;
}
/// <summary>
/// 释放资源
/// </summary>
public static void Release(params string[] ports)
{
if (ports.Length <= 0)
{
ports = (new List<string>(SerialMap.Keys)).ToArray();
}
foreach (string port in ports)
{
try
{
AcSerialBean sb = GetSerialBean(port);
if (sb != null)
{
sb.closePort();
}
//IsRun = false;
SerialMap.Remove(port);
}
catch (Exception ex)
{
LogUtil.error("Release BSQ port [" + port + "] error :" + ex.ToString());
}
}
}
/// <summary>
/// 零点校准
/// 01 06 00 60 00 01 48 14
/// </summary>
/// <returns></returns>
public static bool ZeroCalibration(string port)
{
AcSerialBean sb = GetSerialBean(port);
if (sb == null)
{
return false;
}
if (!Monitor.TryEnter(sb))
return false;
try
{
List<byte> bytes = new List<byte>();
bytes.Add(0x01);
bytes.Add(0x06);
bytes.Add(0);
bytes.Add(0x60);
bytes.Add(0);
bytes.Add(0x01);
bytes.Add(0x48);
bytes.Add(0x14);
byte[] recvData = new byte[8];
string str = AcSerialBean.byteToHexStr(bytes.ToArray(), " ");
sb.SendCommand(bytes.ToArray(), ref recvData, 100, out bool isOk);
//01 06 00 60 00 01 48 14
if (recvData[0] == 0x01 && recvData[1] == 0x06 && recvData[3] == 0x60 && recvData[5] == 0x01
&& recvData[6] == 0x48 && recvData[7] == 0x14)
{
LogUtil.info(LogName + " 零校准 发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(recvData, " "));
return true;
}
}
catch
{
}
return false;
}
public static double LastWeight = 0.0;
public static bool queryData(string port, out double weight)
{
weight = 0;
AcSerialBean sb = GetSerialBean(port);
if (sb == null)
{
return false;
}
if (!Monitor.TryEnter(sb))
return false;
try
{
LogName = "[BSQ_" + port + "]";
//12..1.2读取力值（毛重）指令，指令格式：01 03 00 50 00 02 C4 1A
//01 03 00 00 00 02 C4 0B
byte[] sendData = new byte[8];
sendData[0] = 0x01;
sendData[1] = 0x03;
sendData[2] = 0x00;
sendData[3] = 0x00;
sendData[4] = 0x00;
sendData[5] = 0x01;
sendData[6] = 0x84;
sendData[7] = 0x0A;
//sendData = buildCheckData(sendData, sendData.Length - 2);
string str = AcSerialBean.byteToHexStr(sendData, " ");
byte[] reviceData = new byte[7];
bool isOk = false;
sb.SendCommand(sendData, ref reviceData, 100, out isOk);
//LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " "));
bool recvState = getReviceData(reviceData, out int tWeight);
weight = calNetWet(tWeight);
weight = weight > 0 ? weight : 0;
LastWeight = weight;
return recvState;
}
catch (Exception e)
{
LogUtil.debug(LogName + e.ToString());
return false;
}
finally
{
Monitor.Exit(sb);
}
}
static double calNetWet(int weight)
{
return (weight / 10.0 - RobotManage.Config.WeightSensorBase) * 1.0;
}
private static bool getReviceData(byte[] dataArray, out int value)
{
value = 0;
try
{
//01 03 02 00 00 B8 44
if (dataArray[0] == 0x01 && dataArray[1] == 0x03 && dataArray[2] == 0x02)
{
byte[] bytes = new byte[] { dataArray[3], dataArray[4] };
Array.Reverse(bytes);
value = BitConverter.ToInt16(bytes, 0);
return true;
}
}
catch (Exception ex)
{
LogUtil.info(LogName + "转换出错：" + ex.ToString());
}
return false;
}
private static byte[] buildCheckData(byte[] sendData, int length)
{
ushort pChecksum = 0;
AcSerialBean.CalculateCRC(sendData, length, out pChecksum);
string checkStr = Convert.ToString(pChecksum, 16);
byte[] checkByte = AcSerialBean.StringToByte(checkStr);
if (checkByte.Length == 1)
{
sendData[length] = checkByte[0];
sendData[length + 1] = 0x00;
}
else
{
sendData[length + 1] = checkByte[0];
sendData[length] = checkByte[1];
}
return sendData;
}
}
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
...@@ -78,7 +78,7 @@ namespace DeviceLibrary ...@@ -78,7 +78,7 @@ namespace DeviceLibrary
} }
).Where(x=>!string.IsNullOrEmpty(x))); ).Where(x=>!string.IsNullOrEmpty(x)));
} }
public void SendInStoreRequest(string[] codelist,InOutDevice inOutDevice, bool printlog=false) { public void SendInStoreRequest(string[] codelist,InOutDevice inOutDevice, bool printlog=false,double weight=0.0) {
