FrmSolderingSetting.cs
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using URSoldering.Common;
using URSoldering.DeviceLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace URSoldering.Client
{
public partial class FrmSolderingSetting : FrmBase
{
public FrmSolderingSetting()
{
InitializeComponent();
}
private void btnSaveSetting_Click(object sender, EventArgs e)
{
saveValue();
}
private void getValue()
{
int index = -1;
foreach (BoardInfo obj in BoardManager.boardList)
{
index++;
if (obj.boardId.Equals(BoardManager.CurrBoardId))
{
break;
}
}
if (index >= 0)
{
cmbBoardList.SelectedIndex = index;
}
this.txtOriginX.Text = ConfigAppSettings.GetValue(Setting_Init.BOARD_ORIGIN_X);
this.txtOriginY.Text = ConfigAppSettings.GetValue(Setting_Init.BOARD_ORIGIN_Y);
int ch = WeldRobotBean.SendWireXiShu;
//this.txtSpeed.Text = (double)ConfigAppSettings.GetIntValue(Setting_Init.ShuoKe_EndSpeed) / ch + "";
this.cmbOrgHand.SelectedIndex = WeldRobotBean.EpsonOrgHandDir;
txtOrgX.Text = WeldRobotBean.EpsonOrgX.ToString();
txtOrgY.Text = WeldRobotBean.EpsonOrgY.ToString();
txtOrgU.Text = WeldRobotBean.EpsonOrgU.ToString();
txtOrgZ.Text = WeldRobotBean.EpsonOrgZ.ToString();
txtLimZ.Text = ((double)ConfigAppSettings.GetNumValue(Setting_Init.Soldering_LIM_Z)).ToString();
txtsendWireSpeed.Text = ConfigAppSettings.GetValue(Setting_Init.ReverseSendWireSpeed);
txtsendWireTime.Text = ConfigAppSettings.GetValue(Setting_Init.ReverseSendWireTime);
txtClearU1.Text=WeldRobotBean.EpsonClearU1.ToString();
txtClearX1.Text=WeldRobotBean.EpsonClearX1.ToString();
txtClearY1.Text = WeldRobotBean.EpsonClearY1.ToString();
txtClearZ1.Text = WeldRobotBean.EpsonClearZ1.ToString();
this.cmbClearHand1.SelectedIndex = WeldRobotBean.EpsonClearHandDir1;
txtClearU2.Text = WeldRobotBean.EpsonClearU2.ToString();
txtClearX2.Text = WeldRobotBean.EpsonClearX2.ToString();
txtClearY2.Text = WeldRobotBean.EpsonClearY2.ToString();
txtClearZ2.Text = WeldRobotBean.EpsonClearZ2.ToString();
this.cmbClearHand2.SelectedIndex = WeldRobotBean.EpsonClearHandDir2;
txtXMin.Text = WeldRobotBean.EpsonXMin.ToString();
txtYMin.Text = WeldRobotBean.EpsonYMin.ToString();
txtZMin.Text = WeldRobotBean.EpsonZMin.ToString();
txtUMin.Text = WeldRobotBean.EpsonUMin.ToString();
txtXMax.Text = WeldRobotBean.EpsonXMax.ToString();
txtYMax.Text = WeldRobotBean.EpsonYMax.ToString();
txtZMax.Text = WeldRobotBean.EpsonZMax.ToString();
txtUMax.Text = WeldRobotBean.EpsonUMax.ToString();
}
private void saveValue()
{
try
{
int boardId = ((BoardInfo)cmbBoardList.SelectedItem).boardId;
BoardManager.UpdateCurrBoard(boardId);
int limz = FormUtil.GetIntValue(txtLimZ);
List<string> port = new List<string>(SerialPort.GetPortNames());
if (limz > 0)
{
MessageBox.Show("请输入正确的机器人最大Z点（<=0）");
this.txtLimZ.Focus();
txtLimZ.SelectAll();
return;
}
int sendWireSpeed = FormUtil.GetIntValue(txtsendWireSpeed);
if (sendWireSpeed >= 0)
{
MessageBox.Show("请输入正确的反转送丝速度！");
txtsendWireSpeed.Focus();
return;
}
int sendWireTime = FormUtil.GetIntValue(txtsendWireTime);
if (sendWireTime <= 0)
{
MessageBox.Show("请输入正确的反转送丝时间！");
txtsendWireTime.Focus();
return;
}
int hand = cmbOrgHand.SelectedIndex;
double orgx=FormUtil.getDoubleValue(txtOrgX) ;
double orgy = FormUtil.getDoubleValue(txtOrgY);
double orgu = FormUtil.getDoubleValue(txtOrgU);
double orgz = FormUtil.getDoubleValue(txtOrgZ);
//判断原点的Z轴
if (orgz > limz)
{
MessageBox.Show("待机点Z坐标不能高于最高Z点！");
txtOrgZ.Focus();
txtOrgZ.SelectAll();
