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Commit 1b4ad800 由 几米阳光
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机器人调试

1 个父辈 7a9f2418
内嵌 并排
正在显示 9 个修改的文件 包含 306 行增加 和 401 行删除
DeviceLibrary/DeviceLibrary.csproj
......@@ -118,9 +118,6 @@
</None>
</ItemGroup>
<ItemGroup>
<Content Include="RobotConfig\config\boardData.txt">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="RobotConfig\config\defaultBoard.jpg">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
......
DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs
......@@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using URSoldering.Common;
namespace URSoldering.DeviceLibrary
......@@ -70,6 +71,7 @@ namespace URSoldering.DeviceLibrary
{
listenClient.sendLine(LastMoveCMD);
LastMoveCMD = "";
//Thread.Sleep(50);
}
StopListen();
try
......@@ -129,10 +131,11 @@ namespace URSoldering.DeviceLibrary
else
{
string reviceMsg = ByteToStr(reviceData);
LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】 ");
LogUtil.URLError(LogName + "无法获取坐标，数据长度不正确");
//LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】 ");
LogUtil.URLError(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]无法获取坐标，数据长度不正确");
}
}catch(Exception ex)
}
catch(Exception ex)
{
LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
StopListen();
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
......@@ -67,10 +67,48 @@ namespace URSoldering.DeviceLibrary
{
get { return "【" + RobotIp + " ，" + ControlPort + "】"; }
}
public static void Test()
public static string GetStatus()
{
if (WarnMsg.Equals(""))
{
if (IsRun)
{
return "正常连接中";
}
else
{
if (IsStartConnect)
{
TimeSpan span = DateTime.Now - PreStartTime;
if (span.TotalMilliseconds > StartTimeOutSeconds)
{
return "启动超时";
}
else
{
return "启动中";
}
}
else
{
return "未连接";
}
}
}
else
{
return WarnMsg;
}
}
public static void Reset()
{
URWithOutTP a = new URWithOutTP(); //创建对象
a.restartURControl(RobotIp); //重置UR控制器，然后可以利用dashboard，poweron,brake release
LogUtil.info(LogName+"重置完成");
Thread.Sleep(100);
}
/// <summary>
/// 开始启动连接机器人
......@@ -121,6 +159,7 @@ namespace URSoldering.DeviceLibrary
PreStartTime = DateTime.Now;
startCount++;
//Reset();
controlTcp = new TcpClient();
bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
......@@ -241,11 +280,11 @@ namespace URSoldering.DeviceLibrary
}
else if (message.ToLower().IndexOf(REV_RobotMode) >= 0)
{
SafetymodeProcess(message);
StatusProcess(message);
}
else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0)
{
StatusProcess(message);
SafetymodeProcess(message);
}
else
{
......@@ -257,7 +296,7 @@ namespace URSoldering.DeviceLibrary
LogUtil.URSError(LogName + " OnControlRevice出错啦" + ex.ToString());
}
}
private static void SafetymodeProcess(string message)
private static void StatusProcess(string message)
{
string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
......@@ -282,7 +321,7 @@ namespace URSoldering.DeviceLibrary
}
}
}
private static void StatusProcess(string message)
private static void SafetymodeProcess(string message)
{
string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
......@@ -300,7 +339,7 @@ namespace URSoldering.DeviceLibrary
}
else
{
SendCMD(CMD_Safetymode, 500);
SendCMD(CMD_robotMode, 500);
}
}
private static bool IsTimeOut(string status)
......@@ -366,8 +405,14 @@ namespace URSoldering.DeviceLibrary
/// <param name="point"></param>
public static bool MoveTo(URPointValue point)
{
//movep(p[0.062, -0.030, 0.325, 0.0299, 2.2263, 2.2171], a = 1.2, v = 0.25, r = 0)
LogUtil.info(LogName + "试图移动到："+point.ToShowStr());
//movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0)
string moveCmd = "movej([" + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + "],a=1.4, v=1.05, t=0, r=0)";
string x = Math.Round(point.X / 1000F, 5).ToString();
string y= Math.Round(point.Y / 1000F, 5).ToString();
string z = Math.Round(point.Z / 1000F, 5).ToString();
string moveCmd = "movep(p[" +x+ spiltStr +y+ spiltStr + z+ spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1, r=0)";
URRobotClient.LastMoveCMD = moveCmd;
return true;
}
......
