Skip to content

孙克 / URSolderingRobot

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 1b4ad800 由 几米阳光
选项

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 287 行增加 和 382 行删除
DeviceLibrary/DeviceLibrary.csproj
...@@ -118,9 +118,6 @@ ...@@ -118,9 +118,6 @@
</None> </None>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Content Include="RobotConfig\config\boardData.txt">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="RobotConfig\config\defaultBoard.jpg"> <Content Include="RobotConfig\config\defaultBoard.jpg">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content> </Content>
......
DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs
...@@ -3,6 +3,7 @@ using System.Collections.Generic; ...@@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Text; using System.Text;
using System.Threading;
using URSoldering.Common; using URSoldering.Common;
namespace URSoldering.DeviceLibrary namespace URSoldering.DeviceLibrary
...@@ -70,6 +71,7 @@ namespace URSoldering.DeviceLibrary ...@@ -70,6 +71,7 @@ namespace URSoldering.DeviceLibrary
{ {
listenClient.sendLine(LastMoveCMD); listenClient.sendLine(LastMoveCMD);
LastMoveCMD = ""; LastMoveCMD = "";
//Thread.Sleep(50);
} }
StopListen(); StopListen();
try try
...@@ -129,10 +131,11 @@ namespace URSoldering.DeviceLibrary ...@@ -129,10 +131,11 @@ namespace URSoldering.DeviceLibrary
else else
{ {
string reviceMsg = ByteToStr(reviceData); string reviceMsg = ByteToStr(reviceData);
LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】 "); //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 + "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()); LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
StopListen(); StopListen();
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
...@@ -67,10 +67,48 @@ namespace URSoldering.DeviceLibrary ...@@ -67,10 +67,48 @@ namespace URSoldering.DeviceLibrary
{ {
get { return "【" + RobotIp + " ，" + ControlPort + "】"; } 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 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 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> /// <summary>
/// 开始启动连接机器人 /// 开始启动连接机器人
...@@ -121,6 +159,7 @@ namespace URSoldering.DeviceLibrary ...@@ -121,6 +159,7 @@ namespace URSoldering.DeviceLibrary
PreStartTime = DateTime.Now; PreStartTime = DateTime.Now;
startCount++; startCount++;
//Reset();
controlTcp = new TcpClient(); controlTcp = new TcpClient();
bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice)); bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
...@@ -241,11 +280,11 @@ namespace URSoldering.DeviceLibrary ...@@ -241,11 +280,11 @@ namespace URSoldering.DeviceLibrary
} }
else if (message.ToLower().IndexOf(REV_RobotMode) >= 0) else if (message.ToLower().IndexOf(REV_RobotMode) >= 0)
{ {
SafetymodeProcess(message); StatusProcess(message);
} }
else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0) else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0)
{ {
StatusProcess(message); SafetymodeProcess(message);
} }
else else
{ {
...@@ -257,7 +296,7 @@ namespace URSoldering.DeviceLibrary ...@@ -257,7 +296,7 @@ namespace URSoldering.DeviceLibrary
LogUtil.URSError(LogName + " OnControlRevice出错啦" + ex.ToString()); 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(); string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
...@@ -282,7 +321,7 @@ namespace URSoldering.DeviceLibrary ...@@ -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(); string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP)) if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
...@@ -300,7 +339,7 @@ namespace URSoldering.DeviceLibrary ...@@ -300,7 +339,7 @@ namespace URSoldering.DeviceLibrary
} }
else else
{ {
SendCMD(CMD_Safetymode, 500); SendCMD(CMD_robotMode, 500);
} }
} }
private static bool IsTimeOut(string status) private static bool IsTimeOut(string status)
...@@ -366,8 +405,14 @@ namespace URSoldering.DeviceLibrary ...@@ -366,8 +405,14 @@ namespace URSoldering.DeviceLibrary
/// <param name="point"></param> /// <param name="point"></param>
public static bool MoveTo(URPointValue point) 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) //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; URRobotClient.LastMoveCMD = moveCmd;
return true; return true;
} }
......
URSolderingClient/FrmBoardInfo.Designer.cs
...@@ -35,14 +35,12 @@ ...@@ -35,14 +35,12 @@
this.移动到此处ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.移动到此处ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog(); this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components); this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.picYDel = new System.Windows.Forms.PictureBox(); this.picRight = new System.Windows.Forms.PictureBox();
this.picYAdd = new System.Windows.Forms.PictureBox(); this.picLeft = new System.Windows.Forms.PictureBox();
this.picXAdd = new System.Windows.Forms.PictureBox(); this.picUp = new System.Windows.Forms.PictureBox();
this.picXDel = new System.Windows.Forms.PictureBox(); this.picDown = new System.Windows.Forms.PictureBox();
this.picZDel = 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.picZAdd = new System.Windows.Forms.PictureBox();
this.picUAdd = new System.Windows.Forms.PictureBox();
this.contextMenuStrip2 = new System.Windows.Forms.ContextMenuStrip(this.components); this.contextMenuStrip2 = new System.Windows.Forms.ContextMenuStrip(this.components);
this.更新坐标ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.更新坐标ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.测试位置ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.测试位置ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
...@@ -70,6 +68,9 @@ ...@@ -70,6 +68,9 @@
this.lblOriginX = new System.Windows.Forms.Label(); this.lblOriginX = new System.Windows.Forms.Label();