if (RobotManage.InoutDebugMode) if (RobotManage.InoutDebugMode)
return; return;
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -77,16 +77,16 @@ namespace DeviceLibrary ...@@ -77,16 +77,16 @@ namespace DeviceLibrary
humitureControllers.Add(hc); humitureControllers.Add(hc);
} }
} }
//if (StoreType == StoreType.TypeA)
//{ if (StoreType == StoreType.TypeA)
// if (!OKLEController.Init(Config.WeightSensorPort)) {
// { if (!BSQController.Init(Config.WeightSensorPort))
// IsLoadOk = false; {
// msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n"; IsLoadOk = false;
// } msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n";
//} }
}
if (!CameraA.LoadCameraConfig("CameraA", out string errmsg)) if (!CameraA.LoadCameraConfig("CameraA", out string errmsg))
{ {
//IsLoadOk = false; //IsLoadOk = false;
...@@ -97,17 +97,15 @@ namespace DeviceLibrary ...@@ -97,17 +97,15 @@ namespace DeviceLibrary
//IsLoadOk = false; //IsLoadOk = false;
msg += errmsg+"\r\n"; msg += errmsg+"\r\n";
} }
IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
} }
catch (Exception ex) { catch (Exception ex) {
LoadFinishEvent?.Invoke(false, ex.Message); LoadFinishEvent?.Invoke(false, ex.Message);
LogUtil.error(ex.Message); LogUtil.error(ex.Message+ex.StackTrace);
return; return;
} }
LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
} }
public static void LoadDebug() { public static void LoadDebug() {
LoadFinishEvent?.Invoke(true, "打开调试模式"); LoadFinishEvent?.Invoke(true, "打开调试模式");
...@@ -151,6 +149,7 @@ namespace DeviceLibrary ...@@ -151,6 +149,7 @@ namespace DeviceLibrary
IOManager.CloseAllConnection(); IOManager.CloseAllConnection();
CameraA.stopCamera(); CameraA.stopCamera();
CameraB.stopCamera(); CameraB.stopCamera();
BSQController.Release(RobotManage.Config.WeightSensorPort);
} }
public static void UserPause(bool userpause) public static void UserPause(bool userpause)
{ {
......
TheMachine/Form1.Designer.cs
...@@ -63,13 +63,14 @@ namespace TheMachine ...@@ -63,13 +63,14 @@ namespace TheMachine
// menuStrip1 // menuStrip1
// //
this.menuStrip1.BackColor = System.Drawing.Color.Transparent; this.menuStrip1.BackColor = System.Drawing.Color.Transparent;
this.menuStrip1.ImageScalingSize = new System.Drawing.Size(20, 20);
this.menuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this.menuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.设备操作ToolStripMenuItem, this.设备操作ToolStripMenuItem,
this.关于ToolStripMenuItem}); this.关于ToolStripMenuItem});
this.menuStrip1.Location = new System.Drawing.Point(0, 0); this.menuStrip1.Location = new System.Drawing.Point(0, 0);
this.menuStrip1.Name = "menuStrip1"; this.menuStrip1.Name = "menuStrip1";
this.menuStrip1.Padding = new System.Windows.Forms.Padding(7, 2, 0, 2); this.menuStrip1.Padding = new System.Windows.Forms.Padding(7, 2, 0, 2);
this.menuStrip1.Size = new System.Drawing.Size(1008, 29); this.menuStrip1.Size = new System.Drawing.Size(1008, 35);
this.menuStrip1.TabIndex = 0; this.menuStrip1.TabIndex = 0;
this.menuStrip1.Text = "menuStrip1"; this.menuStrip1.Text = "menuStrip1";
// //
...@@ -83,38 +84,38 @@ namespace TheMachine ...@@ -83,38 +84,38 @@ namespace TheMachine
this.退出ToolStripMenuItem}); this.退出ToolStripMenuItem});
this.设备操作ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.设备操作ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.设备操作ToolStripMenuItem.Name = "设备操作ToolStripMenuItem"; this.设备操作ToolStripMenuItem.Name = "设备操作ToolStripMenuItem";
this.设备操作ToolStripMenuItem.Size = new System.Drawing.Size(86, 25); this.设备操作ToolStripMenuItem.Size = new System.Drawing.Size(106, 31);
this.设备操作ToolStripMenuItem.Text = "设备操作"; this.设备操作ToolStripMenuItem.Text = "设备操作";
// //
// 启用调试模式ToolStripMenuItem // 启用调试模式ToolStripMenuItem
// //
this.启用调试模式ToolStripMenuItem.Enabled = false; this.启用调试模式ToolStripMenuItem.Enabled = false;
this.启用调试模式ToolStripMenuItem.Name = "启用调试模式ToolStripMenuItem"; this.启用调试模式ToolStripMenuItem.Name = "启用调试模式ToolStripMenuItem";