URSolderingClient/FrmBoardInfo.Designer.cs
......@@ -35,14 +35,12 @@
this.移动到此处ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.picYDel = new System.Windows.Forms.PictureBox();
this.picYAdd = new System.Windows.Forms.PictureBox();
this.picXAdd = new System.Windows.Forms.PictureBox();
this.picXDel = new System.Windows.Forms.PictureBox();
this.picRight = new System.Windows.Forms.PictureBox();
this.picLeft = new System.Windows.Forms.PictureBox();
this.picUp = new System.Windows.Forms.PictureBox();
this.picDown = new System.Windows.Forms.PictureBox();
this.picZDel = new System.Windows.Forms.PictureBox();
this.picUDel = new System.Windows.Forms.PictureBox();
this.picZAdd = new System.Windows.Forms.PictureBox();
this.picUAdd = new System.Windows.Forms.PictureBox();
this.contextMenuStrip2 = new System.Windows.Forms.ContextMenuStrip(this.components);
this.更新坐标ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.测试位置ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
......@@ -70,6 +68,9 @@
this.lblOriginX = new System.Windows.Forms.Label();
this.lblOriginY = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.label11 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.txtSendWireLength = new System.Windows.Forms.TextBox();
this.lblRobotRZ = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
......@@ -95,7 +96,6 @@
this.txtRobotY = new System.Windows.Forms.Label();
this.btnWUp = new System.Windows.Forms.Button();
this.txtRobotX = new System.Windows.Forms.Label();
this.btnChange = new System.Windows.Forms.Button();
this.label12 = new System.Windows.Forms.Label();
this.label25 = new System.Windows.Forms.Label();
this.label24 = new System.Windows.Forms.Label();
......@@ -145,17 +145,14 @@
this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button();
this.label14 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.txtSendWireLength = new System.Windows.Forms.TextBox();
this.chbIsSafe = new System.Windows.Forms.CheckBox();
this.contextMenuStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picYDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picYAdd)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picXAdd)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picXDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picRight)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picLeft)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picUp)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picDown)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picZDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picUDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picUAdd)).BeginInit();
this.contextMenuStrip2.SuspendLayout();
this.panel1.SuspendLayout();
this.panVideo.SuspendLayout();
......@@ -195,57 +192,57 @@
//
this.openFileDialog1.FileName = "openFileDialog1";
//
// picYDel
//
this.picYDel.BackColor = System.Drawing.Color.Transparent;
this.picYDel.Image = ((System.Drawing.Image)(resources.GetObject("picYDel.Image")));
this.picYDel.Location = new System.Drawing.Point(187, 51);
this.picYDel.Name = "picYDel";
this.picYDel.Size = new System.Drawing.Size(45, 45);
this.picYDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picYDel.TabIndex = 326;
this.picYDel.TabStop = false;
this.toolTip1.SetToolTip(this.picYDel, "向右");
this.picYDel.Click += new System.EventHandler(this.btnYDel_Click);
//
// picYAdd
//
this.picYAdd.BackColor = System.Drawing.Color.Transparent;
this.picYAdd.Image = ((System.Drawing.Image)(resources.GetObject("picYAdd.Image")));
this.picYAdd.Location = new System.Drawing.Point(109, 51);
this.picYAdd.Name = "picYAdd";
this.picYAdd.Size = new System.Drawing.Size(45, 45);
this.picYAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picYAdd.TabIndex = 323;
this.picYAdd.TabStop = false;
this.toolTip1.SetToolTip(this.picYAdd, "向左");
this.picYAdd.Click += new System.EventHandler(this.btnYAdd_Click);
//
// picXAdd
//
this.picXAdd.BackColor = System.Drawing.Color.Transparent;
this.picXAdd.Image = ((System.Drawing.Image)(resources.GetObject("picXAdd.Image")));
this.picXAdd.Location = new System.Drawing.Point(147, 11);
this.picXAdd.Name = "picXAdd";
this.picXAdd.Size = new System.Drawing.Size(45, 45);
this.picXAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picXAdd.TabIndex = 325;
this.picXAdd.TabStop = false;
this.toolTip1.SetToolTip(this.picXAdd, "向前");
this.picXAdd.Click += new System.EventHandler(this.btnXAdd_Click);
//
// picXDel
//
this.picXDel.BackColor = System.Drawing.Color.Transparent;
this.picXDel.Image = ((System.Drawing.Image)(resources.GetObject("picXDel.Image")));
this.picXDel.Location = new System.Drawing.Point(147, 91);