this.lblOriginY = new System.Windows.Forms.Label(); this.lblOriginY = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox(); 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.lblRobotRZ = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label(); this.label7 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label(); this.label8 = new System.Windows.Forms.Label();
...@@ -95,7 +96,6 @@ ...@@ -95,7 +96,6 @@
this.txtRobotY = new System.Windows.Forms.Label(); this.txtRobotY = new System.Windows.Forms.Label();
this.btnWUp = new System.Windows.Forms.Button(); this.btnWUp = new System.Windows.Forms.Button();
this.txtRobotX = new System.Windows.Forms.Label(); this.txtRobotX = new System.Windows.Forms.Label();
this.btnChange = new System.Windows.Forms.Button();
this.label12 = new System.Windows.Forms.Label(); this.label12 = new System.Windows.Forms.Label();
this.label25 = new System.Windows.Forms.Label(); this.label25 = new System.Windows.Forms.Label();
this.label24 = new System.Windows.Forms.Label(); this.label24 = new System.Windows.Forms.Label();
...@@ -145,17 +145,14 @@ ...@@ -145,17 +145,14 @@
this.btnSStop = new System.Windows.Forms.Button(); this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button(); this.btnWStop = new System.Windows.Forms.Button();
this.label14 = new System.Windows.Forms.Label(); this.label14 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label(); this.chbIsSafe = new System.Windows.Forms.CheckBox();
this.txtSendWireLength = new System.Windows.Forms.TextBox();
this.contextMenuStrip1.SuspendLayout(); this.contextMenuStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picYDel)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picRight)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picYAdd)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picLeft)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picXAdd)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picUp)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picXDel)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picDown)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picZDel)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picZDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picUDel)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picZAdd)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picUAdd)).BeginInit();
this.contextMenuStrip2.SuspendLayout(); this.contextMenuStrip2.SuspendLayout();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
this.panVideo.SuspendLayout(); this.panVideo.SuspendLayout();
...@@ -195,57 +192,57 @@ ...@@ -195,57 +192,57 @@
// //
this.openFileDialog1.FileName = "openFileDialog1"; this.openFileDialog1.FileName = "openFileDialog1";
// //
// picYDel // picRight
// //
this.picYDel.BackColor = System.Drawing.Color.Transparent; this.picRight.BackColor = System.Drawing.Color.Transparent;
this.picYDel.Image = ((System.Drawing.Image)(resources.GetObject("picYDel.Image"))); this.picRight.Image = ((System.Drawing.Image)(resources.GetObject("picRight.Image")));
this.picYDel.Location = new System.Drawing.Point(187, 51); this.picRight.Location = new System.Drawing.Point(187, 51);
this.picYDel.Name = "picYDel"; this.picRight.Name = "picRight";
this.picYDel.Size = new System.Drawing.Size(45, 45); this.picRight.Size = new System.Drawing.Size(45, 45);
this.picYDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picRight.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picYDel.TabIndex = 326; this.picRight.TabIndex = 326;
this.picYDel.TabStop = false; this.picRight.TabStop = false;
this.toolTip1.SetToolTip(this.picYDel, "向右"); this.toolTip1.SetToolTip(this.picRight, "向右");
this.picYDel.Click += new System.EventHandler(this.btnYDel_Click); this.picRight.Click += new System.EventHandler(this.btnRight_Click);
// //
// picYAdd // picLeft
// //
this.picYAdd.BackColor = System.Drawing.Color.Transparent; this.picLeft.BackColor = System.Drawing.Color.Transparent;
this.picYAdd.Image = ((System.Drawing.Image)(resources.GetObject("picYAdd.Image"))); this.picLeft.Image = ((System.Drawing.Image)(resources.GetObject("picLeft.Image")));
this.picYAdd.Location = new System.Drawing.Point(109, 51); this.picLeft.Location = new System.Drawing.Point(109, 51);
this.picYAdd.Name = "picYAdd"; this.picLeft.Name = "picLeft";
this.picYAdd.Size = new System.Drawing.Size(45, 45); this.picLeft.Size = new System.Drawing.Size(45, 45);
this.picYAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picLeft.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picYAdd.TabIndex = 323; this.picLeft.TabIndex = 323;
this.picYAdd.TabStop = false; this.picLeft.TabStop = false;
this.toolTip1.SetToolTip(this.picYAdd, "向左"); this.toolTip1.SetToolTip(this.picLeft, "向左");
this.picYAdd.Click += new System.EventHandler(this.btnYAdd_Click); this.picLeft.Click += new System.EventHandler(this.btnLeft_Click);
// //
// picXAdd // picUp
// //
this.picXAdd.BackColor = System.Drawing.Color.Transparent; this.picUp.BackColor = System.Drawing.Color.Transparent;
this.picXAdd.Image = ((System.Drawing.Image)(resources.GetObject("picXAdd.Image"))); this.picUp.Image = ((System.Drawing.Image)(resources.GetObject("picUp.Image")));
this.picXAdd.Location = new System.Drawing.Point(147, 11); this.picUp.Location = new System.Drawing.Point(147, 11);
this.picXAdd.Name = "picXAdd"; this.picUp.Name = "picUp";
this.picXAdd.Size = new System.Drawing.Size(45, 45); this.picUp.Size = new System.Drawing.Size(45, 45);
this.picXAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picUp.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picXAdd.TabIndex = 325; this.picUp.TabIndex = 325;
this.picXAdd.TabStop = false; this.picUp.TabStop = false;
this.toolTip1.SetToolTip(this.picXAdd, "向前"); this.toolTip1.SetToolTip(this.picUp, "向前");
this.picXAdd.Click += new System.EventHandler(this.btnXAdd_Click); this.picUp.Click += new System.EventHandler(this.btnUp_Click);
// //
// picXDel // picDown
// //
this.picXDel.BackColor = System.Drawing.Color.Transparent; this.picDown.BackColor = System.Drawing.Color.Transparent;