return;
}
int clearHand1 = this.cmbClearHand1.SelectedIndex;
double clearx1 = FormUtil.getDoubleValue(txtClearX1);
double cleary1 = FormUtil.getDoubleValue(txtClearY1);
double clearu1 = FormUtil.getDoubleValue(txtClearU1);
double clearz1 = FormUtil.getDoubleValue(txtClearZ1);
//判断原点的Z轴
if (clearz1 > limz)
{
MessageBox.Show("清洗点1的Z坐标不能高于最高Z点！");
txtClearZ1.Focus();
txtClearZ1.SelectAll();
return;
}
int clearHand2 = this.cmbClearHand2.SelectedIndex;
double clearx2 = FormUtil.getDoubleValue(txtClearX2);
double cleary2 = FormUtil.getDoubleValue(txtClearY2);
double clearu2 = FormUtil.getDoubleValue(txtClearU2);
double clearz2 = FormUtil.getDoubleValue(txtClearZ2);
//判断原点的Z轴
if (clearz2 > limz)
{
MessageBox.Show("清洗点2的Z坐标不能高于最高Z点！");
txtClearZ2.Focus();
txtClearZ2.SelectAll();
return;
}
double XMin = FormUtil.getDoubleValue(txtXMin);
double YMin = FormUtil.getDoubleValue(txtYMin);
double ZMin = FormUtil.getDoubleValue(txtZMin);
double UMin = FormUtil.getDoubleValue(txtUMin);
double XMax = FormUtil.getDoubleValue(txtXMax);
double YMax = FormUtil.getDoubleValue(txtYMax);
double ZMax = FormUtil.getDoubleValue(txtZMax);
double UMax = FormUtil.getDoubleValue(txtUMax);
if (XMin > XMax)
{
MessageBox.Show("请正确输入机械臂X轴范围！");
txtXMin.Focus();
txtXMin.SelectAll();
return;
}
if (YMin > YMax)
{
MessageBox.Show("请正确输入机械臂Y轴范围！");
txtYMin.Focus();
txtYMin.SelectAll();
return;
}
if (ZMin > ZMax)
{
MessageBox.Show("请正确输入机械臂Z轴范围！");
txtZMin.Focus();
txtZMin.SelectAll();
return;
}
if (UMin > UMax)
{
MessageBox.Show("请正确输入机械臂U轴范围！");
txtUMin.Focus();
txtUMin.SelectAll();
return;
}
WeldRobotBean.UpdateOrgPoint(orgx, orgy, orgu, orgz, hand);
WeldRobotBean.UpdateClear1Point(clearx1, cleary1, clearu1, clearz1, clearHand1);
WeldRobotBean.UpdateClear2Point(clearx2, cleary2, clearu2, clearz2, clearHand2);
ConfigAppSettings.SaveValue(Setting_Init.Soldering_LIM_Z, limz.ToString());
EpsonDevice.Robot_LIM_Z = limz;
ConfigAppSettings.SaveValue(Setting_Init.Default_BoardID, boardId);
BoardManager.UpdateCurrBoard(boardId);
ConfigAppSettings.SaveValue(Setting_Init.ReverseSendWireSpeed, sendWireSpeed);
ConfigAppSettings.SaveValue(Setting_Init.ReverseSendWireTime, sendWireTime);
WeldRobotBean.EpsonXMin = XMin;
WeldRobotBean.EpsonXMax = XMax;
WeldRobotBean.EpsonYMin = YMin;
WeldRobotBean.EpsonYMax = YMax;
WeldRobotBean.EpsonUMin = UMin;
WeldRobotBean.EpsonUMax = UMax;
WeldRobotBean.EpsonZMin = ZMin;
WeldRobotBean.EpsonZMax = ZMax;
ConfigAppSettings.SaveValue(Setting_Init.Soldering_X_Min, XMin.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Y_Min, YMin.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Z_Min, ZMin.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_U_Min, UMin.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_X_Max, XMax.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Y_Max, YMax.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Z_Max, ZMax.ToString());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_U_Max, UMax.ToString());
MessageBox.Show("保存成功，需要重启之后才能生效！");
this.Close();
}
catch
{
MessageBox.Show("保存失败！");
}
}
private void FrmRobotSetting_Load(object sender, EventArgs e)
{
LoadCom();
getValue();
}
private void LoadCom()
{
cmbBoardList.DataSource = null;
cmbBoardList.DataSource = BoardManager.boardList;
cmbBoardList.DisplayMember = "boardName";
cmbBoardList.ValueMember = "boardId";
}
private void btnClose_Click(object sender, EventArgs e)
{
this.Close();
}
}
}