this.picXDel.Name = "picXDel";
this.picXDel.Size = new System.Drawing.Size(45, 45);
this.picXDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picXDel.TabIndex = 324;
this.picXDel.TabStop = false;
this.toolTip1.SetToolTip(this.picXDel, "向后");
this.picXDel.Click += new System.EventHandler(this.btnXDel_Click);
// picRight
//
this.picRight.BackColor = System.Drawing.Color.Transparent;
this.picRight.Image = ((System.Drawing.Image)(resources.GetObject("picRight.Image")));
this.picRight.Location = new System.Drawing.Point(187, 51);
this.picRight.Name = "picRight";
this.picRight.Size = new System.Drawing.Size(45, 45);
this.picRight.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picRight.TabIndex = 326;
this.picRight.TabStop = false;
this.toolTip1.SetToolTip(this.picRight, "向右");
this.picRight.Click += new System.EventHandler(this.btnRight_Click);
//
// picLeft
//
this.picLeft.BackColor = System.Drawing.Color.Transparent;
this.picLeft.Image = ((System.Drawing.Image)(resources.GetObject("picLeft.Image")));
this.picLeft.Location = new System.Drawing.Point(109, 51);
this.picLeft.Name = "picLeft";
this.picLeft.Size = new System.Drawing.Size(45, 45);
this.picLeft.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picLeft.TabIndex = 323;
this.picLeft.TabStop = false;
this.toolTip1.SetToolTip(this.picLeft, "向左");
this.picLeft.Click += new System.EventHandler(this.btnLeft_Click);
//
// picUp
//
this.picUp.BackColor = System.Drawing.Color.Transparent;
this.picUp.Image = ((System.Drawing.Image)(resources.GetObject("picUp.Image")));
this.picUp.Location = new System.Drawing.Point(147, 11);
this.picUp.Name = "picUp";
this.picUp.Size = new System.Drawing.Size(45, 45);
this.picUp.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picUp.TabIndex = 325;
this.picUp.TabStop = false;
this.toolTip1.SetToolTip(this.picUp, "向前");
this.picUp.Click += new System.EventHandler(this.btnUp_Click);
//
// picDown
//
this.picDown.BackColor = System.Drawing.Color.Transparent;
this.picDown.Image = ((System.Drawing.Image)(resources.GetObject("picDown.Image")));
this.picDown.Location = new System.Drawing.Point(147, 91);
this.picDown.Name = "picDown";
this.picDown.Size = new System.Drawing.Size(45, 45);
this.picDown.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picDown.TabIndex = 324;
this.picDown.TabStop = false;
this.toolTip1.SetToolTip(this.picDown, "向后");
this.picDown.Click += new System.EventHandler(this.btnDown_Click);
//
// picZDel
//
......@@ -260,20 +257,6 @@
this.toolTip1.SetToolTip(this.picZDel, "向下");
this.picZDel.Click += new System.EventHandler(this.btnZDel_Click);
//
// picUDel
//
this.picUDel.BackColor = System.Drawing.Color.Transparent;
this.picUDel.Image = ((System.Drawing.Image)(resources.GetObject("picUDel.Image")));
this.picUDel.Location = new System.Drawing.Point(59, -17);
this.picUDel.Name = "picUDel";
this.picUDel.Size = new System.Drawing.Size(45, 45);
this.picUDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picUDel.TabIndex = 321;
this.picUDel.TabStop = false;
this.toolTip1.SetToolTip(this.picUDel, "逆时针旋转");
this.picUDel.Visible = false;
this.picUDel.Click += new System.EventHandler(this.btnUDel_Click);
//
// picZAdd
//
this.picZAdd.BackColor = System.Drawing.Color.Transparent;
......@@ -287,20 +270,6 @@
this.toolTip1.SetToolTip(this.picZAdd, "向上");
this.picZAdd.Click += new System.EventHandler(this.btnZAdd_Click);
//
// picUAdd
//
this.picUAdd.BackColor = System.Drawing.Color.Transparent;
this.picUAdd.Image = ((System.Drawing.Image)(resources.GetObject("picUAdd.Image")));
this.picUAdd.Location = new System.Drawing.Point(13, -17);
this.picUAdd.Name = "picUAdd";
this.picUAdd.Size = new System.Drawing.Size(45, 45);
this.picUAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picUAdd.TabIndex = 319;
this.picUAdd.TabStop = false;
this.toolTip1.SetToolTip(this.picUAdd, "顺时针旋转");
this.picUAdd.Visible = false;
this.picUAdd.Click += new System.EventHandler(this.btnUAdd_Click);
//
// contextMenuStrip2
//
this.contextMenuStrip2.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
......@@ -586,6 +555,8 @@
//
// groupBox2
//
this.groupBox2.Controls.Add(this.chbIsSafe);
this.groupBox2.Controls.Add(this.label11);
this.groupBox2.Controls.Add(this.label6);
this.groupBox2.Controls.Add(this.txtSendWireLength);
this.groupBox2.Controls.Add(this.lblRobotRZ);
......@@ -613,7 +584,6 @@
this.groupBox2.Controls.Add(this.txtRobotY);
this.groupBox2.Controls.Add(this.btnWUp);
this.groupBox2.Controls.Add(this.txtRobotX);
this.groupBox2.Controls.Add(this.btnChange);
this.groupBox2.Controls.Add(this.label12);
this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox2.Location = new System.Drawing.Point(12, 78);