this.picXDel.Image = ((System.Drawing.Image)(resources.GetObject("picXDel.Image"))); this.picDown.Image = ((System.Drawing.Image)(resources.GetObject("picDown.Image")));
this.picXDel.Location = new System.Drawing.Point(147, 91); this.picDown.Location = new System.Drawing.Point(147, 91);
this.picXDel.Name = "picXDel"; this.picDown.Name = "picDown";
this.picXDel.Size = new System.Drawing.Size(45, 45); this.picDown.Size = new System.Drawing.Size(45, 45);
this.picXDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picDown.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picXDel.TabIndex = 324; this.picDown.TabIndex = 324;
this.picXDel.TabStop = false; this.picDown.TabStop = false;
this.toolTip1.SetToolTip(this.picXDel, "向后"); this.toolTip1.SetToolTip(this.picDown, "向后");
this.picXDel.Click += new System.EventHandler(this.btnXDel_Click); this.picDown.Click += new System.EventHandler(this.btnDown_Click);
// //
// picZDel // picZDel
// //
...@@ -260,20 +257,6 @@ ...@@ -260,20 +257,6 @@
this.toolTip1.SetToolTip(this.picZDel, "向下"); this.toolTip1.SetToolTip(this.picZDel, "向下");
this.picZDel.Click += new System.EventHandler(this.btnZDel_Click); 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 // picZAdd
// //
this.picZAdd.BackColor = System.Drawing.Color.Transparent; this.picZAdd.BackColor = System.Drawing.Color.Transparent;
...@@ -287,20 +270,6 @@ ...@@ -287,20 +270,6 @@
this.toolTip1.SetToolTip(this.picZAdd, "向上"); this.toolTip1.SetToolTip(this.picZAdd, "向上");
this.picZAdd.Click += new System.EventHandler(this.btnZAdd_Click); 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 // contextMenuStrip2
// //
this.contextMenuStrip2.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this.contextMenuStrip2.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
...@@ -586,6 +555,8 @@ ...@@ -586,6 +555,8 @@
// //
// groupBox2 // groupBox2
// //
this.groupBox2.Controls.Add(this.chbIsSafe);
this.groupBox2.Controls.Add(this.label11);
this.groupBox2.Controls.Add(this.label6); this.groupBox2.Controls.Add(this.label6);
this.groupBox2.Controls.Add(this.txtSendWireLength); this.groupBox2.Controls.Add(this.txtSendWireLength);
this.groupBox2.Controls.Add(this.lblRobotRZ); this.groupBox2.Controls.Add(this.lblRobotRZ);
...@@ -613,7 +584,6 @@ ...@@ -613,7 +584,6 @@
this.groupBox2.Controls.Add(this.txtRobotY); this.groupBox2.Controls.Add(this.txtRobotY);
this.groupBox2.Controls.Add(this.btnWUp); this.groupBox2.Controls.Add(this.btnWUp);
this.groupBox2.Controls.Add(this.txtRobotX); this.groupBox2.Controls.Add(this.txtRobotX);
this.groupBox2.Controls.Add(this.btnChange);
this.groupBox2.Controls.Add(this.label12); 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.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); this.groupBox2.Location = new System.Drawing.Point(12, 78);
...@@ -623,6 +593,37 @@ ...@@ -623,6 +593,37 @@
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "机器人实时坐标"; 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 // lblRobotRZ
// //
this.lblRobotRZ.AutoSize = true; this.lblRobotRZ.AutoSize = true;
...@@ -689,15 +690,13 @@ ...@@ -689,15 +690,13 @@
// panel3 // panel3
// //
this.panel3.BackColor = System.Drawing.SystemColors.Control; this.panel3.BackColor = System.Drawing.SystemColors.Control;
this.panel3.Controls.Add(this.picYDel); this.panel3.Controls.Add(this.picRight);
this.panel3.Controls.Add(this.picYAdd); this.panel3.Controls.Add(this.picLeft);
this.panel3.Controls.Add(this.picXAdd); this.panel3.Controls.Add(this.picUp);
this.panel3.Controls.Add(this.picXDel); this.panel3.Controls.Add(this.picDown);
this.panel3.Controls.Add(this.picZDel); this.panel3.Controls.Add(this.picZDel);
this.panel3.Controls.Add(this.picUDel);
this.panel3.Controls.Add(this.picZAdd); this.panel3.Controls.Add(this.picZAdd);
this.panel3.Controls.Add(this.picUAdd); this.panel3.Location = new System.Drawing.Point(287, 13);
this.panel3.Location = new System.Drawing.Point(258, 46);
this.panel3.Name = "panel3"; this.panel3.Name = "panel3";
this.panel3.Size = new System.Drawing.Size(250, 138); this.panel3.Size = new System.Drawing.Size(250, 138);
this.panel3.TabIndex = 259; this.panel3.TabIndex = 259;
...@@ -706,7 +705,7 @@ ...@@ -706,7 +705,7 @@
// //
this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnPositionTest.FlatAppearance.BorderSize = 0; 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.Name = "btnPositionTest";
this.btnPositionTest.Size = new System.Drawing.Size(100, 35); this.btnPositionTest.Size = new System.Drawing.Size(100, 35);
this.btnPositionTest.TabIndex = 318; this.btnPositionTest.TabIndex = 318;
...@@ -730,7 +729,7 @@ ...@@ -730,7 +729,7 @@
this.lblMsg.AutoSize = true; 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.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.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.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(65, 19); this.lblMsg.Size = new System.Drawing.Size(65, 19);
this.lblMsg.TabIndex = 260; this.lblMsg.TabIndex = 260;
...@@ -740,7 +739,7 @@ ...@@ -740,7 +739,7 @@
// //
this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSavePoint.FlatAppearance.BorderSize = 0; 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.Name = "btnSavePoint";
this.btnSavePoint.Size = new System.Drawing.Size(68, 32); this.btnSavePoint.Size = new System.Drawing.Size(68, 32);
this.btnSavePoint.TabIndex = 30; this.btnSavePoint.TabIndex = 30;
...@@ -753,7 +752,7 @@ ...@@ -753,7 +752,7 @@
// //
this.btnStopDown.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 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.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.Name = "btnStopDown";
this.btnStopDown.Size = new System.Drawing.Size(100, 35); this.btnStopDown.Size = new System.Drawing.Size(100, 35);
this.btnStopDown.TabIndex = 317; this.btnStopDown.TabIndex = 317;
...@@ -765,7 +764,7 @@ ...@@ -765,7 +764,7 @@
// //
