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Commit ad32f0da 由 LN
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1 个父辈 0fbc88eb
内嵌 并排
正在显示 3 个修改的文件 包含 201 行增加 和 99 行删除
ABBRobotTest/ABBRobotManager.cs
......@@ -14,6 +14,11 @@ namespace ABBRobotTest
internal class ABBRobotManager
{
internal static string DI_Start = "di_start";
internal static string DI_Stop = "di_stop";
internal static string DO_ES = "do_ES";
internal static string DO_IsRun= "do_IsRun";
private static NetworkScanner scanner = null;
// private Controller controller = null;
private static Task[] tasks = null;
......@@ -24,6 +29,8 @@ namespace ABBRobotTest
internal delegate void ControllerAddDelegate(ControllerInfo controller);
internal static event ControllerAddDelegate ControllerAddEvent;
internal static void LoadController()
{
controllerMap = new Dictionary<string, Controller>();
......@@ -45,12 +52,31 @@ namespace ABBRobotTest
}
private static void AddControllerInfo(ControllerInfo controllerInfo)
{
Controller con = ControllerFactory.CreateFrom(controllerInfo);
con.Logon(UserInfo.DefaultUser);
ControllerState state = con.State;
controllerMap.Add(con.IPAddress.ToString(), con);
// controller = con;
controllerInfoMap.Add(controllerInfo.IPAddress.ToString(), controllerInfo);
try
{
Controller con = ControllerFactory.CreateFrom(controllerInfo);
con.Logon(UserInfo.DefaultUser);
ControllerState state = con.State;
string ip = con.IPAddress.ToString();
RemoveController(ip);
controllerMap.Add(ip, con);
// controller = con;
controllerInfoMap.Add(ip, controllerInfo);
}catch(Exception ex)
{
LogUtil.error("添加机器人【" + controllerInfo.IPAddress.ToString() + "】失败：" + ex.ToString());
}
}
private static void RemoveController(string ip)
{
if (controllerInfoMap.ContainsKey(ip))
{
controllerInfoMap.Remove(ip);
}
if (controllerMap.ContainsKey(ip))
{
controllerMap.Remove(ip);
}
}
private static void HandleLostEvent(object sender, NetworkWatcherEventArgs e)
{
......@@ -58,14 +84,14 @@ namespace ABBRobotTest
private static void HandleFoundEvent(object sender, NetworkWatcherEventArgs e)
{
Invoke(new
EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
new Object[] { null, e });
//Invoke(new
//EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
//new Object[] { null, e });
AddControllerToListView(null, e);
}
private static void Invoke(EventHandler<NetworkWatcherEventArgs> eventHandler, object[] v)
{
throw new NotImplementedException();
{
}
private static void AddControllerToListView(object sender, NetworkWatcherEventArgs e)
......@@ -217,7 +243,33 @@ namespace ABBRobotTest
LogUtil.error("ABBRobot[" + ip + "] ResetRobotSignal [" + name + "] Error:" + ex.ToString());
}
}
internal static int GetSingalState(string ip, string name = "do_ES")
{
try
{
Controller controller = GetControllerByIP(ip);
if (controller != null)
{
//string name = comboBox1.Text;
Signal singalValue = controller.IOSystem.GetSignal(name);
if (singalValue == null)
{
LogUtil.error("ABBRobot[" + ip + "] GetSingal [" + name + "]= null");
}
else
{
DigitalSignal digitalSig = (DigitalSignal)singalValue;
return (int)digitalSig.Value;
}
}
}
catch (Exception ex)
{
LogUtil.error("ABBRobot[" + ip + "] GetSingalState [" + name + "] Error:" + ex.ToString());
}
return 0;
}
internal static string GetRobotState(string ip)
{
try
......