......@@ -623,6 +593,37 @@
this.groupBox2.TabStop = false;
this.groupBox2.Text = "机器人实时坐标";
//
// label11
//
this.label11.AutoSize = true;
this.label11.ForeColor = System.Drawing.Color.Red;
this.label11.Location = new System.Drawing.Point(176, 16);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(0, 17);
this.label11.TabIndex = 327;
//
// label6
//
this.label6.AutoSize = true;
this.label6.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label6.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label6.Location = new System.Drawing.Point(685, 58);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(97, 17);
this.label6.TabIndex = 326;
this.label6.Text = "送丝长度/毫米：";
this.label6.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// txtSendWireLength
//
this.txtSendWireLength.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtSendWireLength.Location = new System.Drawing.Point(786, 55);
this.txtSendWireLength.MaxLength = 6;
this.txtSendWireLength.Name = "txtSendWireLength";
this.txtSendWireLength.Size = new System.Drawing.Size(67, 23);
this.txtSendWireLength.TabIndex = 325;
this.txtSendWireLength.Text = "10";
//
// lblRobotRZ
//
this.lblRobotRZ.AutoSize = true;
......@@ -689,15 +690,13 @@
// panel3
//
this.panel3.BackColor = System.Drawing.SystemColors.Control;
this.panel3.Controls.Add(this.picYDel);
this.panel3.Controls.Add(this.picYAdd);
this.panel3.Controls.Add(this.picXAdd);
this.panel3.Controls.Add(this.picXDel);
this.panel3.Controls.Add(this.picRight);
this.panel3.Controls.Add(this.picLeft);
this.panel3.Controls.Add(this.picUp);
this.panel3.Controls.Add(this.picDown);
this.panel3.Controls.Add(this.picZDel);
this.panel3.Controls.Add(this.picUDel);
this.panel3.Controls.Add(this.picZAdd);
this.panel3.Controls.Add(this.picUAdd);
this.panel3.Location = new System.Drawing.Point(258, 46);
this.panel3.Location = new System.Drawing.Point(287, 13);
this.panel3.Name = "panel3";
this.panel3.Size = new System.Drawing.Size(250, 138);
this.panel3.TabIndex = 259;
......@@ -706,7 +705,7 @@
//
this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnPositionTest.FlatAppearance.BorderSize = 0;
this.btnPositionTest.Location = new System.Drawing.Point(545, 145);
this.btnPositionTest.Location = new System.Drawing.Point(559, 145);
this.btnPositionTest.Name = "btnPositionTest";
this.btnPositionTest.Size = new System.Drawing.Size(100, 35);
this.btnPositionTest.TabIndex = 318;
......@@ -730,7 +729,7 @@
this.lblMsg.AutoSize = true;
this.lblMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblMsg.ForeColor = System.Drawing.Color.Red;
this.lblMsg.Location = new System.Drawing.Point(676, 152);
this.lblMsg.Location = new System.Drawing.Point(685, 152);
this.lblMsg.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(65, 19);
this.lblMsg.TabIndex = 260;
......@@ -740,7 +739,7 @@
//
this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSavePoint.FlatAppearance.BorderSize = 0;
this.btnSavePoint.Location = new System.Drawing.Point(778, 146);
this.btnSavePoint.Location = new System.Drawing.Point(787, 146);
this.btnSavePoint.Name = "btnSavePoint";
this.btnSavePoint.Size = new System.Drawing.Size(68, 32);
this.btnSavePoint.TabIndex = 30;
......@@ -753,7 +752,7 @@
//
this.btnStopDown.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopDown.Location = new System.Drawing.Point(545, 57);
this.btnStopDown.Location = new System.Drawing.Point(559, 57);
this.btnStopDown.Name = "btnStopDown";
this.btnStopDown.Size = new System.Drawing.Size(100, 35);
this.btnStopDown.TabIndex = 317;
......@@ -765,7 +764,7 @@
//
this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnGoHome.FlatAppearance.BorderSize = 0;
this.btnGoHome.Location = new System.Drawing.Point(545, 101);
this.btnGoHome.Location = new System.Drawing.Point(559, 101);
this.btnGoHome.Name = "btnGoHome";
this.btnGoHome.Size = new System.Drawing.Size(100, 35);
this.btnGoHome.TabIndex = 35;
......@@ -779,7 +778,7 @@
this.label5.AutoSize = true;
this.label5.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label5.Location = new System.Drawing.Point(677, 25);
this.label5.Location = new System.Drawing.Point(686, 25);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(97, 17);
this.label5.TabIndex = 276;
......@@ -817,7 +816,7 @@
//
this.txtSpeed.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.txtSpeed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtSpeed.Location = new System.Drawing.Point(778, 22);
this.txtSpeed.Location = new System.Drawing.Point(787, 22);
this.txtSpeed.MaxLength = 6;
this.txtSpeed.Name = "txtSpeed";
this.txtSpeed.Size = new System.Drawing.Size(66, 23);
......@@ -829,7 +828,7 @@