this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnGoHome.FlatAppearance.BorderSize = 0; 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.Name = "btnGoHome";
this.btnGoHome.Size = new System.Drawing.Size(100, 35); this.btnGoHome.Size = new System.Drawing.Size(100, 35);
this.btnGoHome.TabIndex = 35; this.btnGoHome.TabIndex = 35;
...@@ -779,7 +778,7 @@ ...@@ -779,7 +778,7 @@
this.label5.AutoSize = true; 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.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.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.Name = "label5";
this.label5.Size = new System.Drawing.Size(97, 17); this.label5.Size = new System.Drawing.Size(97, 17);
this.label5.TabIndex = 276; this.label5.TabIndex = 276;
...@@ -817,7 +816,7 @@ ...@@ -817,7 +816,7 @@
// //
this.txtSpeed.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 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.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.MaxLength = 6;
this.txtSpeed.Name = "txtSpeed"; this.txtSpeed.Name = "txtSpeed";
this.txtSpeed.Size = new System.Drawing.Size(66, 23); this.txtSpeed.Size = new System.Drawing.Size(66, 23);
...@@ -829,7 +828,7 @@ ...@@ -829,7 +828,7 @@
this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopSend.Enabled = false; 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.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.Name = "btnStopSend";
this.btnStopSend.Size = new System.Drawing.Size(75, 34); this.btnStopSend.Size = new System.Drawing.Size(75, 34);
this.btnStopSend.TabIndex = 274; this.btnStopSend.TabIndex = 274;
...@@ -842,7 +841,7 @@ ...@@ -842,7 +841,7 @@
this.btnSendWire.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnSendWire.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSendWire.Enabled = false; 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.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.Name = "btnSendWire";
this.btnSendWire.Size = new System.Drawing.Size(75, 34); this.btnSendWire.Size = new System.Drawing.Size(75, 34);
this.btnSendWire.TabIndex = 273; this.btnSendWire.TabIndex = 273;
...@@ -853,12 +852,13 @@ ...@@ -853,12 +852,13 @@
// tckSpeed // tckSpeed
// //
this.tckSpeed.Location = new System.Drawing.Point(6, 143); this.tckSpeed.Location = new System.Drawing.Point(6, 143);
this.tckSpeed.Maximum = 4; this.tckSpeed.Maximum = 6;
this.tckSpeed.Minimum = 1; this.tckSpeed.Minimum = 1;
this.tckSpeed.Name = "tckSpeed"; this.tckSpeed.Name = "tckSpeed";
this.tckSpeed.Size = new System.Drawing.Size(214, 45); this.tckSpeed.Size = new System.Drawing.Size(214, 45);
this.tckSpeed.TabIndex = 314; 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); this.tckSpeed.ValueChanged += new System.EventHandler(this.tckSpeed_ValueChanged);
// //
// txtRobotY // txtRobotY
...@@ -875,7 +875,7 @@ ...@@ -875,7 +875,7 @@
this.btnWUp.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnWUp.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnWUp.Enabled = false; 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.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.Name = "btnWUp";
this.btnWUp.Size = new System.Drawing.Size(100, 35); this.btnWUp.Size = new System.Drawing.Size(100, 35);
this.btnWUp.TabIndex = 254; this.btnWUp.TabIndex = 254;
...@@ -892,18 +892,6 @@ ...@@ -892,18 +892,6 @@
this.txtRobotX.TabIndex = 20; this.txtRobotX.TabIndex = 20;
this.txtRobotX.Text = "0"; 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 // label12
// //
this.label12.AutoSize = true; this.label12.AutoSize = true;
...@@ -1414,27 +1402,16 @@ ...@@ -1414,27 +1402,16 @@
this.label14.Text = "条形码"; this.label14.Text = "条形码";
this.label14.Visible = false; this.label14.Visible = false;
// //
// label6 // chbIsSafe
// //
this.label6.AutoSize = true; this.chbIsSafe.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.chbIsSafe.Location = new System.Drawing.Point(295, 161);
this.label6.ImageAlign = System.Drawing.ContentAlignment.MiddleRight; this.chbIsSafe.Name = "chbIsSafe";
this.label6.Location = new System.Drawing.Point(676, 58); this.chbIsSafe.Size = new System.Drawing.Size(243, 21);
this.label6.Name = "label6"; this.chbIsSafe.TabIndex = 328;
this.label6.Size = new System.Drawing.Size(97, 17); this.chbIsSafe.Text = "确认没有人员靠近机器人，不弹出提示框";
this.label6.TabIndex = 326; this.chbIsSafe.UseVisualStyleBackColor = true;
this.label6.Text = "送丝长度/毫米："; this.chbIsSafe.CheckedChanged += new System.EventHandler(this.chbIsSafe_CheckedChanged);
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";
// //
// FrmBoardInfo // FrmBoardInfo
// //
...@@ -1452,14 +1429,12 @@ ...@@ -1452,14 +1429,12 @@
this.Load += new System.EventHandler(this.FrmBoardInfo_Load); this.Load += new System.EventHandler(this.FrmBoardInfo_Load);
this.Shown += new System.EventHandler(this.FrmBoardInfo_Shown); this.Shown += new System.EventHandler(this.FrmBoardInfo_Shown);
this.contextMenuStrip1.ResumeLayout(false); this.contextMenuStrip1.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picYDel)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picRight)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picYAdd)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picLeft)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picXAdd)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picUp)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picXDel)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picDown)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picZDel)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picZDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picUDel)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.picZAdd)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.picUAdd)).EndInit();
this.contextMenuStrip2.ResumeLayout(false); this.contextMenuStrip2.ResumeLayout(false);
this.panel1.ResumeLayout(false); this.panel1.ResumeLayout(false);
this.panel1.PerformLayout(); this.panel1.PerformLayout();