ABBRobotTest/FrmRobotMain.Designer.cs
......@@ -35,16 +35,18 @@
this.btnStart = new System.Windows.Forms.Button();
this.richTextBox1 = new System.Windows.Forms.RichTextBox();
this.groupMove = new System.Windows.Forms.GroupBox();
this.btnExit = new System.Windows.Forms.Button();
this.comMoveCmd = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.btnMove = new System.Windows.Forms.Button();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.numSpeed = new System.Windows.Forms.NumericUpDown();
this.label3 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.comMoveP = new System.Windows.Forms.ComboBox();
this.label3 = new System.Windows.Forms.Label();
this.numSpeed = new System.Windows.Forms.NumericUpDown();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.btnMove = new System.Windows.Forms.Button();
this.label1 = new System.Windows.Forms.Label();
this.comMoveCmd = new System.Windows.Forms.ComboBox();
this.btnExit = new System.Windows.Forms.Button();
this.lblState = new System.Windows.Forms.Label();
this.btnClearLog = new System.Windows.Forms.Button();
this.groupMove.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.numSpeed)).BeginInit();
this.SuspendLayout();
......@@ -108,6 +110,8 @@
//
this.groupMove.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)));
this.groupMove.Controls.Add(this.btnClearLog);
this.groupMove.Controls.Add(this.lblState);
this.groupMove.Controls.Add(this.btnMove);
this.groupMove.Controls.Add(this.radioButton2);
this.groupMove.Controls.Add(this.radioButton1);
......@@ -125,61 +129,38 @@
this.groupMove.TabStop = false;
this.groupMove.Text = "运动测试";
//
// btnExit
//
this.btnExit.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnExit.Location = new System.Drawing.Point(309, 176);
this.btnExit.Name = "btnExit";
this.btnExit.Size = new System.Drawing.Size(108, 46);
this.btnExit.TabIndex = 198;
this.btnExit.Text = "退出";
this.btnExit.UseVisualStyleBackColor = true;
this.btnExit.Click += new System.EventHandler(this.btnExit_Click);
//
// comMoveCmd
//
this.comMoveCmd.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveCmd.FormattingEnabled = true;
this.comMoveCmd.Location = new System.Drawing.Point(136, 41);
this.comMoveCmd.Name = "comMoveCmd";
this.comMoveCmd.Size = new System.Drawing.Size(171, 29);
this.comMoveCmd.TabIndex = 0;
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(37, 45);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(79, 20);
this.label1.TabIndex = 2;
this.label1.Text = "运动方式：";
//
// label2
// btnMove
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(37, 100);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(93, 20);
this.label2.TabIndex = 4;
this.label2.Text = "坐标点名称：";
this.btnMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnMove.Location = new System.Drawing.Point(159, 317);
this.btnMove.Name = "btnMove";
this.btnMove.Size = new System.Drawing.Size(108, 46);
this.btnMove.TabIndex = 195;
this.btnMove.Text = "运动测试";
this.btnMove.UseVisualStyleBackColor = true;
this.btnMove.Click += new System.EventHandler(this.btnMove_Click);
//
// comMoveP
// radioButton2
//
this.comMoveP.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveP.FormattingEnabled = true;
this.comMoveP.Location = new System.Drawing.Point(136, 96);
this.comMoveP.Name = "comMoveP";
this.comMoveP.Size = new System.Drawing.Size(171, 29);
this.comMoveP.TabIndex = 3;
this.radioButton2.AutoSize = true;
this.radioButton2.Location = new System.Drawing.Point(200, 250);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(83, 24);
this.radioButton2.TabIndex = 9;
this.radioButton2.TabStop = true;
this.radioButton2.Text = "圆弧运动";
this.radioButton2.UseVisualStyleBackColor = true;
//
// label3
// radioButton1
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(37, 155);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(51, 20);
this.label3.TabIndex = 6;
this.label3.Text = "速度：";
this.radioButton1.AutoSize = true;
this.radioButton1.Location = new System.Drawing.Point(63, 250);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(83, 24);
this.radioButton1.TabIndex = 8;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "直线运动";
this.radioButton1.UseVisualStyleBackColor = true;
//
// numSpeed
//
......@@ -188,7 +169,7 @@
0,
0,
0});
this.numSpeed.Location = new System.Drawing.Point(137, 153);
this.numSpeed.Location = new System.Drawing.Point(137, 187);
this.numSpeed.Maximum = new decimal(new int[] {
500,
0,
......@@ -208,38 +189,82 @@
0,
0});
//
// radioButton1
// label3
//
this.radioButton1.AutoSize = true;
this.radioButton1.Location = new System.Drawing.Point(63, 216);
this.radioButton1.Name = "radioButton1";
this.radioButton1.Size = new System.Drawing.Size(83, 24);
this.radioButton1.TabIndex = 8;
this.radioButton1.TabStop = true;