this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopSend.Enabled = false;
this.btnStopSend.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopSend.Location = new System.Drawing.Point(769, 92);
this.btnStopSend.Location = new System.Drawing.Point(778, 92);
this.btnStopSend.Name = "btnStopSend";
this.btnStopSend.Size = new System.Drawing.Size(75, 34);
this.btnStopSend.TabIndex = 274;
......@@ -842,7 +841,7 @@
this.btnSendWire.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSendWire.Enabled = false;
this.btnSendWire.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSendWire.Location = new System.Drawing.Point(676, 92);
this.btnSendWire.Location = new System.Drawing.Point(685, 92);
this.btnSendWire.Name = "btnSendWire";
this.btnSendWire.Size = new System.Drawing.Size(75, 34);
this.btnSendWire.TabIndex = 273;
......@@ -853,12 +852,13 @@
// tckSpeed
//
this.tckSpeed.Location = new System.Drawing.Point(6, 143);
this.tckSpeed.Maximum = 4;
this.tckSpeed.Maximum = 6;
this.tckSpeed.Minimum = 1;
this.tckSpeed.Name = "tckSpeed";
this.tckSpeed.Size = new System.Drawing.Size(214, 45);
this.tckSpeed.TabIndex = 314;
this.tckSpeed.Value = 3;
this.tckSpeed.Value = 4;
this.tckSpeed.Scroll += new System.EventHandler(this.tckSpeed_Scroll);
this.tckSpeed.ValueChanged += new System.EventHandler(this.tckSpeed_ValueChanged);
//
// txtRobotY
......@@ -875,7 +875,7 @@
this.btnWUp.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnWUp.Enabled = false;
this.btnWUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnWUp.Location = new System.Drawing.Point(545, 13);
this.btnWUp.Location = new System.Drawing.Point(559, 13);
this.btnWUp.Name = "btnWUp";
this.btnWUp.Size = new System.Drawing.Size(100, 35);
this.btnWUp.TabIndex = 254;
......@@ -892,18 +892,6 @@
this.txtRobotX.TabIndex = 20;
this.txtRobotX.Text = "0";
//
// btnChange
//
this.btnChange.FlatAppearance.BorderSize = 0;
this.btnChange.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnChange.Location = new System.Drawing.Point(258, 13);
this.btnChange.Name = "btnChange";
this.btnChange.Size = new System.Drawing.Size(250, 32);
this.btnChange.TabIndex = 31;
this.btnChange.Text = "切换到自动模式(&M)";
this.btnChange.UseVisualStyleBackColor = true;
this.btnChange.Click += new System.EventHandler(this.btnChange_Click);
//
// label12
//
this.label12.AutoSize = true;
......@@ -1414,27 +1402,16 @@
this.label14.Text = "条形码";
this.label14.Visible = false;
//
// label6
// chbIsSafe
//
this.label6.AutoSize = true;
this.label6.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label6.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label6.Location = new System.Drawing.Point(676, 58);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(97, 17);
this.label6.TabIndex = 326;
this.label6.Text = "送丝长度/毫米：";
this.label6.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// txtSendWireLength
//
this.txtSendWireLength.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtSendWireLength.Location = new System.Drawing.Point(777, 55);
this.txtSendWireLength.MaxLength = 6;
this.txtSendWireLength.Name = "txtSendWireLength";
this.txtSendWireLength.Size = new System.Drawing.Size(67, 23);
this.txtSendWireLength.TabIndex = 325;
this.txtSendWireLength.Text = "10";
this.chbIsSafe.AutoSize = true;
this.chbIsSafe.Location = new System.Drawing.Point(295, 161);
this.chbIsSafe.Name = "chbIsSafe";
this.chbIsSafe.Size = new System.Drawing.Size(243, 21);
this.chbIsSafe.TabIndex = 328;
this.chbIsSafe.Text = "确认没有人员靠近机器人，不弹出提示框";
this.chbIsSafe.UseVisualStyleBackColor = true;
this.chbIsSafe.CheckedChanged += new System.EventHandler(this.chbIsSafe_CheckedChanged);
//
// FrmBoardInfo
//
......@@ -1452,14 +1429,12 @@
this.Load += new System.EventHandler(this.FrmBoardInfo_Load);
this.Shown += new System.EventHandler(this.FrmBoardInfo_Shown);
this.contextMenuStrip1.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picYDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picYAdd)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picXAdd)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picXDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picRight)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picLeft)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picUp)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picDown)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picZDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picUDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picUAdd)).EndInit();
this.contextMenuStrip2.ResumeLayout(false);
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
......@@ -1497,7 +1472,6 @@
private System.Windows.Forms.Button btnWStop;