...@@ -1497,7 +1472,6 @@ ...@@ -1497,7 +1472,6 @@
private System.Windows.Forms.Button btnWStop; private System.Windows.Forms.Button btnWStop;
private System.Windows.Forms.Button btnSStop; private System.Windows.Forms.Button btnSStop;
private System.Windows.Forms.Button btnWUp; private System.Windows.Forms.Button btnWUp;
private System.Windows.Forms.Button btnChange;
private System.Windows.Forms.Button btnSetOrigin; private System.Windows.Forms.Button btnSetOrigin;
private System.Windows.Forms.GroupBox gbOriginInfo; private System.Windows.Forms.GroupBox gbOriginInfo;
private System.Windows.Forms.TextBox txtOriginY; private System.Windows.Forms.TextBox txtOriginY;
...@@ -1549,14 +1523,12 @@ ...@@ -1549,14 +1523,12 @@
private System.Windows.Forms.Button btnPositionTest; private System.Windows.Forms.Button btnPositionTest;
private System.Windows.Forms.Panel panPoint; private System.Windows.Forms.Panel panPoint;
private System.Windows.Forms.Panel panel3; private System.Windows.Forms.Panel panel3;
private System.Windows.Forms.PictureBox picYDel; private System.Windows.Forms.PictureBox picRight;
private System.Windows.Forms.PictureBox picYAdd; private System.Windows.Forms.PictureBox picLeft;
private System.Windows.Forms.PictureBox picXAdd; private System.Windows.Forms.PictureBox picUp;
private System.Windows.Forms.PictureBox picXDel; private System.Windows.Forms.PictureBox picDown;
private System.Windows.Forms.PictureBox picZDel; private System.Windows.Forms.PictureBox picZDel;
private System.Windows.Forms.PictureBox picUDel;
private System.Windows.Forms.PictureBox picZAdd; 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_pointNum;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_Name; private System.Windows.Forms.DataGridViewTextBoxColumn Column_Name;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_X; private System.Windows.Forms.DataGridViewTextBoxColumn Column_X;
...@@ -1600,5 +1572,7 @@ ...@@ -1600,5 +1572,7 @@
private System.Windows.Forms.Label label12; private System.Windows.Forms.Label label12;
private System.Windows.Forms.Label label6; private System.Windows.Forms.Label label6;
private System.Windows.Forms.TextBox txtSendWireLength; private System.Windows.Forms.TextBox txtSendWireLength;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.CheckBox chbIsSafe;
} }
} }
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmBoardInfo.cs
...@@ -22,7 +22,7 @@ namespace URSoldering.Client ...@@ -22,7 +22,7 @@ namespace URSoldering.Client
private bool isSave = false; private bool isSave = false;
private bool isNew = false; private bool isNew = false;
private BoardInfo updateBoardInfo = null; private BoardInfo updateBoardInfo = null;
private bool isAuto = false; //private bool isAuto = false;
private bool isFinishLoad = false; private bool isFinishLoad = false;
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public FrmBoardInfo(BoardInfo board) public FrmBoardInfo(BoardInfo board)
...@@ -85,7 +85,6 @@ namespace URSoldering.Client ...@@ -85,7 +85,6 @@ namespace URSoldering.Client
if (URRobotControl.IsRun) if (URRobotControl.IsRun)
{ {
URRobotControl.FreeAxis(); URRobotControl.FreeAxis();
btnChange.Text = "切换到自动模式(&M)（当前手动）";
RobotStatus(true); RobotStatus(true);
System.Threading.Thread.Sleep(100); System.Threading.Thread.Sleep(100);
...@@ -93,10 +92,9 @@ namespace URSoldering.Client ...@@ -93,10 +92,9 @@ namespace URSoldering.Client
} }
else else
{ {
btnChange.Text = "机器人连接中......";
RobotStatus(false); RobotStatus(false);
} }
isAuto = false; //isAuto = false;
timer1.Interval = 1000; timer1.Interval = 1000;
timer1.AutoReset = true; timer1.AutoReset = true;
...@@ -124,8 +122,8 @@ namespace URSoldering.Client ...@@ -124,8 +122,8 @@ namespace URSoldering.Client
} }
else else
{ {
btnSendWire.Enabled = false ; btnSendWire.Enabled = false;
btnStopSend.Enabled = false ; btnStopSend.Enabled = false;
} }
if (!ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug)) if (!ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug))
{ {
...@@ -145,7 +143,19 @@ namespace URSoldering.Client ...@@ -145,7 +143,19 @@ namespace URSoldering.Client
lblRobotRY.Text = point.RY.ToString(); lblRobotRY.Text = point.RY.ToString();
lblRobotRZ.Text = point.RZ.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 dWidth = 0;
private int dHeight = 0; private int dHeight = 0;
private string VideoCameraName = ConfigAppSettings.GetValue(Setting_Init.VideoCameraName); private string VideoCameraName = ConfigAppSettings.GetValue(Setting_Init.VideoCameraName);
...@@ -183,22 +193,20 @@ namespace URSoldering.Client ...@@ -183,22 +193,20 @@ namespace URSoldering.Client
private void RobotStatus(bool isConnect) private void RobotStatus(bool isConnect)
{ {
btnChange.Enabled = isConnect; if (!picUp.Enabled.Equals(isConnect))
{
picUp.Enabled = isConnect;
picDown.Enabled = isConnect;
picLeft.Enabled = isConnect;
picRight.Enabled = isConnect;
picXAdd.Enabled = isConnect;
picXDel.Enabled = isConnect;
picYAdd.Enabled = isConnect;
picYDel.Enabled = isConnect;
picUAdd.Enabled = isConnect;
picUDel.Enabled = isConnect;
picZAdd.Enabled = isConnect; picZAdd.Enabled = isConnect;
picZDel.Enabled = isConnect; picZDel.Enabled = isConnect;
}
} }
private void LoadBoardInfo() private void LoadBoardInfo()
{ {
txtBoardName.Text = updateBoardInfo.boardName; txtBoardName.Text = updateBoardInfo.boardName;
txtCode.Text = updateBoardInfo.WareCode; txtCode.Text = updateBoardInfo.WareCode;
txtBoardLength.Text = updateBoardInfo.boardLength.ToString(); txtBoardLength.Text = updateBoardInfo.boardLength.ToString();
...@@ -206,8 +214,6 @@ namespace URSoldering.Client ...@@ -206,8 +214,6 @@ namespace URSoldering.Client
txtOriginX.Text = updateBoardInfo.originX.ToString(); txtOriginX.Text = updateBoardInfo.originX.ToString();
txtOriginY.Text = updateBoardInfo.originY.ToString(); txtOriginY.Text = updateBoardInfo.originY.ToString();