this.启用调试模式ToolStripMenuItem.Size = new System.Drawing.Size(192, 26); this.启用调试模式ToolStripMenuItem.Size = new System.Drawing.Size(238, 32);
this.启用调试模式ToolStripMenuItem.Text = "启用配置模式"; this.启用调试模式ToolStripMenuItem.Text = "启用配置模式";
this.启用调试模式ToolStripMenuItem.Click += new System.EventHandler(this.启用调试模式ToolStripMenuItem_Click); this.启用调试模式ToolStripMenuItem.Click += new System.EventHandler(this.启用调试模式ToolStripMenuItem_Click);
// //
// toolStripSeparator4 // toolStripSeparator4
// //
this.toolStripSeparator4.Name = "toolStripSeparator4"; this.toolStripSeparator4.Name = "toolStripSeparator4";
this.toolStripSeparator4.Size = new System.Drawing.Size(189, 6); this.toolStripSeparator4.Size = new System.Drawing.Size(235, 6);
// //
// 二维码识别调试ToolStripMenuItem // 二维码识别调试ToolStripMenuItem
// //
this.二维码识别调试ToolStripMenuItem.Name = "二维码识别调试ToolStripMenuItem"; this.二维码识别调试ToolStripMenuItem.Name = "二维码识别调试ToolStripMenuItem";
this.二维码识别调试ToolStripMenuItem.Size = new System.Drawing.Size(192, 26); this.二维码识别调试ToolStripMenuItem.Size = new System.Drawing.Size(238, 32);
this.二维码识别调试ToolStripMenuItem.Text = "二维码识别调试"; this.二维码识别调试ToolStripMenuItem.Text = "二维码识别调试";
this.二维码识别调试ToolStripMenuItem.Click += new System.EventHandler(this.二维码识别调试ToolStripMenuItem_Click); this.二维码识别调试ToolStripMenuItem.Click += new System.EventHandler(this.二维码识别调试ToolStripMenuItem_Click);
// //
// toolStripSeparator1 // toolStripSeparator1
// //
this.toolStripSeparator1.Name = "toolStripSeparator1"; this.toolStripSeparator1.Name = "toolStripSeparator1";
this.toolStripSeparator1.Size = new System.Drawing.Size(189, 6); this.toolStripSeparator1.Size = new System.Drawing.Size(235, 6);
// //
// 退出ToolStripMenuItem // 退出ToolStripMenuItem
// //
this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem"; this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem";
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(192, 26); this.退出ToolStripMenuItem.Size = new System.Drawing.Size(238, 32);
this.退出ToolStripMenuItem.Text = "退出"; this.退出ToolStripMenuItem.Text = "退出";
this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click); this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click);
// //
...@@ -122,7 +123,7 @@ namespace TheMachine ...@@ -122,7 +123,7 @@ namespace TheMachine
// //
this.关于ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F); this.关于ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F);
this.关于ToolStripMenuItem.Name = "关于ToolStripMenuItem"; this.关于ToolStripMenuItem.Name = "关于ToolStripMenuItem";
this.关于ToolStripMenuItem.Size = new System.Drawing.Size(54, 25); this.关于ToolStripMenuItem.Size = new System.Drawing.Size(66, 31);
this.关于ToolStripMenuItem.Text = "关于"; this.关于ToolStripMenuItem.Text = "关于";
this.关于ToolStripMenuItem.Click += new System.EventHandler(this.关于ToolStripMenuItem_Click); this.关于ToolStripMenuItem.Click += new System.EventHandler(this.关于ToolStripMenuItem_Click);
// //
...@@ -150,9 +151,9 @@ namespace TheMachine ...@@ -150,9 +151,9 @@ namespace TheMachine
this.tabPage1.Controls.Add(this.cb_IgnoreGratingSignal); this.tabPage1.Controls.Add(this.cb_IgnoreGratingSignal);
this.tabPage1.Controls.Add(this.cb_IgnoreSafecheck); this.tabPage1.Controls.Add(this.cb_IgnoreSafecheck);
this.tabPage1.Controls.Add(this.groupBox1); this.tabPage1.Controls.Add(this.groupBox1);
this.tabPage1.Location = new System.Drawing.Point(4, 30); this.tabPage1.Location = new System.Drawing.Point(4, 36);
this.tabPage1.Name = "tabPage1"; this.tabPage1.Name = "tabPage1";
this.tabPage1.Size = new System.Drawing.Size(1000, 605); this.tabPage1.Size = new System.Drawing.Size(1000, 599);
this.tabPage1.TabIndex = 0; this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "信息"; this.tabPage1.Text = "信息";
this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.UseVisualStyleBackColor = true;