private System.Windows.Forms.Button btnSStop;
private System.Windows.Forms.Button btnWUp;
private System.Windows.Forms.Button btnChange;
private System.Windows.Forms.Button btnSetOrigin;
private System.Windows.Forms.GroupBox gbOriginInfo;
private System.Windows.Forms.TextBox txtOriginY;
......@@ -1549,14 +1523,12 @@
private System.Windows.Forms.Button btnPositionTest;
private System.Windows.Forms.Panel panPoint;
private System.Windows.Forms.Panel panel3;
private System.Windows.Forms.PictureBox picYDel;
private System.Windows.Forms.PictureBox picYAdd;
private System.Windows.Forms.PictureBox picXAdd;
private System.Windows.Forms.PictureBox picXDel;
private System.Windows.Forms.PictureBox picRight;
private System.Windows.Forms.PictureBox picLeft;
private System.Windows.Forms.PictureBox picUp;
private System.Windows.Forms.PictureBox picDown;
private System.Windows.Forms.PictureBox picZDel;
private System.Windows.Forms.PictureBox picUDel;
private System.Windows.Forms.PictureBox picZAdd;
private System.Windows.Forms.PictureBox picUAdd;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_pointNum;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_Name;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_X;
......@@ -1600,5 +1572,7 @@
private System.Windows.Forms.Label label12;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.TextBox txtSendWireLength;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.CheckBox chbIsSafe;
}
}
\ No newline at end of file
URSolderingClient/FrmBoardInfo.cs
......@@ -22,7 +22,7 @@ namespace URSoldering.Client
private bool isSave = false;
private bool isNew = false;
private BoardInfo updateBoardInfo = null;
private bool isAuto = false;
//private bool isAuto = false;
private bool isFinishLoad = false;
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public FrmBoardInfo(BoardInfo board)
......@@ -64,19 +64,19 @@ namespace URSoldering.Client
if (isNew == false)
{
LoadBoardInfo();
}
else
{
{
this.txtOriginX.Text = ConfigAppSettings.GetValue(Setting_Init.BOARD_ORIGIN_X);
this.txtOriginY.Text = ConfigAppSettings.GetValue(Setting_Init.BOARD_ORIGIN_Y);
this.txtOriginY.Text = ConfigAppSettings.GetValue(Setting_Init.BOARD_ORIGIN_Y);
}
loadPictureBoxSize();
LOGGER.Info("load image " + picBoard.Name);
txtBoardName.Focus();
//此界面打开时，不能打开自动焊接
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");
......@@ -85,18 +85,16 @@ namespace URSoldering.Client
if (URRobotControl.IsRun)
{
URRobotControl.FreeAxis();
btnChange.Text = "切换到自动模式(&M)（当前手动）";
RobotStatus(true);
System.Threading.Thread.Sleep(100);
UpdateRobotPosition();
}
else
{
btnChange.Text = "机器人连接中......";
{
RobotStatus(false);
}
isAuto = false;
//isAuto = false;
timer1.Interval = 1000;
timer1.AutoReset = true;
......@@ -108,9 +106,9 @@ namespace URSoldering.Client
// MessageBox.Show("急停未开！");
}
else
{
{
//this.btnWDown.Enabled = true;
this.btnWUp.Enabled = true;
this.btnWUp.Enabled = true;
}
if (!SendWireManager.IsRun)
......@@ -118,15 +116,15 @@ namespace URSoldering.Client
//SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
}
if (SendWireManager.IsRun) {
if (SendWireManager.IsRun) {
btnSendWire.Enabled = true;
btnStopSend.Enabled = true;
}
else
{
btnSendWire.Enabled = false ;
btnStopSend.Enabled = false ;
}
btnSendWire.Enabled = false;
btnStopSend.Enabled = false;
}
if (!ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug))
{
UsbCameraHDevelop.OpenCamera(VideoCameraName);
......@@ -145,7 +143,19 @@ namespace URSoldering.Client
lblRobotRY.Text = point.RY.ToString();
lblRobotRZ.Text = point.RZ.ToString();
}
private bool SureMoveRobot()
{
if (chbIsSafe.Checked)
{
return true;
}
DialogResult result = MessageBox.Show("请确认没有人员靠近机器人", "提示", MessageBoxButtons.OKCancel);
if (result.Equals(DialogResult.OK))
{
return true;
}
return false;
}
private int dWidth = 0;
private int dHeight = 0;
private string VideoCameraName = ConfigAppSettings.GetValue(Setting_Init.VideoCameraName);
......@@ -183,31 +193,27 @@ namespace URSoldering.Client
private void RobotStatus(bool isConnect)
{
btnChange.Enabled = isConnect;
picXAdd.Enabled = isConnect;
picXDel.Enabled = isConnect;
picYAdd.Enabled = isConnect;
picYDel.Enabled = isConnect;
picUAdd.Enabled = isConnect;
picUDel.Enabled = isConnect;
picZAdd.Enabled = isConnect;
picZDel.Enabled = isConnect;
if (!picUp.Enabled.Equals(isConnect))
{
picUp.Enabled = isConnect;
picDown.Enabled = isConnect;
picLeft.Enabled = isConnect;
picRight.Enabled = isConnect;
picZAdd.Enabled = isConnect;
picZDel.Enabled = isConnect;
}
}
private void LoadBoardInfo()
{
{
txtBoardName.Text = updateBoardInfo.boardName;
txtCode.Text = updateBoardInfo.WareCode;
