FrmOrgConfig.cs
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using log4net;
using URSoldering.Common;
using URSoldering.DeviceLibrary;
using System;
using System.Reflection;
using System.Windows.Forms;
using System.Threading.Tasks;
namespace URSoldering.Client
{
public partial class FrmOrgConfig : FrmBase
{
private bool isAuto = false;
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public FrmOrgConfig( )
{
InitializeComponent();
}
private System.Timers.Timer timer1 = new System.Timers.Timer();
private void FrmBoardInfo_Load(object sender, EventArgs e)
{
//CheckForIllegalCrossThreadCalls = false;
if (WeldRobotBean.ISRun)
{
LogUtil.error("进入焊接界面，发现WeldRobotBean自动运行中，关闭自动运行");
WeldRobotBean.StopRun();
}
isAuto = false;
timer1.Interval = 1000;
timer1.AutoReset = true;
timer1.Elapsed += timer_Elapsed;
timer1.Start();
}
private bool isRun = false;
private void timer_Elapsed(object sender, EventArgs e)
{
if (!URRobotControl.IsRun && isRun.Equals(false))
{
isRun = true;
Task.Factory.StartNew(delegate ()
{
bool result = URRobotControl.StartRobot();
});
}
else
{
URPointValue lastP = URRobotControl.GetLastPosition();
urRobotSControl1.ShowPoint(lastP);
}
lblMsg.Text = URRobotControl.GetStatus();
}
private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
{
URRobotControl.LockAxis();
timer1.Stop();
}
protected override void OnVisibleChanged(EventArgs e)
{
base.OnVisibleChanged(e);
if (this.IsDisposed)
{
this.Close();
}
}
private void btnSetOrigin_Click(object sender, EventArgs e)
{
//URPointValue point = GetCurrRobotPoint();
//ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_X, point.X.ToString());
//ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_Y, point.Y.ToString());
}
private void btnSaveHome_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
DialogResult result = ShowConfire(point, "原点");
if (result.Equals(DialogResult.Yes))
{
WeldRobotBean.UpdateOrgPoint(point);
MessageBox.Show("保存原点成功！");
}
}
private URPointValue GetCurrRobotPoint()
{
return urRobotSControl1.GetPoint();
}
private void btnSetClear1_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
DialogResult result = ShowConfire(point, "清洗点1");
if (result.Equals(DialogResult.Yes))
{
WeldRobotBean.UpdateClear1Point(point);
MessageBox.Show("保存清洗点1成功！");
}
}
private DialogResult ShowConfire(URPointValue point, string strMsg)
{
//判断原点的Z轴
//if (point.Z > URRobotControl.Robot_LIM_Z)
//{
// MessageBox.Show("保存失败，"+ strMsg + "的Z坐标(" + point.Z + ")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
// return DialogResult.Cancel;
//}
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.Cancel;
}
DialogResult result = MessageBox.Show("是否将当前位置:" + point.ToShowStr() + "保存为" + strMsg + "？", "提示", MessageBoxButtons.YesNo);
return result;
}
private void btnSetClear2_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
DialogResult result = ShowConfire(point, "清洗点2");
if (result.Equals(DialogResult.Yes))
{
WeldRobotBean.UpdateClear2Point(point);
MessageBox.Show("保存清洗点2成功！");
}
}
private void btnBack_Click(object sender, EventArgs e)
{
this.Close();
}
private void btnMore_Click(object sender, EventArgs e)
{
FrmPwd frmOrgConfig = new FrmPwd(3);
this.Visible = false;
frmOrgConfig.ShowDialog();
this.Visible = true;
}
}
}