...@@ -223,7 +224,7 @@ namespace TheMachine ...@@ -223,7 +224,7 @@ namespace TheMachine
this.cb_EnableBuzzer.AutoSize = true; this.cb_EnableBuzzer.AutoSize = true;
this.cb_EnableBuzzer.Location = new System.Drawing.Point(657, 16); this.cb_EnableBuzzer.Location = new System.Drawing.Point(657, 16);
this.cb_EnableBuzzer.Name = "cb_EnableBuzzer"; this.cb_EnableBuzzer.Name = "cb_EnableBuzzer";
this.cb_EnableBuzzer.Size = new System.Drawing.Size(109, 25); this.cb_EnableBuzzer.Size = new System.Drawing.Size(134, 31);
this.cb_EnableBuzzer.TabIndex = 5; this.cb_EnableBuzzer.TabIndex = 5;
this.cb_EnableBuzzer.Text = "使用蜂鸣器"; this.cb_EnableBuzzer.Text = "使用蜂鸣器";
this.cb_EnableBuzzer.UseVisualStyleBackColor = true; this.cb_EnableBuzzer.UseVisualStyleBackColor = true;
...@@ -234,7 +235,7 @@ namespace TheMachine ...@@ -234,7 +235,7 @@ namespace TheMachine
this.cb_IgnoreGratingSignal.AutoSize = true; this.cb_IgnoreGratingSignal.AutoSize = true;
this.cb_IgnoreGratingSignal.Location = new System.Drawing.Point(657, 78); this.cb_IgnoreGratingSignal.Location = new System.Drawing.Point(657, 78);
this.cb_IgnoreGratingSignal.Name = "cb_IgnoreGratingSignal"; this.cb_IgnoreGratingSignal.Name = "cb_IgnoreGratingSignal";
this.cb_IgnoreGratingSignal.Size = new System.Drawing.Size(125, 25); this.cb_IgnoreGratingSignal.Size = new System.Drawing.Size(154, 31);
this.cb_IgnoreGratingSignal.TabIndex = 2; this.cb_IgnoreGratingSignal.TabIndex = 2;
this.cb_IgnoreGratingSignal.Text = "忽略安全光栅"; this.cb_IgnoreGratingSignal.Text = "忽略安全光栅";
this.cb_IgnoreGratingSignal.UseVisualStyleBackColor = true; this.cb_IgnoreGratingSignal.UseVisualStyleBackColor = true;
...@@ -245,7 +246,7 @@ namespace TheMachine ...@@ -245,7 +246,7 @@ namespace TheMachine
this.cb_IgnoreSafecheck.AutoSize = true; this.cb_IgnoreSafecheck.AutoSize = true;
this.cb_IgnoreSafecheck.Location = new System.Drawing.Point(657, 47); this.cb_IgnoreSafecheck.Location = new System.Drawing.Point(657, 47);
this.cb_IgnoreSafecheck.Name = "cb_IgnoreSafecheck"; this.cb_IgnoreSafecheck.Name = "cb_IgnoreSafecheck";
this.cb_IgnoreSafecheck.Size = new System.Drawing.Size(215, 25); this.cb_IgnoreSafecheck.Size = new System.Drawing.Size(268, 31);
this.cb_IgnoreSafecheck.TabIndex = 2; this.cb_IgnoreSafecheck.TabIndex = 2;
this.cb_IgnoreSafecheck.Text = "忽略安全检查(含安全光栅)"; this.cb_IgnoreSafecheck.Text = "忽略安全检查(含安全光栅)";
this.cb_IgnoreSafecheck.UseVisualStyleBackColor = true; this.cb_IgnoreSafecheck.UseVisualStyleBackColor = true;
...@@ -267,10 +268,10 @@ namespace TheMachine ...@@ -267,10 +268,10 @@ namespace TheMachine
this.stateView.Dock = System.Windows.Forms.DockStyle.Fill; this.stateView.Dock = System.Windows.Forms.DockStyle.Fill;
this.stateView.HeaderStyle = System.Windows.Forms.ColumnHeaderStyle.Nonclickable; this.stateView.HeaderStyle = System.Windows.Forms.ColumnHeaderStyle.Nonclickable;
this.stateView.HideSelection = false; this.stateView.HideSelection = false;
this.stateView.Location = new System.Drawing.Point(3, 25); this.stateView.Location = new System.Drawing.Point(3, 30);
this.stateView.MultiSelect = false; this.stateView.MultiSelect = false;
this.stateView.Name = "stateView"; this.stateView.Name = "stateView";
this.stateView.Size = new System.Drawing.Size(605, 264); this.stateView.Size = new System.Drawing.Size(605, 259);
this.stateView.TabIndex = 0; this.stateView.TabIndex = 0;
this.stateView.UseCompatibleStateImageBehavior = false; this.stateView.UseCompatibleStateImageBehavior = false;
// //
...@@ -314,7 +315,7 @@ namespace TheMachine ...@@ -314,7 +315,7 @@ namespace TheMachine
// //
// Form1 // Form1
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 14F); this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.White; this.BackColor = System.Drawing.Color.White;
this.ClientSize = new System.Drawing.Size(1008, 729); this.ClientSize = new System.Drawing.Size(1008, 729);
......