txtRobotZHighValue.Text = updateBoardInfo.ZHighValue.ToString(); txtRobotZHighValue.Text = updateBoardInfo.ZHighValue.ToString();
int index = -1;
if (updateBoardInfo.orgType >= 1 && updateBoardInfo.orgType <= 4) if (updateBoardInfo.orgType >= 1 && updateBoardInfo.orgType <= 4)
{ {
cmbOrgType.SelectedIndex = updateBoardInfo.orgType - 1; cmbOrgType.SelectedIndex = updateBoardInfo.orgType - 1;
...@@ -258,6 +264,7 @@ namespace URSoldering.Client ...@@ -258,6 +264,7 @@ namespace URSoldering.Client
private bool isRun = false; private bool isRun = false;
private void timer_Elapsed(object sender, EventArgs e) private void timer_Elapsed(object sender, EventArgs e)
{ {
label11.Text = URRobotControl.GetStatus();
//判断是否开急停 //判断是否开急停
if (RobotBean.ShuddenOK().Equals(false)) if (RobotBean.ShuddenOK().Equals(false))
{ {
...@@ -283,7 +290,6 @@ namespace URSoldering.Client ...@@ -283,7 +290,6 @@ namespace URSoldering.Client
else else
{ {
URRobotControl.FreeAxis(); URRobotControl.FreeAxis();
isAuto = false;
} }
}); });
...@@ -291,7 +297,9 @@ namespace URSoldering.Client ...@@ -291,7 +297,9 @@ namespace URSoldering.Client
} }
else else
{ {
RobotStatus(true);
URRobotControl.FreeAxis(); URRobotControl.FreeAxis();
UpdateRobotPosition(); UpdateRobotPosition();
} }
} }
...@@ -733,28 +741,28 @@ namespace URSoldering.Client ...@@ -733,28 +741,28 @@ namespace URSoldering.Client
private void btnChange_Click(object sender, EventArgs e) private void btnChange_Click(object sender, EventArgs e)
{ {
if (isAuto) //if (isAuto)
{ //{
URRobotControl.FreeAxis(); // URRobotControl.FreeAxis();
isAuto = false; // isAuto = false;
btnChange.Text = "切换到自动模式(&M)（当前手动）"; // btnChange.Text = "切换到自动模式(&M)（当前手动）";
//timer1.Enabled = true; // //timer1.Enabled = true;
} //}
else //else
{ //{
DialogResult result = MessageBox.Show("确定修改为自动模式？", "提示", MessageBoxButtons.YesNo); // DialogResult result = MessageBox.Show("确定修改为自动模式？", "提示", MessageBoxButtons.YesNo);
if (result.Equals(DialogResult.Yes)) // 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); // 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)) // if (result.Equals(DialogResult.OK))
{ // {
URRobotControl.LockAxis(); // URRobotControl.LockAxis();
isAuto = true; // isAuto = true;
btnChange.Text = "切换到手动模式(&M)（当前自动）"; // btnChange.Text = "切换到手动模式(&M)（当前自动）";
//timer1.Enabled = false; // //timer1.Enabled = false;
} // }
} // }
} //}
} }
private void btnRead_Click(object sender, EventArgs e) private void btnRead_Click(object sender, EventArgs e)
...@@ -1016,9 +1024,8 @@ namespace URSoldering.Client ...@@ -1016,9 +1024,8 @@ namespace URSoldering.Client
private void btnGoHome_Click(object sender, EventArgs e) 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; return;
} }
WeldRobotBean.SendWireWork(false); WeldRobotBean.SendWireWork(false);
...@@ -1182,64 +1189,42 @@ namespace URSoldering.Client ...@@ -1182,64 +1189,42 @@ namespace URSoldering.Client
private void 移动到此处ToolStripMenuItem_Click(object sender, EventArgs e) 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) private void RovotMove(URPointValue point)
{ {
if (isAuto == false) if (SureMoveRobot().Equals(false))
{ {
MessageBox.Show("请先切换到自动模式！");
return; return;
} }
URRobotControl.MoveTo(point); URRobotControl.MoveTo(point);
} }
private void btnXAdd_Click(object sender, EventArgs e) private void btnUp_Click(object sender, EventArgs e)
{ {
URPointValue point = GetCurrRobotPoint(); URPointValue point = GetCurrRobotPoint();
point.Y += StepValue; point.X -= StepValue;
RovotMove(point); RovotMove(point);
} }
private void btnXDel_Click(object sender, EventArgs e) private void btnDown_Click(object sender, EventArgs e)
{ {
URPointValue point = GetCurrRobotPoint(); URPointValue point = GetCurrRobotPoint();
point.Y -= StepValue; point.X += StepValue;
RovotMove(point); RovotMove(point);
} }
private void btnYDel_Click(object sender, EventArgs e) private void btnRight_Click(object sender, EventArgs e)
{ {
URPointValue point = GetCurrRobotPoint(); URPointValue point = GetCurrRobotPoint();
point.X -= StepValue; point.Y += StepValue;
RovotMove(point); RovotMove(point);
} }
private void btnYAdd_Click(object sender, EventArgs e) private void btnLeft_Click(object sender, EventArgs e)
{ {
URPointValue point = GetCurrRobotPoint(); URPointValue point = GetCurrRobotPoint();
point.X += StepValue; point.Y -= StepValue;
RovotMove(point); RovotMove(point);
} }
...@@ -1257,14 +1242,6 @@ namespace URSoldering.Client ...@@ -1257,14 +1242,6 @@ namespace URSoldering.Client
RovotMove(point); 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) private void dgvList_DragEnter(object sender, DragEventArgs e)
{ {
e.Effect = DragDropEffects.Move; e.Effect = DragDropEffects.Move;
...@@ -1510,6 +1487,14 @@ namespace URSoldering.Client ...@@ -1510,6 +1487,14 @@ namespace URSoldering.Client
{ {
StepValue = 1; StepValue = 1;
} }
else if (value.Equals(5))
{
StepValue = 3;
}
else if (value.Equals(6))
{
StepValue = 5;
}
lblSpeed.Text = "步进值：" + StepValue + "mm"; lblSpeed.Text = "步进值：" + StepValue + "mm";
} }
...@@ -1534,5 +1519,26 @@ namespace URSoldering.Client ...@@ -1534,5 +1519,26 @@ namespace URSoldering.Client
MoveTest(dgvList.SelectedRows[0].Index); 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 @@ ...@@ -127,7 +127,7 @@
<value>510, 17</value> <value>510, 17</value>
</metadata> </metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" /> <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> <value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAAB3BJREFUeF7tnc+LHUUQx/c/9KzgSdSTqHgQSS6i5hRBD+tBlL0I7mkxXkSMBCTE wwAADsMBx2+oZAAAB3BJREFUeF7tnc+LHUUQx/c/9KzgSdSTqHgQSS6i5hRBD+tBlL0I7mkxXkSMBCTE
...@@ -165,7 +165,7 @@ ...@@ -165,7 +165,7 @@
lxtedUYYAAAAAElFTkSuQmCC lxtedUYYAAAAAElFTkSuQmCC
</value> </value>
</data> </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> <value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAAByZJREFUeF7tnb+LJEUUx+c/NFYwEjUSFQORu0TUi07QYA3kZJIDJ1puTURcWZBl wwAADsMBx2+oZAAAByZJREFUeF7tnb+LJEUUx+c/NFYwEjUSFQORu0TUi07QYA3kZJIDJ1puTURcWZBl