this.radioButton1.Text = "直线运动";
this.radioButton1.UseVisualStyleBackColor = true;
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(37, 189);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(51, 20);
this.label3.TabIndex = 6;
this.label3.Text = "速度：";
//
// radioButton2
// label2
//
this.radioButton2.AutoSize = true;
this.radioButton2.Location = new System.Drawing.Point(200, 216);
this.radioButton2.Name = "radioButton2";
this.radioButton2.Size = new System.Drawing.Size(83, 24);
this.radioButton2.TabIndex = 9;
this.radioButton2.TabStop = true;
this.radioButton2.Text = "圆弧运动";
this.radioButton2.UseVisualStyleBackColor = true;
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(37, 134);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(93, 20);
this.label2.TabIndex = 4;
this.label2.Text = "坐标点名称：";
//
// btnMove
// comMoveP
//
this.btnMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnMove.Location = new System.Drawing.Point(159, 283);
this.btnMove.Name = "btnMove";
this.btnMove.Size = new System.Drawing.Size(108, 46);
this.btnMove.TabIndex = 195;
this.btnMove.Text = "运动测试";
this.btnMove.UseVisualStyleBackColor = true;
this.btnMove.Click += new System.EventHandler(this.btnMove_Click);
this.comMoveP.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveP.FormattingEnabled = true;
this.comMoveP.Location = new System.Drawing.Point(136, 130);
this.comMoveP.Name = "comMoveP";
this.comMoveP.Size = new System.Drawing.Size(171, 29);
this.comMoveP.TabIndex = 3;
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(37, 79);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(79, 20);
this.label1.TabIndex = 2;
this.label1.Text = "运动方式：";
//
// comMoveCmd
//
this.comMoveCmd.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comMoveCmd.FormattingEnabled = true;
this.comMoveCmd.Location = new System.Drawing.Point(136, 75);
this.comMoveCmd.Name = "comMoveCmd";
this.comMoveCmd.Size = new System.Drawing.Size(171, 29);
this.comMoveCmd.TabIndex = 0;
//
// btnExit
//
this.btnExit.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnExit.Location = new System.Drawing.Point(309, 176);
this.btnExit.Name = "btnExit";
this.btnExit.Size = new System.Drawing.Size(108, 46);
this.btnExit.TabIndex = 198;
this.btnExit.Text = "退出";
this.btnExit.UseVisualStyleBackColor = true;
this.btnExit.Click += new System.EventHandler(this.btnExit_Click);
//
// lblState
//
this.lblState.AutoSize = true;
this.lblState.ForeColor = System.Drawing.Color.Red;
this.lblState.Location = new System.Drawing.Point(37, 36);
this.lblState.Name = "lblState";
this.lblState.Size = new System.Drawing.Size(51, 20);
this.lblState.TabIndex = 196;
this.lblState.Text = "急停中";
//
// btnClearLog
//
this.btnClearLog.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClearLog.Location = new System.Drawing.Point(312, 419);
this.btnClearLog.Name = "btnClearLog";
this.btnClearLog.Size = new System.Drawing.Size(108, 46);
this.btnClearLog.TabIndex = 199;
this.btnClearLog.Text = "清理日志";
this.btnClearLog.UseVisualStyleBackColor = true;
this.btnClearLog.Click += new System.EventHandler(this.btnClearLog_Click);
//
// FrmRobotMain
//
......@@ -281,5 +306,7 @@
private System.Windows.Forms.RadioButton radioButton1;
private System.Windows.Forms.NumericUpDown numSpeed;
private System.Windows.Forms.Button btnMove;
private System.Windows.Forms.Label lblState;
private System.Windows.Forms.Button btnClearLog;
}
}
\ No newline at end of file
ABBRobotTest/FrmRobotMain.cs
......@@ -84,7 +84,7 @@ namespace ABBRobotTest
AddHealder("SystemName", 100);
AddHealder("Version", 100);
AddHealder("ControllerName", 180);
AddHealder("Statue", 100);
AddHealder("Statue", 180);
}
......@@ -115,6 +115,23 @@ namespace ABBRobotTest
{
groupMove.Enabled = false;
}
int esValue = ABBRobotManager.GetSingalState(SelConIp);
if (esValue.Equals(1))
{
lblState.Text = "机器人["+SelConIp+"]急停中";
lblState.ForeColor = Color.Red;
}
else
{
lblState.Text = "";
int isRun = ABBRobotManager.GetSingalState(SelConIp, ABBRobotManager.DO_IsRun);
if (isRun.Equals(1))
{
lblState.Text = "机器人程序正常运行中";
lblState.ForeColor = Color.Green;
}
}
}
private void btnStart_Click(object sender, EventArgs e)
......@@ -140,7 +157,7 @@ namespace ABBRobotTest
if (listView1.SelectedItems != null && listView1.SelectedItems.Count > 0)
{
int index = listView1.SelectedItems[0].Index;
string ip = listView1.Items[index].SubItems[0].ToString();
string ip = listView1.Items[index].SubItems[0].Text.ToString();
if (!String.IsNullOrEmpty(ip))
{
SelConIp = ip;
......@@ -188,5 +205,11 @@ namespace ABBRobotTest
{
LogUtil.info("机器人运动完成：" + msg);
}
private void btnClearLog_Click(object sender, EventArgs e)
{
this.richTextBox1.Clear();
LogUtil.ClearLog();
}
}
}
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