TheMachine/Form1.cs
...@@ -22,7 +22,7 @@ namespace TheMachine ...@@ -22,7 +22,7 @@ namespace TheMachine
{ {
InitializeComponent(); InitializeComponent();
this.FormClosing += Form1_FormClosing; this.FormClosing += Form1_FormClosing;
this.Text = Setting_Init.App_Title +" "+ Setting_Init.Server_CID; this.Text = Setting_Init.App_Title + " " + Setting_Init.Server_CID;
t1.Interval = 1000; t1.Interval = 1000;
t1.Tick += T1_Tick; t1.Tick += T1_Tick;
...@@ -106,7 +106,7 @@ namespace TheMachine ...@@ -106,7 +106,7 @@ namespace TheMachine
RobotManage.UserPauseSet += RobotManage_UserPauseSet; RobotManage.UserPauseSet += RobotManage_UserPauseSet;
RobotManage.CameraA.camera_event += CameraA_camera_event; RobotManage.CameraA.camera_event += CameraA_camera_event;
RobotManage.CameraB.camera_event += CameraA_camera_event; RobotManage.CameraB.camera_event += CameraA_camera_event;
} }
private void CameraA_camera_event(object sender, Bitmap e) private void CameraA_camera_event(object sender, Bitmap e)
...@@ -119,7 +119,8 @@ namespace TheMachine ...@@ -119,7 +119,8 @@ namespace TheMachine
pictureBox1.Image = e; pictureBox1.Image = e;
}, sender, e); }, sender, e);
} }
else { else
{
this.Invoke((EventHandler<Bitmap>)delegate this.Invoke((EventHandler<Bitmap>)delegate
{ {
pictureBox2.Visible = true; pictureBox2.Visible = true;
...@@ -130,7 +131,8 @@ namespace TheMachine ...@@ -130,7 +131,8 @@ namespace TheMachine
private void AlarmBuzzer_BuzzerStateChange(object sender, bool e) private void AlarmBuzzer_BuzzerStateChange(object sender, bool e)
{ {
this.Invoke((EventHandler<bool>)delegate { this.Invoke((EventHandler<bool>)delegate
{
btn_PauseBuzzer.Visible = e; btn_PauseBuzzer.Visible = e;
}, sender, e); }, sender, e);
} }
...@@ -140,12 +142,13 @@ namespace TheMachine ...@@ -140,12 +142,13 @@ namespace TheMachine
e.NewWidth = (sender as ListView).Columns[e.ColumnIndex].Width; e.NewWidth = (sender as ListView).Columns[e.ColumnIndex].Width;
e.Cancel = true; e.Cancel = true;
} }
void addTablePage() { void addTablePage()
{
AddForm("IO调试", ioc); AddForm("IO调试", ioc);
AddForm("伺服调试", ac); AddForm("伺服调试", ac);
AddForm("库位调试", bd); AddForm("库位调试", bd);
AddForm("相关设置", sc); AddForm("相关设置", sc);
} }
private void T1_Tick(object sender, EventArgs e) private void T1_Tick(object sender, EventArgs e)
...@@ -168,11 +171,11 @@ namespace TheMachine ...@@ -168,11 +171,11 @@ namespace TheMachine
{ {
continue; continue;
} }
ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.MoveStep.ToString(),moveInfo.GetStateStr() }); ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.MoveStep.ToString(), moveInfo.GetStateStr() });
stateView.Items.Add(lvi); stateView.Items.Add(lvi);
} }
this.ResumeLayout(true); this.ResumeLayout(true);
} }
private void AddForm(string text, UserControl form) private void AddForm(string text, UserControl form)
{ {
...@@ -209,8 +212,9 @@ namespace TheMachine ...@@ -209,8 +212,9 @@ namespace TheMachine
addTablePage(); addTablePage();
RobotManage.LoadDebug(); RobotManage.LoadDebug();
} }
else { else
for (int i = tabControl1.TabPages.Count-1; i > 1; i--) {
for (int i = tabControl1.TabPages.Count - 1; i > 1; i--)
{ {
tabControl1.TabPages[i].Parent = null; tabControl1.TabPages[i].Parent = null;
} }
...@@ -226,11 +230,11 @@ namespace TheMachine ...@@ -226,11 +230,11 @@ namespace TheMachine
private void RobotManage_LoadFinishEvent(bool state, string msg) private void RobotManage_LoadFinishEvent(bool state, string msg)
{ {
if (InvokeRequired) if (InvokeRequired)
{ {