txtBoardLength.Text = updateBoardInfo.boardLength.ToString();
txtBoardWidth.Text = updateBoardInfo.boardWidth.ToString();
txtOriginX.Text = updateBoardInfo.originX.ToString();
txtOriginY.Text = updateBoardInfo.originY.ToString();
txtRobotZHighValue.Text = updateBoardInfo.ZHighValue.ToString();
int index = -1;
txtRobotZHighValue.Text = updateBoardInfo.ZHighValue.ToString();
if (updateBoardInfo.orgType >= 1 && updateBoardInfo.orgType <= 4)
{
cmbOrgType.SelectedIndex = updateBoardInfo.orgType - 1;
......@@ -258,8 +264,9 @@ namespace URSoldering.Client
private bool isRun = false;
private void timer_Elapsed(object sender, EventArgs e)
{
label11.Text = URRobotControl.GetStatus();
//判断是否开急停
if (RobotBean.ShuddenOK().Equals(false))
if (RobotBean.ShuddenOK().Equals(false))
{
lblMsg.Text = "急停未开";
}
......@@ -282,8 +289,7 @@ namespace URSoldering.Client
}
else
{
URRobotControl.FreeAxis();
isAuto = false;
URRobotControl.FreeAxis();
}
});
......@@ -291,7 +297,9 @@ namespace URSoldering.Client
}
else
{
RobotStatus(true);
URRobotControl.FreeAxis();
UpdateRobotPosition();
}
}
......@@ -733,28 +741,28 @@ namespace URSoldering.Client
private void btnChange_Click(object sender, EventArgs e)
{
if (isAuto)
{
URRobotControl.FreeAxis();
isAuto = false;
btnChange.Text = "切换到自动模式(&M)（当前手动）";
//timer1.Enabled = true;
}
else
{
DialogResult result = MessageBox.Show("确定修改为自动模式？", "提示", MessageBoxButtons.YesNo);
if (result.Equals(DialogResult.Yes))
{
result = MessageBox.Show("切换为自动模式之前，请确保所有人员远离机器人！", "提示", MessageBoxButtons.OKCancel);
if (result.Equals(DialogResult.OK))
{
URRobotControl.LockAxis();
isAuto = true;
btnChange.Text = "切换到手动模式(&M)（当前自动）";
//timer1.Enabled = false;
}
}
}
//if (isAuto)
//{
// URRobotControl.FreeAxis();
// isAuto = false;
// btnChange.Text = "切换到自动模式(&M)（当前手动）";
// //timer1.Enabled = true;
//}
//else
//{
// DialogResult result = MessageBox.Show("确定修改为自动模式？", "提示", MessageBoxButtons.YesNo);
// if (result.Equals(DialogResult.Yes))
// {
// result = MessageBox.Show("切换为自动模式之前，请确保所有人员远离机器人！", "提示", MessageBoxButtons.OKCancel);
// if (result.Equals(DialogResult.OK))
// {
// URRobotControl.LockAxis();
// isAuto = true;
// btnChange.Text = "切换到手动模式(&M)（当前自动）";
// //timer1.Enabled = false;
// }
// }
//}
}
private void btnRead_Click(object sender, EventArgs e)
......@@ -1016,9 +1024,8 @@ namespace URSoldering.Client
private void btnGoHome_Click(object sender, EventArgs e)
{
if (isAuto == false)
if (!SureMoveRobot())
{
MessageBox.Show("请先切换到自动模式！");
return;
}
WeldRobotBean.SendWireWork(false);
......@@ -1181,65 +1188,43 @@ namespace URSoldering.Client
}
private void 移动到此处ToolStripMenuItem_Click(object sender, EventArgs e)
{
//if (m_MouseDownPoint == null || m_MouseDownPoint.X == 0 || m_MouseDownPoint.Y == 0)
//{
// MessageBox.Show("请选择要移动的位置");
// return;
//}
//if (isAuto == false)
//{
// MessageBox.Show("请先切换到自动模式！");
// return;
//}
//double x = 0;
//double y = 0;
//GetPicPoint(out x, out y);
//LogUtil.info("移动到焊点：X【" + m_MouseDownPoint.X + "】Y【" + m_MouseDownPoint.Y + "】,坐标X【" + x + "】坐标Y【" + y + "】");
//double u = FormUtil.getDoubleValue(txtRobotU);
//double z = FormUtil.getDoubleValue(txtRobotZ);
//int hand =GetHand();
//URRobotControl.MoveTo(x, y, z, u, isfast, hand,AfterMove);
{
}
private void RovotMove(URPointValue point)
{
if (isAuto == false)
if (SureMoveRobot().Equals(false))
{
MessageBox.Show("请先切换到自动模式！");
return;
}
}
URRobotControl.MoveTo(point);
}
private void btnXAdd_Click(object sender, EventArgs e)
private void btnUp_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.Y += StepValue;
point.X -= StepValue;
RovotMove(point);
}
private void btnXDel_Click(object sender, EventArgs e)
private void btnDown_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.Y -= StepValue;
point.X += StepValue;
RovotMove(point);
}
private void btnYDel_Click(object sender, EventArgs e)
private void btnRight_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.X -= StepValue;
point.Y += StepValue;
RovotMove(point);
}
private void btnYAdd_Click(object sender, EventArgs e)
private void btnLeft_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
point.X += StepValue;
point.Y -= StepValue;
RovotMove(point);
}
......@@ -1256,15 +1241,7 @@ namespace URSoldering.Client
point.Z -= StepValue;
RovotMove(point);
}
private void btnUAdd_Click(object sender, EventArgs e)
{
}
private void btnUDel_Click(object sender, EventArgs e)
{
}
private void dgvList_DragEnter(object sender, DragEventArgs e)
{
e.Effect = DragDropEffects.Move;
......@@ -1510,6 +1487,14 @@ namespace URSoldering.Client
{
StepValue = 1;
}
else if (value.Equals(5))
{
StepValue = 3;
}
else if (value.Equals(6))
{
StepValue = 5;
}
