FrmPointInfo.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using URSoldering.DeviceLibrary;
using URSoldering.Common;
namespace URSoldering.Client
{
public partial class FrmPointInfo : FrmBase
{
public delegate void OpClose(DialogResult result,WeldPointInfo point);
public event OpClose OnCloseEnd;
public WeldPointInfo weldPointInfo = new WeldPointInfo();
public FrmPointInfo()
{
InitializeComponent();
this.Text = "新增焊点";
cmbPointType.SelectedIndex = 0;
groupPoint.Text = "新增焊点";
}
public FrmPointInfo(string name,URPointValue point)
{
InitializeComponent();
this.Text = "新增焊点";
groupPoint.Text = "新增焊点";
this.txtName.Text = name;
cmbPointType.SelectedIndex = 0;
ShowPoint(point);
this.txtClearTime.Text = WeldRobotBean.RobotConfig.ClearMSenconds.ToString();
}
public FrmPointInfo(WeldPointInfo weldPointInfo)
{
InitializeComponent();
if (weldPointInfo == null)
{
return;
}
this.Text = "修改焊点【" + weldPointInfo.pointName + "】";
groupPoint.Text = "修改焊点【" + weldPointInfo.pointName + "】";
this.weldPointInfo = weldPointInfo;
this.txtDpreheatTemperature.Text = weldPointInfo.preheatTemperature.ToString();
this.txtDpreheatTime.Text = weldPointInfo.preheatTime.ToString();
this.txtDsendWireSpeed.Text = weldPointInfo.sendWireSpeed.ToString();
this.txtDsendWireTime.Text = weldPointInfo.sendWireTime.ToString();
this.txtDweldTemMax.Text = weldPointInfo.weldTemperatureMax.ToString();
this.txtDweldTemMin.Text = weldPointInfo.weldTemperatureMin.ToString();
this.txtDweldTemperature.Text = weldPointInfo.weldTemperature.ToString();
this.txtDweldTime.Text = weldPointInfo.weldTime.ToString();
this.txtPreTempMax.Text = weldPointInfo.preheatTemperatureMax.ToString();
this.txtPreTempMin.Text = weldPointInfo.preheatTemperatureMin.ToString();
this.txtStartDsendWireSpeed.Text = weldPointInfo.startSendWireSpeed.ToString();
this.txtStartDsendWireTime.Text = weldPointInfo.startSendWireTime.ToString();
this.txtName.Text = weldPointInfo.pointName;
this.cmbPointType.SelectedIndex = weldPointInfo.pointType;
this.chbClear.Checked = weldPointInfo.isNeedClear;
this.txtClearTime.Text = WeldRobotBean.RobotConfig.ClearMSenconds.ToString();
if (weldPointInfo.isNeedClear && weldPointInfo.ClearTime > 0)
{
this.txtClearTime.Text = weldPointInfo.ClearTime.ToString();
}
ShowPoint(weldPointInfo.GetURPoint());
}
private void btnSave_Click(object sender, EventArgs e)
{
saveInfo();
}
private void btnCancel_Click(object sender, EventArgs e)
{
this.DialogResult = DialogResult.Cancel;
this.Close();
OnCloseEnd?.Invoke(DialogResult,null);
}
private void saveInfo()
{
int ptemp = FormUtil.GetIntValue(txtDpreheatTemperature);
int ptempmax = FormUtil.GetIntValue( txtPreTempMax);
int ptempmin = FormUtil.GetIntValue(txtPreTempMin);
int wTemp = FormUtil.GetIntValue(txtDweldTemperature);
int wTempMax = FormUtil.GetIntValue(txtDweldTemMax);
int wTempMin = FormUtil.GetIntValue(txtDweldTemMin );
double sendSpeed = FormUtil.getDoubleValue(txtDsendWireSpeed);
double sendtime = FormUtil.getDoubleValue(this.txtDsendWireTime);
double startsendSpeed = FormUtil.getDoubleValue(txtStartDsendWireSpeed);
double startsendTime = FormUtil.getDoubleValue(txtStartDsendWireTime);
string name = FormUtil.getValue(txtName);
int clearTime = FormUtil.GetIntValue(txtClearTime);
double pTime = FormUtil.getDoubleValue(txtDpreheatTime);
double wTime = FormUtil.getDoubleValue(txtDweldTime);
if (name.Equals(""))
{
MessageBox.Show("请输入焊点名称！");
txtName.Focus();
return;
}
if (cmbPointType.SelectedIndex < 0)
{
MessageBox.Show("请选择焊点类型！");
cmbPointType.Focus();
return;
}
int pointType = cmbPointType.SelectedIndex;
if (pointType.Equals(0))
{
if (ptemp > 400)
{
MessageBox.Show("预热温度范围：200°-400°");
txtDpreheatTemperature.Focus();
return;
}
if (ptempmin < 0)
{
MessageBox.Show("预热温度下限必须大于0°");
txtDweldTemMin.Focus();
return;
}
if (wTemp > 400)
{
MessageBox.Show("焊接温度范围：200°-400°");
txtDweldTemperature.Focus();
return;
}