Invoke((EventHandler)delegate { Invoke((EventHandler)delegate
RobotManage_LoadFinishEvent(state,msg); {
RobotManage_LoadFinishEvent(state, msg);
}); });
return; return;
} }
...@@ -245,7 +249,7 @@ namespace TheMachine ...@@ -245,7 +249,7 @@ namespace TheMachine
ioc.Config = RobotManage.Config; ioc.Config = RobotManage.Config;
bd.Config = RobotManage.Config; bd.Config = RobotManage.Config;
var lm = new List<Msg>(); var lm = new List<Msg>();
foreach (string ms in msg.Split(new char[] { '\n' },StringSplitOptions.RemoveEmptyEntries)) foreach (string ms in msg.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries))
{ {
var m = new Msg(); var m = new Msg();
m.datetime = DateTime.Now; m.datetime = DateTime.Now;
...@@ -257,8 +261,10 @@ namespace TheMachine ...@@ -257,8 +261,10 @@ namespace TheMachine
} }
void SetMsg(List<Msg> msgs) void SetMsg(List<Msg> msgs)
{ {
if (InvokeRequired) { if (InvokeRequired)
Invoke((EventHandler)delegate { {
Invoke((EventHandler)delegate
{
SetMsg(msgs); SetMsg(msgs);
}); });
return; return;
...@@ -281,14 +287,16 @@ namespace TheMachine ...@@ -281,14 +287,16 @@ namespace TheMachine
} }
else if (msg.errInfo == ErrInfo.ResetBtn) else if (msg.errInfo == ErrInfo.ResetBtn)
{ {
Task.Run(()=> { Task.Run(() =>
{
if (!RobotManage.isRunning || userpause) if (!RobotManage.isRunning || userpause)
btn_run_Click(this, EventArgs.Empty); btn_run_Click(this, EventArgs.Empty);
}); });
} }
else if (msg.errInfo == ErrInfo.SuddenStop) else if (msg.errInfo == ErrInfo.SuddenStop)
{ {
Task.Run(() => { Task.Run(() =>
{
if (RobotManage.isRunning) if (RobotManage.isRunning)
btn_stop_Click(this, EventArgs.Empty); btn_stop_Click(this, EventArgs.Empty);
}); });
...@@ -335,7 +343,7 @@ namespace TheMachine ...@@ -335,7 +343,7 @@ namespace TheMachine
}, sender, e); }, sender, e);
return; return;
} }
if (e) if (e)
{ {
userpause = true; userpause = true;
...@@ -351,11 +359,11 @@ namespace TheMachine ...@@ -351,11 +359,11 @@ namespace TheMachine
//cb_IgnoreSafecheck.Checked = false; //cb_IgnoreSafecheck.Checked = false;
cb_IgnoreSafecheck.Enabled = false; cb_IgnoreSafecheck.Enabled = false;
} }
} }
private void btn_stop_Click(object sender, EventArgs e) private void btn_stop_Click(object sender, EventArgs e)
{ {
RobotManage.UserPause(false); RobotManage.UserPause(false);
userpause = false; userpause = false;
Task.Run(() => { RobotManage.Stop(); }); Task.Run(() => { RobotManage.Stop(); });
...@@ -367,9 +375,12 @@ namespace TheMachine ...@@ -367,9 +375,12 @@ namespace TheMachine
private void 退出ToolStripMenuItem_Click(object sender, EventArgs e) private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
{ {
if (RobotManage.isRunning) { if (RobotManage.isRunning)
{
MessageBox.Show("机器尚在运行,不能退出,请先停止运行."); MessageBox.Show("机器尚在运行,不能退出,请先停止运行.");
} else { }
else
{
RobotManage.Stop(); RobotManage.Stop();
RobotManage.ShutDown(); RobotManage.ShutDown();
Thread.Sleep(2000); Thread.Sleep(2000);
...@@ -417,7 +428,7 @@ namespace TheMachine ...@@ -417,7 +428,7 @@ namespace TheMachine
private void cb_EnableBuzzer_CheckedChanged(object sender, EventArgs e) private void cb_EnableBuzzer_CheckedChanged(object sender, EventArgs e)
{ {
Setting_Init.Device_EnableBuzzer = cb_EnableBuzzer.Checked; Setting_Init.Device_EnableBuzzer = cb_EnableBuzzer.Checked;
AlarmBuzzer.Enable = cb_EnableBuzzer.Checked; AlarmBuzzer.Enable = cb_EnableBuzzer.Checked;
} }
private void btn_PauseBuzzer_Click(object sender, EventArgs e) private void btn_PauseBuzzer_Click(object sender, EventArgs e)
......