...@@ -202,7 +202,7 @@ ...@@ -202,7 +202,7 @@
rkJggg== rkJggg==
</value> </value>
</data> </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> <value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAABzNJREFUeF7tnc9rJEUUx+c/9KzgSdSTqHgQ2b2IuqcV3EM8iJKLYE7BeBExEpAQ wwAADsMBx2+oZAAABzNJREFUeF7tnc9rJEUUx+c/9KzgSdSTqHgQ2b2IuqcV3EM8iJKLYE7BeBExEpAQ
...@@ -239,7 +239,7 @@ ...@@ -239,7 +239,7 @@
G11JqiIAAAAASUVORK5CYII= G11JqiIAAAAASUVORK5CYII=
</value> </value>
</data> </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> <value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAIAAABMXPacAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAABzpJREFUeF7tnc9rJUUQx99/6FnBk6gnUfEgsnsRdU8ruId4WJRcBHMKxouIkYCE wwAADsMBx2+oZAAABzpJREFUeF7tnc9rJUUQx99/6FnBk6gnUfEgsnsRdU8ruId4WJRcBHMKxouIkYCE
...@@ -316,65 +316,6 @@ ...@@ -316,65 +316,6 @@
N/kLlcI7RG4UnIhiZQ1tHLmSCdPYVjZY2BV+dvYfl6Zxq8dCre4AAAAASUVORK5CYII= N/kLlcI7RG4UnIhiZQ1tHLmSCdPYVjZY2BV+dvYfl6Zxq8dCre4AAAAASUVORK5CYII=
</value> </value>
</data> </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
AIDHjx/T8VM/UOXCFVaEIEszZEJD57UA/yiSL3DMZCGdAoXgzPkL9PZ7a60xBFm6IdNZLcA/iOTTDzqt
AWJx+efrtHzlZ3FHF0Oks1qAL8a77LKEMp6oyr3g9t16WrluCw0aXSlNP0SWCXmTgy+O7Dz/zAXLhZTu
0djUROs/307F4+dJ7xESa4W8icEXRirub0uvNYCNxqZm2vL1Xho7eZE1vCy7VwhMPi7AF6Xznjye6aUP
0BYPHjbQ7n9+S5PnLKV+RVqEiZuEzHLwBZEZ849HN1FAIjQ0NtHhoydp9qL3KadosvSesQRkn/vI+HME
/GVkO382/awBbDx69HSsYOHSVdS39UhdGIzfGeQvI7/Oz+8aIBbnf7xIy/62IexRQ/l6Af4i8tU/qKIG
iMW1G7doxeqNNGDEDOn9A2L7ZoA/jHz1D6ouAMD1m3X09w1f0tCyN6Q2BMD2zQB/aDZtYqpsAmxghdGt
ujvWlPKoiQuldihm+7UCkosiySBqABv19x5YYeKYyYsCX1wiZH8K/gBbrksvjBqDLABAQ2MjHTp6gsqn
L5bao5AtW93zH2brNsEgmoC2eGRNKZ+nGfOrpTYpYssMIf9h2n/B/MIxQpbgcersj7Tw3dVBhYkt/QD+
I5JTvzKGWQCwrqD2wiVrrCCAxSV1tvgm/o/hxctXhRzhAIXgytUbtGr9Vho4aqbURh/ZMRIdwFdfG88s
p+wBZZSVX0rdc0dT1z7F1DlrID3/cj4991KuJbzNsIEwse72Xfps607VhaBzRnYAIfTLOSPpD9mFWgjq
FljivX33AS4EyhaXzEIBSPtXvfF0v5I3lv7Yc0haCy7Dw4cNdKjmBBWXz5Xm3SOrUADSMgJAtY6n/Nmu
ORknelvgRZQj352iisolUl944K60KgAQHU/6Cz0GZLzobdHc/MgqBOOmvCX1jUtaBUD7EBDCd+tXQr98
/pXICR8LFIId+w5ZL7DK/OSCdSgAsi+0INp29NZ/8ZsukRY+Fnfu3qOq5euoj0/rDLUtAN1zRhnhJUCI
uH33QSocM0vqN6fUrgD0yBtDv37h1UgJjwE58d+UgJVFpVP96QtoUwDQzr+YNYhKSkrMU58E2K1k/Iwq
qR+dUosCgHCu02+7WcIb8ZPjYqYUADz19uCNET51nKv9L41L9yYAw7W/65ZnhHcIdAK37TpAg9O5E5g9
oJx+FbGOnl+4faeeFld/lL5hIJ58I7w7NDU30/Y9B6modI7Ut24YaAHAwI4R3x0g/uGjJ6yXTWW+dUsU
gECGgrMLSo34LoE3jTEjiL2IZL71QGsoWPlkEHr7Rnx3ePCggQ58e8zal1DmW49UPxtoxHcPjPt/tXO/
ylVBVgFQuiDEiO8cCPVu1t2hDV98Q6+NVLokzFoQomxJGEb4TAFwBiwKvXTlOn24botq8UFrSZiSRaGI
9Y34zgDxMdGz9IP1lBvMnoPWolAly8I7Zw0S2TJIFSdO/0Dzl6y0DquQ+VQBn74mzv/xNRTMyh9nnn4H
wA4i3x0/S9PefE/qT0V8+mIIwH/4GgmYpz91NDQ00kEO87BNvcyXCtnq1TDfOoI6P/2wC+vpwGe79KPf
dy+gF7MHU5deRdS19zBmMfXMLRRXqwfW/e/cd5hGT/pTGGcPtHo51LeOIBwZNmKFxprCrIJSqa0yBvFu
oBXm3bpNm/+xh0a+vkBqRwBseT0ckFzgmBj0gdPDgC06CiCWjsMWmY3JGEQBuHajjlZ9vNWyV2ZDEBSy
t4A/9NwPwHt3QVb/tugIOWX2uGH+ELUF4OdrN6n6w09pwIhQN5SWbhHjeZOol/oMF9lUB1t0DDJhdlFm
hxeqrAGwkmfp++uDDPPiUbpJlOfxAJXVvy28CtFjqaIGQJj3/clzT2P88DeKBOW7hfIXnjaKVFH9t1Tz
ZdJ7+k2/awBsFfvvmuPWJtSa7Bcc/2BJ/tJTM+AnbOFl91FJPwsANovesfcQTZz9rk5nCiXcKtZTM+AH
/v/EOwjd/KRfTQDODECYhxhfo+3iwcQHSvIFrreL9wqI36P/GGnaQdGPGgDir9v4NQ1T806/FybeLh7g
i1wfGOEWQbfziVjgsQbAqt2/rt2s45ExYGoHSfKFro6McQOIj1e/ZemFwYKiscIy58A8Pnb40vTksNSO
jAH4YledQaeA+Jg7kKUVFkeWVwrrUgfm8U+fu0CL/ryG8vQUH3R0aJSrY+OcAOL7OYLnFyfNXiIsTA3Y
5fPYyfM0fX51UIs43BBaOjs8kn/geIYwVUB8t2P1qunk1LAnT8jatqVs+mLqO0SLAZ54dH58LP/IcS2Q
CiC+7Le6cIqDw6Ox0/fw8fOot4bHyMfQ+dNvg3/oqBZATz4RdK32YzkBx8dfTXx8PMK8L77aS8XlWp0L
GI/uDo8G+MeOjo9PVAB07PDJiJU5tT9dFla3x536e/Txpm3W+3khLOJwSm/HxwOcQMrjAvEKAMTvnjtK
+hvdiDzs3X9EWN4a12/U0V9Wb7KWa6eB+GBqcX8ycEIprRXAHrwyYMtW2fU6svfgClpcvdZ60m1gBQ8K
8VvL1lDO0ORn/2nC9nP+bsGJpTRHkF1Q1q4WgONUT+H6zf7FU61FG0ePnaYTZ2rpk83fUNG4Obr39Nsy
8Zi/U3CCSTuEbZeEQfwe/UdLr9WdfQonWk977tAp6SY86L7jlwiccNL1AmjrUQggPv6VXWOolPHn+72C
E0dTkHBsAM3Ac11zLfGdrMY19IXQxt+qvy34BoUxNzTUi4VCJrXgG6X9GQMZyCohTzDgG0b+oGmNqK7d
jwe+qaNRQkNl9D7a5xZ8405MRxNGhr4Svu8k5AgHMEAYIjPQUB3DF98GDIkxzDAY6iG+DTbIhIfBMZhw
zynYMNMcqKU+1X48wEBhqCwDhu6pv/g2YCjThIj+Eb5MD/FtsMEYJzCDRd4JH4YT5/sBNt4MG7tnsMO7
qsAZQYRg+gWpE77Ss6fvFpwhTCWbJiE54SO1U7phgjOnbG/iDKCalTy6gTOK2kD5OQVpRPgic5/6eOBM
Y8l5lMNF5N2fpdvpCnYAwkU0C1HqJCKvyHP6hnd+A84QTsnkgmCETwY4h4n9CTKpaUBekCcjvBOww9BH
cL1nkQaE7dFu4/0AOxFRA56gdBhHgI2wNXq9+iAAxwoH6xRGwhYjehhgp2Ore3SsIEIQHUjcA/fCPVtv
uW4QPlgU1BB2ocBEFMRyWjhskUGkYYnNzLAnvEOH/wFiU3+kt8oEaQAAAABJRU5ErkJggg==
</value>
</data>
<data name="picZAdd.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64"> <data name="picZAdd.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value> <value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAYAAADDPmHLAAAABGdBTUEAALGPC/xhBQAAACBjSFJNAAB6 iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAYAAADDPmHLAAAABGdBTUEAALGPC/xhBQAAACBjSFJNAAB6
...@@ -415,66 +356,6 @@ ...@@ -415,66 +356,6 @@
2cgk09gaG1zYG35y8j/0HHGrAC9VdAAAAABJRU5ErkJggg== 2cgk09gaG1zYG35y8j/0HHGrAC9VdAAAAABJRU5ErkJggg==
</value> </value>
</data> </data>
<data name="picUAdd.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAAIAAAACACAYAAADDPmHLAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
wwAADsMBx2+oZAAADKdJREFUeF7tXfl3FUUW5k/wT+A/GH6Y5YyOI86ACAZZE5IgSQiEQFiSQAh7AggC
AxKRwcDojCyDiCiIcGYUBATODDAgYZR9MeqwKFvYd7hzv6YeeQn18l73q+qu113fOd+BJN213Hu7qm7V
rap2YUOPAWPaMzsypzLrmNsEm5iUIvFs7D2kgbSQZnuRjYUpEIqBgtwq2StjxuEYhSiGhV9goeMLrxBK
kCkoCKIsKJNtIXQAghUCbmDKFGASUUZrDCrAQuzJXMeUCToTiLL3FNWxSAUssGeY+IIamTKhZiJRF9Tp
GVFNi9aAcJgYWPkxkAuKqBvqaA0hBghDCCXMim9NawgACwB9fJiaerdE3aM3RuBKY1RvkhsXNCGLaHgN
XFE0fTIhWLJshJjCB64cvvpM8OODJmQUrtaAK1TEjNIgL11CVkVCfJkNrggWU2SVtEzOOiHGzAMXHu6d
bfLTJ2SYWe4iF7gDM8runWpClh2EeM0GCsq0/b16QqZmGwEKKAoqq4Bl+jTXCLhgGOnLCm2pnmZ5CFwg
fPmyglrqoxktAQrCtM2+/wy+O0ABREFkBbTUz+CMgDOGn29dveAJHfg/T8CZ2kkec9gg1OIPOEM7vWse
/Zk25oysu2cu9bqHnAGWdI0f9PUsqKLsQeMpd8hEyi2ZSH0GjpM+l186Wfr7DCZ0o28pmRM3vt/vy8ou
qZxJH2/YQkdONNJ/Dx2nJcvWUt6QSdLnQ0g94wFO2OhInp7MfoMn0Pz6lXTm3Hl69OgRxXDt+g2qW/wB