lblSpeed.Text = "步进值：" + StepValue + "mm";
}
......@@ -1533,6 +1518,27 @@ namespace URSoldering.Client
{
MoveTest(dgvList.SelectedRows[0].Index);
}
}
}
private void tckSpeed_Scroll(object sender, EventArgs e)
{
}
private void chbIsSafe_CheckedChanged(object sender, EventArgs e)
{
if (chbIsSafe.Checked)
{
DialogResult dialog = MessageBox.Show("确认机器人安全，后续操作将不弹出确认框？","确认提示",MessageBoxButtons.OKCancel);
if (dialog.Equals(DialogResult.OK))
{
LogUtil.info("确认机器人安全，后续操作将不弹出确认框");
}
else
{
chbIsSafe.Checked = false;
}
}
}
}
}
URSolderingClient/FrmBoardInfo.resx
......@@ -127,7 +127,7 @@
<value>510, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="picYDel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<data name="picRight.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAAB3BJREFUeF7tnc+LHUUQx/c/9KzgSdSTqHgQSS6i5hRBD+tBlL0I7mkxXkSMBCTE
......@@ -165,7 +165,7 @@
lxtedUYYAAAAAElFTkSuQmCC
</value>
</data>
<data name="picYAdd.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<data name="picLeft.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAAByZJREFUeF7tnb+LJEUUx+c/NFYwEjUSFQORu0TUi07QYA3kZJIDJ1puTURcWZBl
......@@ -202,7 +202,7 @@
rkJggg==
</value>
</data>
<data name="picXAdd.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<data name="picUp.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAABzNJREFUeF7tnc9rJEUUx+c/9KzgSdSTqHgQ2b2IuqcV3EM8iJKLYE7BeBExEpAQ
......@@ -239,7 +239,7 @@
G11JqiIAAAAASUVORK5CYII=
</value>
</data>
<data name="picXDel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<data name="picDown.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAABzpJREFUeF7tnc9rJUUQx99/6FnBk6gnUfEgsnsRdU8ruId4WJRcBHMKxouIkYCE
......@@ -316,65 +316,6 @@
N/kLlcI7RG4UnIhiZQ1tHLmSCdPYVjZY2BV+dvYfl6Zxq8dCre4AAAAASUVORK5CYII=
</value>
</data>
<data name="picUDel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAYAAADDPmHLAAAABGdBTUEAALGPC/xhBQAADJNJREFUeF7t
Xfl3FUUW5k/wT+A/GH6Y5YyOI86ACCayJiRBIARC2JNAZIcAgsCgRGQwMDojyyAiCiIcR0H2MwMMSBhl
X4w4LLIGCEsW4M79murJS1Jv6aW6672u75zvQN7rV33rftVVdauqqzpkGnoOnNCR2Zk5i1nF3CVYx6QU
iWvt3yENpIU0O4rbGOgCIQwEciqyW9qFwyoUwgyDoMBOxxNeJkSQCRQGYQtsMjWECsCxwsE1TJkAOhE2
msLgB9iJvZibmDJHpwNhey+RHYNUwA57hoknqJYpc2o6EnlBnp4R2TRoCziHiY5VEB25sIi8IY+mINiA
M4RTMln4tjQFAWAHoI3PpKreKZH36PURONPo1esUxoVN+CIaUQNnFFWfzAmG7BvhpswDZw5PfTrE8WET
Psqs2oAzVMiMUifPK+GrQuG+9AZnBJMpskwaJmeVcGP6gY1HeGeqfO+ED9MrXGSDOzGjHN75Tfiyk3Cv
3oChTNPe+0/4VO9CAAOFobIMGHqnvoWADUNPX2a0of/UK0Jgg/Dkyww1VEc9agIYwjTVfvAMvzmAAcIQ
mYGG6hleIeAbI843oV74hAbBjxPwTc0gjz6sEbIEA76hGd7Vj8EMG/ONTLinL9WGh3wDTOlmVKevoGS6
9PO+QyZRXvFUyhs+lXKGTqZegyqk12lGaKNuKpkTj0S7nz98Gq1YtZH+c/wMnTxbS59u2UHF5fOoHxcK
2fWaUU1/gBOOxEqe3oNfp6rlH9Hd+ntk48mTJ3TpyjVaXL2W+g+bQr0kv9OM/q4s4gRR9ctulHEcWvoG
7d1fI6Rvjes3b9MHaz6nQaMq06FJ8K8p4MQis4CzbNrbVPvTZSF5e9ytv0+fbN5Ow8rmalkI+hROtP+/
S8jnDZwQlm63ukkms6LyHbpy7YaQW46mpmbaum0flVS8KU0jLEL8+nv3YwuBtyXnnEDkRvumzl1G9x88
FFInxp5/HaERFfO536BPTRAjPuhtlJB/HLkl3DMXrBDyJgf3Danm+9M0YeY7OkcI7jqE/EM8/ZGb6HFS
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......@@ -415,66 +356,6 @@
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<value>611, 17</value>
</metadata>
......@@ -606,6 +487,6 @@
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</data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
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</root>
\ No newline at end of file
URSolderingClient/FrmIoManager.Designer.cs
......@@ -150,7 +150,6 @@ namespace URSoldering.Client
this.btnWireWork.TabIndex = 269;
this.btnWireWork.Text = "送丝工作端";
this.btnWireWork.UseVisualStyleBackColor = true;
this.btnWireWork.Visible = false;
this.btnWireWork.Click += new System.EventHandler(this.btnWireWork_Click);
//
// btnWUp
......@@ -173,7 +172,6 @@ namespace URSoldering.Client
this.btnWireClear.TabIndex = 268;
this.btnWireClear.Text = "送丝清洗端";
this.btnWireClear.UseVisualStyleBackColor = true;
this.btnWireClear.Visible = false;
this.btnWireClear.Click += new System.EventHandler(this.btnWireClear_Click);
//
// btnWStop
......
URSolderingClient/FrmIoManager.cs
......@@ -305,7 +305,7 @@ namespace URSoldering.Client
private void btnWireClear_Click(object sender, EventArgs e)
{
SendWireCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW);
SendWireCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH);
}
}
}
URSolderingClient/FrmOrgConfig.cs
......@@ -74,7 +74,8 @@ namespace URSoldering.Client
URPointValue lastP = URRobotControl.GetLastPosition();
urRobotSControl1.ShowPoint(lastP);
}
lblMsg.Text = URRobotControl.WarnMsg;
lblMsg.Text = URRobotControl.GetStatus();
}
private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
......
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