TheMachine/SettingControl.Designer.cs
...@@ -41,6 +41,8 @@ namespace TheMachine ...@@ -41,6 +41,8 @@ namespace TheMachine
this.chbAutoRun = new System.Windows.Forms.CheckBox(); this.chbAutoRun = new System.Windows.Forms.CheckBox();
this.timer1 = new System.Windows.Forms.Timer(this.components); this.timer1 = new System.Windows.Forms.Timer(this.components);
this.lbl_hmdstate = new System.Windows.Forms.Label(); this.lbl_hmdstate = new System.Windows.Forms.Label();
this.lblWeight = new System.Windows.Forms.Label();
this.button2 = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.tp.SuspendLayout(); this.tp.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
...@@ -51,7 +53,7 @@ namespace TheMachine ...@@ -51,7 +53,7 @@ namespace TheMachine
this.cb_leftmode.FormattingEnabled = true; this.cb_leftmode.FormattingEnabled = true;
this.cb_leftmode.Location = new System.Drawing.Point(198, 37); this.cb_leftmode.Location = new System.Drawing.Point(198, 37);
this.cb_leftmode.Name = "cb_leftmode"; this.cb_leftmode.Name = "cb_leftmode";
this.cb_leftmode.Size = new System.Drawing.Size(121, 24); this.cb_leftmode.Size = new System.Drawing.Size(121, 28);
this.cb_leftmode.TabIndex = 2; this.cb_leftmode.TabIndex = 2;
// //
// cb_rightmode // cb_rightmode
...@@ -60,7 +62,7 @@ namespace TheMachine ...@@ -60,7 +62,7 @@ namespace TheMachine
this.cb_rightmode.FormattingEnabled = true; this.cb_rightmode.FormattingEnabled = true;
this.cb_rightmode.Location = new System.Drawing.Point(198, 80); this.cb_rightmode.Location = new System.Drawing.Point(198, 80);
this.cb_rightmode.Name = "cb_rightmode"; this.cb_rightmode.Name = "cb_rightmode";
this.cb_rightmode.Size = new System.Drawing.Size(121, 24); this.cb_rightmode.Size = new System.Drawing.Size(121, 28);
this.cb_rightmode.TabIndex = 2; this.cb_rightmode.TabIndex = 2;
// //
// label1 // label1
...@@ -101,7 +103,7 @@ namespace TheMachine ...@@ -101,7 +103,7 @@ namespace TheMachine
this.label3.AutoSize = true; this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(23, 154); this.label3.Location = new System.Drawing.Point(23, 154);
this.label3.Name = "label3"; this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(176, 16); this.label3.Size = new System.Drawing.Size(219, 20);
this.label3.TabIndex = 5; this.label3.TabIndex = 5;
this.label3.Text = "*保存后需重启料仓生效"; this.label3.Text = "*保存后需重启料仓生效";
// //
...@@ -135,7 +137,7 @@ namespace TheMachine ...@@ -135,7 +137,7 @@ namespace TheMachine
this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle()); this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle()); this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle()); this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
this.tp.Size = new System.Drawing.Size(128, 40); this.tp.Size = new System.Drawing.Size(152, 44);
this.tp.TabIndex = 7; this.tp.TabIndex = 7;
// //
// chbAutoRun // chbAutoRun
...@@ -145,7 +147,7 @@ namespace TheMachine ...@@ -145,7 +147,7 @@ namespace TheMachine
this.chbAutoRun.Location = new System.Drawing.Point(10, 10); this.chbAutoRun.Location = new System.Drawing.Point(10, 10);
this.chbAutoRun.Margin = new System.Windows.Forms.Padding(10); this.chbAutoRun.Margin = new System.Windows.Forms.Padding(10);
this.chbAutoRun.Name = "chbAutoRun"; this.chbAutoRun.Name = "chbAutoRun";
this.chbAutoRun.Size = new System.Drawing.Size(107, 20); this.chbAutoRun.Size = new System.Drawing.Size(131, 24);
this.chbAutoRun.TabIndex = 7; this.chbAutoRun.TabIndex = 7;
this.chbAutoRun.Text = "开机自启动"; this.chbAutoRun.Text = "开机自启动";
this.chbAutoRun.UseVisualStyleBackColor = true; this.chbAutoRun.UseVisualStyleBackColor = true;
...@@ -164,9 +166,29 @@ namespace TheMachine ...@@ -164,9 +166,29 @@ namespace TheMachine
this.lbl_hmdstate.TabIndex = 8; this.lbl_hmdstate.TabIndex = 8;
this.lbl_hmdstate.Text = "label4"; this.lbl_hmdstate.Text = "label4";
// //
// lblWeight
//
this.lblWeight.Location = new System.Drawing.Point(428, 72);
this.lblWeight.Name = "lblWeight";
this.lblWeight.Size = new System.Drawing.Size(405, 145);
this.lblWeight.TabIndex = 9;
this.lblWeight.Text = "weight";
//
// button2
//
this.button2.Location = new System.Drawing.Point(499, 231);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(204, 45);
this.button2.TabIndex = 10;
this.button2.Text = "称重零校准";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// SettingControl // SettingControl
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.Controls.Add(this.button2);
this.Controls.Add(this.lblWeight);
this.Controls.Add(this.lbl_hmdstate); this.Controls.Add(this.lbl_hmdstate);
