优化安全管控, 所有门没有关闭不得控制伺服

DeviceLibrary/theMachine/MainMachine.cs

@@ -212,6 +212,14 @@ namespace DeviceLibrary
         }
         }
 
 
         public bool IsAllDoorClosed() {
         public bool IsAllDoorClosed() {
+            if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
+            {
+                return false;
+            }
+            if (IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.LOW))
+            {
+                return false;
+            }
             if (IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.LOW))
             if (IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.LOW))
             {
             {
                 return false;
                 return false;

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -77,6 +77,11 @@ namespace DeviceLibrary
 
 
         private bool CanMove()
         private bool CanMove()
         {
         {
+            if (RobotManage.isRunning) {
+                MessageBox.Show(crc.GetString("Res0029", "系统正在运行,不能手动控制伺服"), crc.GetString("Res0123", "警告 "), MessageBoxButtons.OK, MessageBoxIcon.Error);
+                return false;
+            }
+
             if (axis == null)
             if (axis == null)
             {
             {
                 MessageBox.Show(crc.GetString("Res0122","请先选择运动轴"), crc.GetString("Res0123","警告 "), MessageBoxButtons.OK, MessageBoxIcon.Error);
                 MessageBox.Show(crc.GetString("Res0122","请先选择运动轴"), crc.GetString("Res0123","警告 "), MessageBoxButtons.OK, MessageBoxIcon.Error);

TheMachine/AxisControl.Designer.cs

@@ -53,11 +53,13 @@ namespace TheMachine
             this.axisMoveControl1.Size = new System.Drawing.Size(559, 400);
             this.axisMoveControl1.Size = new System.Drawing.Size(559, 400);
             this.axisMoveControl1.TabIndex = 0;
             this.axisMoveControl1.TabIndex = 0;
             this.axisMoveControl1.Tag = "not";
             this.axisMoveControl1.Tag = "not";
+            this.axisMoveControl1.Load += new System.EventHandler(this.axisMoveControl1_Load);
             // 
             // 
             // configControl1
             // configControl1
             // 
             // 
+            this.configControl1.Config = null;
             this.configControl1.Location = new System.Drawing.Point(568, 3);
             this.configControl1.Location = new System.Drawing.Point(568, 3);
-            this.configControl1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
+            this.configControl1.Margin = new System.Windows.Forms.Padding(4);
             this.configControl1.Name = "configControl1";
             this.configControl1.Name = "configControl1";
             this.configControl1.Size = new System.Drawing.Size(647, 627);
             this.configControl1.Size = new System.Drawing.Size(647, 627);
             this.configControl1.TabIndex = 1;
             this.configControl1.TabIndex = 1;

TheMachine/AxisControl.cs

@@ -56,5 +56,10 @@ namespace TheMachine
         {
         {
 
 
         }
         }
+
+        private void axisMoveControl1_Load(object sender, EventArgs e)
+        {
+
+        }
     }
     }
 }
 }

TheMachine/Form1.cs

@@ -148,7 +148,7 @@ namespace TheMachine
             NgInfoView.Columns.Add(n1);
             NgInfoView.Columns.Add(n1);
             NgInfoView.Columns.Add(n2);
             NgInfoView.Columns.Add(n2);
             NgInfoView.Columns.Add(n3);
             NgInfoView.Columns.Add(n3);
-            NgInfoView.Columns.Add(n4);
+            NgInfoView.Columns.Add(n4); 
             NgInfoView.Columns.Add(n5);
             NgInfoView.Columns.Add(n5);
             NgInfoView.ColumnWidthChanging += listView_ColumnWidthChanging;
             NgInfoView.ColumnWidthChanging += listView_ColumnWidthChanging;
             #endregion
             #endregion