工作界面增加ATI分离和吸附功能

URSolderingClient/FrmWork.Designer.cs

@@ -54,6 +54,7 @@
             this.label1 = new System.Windows.Forms.Label();
             this.lblAOIResult = new System.Windows.Forms.Label();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.btnFixtureMove = new System.Windows.Forms.Button();
             this.chbXunHuan = new System.Windows.Forms.CheckBox();
             this.btnWeld = new System.Windows.Forms.Button();
             this.panel2 = new System.Windows.Forms.Panel();
@@ -254,6 +255,7 @@
             // 
             this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
+            this.groupBox1.Controls.Add(this.btnFixtureMove);
             this.groupBox1.Controls.Add(this.chbXunHuan);
             this.groupBox1.Controls.Add(this.btnWeld);
             this.groupBox1.Controls.Add(this.panel2);
@@ -267,6 +269,17 @@
             this.groupBox1.TabIndex = 268;
             this.groupBox1.TabStop = false;
             // 
+            // btnFixtureMove
+            // 
+            this.btnFixtureMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnFixtureMove.Location = new System.Drawing.Point(523, 16);
+            this.btnFixtureMove.Name = "btnFixtureMove";
+            this.btnFixtureMove.Size = new System.Drawing.Size(150, 52);
+            this.btnFixtureMove.TabIndex = 316;
+            this.btnFixtureMove.Text = "ATI分离";
+            this.btnFixtureMove.UseVisualStyleBackColor = true;
+            this.btnFixtureMove.Click += new System.EventHandler(this.btnFixtureMove_Click);
+            // 
             // chbXunHuan
             // 
             this.chbXunHuan.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
@@ -300,9 +313,9 @@
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             this.panel2.Controls.Add(this.lblRobotWarnMsg);
-            this.panel2.Location = new System.Drawing.Point(518, 11);
+            this.panel2.Location = new System.Drawing.Point(679, 11);
             this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(552, 59);
+            this.panel2.Size = new System.Drawing.Size(391, 59);
             this.panel2.TabIndex = 270;
             // 
             // lblRobotWarnMsg
@@ -313,7 +326,7 @@
             this.lblRobotWarnMsg.ForeColor = System.Drawing.Color.Red;
             this.lblRobotWarnMsg.Location = new System.Drawing.Point(4, 3);
             this.lblRobotWarnMsg.Name = "lblRobotWarnMsg";
-            this.lblRobotWarnMsg.Size = new System.Drawing.Size(542, 51);
+            this.lblRobotWarnMsg.Size = new System.Drawing.Size(381, 51);
             this.lblRobotWarnMsg.TabIndex = 4;
             // 
             // btnStart
@@ -814,5 +827,6 @@
         private System.Windows.Forms.Label lblProName;
         private System.Windows.Forms.Label label2;
         private System.Windows.Forms.Button btnWeld;
+        private System.Windows.Forms.Button btnFixtureMove;
     }
 }
\ No newline at end of file

URSolderingClient/FrmWork.cs

@@ -398,6 +398,14 @@ namespace URSoldering.Client
             {
                 LoadCountPoint(btnChange.Text.Equals("每周统计"));
             }
+            if (RobotBean.KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && RobotBean.KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.LOW))
+            {
+                btnFixtureMove.Text = "ATI分离";
+            }
+            else
+            {
+                btnFixtureMove.Text = "ATI吸附";
+            }
         }
         private void UpdateCheckResult(Label lblshowMsg,  int result)
         {
@@ -862,5 +870,27 @@ namespace URSoldering.Client
                 MessageBox.Show("焊接失败：" + msg);
             }
         }
+        private void FixtureCylinderMove(IO_VALUE clamp, IO_VALUE relax)
+        {
+            RobotBean.KNDIOMove(IO_Type.Fixture_Clamp, clamp);
+            RobotBean.KNDIOMove(IO_Type.Fixture_Relax, relax);
+        }
+        private void btnFixtureMove_Click(object sender, EventArgs e)
+        {
+            DialogResult result = MessageBox.Show("确定进行"+btnFixtureMove.Text+"?","确认",MessageBoxButtons.OKCancel,MessageBoxIcon.Question  );
+            if (result.Equals(DialogResult.OK))
+            {
+                if (btnFixtureMove.Text.Equals("ATI分离"))
+                {
+                    FixtureCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH);
+                    btnFixtureMove.Text = "ATI吸附";
+                }
+                else
+                { 
+                    FixtureCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW);
+                    btnFixtureMove.Text = "ATI分离";
+                }
+            }
+        }
     }
 }