1

DeviceLibrary/Robot/soldering/WeldRobotBean.cs

@@ -98,23 +98,14 @@ namespace URSoldering.DeviceLibrary
         /// 初始化 
         /// 初始化 
         /// </summary>
         /// </summary>
         public static void Init()
         public static void Init()
-        {
-            //URRobotControl.InitEpson();
-            Task.Factory.StartNew(delegate ()
-          {
-              bool result = URRobotControl.StartRobot();
-              if (!result)
-              {
-                  WarnMsg = "连接UR机器人失败";
-              }
-          });
+        { 
+            StartURRobot();
             SolderingManager.Init(RobotConfig.JBC_Soldering_Port, RobotConfig.JBC_Soldering_Num);
             SolderingManager.Init(RobotConfig.JBC_Soldering_Port, RobotConfig.JBC_Soldering_Num);
             SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
             SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
 
 
             isInit = true;
             isInit = true;
         }
         }
-
-        public static void ResetInit()
+        private static void StartURRobot()
         {
         {
             if (!URRobotControl.IsRun)
             if (!URRobotControl.IsRun)
             {
             {
@@ -128,6 +119,10 @@ namespace URSoldering.DeviceLibrary
                     }
                     }
                 });
                 });
             }
             }
+        }
+        public static void ResetInit()
+        {
+            StartURRobot();
             SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
             SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
             SolderingManager.Init(RobotConfig.JBC_Soldering_Port, RobotConfig.JBC_Soldering_Num);
             SolderingManager.Init(RobotConfig.JBC_Soldering_Port, RobotConfig.JBC_Soldering_Num);
         }
         }

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -116,6 +116,10 @@ namespace URSoldering.DeviceLibrary
         /// <returns></returns>
         /// <returns></returns>
         public static bool StartRobot()
         public static bool StartRobot()
         {
         {
+            if (IsRun)
+            {
+                return true;
+            }
             if (reconnectTimer == null)
             if (reconnectTimer == null)
             {
             {
                 reconnectTimer = new System.Timers.Timer();
                 reconnectTimer = new System.Timers.Timer();
@@ -125,10 +129,6 @@ namespace URSoldering.DeviceLibrary
                 reconnectTimer.Enabled = false;
                 reconnectTimer.Enabled = false;
             }
             }
             IsStartConnect = true;
             IsStartConnect = true;
-            if (IsRun)
-            {
-                return true;
-            }
             return StartConnect();
             return StartConnect();
         }
         }
 
 
@@ -160,9 +160,10 @@ namespace URSoldering.DeviceLibrary
                 PreStartTime = DateTime.Now;
                 PreStartTime = DateTime.Now;
                 startCount++;
                 startCount++;
 
 
-                //Reset();
-
+                LogUtil.info("" + LogName + "开始连接");
+                Reset(); 
                 controlTcp = new TcpClient();
                 controlTcp = new TcpClient();
+                controlTcp.TimeOutTime = 2000;
                 bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
                 bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
                 if (!result)
                 if (!result)
                 {
                 {

URSolderingClient/FrmBoardInfo.cs

@@ -235,6 +235,7 @@ namespace URSoldering.Client
                 }
                 }
                 if (!URRobotControl.IsRun&&isRun.Equals(false))
                 if (!URRobotControl.IsRun&&isRun.Equals(false))
                 {
                 {
+                    isRun = true;
                     Task.Factory.StartNew(delegate ()
                     Task.Factory.StartNew(delegate ()
                     {
                     {
                         bool result = URRobotControl.StartRobot();
                         bool result = URRobotControl.StartRobot();
@@ -248,13 +249,10 @@ namespace URSoldering.Client
                         }
                         }
                     });
                     });
                   
                   
-                    isRun = true;
                 }
                 }
                 else
                 else
                 {
                 {
-                    RobotStatus(true);
-                    URRobotControl.FreeAxis();
-                     
+                    RobotStatus(true); 
                     UpdateRobotPosition();
                     UpdateRobotPosition();
                 }
                 }
             }
             }
@@ -272,8 +270,7 @@ namespace URSoldering.Client
             }
             }
             URRobotControl.LockAxis();
             URRobotControl.LockAxis();
             //timer2.Stop();
             //timer2.Stop();
-            timer1.Stop();
-            UsbCameraHDevelop.CloseAllCamera();
+            timer1.Stop(); 
         }
         }
 
 
         private void btnSavePoint_Click(object sender, EventArgs e)
         private void btnSavePoint_Click(object sender, EventArgs e)

URSolderingClient/FrmOrgConfig.cs

@@ -22,25 +22,12 @@ namespace URSoldering.Client
      
      
         private void FrmBoardInfo_Load(object sender, EventArgs e)
         private void FrmBoardInfo_Load(object sender, EventArgs e)
         {
         {
-            CheckForIllegalCrossThreadCalls = false;
-            
-
-            //此界面打开时，不能打开自动焊接
-            
+            //CheckForIllegalCrossThreadCalls = false;  
             if (WeldRobotBean.ISRun)
             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");
                 LogUtil.error("进入焊接界面，发现WeldRobotBean自动运行中，关闭自动运行");
                 WeldRobotBean.StopRun();
                 WeldRobotBean.StopRun();
-            }
-            if (URRobotControl.IsRun)
-            {
-                URRobotControl.FreeAxis();
-                URPointValue lastP = URRobotControl.GetLastPosition();
-                urRobotSControl1.ShowPoint(lastP);
-            }
-            else
-            { 
-            }
+            } 
             isAuto = false;
             isAuto = false;
 
 
             timer1.Interval = 1000;
             timer1.Interval = 1000;
@@ -53,21 +40,11 @@ namespace URSoldering.Client
         {
         {
             if (!URRobotControl.IsRun && isRun.Equals(false))
             if (!URRobotControl.IsRun && isRun.Equals(false))
             {
             {
+                isRun = true;
                 Task.Factory.StartNew(delegate ()
                 Task.Factory.StartNew(delegate ()
                 {
                 {
-                    bool result = URRobotControl.StartRobot();
-                    if (!result)
-                    {
-                        LogUtil.info("连接失败：" + result);
-                    }
-                    else
-                    {
-                        URRobotControl.FreeAxis();
-                        isAuto = false;
-                    }
-                });
-
-                isRun = true;
+                    bool result = URRobotControl.StartRobot(); 
+                }); 
             }
             }
             else
             else
             {
             {
@@ -81,8 +58,7 @@ namespace URSoldering.Client
         private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
         private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
         {
         {
             URRobotControl.LockAxis(); 
             URRobotControl.LockAxis(); 
-            timer1.Stop();
-            UsbCameraHDevelop.CloseAllCamera();
+            timer1.Stop(); 
         }
         }