this.Controls.Add(this.tp); this.Controls.Add(this.tp);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
...@@ -195,5 +217,7 @@ namespace TheMachine ...@@ -195,5 +217,7 @@ namespace TheMachine
private System.Windows.Forms.CheckBox chbAutoRun; private System.Windows.Forms.CheckBox chbAutoRun;
private System.Windows.Forms.Timer timer1; private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.Label lbl_hmdstate; private System.Windows.Forms.Label lbl_hmdstate;
private System.Windows.Forms.Label lblWeight;
private System.Windows.Forms.Button button2;
} }
} }
TheMachine/SettingControl.cs
...@@ -34,14 +34,14 @@ namespace TheMachine ...@@ -34,14 +34,14 @@ namespace TheMachine
private void RobotManage_LoadFinishEvent(bool state, string msg) private void RobotManage_LoadFinishEvent(bool state, string msg)
{ {
if (!state) if (!state)
return; return;
} }
private void SettingControl_Load(object sender, EventArgs e) private void SettingControl_Load(object sender, EventArgs e)
{ {
cb_leftmode.Items.AddRange(InOutModeItem.Items); cb_leftmode.Items.AddRange(InOutModeItem.Items);
cb_leftmode.SelectedIndex =(int)((InOutModeE)Setting_Init.Device_LeftInoutMode); cb_leftmode.SelectedIndex = (int)((InOutModeE)Setting_Init.Device_LeftInoutMode);
cb_rightmode.Items.AddRange(InOutModeItem.Items); cb_rightmode.Items.AddRange(InOutModeItem.Items);
cb_rightmode.SelectedIndex = (int)((InOutModeE)Setting_Init.Device_RightInoutMode); cb_rightmode.SelectedIndex = (int)((InOutModeE)Setting_Init.Device_RightInoutMode);
...@@ -75,7 +75,7 @@ namespace TheMachine ...@@ -75,7 +75,7 @@ namespace TheMachine
{ {
if (chbAutoRun.Checked) if (chbAutoRun.Checked)
{ {
Setting_Init.App_AutoRun=true; Setting_Init.App_AutoRun = true;
AutoRun(Application.ExecutablePath, true); AutoRun(Application.ExecutablePath, true);
} }
else else
...@@ -85,7 +85,8 @@ namespace TheMachine ...@@ -85,7 +85,8 @@ namespace TheMachine
} }
} }
public class InOutModeItem { public class InOutModeItem
{
public InOutModeE inOutModeItem = InOutModeE.Both; public InOutModeE inOutModeItem = InOutModeE.Both;
public string Name = ""; public string Name = "";
static List<InOutModeItem> items = new List<InOutModeItem>(); static List<InOutModeItem> items = new List<InOutModeItem>();
...@@ -97,10 +98,10 @@ namespace TheMachine ...@@ -97,10 +98,10 @@ namespace TheMachine
} }
static InOutModeItem() static InOutModeItem()
{ {
items.Add(new InOutModeItem { inOutModeItem= InOutModeE.Both,Name="双向" }); items.Add(new InOutModeItem { inOutModeItem = InOutModeE.Both, Name = "双向" });
items.Add(new InOutModeItem { inOutModeItem= InOutModeE.OnlyIN,Name="仅入库" }); items.Add(new InOutModeItem { inOutModeItem = InOutModeE.OnlyIN, Name = "仅入库" });
items.Add(new InOutModeItem { inOutModeItem= InOutModeE.OnlyOUT,Name= "仅出库" }); items.Add(new InOutModeItem { inOutModeItem = InOutModeE.OnlyOUT, Name = "仅出库" });
items.Add(new InOutModeItem { inOutModeItem= InOutModeE.Disable,Name="禁用" }); items.Add(new InOutModeItem { inOutModeItem = InOutModeE.Disable, Name = "禁用" });
} }
} }
...@@ -127,6 +128,18 @@ namespace TheMachine ...@@ -127,6 +128,18 @@ namespace TheMachine
var t = RobotManage.humitureControllers[i].LastData; var t = RobotManage.humitureControllers[i].LastData;
lbl_hmdstate.Text += ", 温度" + $":{t.Temperate}℃, " + "湿度" + $":{t.Humidity}%, " + "氮气" + $":{100 - t.OxygenV - 1}%"; lbl_hmdstate.Text += ", 温度" + $":{t.Temperate}℃, " + "湿度" + $":{t.Humidity}%, " + "氮气" + $":{100 - t.OxygenV - 1}%";
} }
lblWeight.Text = "称重实时值:";
lblWeight.Text += "\r\n\t端口:" + RobotManage.Config.WeightSensorPort;
if (BSQController.queryData(RobotManage.Config.WeightSensorPort, out double weight))
lblWeight.Text += ", 重量：" + weight.ToString("f1") + "KG";
}
private void button2_Click(object sender, EventArgs e)
{
if(BSQController.ZeroCalibration(RobotManage.Config.WeightSensorPort))
{
MessageBox.Show("称重传感器零校准完成！");
}
} }
} }
} }
TheMachine/UC/ConfigControl.designer.cs
...@@ -52,6 +52,7 @@ namespace TheMachine ...@@ -52,6 +52,7 @@ namespace TheMachine
this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.tableLayoutPanel1.AutoScroll = true;
this.tableLayoutPanel1.ColumnCount = 6; this.tableLayoutPanel1.ColumnCount = 6;
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F)); this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F));
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 10F)); this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 10F));
......
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