9SocK303hFQbWcQJoumXZWQE0eQXlNXSeys+pQuXrgi1t8SOXQ00qPx16fshpbqugBNzAjh7F1XLMgqU
UP7gihn00frN/KXfFOp+Go0/nqWKSW9K0wgptwn1pQdOCKHbjvKv37hpnBGUVr1BGzftpHv37gtVy3Hu
/EWqqn1LmkaImV7IOSfQYrbPJOX3KqyioVWzaPu/9wsVt42bt27TxBmLpGmFmOnNEvLLRg78MNIfU/MW
NXx7jAd7QsMpoGb2Eml6Iae3ASG/iK/fOJ8fI/3aOUvo0NHv6OHDh0K1qSGiBgAdum8F+CXjvn748m++
s5KOn/rBtfKBGjYcWboRoLtWgF8w7uvHrN3ipZ/Q2Z8uCHW6R0RbANBdK8APYy+7LKFAWDC8lpau2kBX
rl0XqvQGdB2y9CPCCqHe5OCHjVnnLxk9k1Z/upnu3rsn1OgdNbMXS/OICBuFetsGP+j4/UET07Yjx8+l
DV/sYOW37eOnioi3AGDyeQF+KPAzefoWj6Px0xfSV//6mm7dviPUlz4iPAaIcZ1Qsxz8gNY5f0D2+3hm
F4+naXPfpX0HjtCdu+k3+/GIsBcQz8RrBPzHQAd/fYqqac7CZY6P/+CBezcvGWwL4DDxYJD/GNh6P2b3
Fv1tDZ36/rRQl3rYFsChPF6A/xDYkm//oVNoyfK1dP7iZaEqPbAtwBM+3Q3wLwNp/gdVvE5/X/MPunCp
SahJH6wBPOHT3QD/0vdDm8qq5zhLuZebrraI4NEF2wU84dOxApKHtBFBHCPYx4ebd/3GLaEe/bAtQDOF
2h+Df4Ej16UP6mDl5Pm098BhdvPuCtX4A2sALdh81D3/4NvK35RZ9ezmnaIHHlbz0oXtAlqweYWQf9De
/8PNm/P2cjp64nuhDv+RVzRCWraIsnkcwD9oXfpFEAd8/MYfznhax1cFawAt2BRTvlb/f0BZDS1bvZHO
/XwxUOUDp8/+LC1jhNle6wAQyv9k41ZqunLNFzcvGWAAMT73Ug49/3IedcwaQJ17l1DXnOGUlVdO3ftX
0KuvVTJHS+sUMnbUNgAcUFZLm7/a7YSSZypgKH/oXkQvZw9zDENWzwznVBiA8q3eJZUzaG/DYbqtcCnX
BMAg/thjIL2SO9JpJWR1zzDWwQCUegBVtQto/zdHk27UyHTAGJ7tnO20DhncXWxTagCjJsxzlH///gMh
pmgAxvBCt/6iZcgoY3AMQIkLiI2XW3bujZzy4wFD+OXzr1CXvqWZYghNMADZH1yxd+FYqlu8iq5euyFE
EW3AEH7xm06Od2H6WEGJARSNmMoj/j1GuHomIWYIXbPLpHIzgUoMoHziPNeRPJiEEv8NPWAIv37hVeqW
a95MpBIDGD2lzjmVwyIxYASlpaX0YlaBUeMDZQZw2hpAUsAIwA6/7eK4jzJZ+k0lBjCKu4CTjf8T1bRI
hpghYFIp6NZAiQEU8iBw07bddhDoEjCC33XJDXSaWYkBwA2cX/8BXbma3ubNKAJG8CseIHbvH4y7qMQA
wOLy6bR5+x66dz/cU8C6AEMIoiVQZgAgNnPuO3DYGoFHwAj8njiCASiNBsLZPVgJVLWjN2pwWoL8cqls
NdCZClYeD4hz+3Z/fZBu3QrXcrBfeNwS+OIdqF0NjCeigT7fusuuD3iET0bgGIC2s/9fG1ZDaz77ki75
tPMnbIARyOSqkE5AiNY9ATCC91dtoDPnLgQeFJppgAFonjF0QsK07wrKGTyBFr632lkwskbgDs6gUN8c
gRMU6su2cFzaMGvBUjp87DtRNYtU0TGrQCpTBXy8TZz/49uZgJPeeIe+OXRCywkgYQVagay8UVJ5psHH
G0MA/kH71rB44tj2Pewm3rnj7+bQTIaGVqDF1jBfj4XF9vDh4/5EW3fu83XfQI+cIurcq4Q5mDr1LKYX
uxfS77vm07Od+joxjSC+NhOhoRVosTnU1+3hMQ4bO5vW/3M7Xbp8xRc30c3ewKz8ciemzyTDgOHKyuqR
zdvDAckDvhDCXfbhRjp/Uf8RMV43h2JCBiHfUECQxoC8VU0OCbU3g3/p6zggnv2HTqb69z+mn85fElXV
g7yB6mLy4Jr5bQyPuwEl6wTSI2KCPSOQ3cSF767WGlmkY3s4Vu8wWeOXMbzUe4i0HC4pPSQq8JvBcFAk
5gq+PXJSi5uosgWQEcag2xCQvixvl5SfFsp/CPxiSJwTjEOd/9NwSPlRsX4dEIHADl2GgDRlebpg4osl
+Y9G3BOA42Sqp71NW3bsVXpYdBAnhOgwBFk+LtjmUbGBdwMx4rh4zBXATVRxVwCguwtIRAR4qDQEWR4u
2PaFkvxA4MfFx3Nw5QxatfYLJUYQRAsQz279RigxAlnaKbLt4+IBfsiICyPiiStj/rpyfdpRx/kBtQDx
VDE+kKWbIlO7SJIfNObKmBhxYxhOGkNcgVfkF4+Uph0EsYXcqxHI0kuBqV0ZA/DDRl0aFWMuG8HcP6+g
Yye9XRs3rLJWmm5QxNy+FyOQpZUCXV0aZeSlkSCCSybPqqeDR9yfNjpu2gJpmkESM4pujUCWThJCl+4u
j+QXjLs4MsY+A6upYvJ85zgaN2tIpt4ahvl9N0YgSyMJ3V8fyy8Z2wqAvQqqaMjomc6J46kAl0dPMPzy
6FSNQPZuG3T/9cfALxrbCsRYUjmTPvscV8u17SbipNIxhl8fn0p34GEq2Nvl0QC/3OL6eBOJ4BLsS/xw
3Sa6ej3xHoTGH886kUiyNExisoGhSwNI7/p4gBMwbl6gNWEECD//y/J1dCFBXMGOXfu9fD2BsGtOWUIj
cFmH1Pz+ZOCEAosVcMPsQeNp3qIVjvDiI4zQMsyvX0m9Cquk75lIHFErA840lj0v4dNr/l7BiRmzRpCM
8BCKR02nj9Z/SYePN9KBg8ecYJN+JROlz5tKLC23bgXw9XfPT3kLedtz/m7BCRo/IIwnDCFn0ASnVehd
VC19xnR26ze8hRHAAFIMCfM+8GsLnHDg8QJRI5QOI8C/GBvInmnFxOv96YITR1dg7NxAGInoZCj/uc45
qTT/0I3apr81OIOiuAwtzWKRUJNecEbatpRbemadUI8/4AzteMAc6uv3E4EzNX6WMCJMf7bPKzjjDkw7
KAyOkH0HoY5ggAKIgsgKaKmPwSs/BhQkrmCW/tAM5cfABbLuoX/0x91zCy6Y7Q700pxmPxFQQFFQWQUs
vdN85ceAgjKti6iOkGVmKD8GLjDmCexkUfqEDIPx81WAC2+njb3T3+ldXeCKwEOw44LUCVmZOdL3Cq4Q
lpJtl5CckJHeJd0gwZXLqMgin6knksc0cEXRGmREoKlPhCzC+9UnAlcaIedRdhdRdzWh25kKFgDcRXQL
URokoq6oc+a6d6oBYQihhNkQrOKTAcJh4nyCMHUNqAvqZBXvBiwwjBGMOrPIJVH2aPfxKsBChNeALygT
5hFQRpQ1eqN6PwDBCgGb5EaiLFbpQYCFjqPuMbCCEvwYQCIP5IU8Wx65bhE8WCloIWJGgYUoKMutccSU
DCINR9nMkH3h7dr9H4pXf6TUnEKvAAAAAElFTkSuQmCC
</value>
</data>
<metadata name="contextMenuStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="contextMenuStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>611, 17</value> <value>611, 17</value>
</metadata> </metadata>
...@@ -606,6 +487,6 @@ ...@@ -606,6 +487,6 @@
</value> </value>
</data> </data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>35</value> <value>103</value>
</metadata> </metadata>
</root> </root>
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmIoManager.Designer.cs
...@@ -150,7 +150,6 @@ namespace URSoldering.Client ...@@ -150,7 +150,6 @@ namespace URSoldering.Client
this.btnWireWork.TabIndex = 269; this.btnWireWork.TabIndex = 269;
this.btnWireWork.Text = "送丝工作端"; this.btnWireWork.Text = "送丝工作端";
this.btnWireWork.UseVisualStyleBackColor = true; this.btnWireWork.UseVisualStyleBackColor = true;
this.btnWireWork.Visible = false;
this.btnWireWork.Click += new System.EventHandler(this.btnWireWork_Click); this.btnWireWork.Click += new System.EventHandler(this.btnWireWork_Click);
// //
// btnWUp // btnWUp
...@@ -173,7 +172,6 @@ namespace URSoldering.Client ...@@ -173,7 +172,6 @@ namespace URSoldering.Client
this.btnWireClear.TabIndex = 268; this.btnWireClear.TabIndex = 268;
this.btnWireClear.Text = "送丝清洗端"; this.btnWireClear.Text = "送丝清洗端";
this.btnWireClear.UseVisualStyleBackColor = true; this.btnWireClear.UseVisualStyleBackColor = true;
this.btnWireClear.Visible = false;
this.btnWireClear.Click += new System.EventHandler(this.btnWireClear_Click); this.btnWireClear.Click += new System.EventHandler(this.btnWireClear_Click);
// //
// btnWStop // btnWStop
......
URSolderingClient/FrmIoManager.cs
...@@ -305,7 +305,7 @@ namespace URSoldering.Client ...@@ -305,7 +305,7 @@ namespace URSoldering.Client
private void btnWireClear_Click(object sender, EventArgs e) 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 ...@@ -74,7 +74,8 @@ namespace URSoldering.Client
URPointValue lastP = URRobotControl.GetLastPosition(); URPointValue lastP = URRobotControl.GetLastPosition();
urRobotSControl1.ShowPoint(lastP); urRobotSControl1.ShowPoint(lastP);
} }
lblMsg.Text = URRobotControl.WarnMsg; lblMsg.Text = URRobotControl.GetStatus();
} }
private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e) private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!