if (wTempMin < 0)
{
MessageBox.Show("焊接温度下限必须大于0°");
txtPreTempMin.Focus();
return;
}
if (ptempmax < ptempmin)
{
MessageBox.Show("预设温度上限必须大于预设温度下限");
this.txtPreTempMax.Focus();
return;
}
if (wTempMax < wTempMin)
{
MessageBox.Show("焊接温度上限必须大于焊接温度下限");
this.txtDweldTemMax.Focus();
return;
}
if (!(ptempmin <= ptemp && ptemp <= ptempmax))
{
MessageBox.Show("预设温度范围在：" + ptempmin + "°-" + ptempmax + "°");
this.txtDpreheatTemperature.Focus();
return;
}
if (!(wTempMin <= wTemp && wTemp <= wTempMax))
{
MessageBox.Show("焊接温度范围在：" + wTempMin + "°-" + wTempMax + "°");
this.txtDweldTemperature.Focus();
return;
}
if (pTime < 0 || pTime > 60)
{
MessageBox.Show("预热时间范围：0-60！");
txtDpreheatTime.Focus();
return;
}
if (pTime < 0 || pTime > 60)
{
MessageBox.Show("焊接时间范围：0-60！");
txtDweldTime.Focus();
return;
}
if (startsendSpeed < 0)
{
MessageBox.Show("请正确输入起始送丝速度！");
txtStartDsendWireSpeed.Focus();
return;
}
if (startsendTime < 0)
{
MessageBox.Show("起始送丝时间范围：0-60");
txtStartDsendWireTime.Focus();
return;
}
if (sendSpeed < 0)
{
MessageBox.Show("请正确输入送丝速度！");
txtDsendWireSpeed.Focus();
return;
}
if (sendtime < 0 || sendtime > 60)
{
MessageBox.Show("送丝时间范围：0-60 ");
txtDsendWireSpeed.Focus();
return;
}
if (chbClear.Checked)
{
if (clearTime <= 0)
{
MessageBox.Show("请输入清洗时间！");
txtClearTime.Focus();
return;
}
}
}
weldPointInfo.preheatTemperature = ptemp;
weldPointInfo.preheatTime = pTime;
weldPointInfo.sendWireSpeed = sendSpeed;
weldPointInfo.sendWireTime = sendtime;
weldPointInfo.weldTemperatureMax = wTempMax;
weldPointInfo.weldTemperatureMin = wTempMin;
weldPointInfo.weldTemperature = wTemp;
weldPointInfo.weldTime = wTime;
weldPointInfo.preheatTemperatureMax = ptempmax;
weldPointInfo.preheatTemperatureMin = ptempmin;
weldPointInfo.startSendWireSpeed = startsendSpeed;
weldPointInfo.startSendWireTime = startsendTime;
weldPointInfo.pointName = name;
weldPointInfo.isNeedClear = chbClear.Checked;
weldPointInfo.ClearTime = clearTime;
weldPointInfo.pointType = cmbPointType.SelectedIndex;
URPointValue p = urRobot.GetPoint();
weldPointInfo.RobotX = p.X;
weldPointInfo.RobotY = p.Y;
weldPointInfo.RobotZ = p.Z;
weldPointInfo.RobotRX = p.RX;
weldPointInfo.RobotRY = p.RY;
weldPointInfo.RobotRZ = p.RZ;
this.DialogResult = DialogResult.OK;
closeForm();
}
private void closeForm()
{
this.Close();
OnCloseEnd?.Invoke(DialogResult,this.weldPointInfo);
}
private void FrmWeldPointInfo_Load(object sender, EventArgs e)
{
}
private void btnUpdate_Click(object sender, EventArgs e)
{
URPointValue point = URRobotControl.GetLastPosition();
//判断原点的Z轴
//if (point.Z > URRobotControl.Robot_LIM_Z)
//{
// MessageBox.Show("保存失败，焊点Z坐标(" + point.Z + ")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
// return;
//}
if (!URRobotControl.IsValidZ(point.Z))
{
MessageBox.Show("保存失败，焊点Z坐标(" + point.Z + ")不能低于最低Z点(" + URRobotControl.Robot_LIM_Z + ")");
return;
}
DialogResult result = MessageBox.Show("当前坐标:" +point.ToShowStr()+ "，是否确定更新？", "提示", MessageBoxButtons.YesNo);
if (result.Equals(DialogResult.Yes))
{
ShowPoint(point);
}
}
private void ShowPoint(URPointValue point)
{
urRobot.ShowPoint(point);
}
private void chbClear_CheckedChanged(object sender, EventArgs e)
{
if (chbClear.Checked)
{
txtClearTime.Enabled = true;
}
else
{
txtClearTime.Enabled = false;
}
}
private void cmbPointType_SelectedIndexChanged(object sender, EventArgs e)
{
if (cmbPointType.SelectedIndex.Equals(0))
{
lblMsg .Text= "普通焊点，机械臂先抬起再移动至焊点";
gbIron.Enabled = true ;
gbWireFeeding.Enabled = true ;
}
else if (cmbPointType.SelectedIndex.Equals(1))
{
lblMsg.Text = "两个焊点之间的位置跳转点";
gbIron.Enabled = false;
gbWireFeeding.Enabled = false;
}else if (cmbPointType.SelectedIndex.Equals(2))
{
lblMsg.Text = "拖焊焊点，机械臂不抬起直接移动至焊点";
gbIron.Enabled = true;
gbWireFeeding.Enabled = true;
}else if (cmbPointType.SelectedIndex.Equals(3))
{
lblMsg.Text = "拍照点，用于坐标检测偏移";
gbIron.Enabled = false;
gbWireFeeding.Enabled = false;
}
}
}
}