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Commit 447e2211 由 几米阳光
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机器人调试，日志分开打印

1 个父辈 1dcf046d
内嵌 并排
正在显示 24 个修改的文件 包含 515 行增加 和 512 行删除
Common/Setting_Init.cs
......@@ -106,13 +106,8 @@ namespace URSoldering.Common
/// 配置文件路径 Data Matrix ECC 200.dcm
/// </summary>
public static string CodeParamPath = "CodeParamPath";
/// <summary>
/// 是否需要连接Mes,1=需要，0不需要
/// </summary>
//public static string Mes_IsConnect = "Mes_IsConnect";
public static string VideoCameraName = "VideoCameraName";
//public static string CodeCameraName = "CodeCameraName";
public static string VideoCameraName = "VideoCameraName";
#endregion
public static string AOIWaitSeconds = "AOIWaitSeconds";
......
Common/logs/LogUtil.cs
......@@ -168,42 +168,32 @@ namespace URSoldering.Common
}
}
private static readonly ILog solderingLog = LogManager.GetLogger("weldInfoAppender");
private static readonly ILog urStatusLog = LogManager.GetLogger("RobotStatusLogAppender");
private static string split = ",";
//public static void SoldPoint(string boardName, string pointName, DateTime startPreTime,DateTime endPreTime,DateTime startWeldTime,
// DateTime endWeldTime)
//{
// solderingLog.Info(DateTime.Now.ToString() + split + boardName + split + pointName + split + startPreTime.ToString()+split+
// endPreTime.ToString()+split+startWeldTime.ToString()+split+endWeldTime.ToString());
//}
public static void SoldPoint(string boardName, string pointName, DateTime startPreTime,DateTime endPreTime,DateTime startWeldTime,
DateTime endWeldTime, int preTemp, double preTime, int weldTemp, double weldTime, double ssendSpeed, double ssendTime, double sendSpeed, double sendTime)
{
solderingLog.Info(DateTime.Now.ToString() + split + boardName + split + pointName + split + startPreTime.ToString() + split +
endPreTime.ToString() + split + startWeldTime.ToString() + split + endWeldTime.ToString()+split+preTemp+split+preTime+split+weldTemp+split
+weldTime+split+ssendSpeed+split+ssendTime+split+sendSpeed+split+sendTime);
}
private static readonly ILog tempLog = LogManager.GetLogger("tempAppender");
public static void TempLog(string msg)
{
if (msg.Equals("--"))
{
return;
}
tempLog.Info(DateTime.Now.ToString() + split + msg);
public static void URSInfo(string msg)
{
urStatusLog.Info(msg);
}
private static readonly ILog boardSoldLog = LogManager.GetLogger("boardSoldAppender");
public static void BoardSolderingLog(string boardName, DateTime startTime, DateTime endTime)
public static void URSError(string msg)
{
urStatusLog.Error(msg);
}
private static readonly ILog urListenLog = LogManager.GetLogger("RobotListenLogAppender");
public static void URLInfo(string msg)
{
boardSoldLog.Info(DateTime.Now.ToString() + split + boardName + split + startTime + split + endTime);
urListenLog.Info(msg);
}
public static void URLError(string msg)
{
urListenLog.Error(msg);
}
/// <summary>
/// 获取写文件的时间
/// </summary>
/// <summary>
/// 获取写文件的时间
/// </summary>
public static DateTime GetFileTime(string fileName)
{
if (!fileName.Contains(".log"))
......
Common/util/TcpClient.cs
......@@ -225,7 +225,7 @@ namespace URSoldering.Common
}
else
{
LogUtil.info(LOGGER, "发送数据：" + strSendData);
LogUtil.debug(LOGGER, "发送数据：" + strSendData);
}
strSendData = strSendData + "\r\n";
......
Common/util/URTcpClient.cs
......@@ -15,14 +15,14 @@ namespace URSoldering.Common
public class URTcpClient
{
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public delegate void ByteHandleMessage(byte[] data);
public int DefaultDataLength = 1024;
public int ReviceSleepMS = 100;
private Socket m_clientSocket=null;
private byte[] m_receiveBuffer = new byte[1024];
public int DefaultDataLength = 1024;
public int ReviceSleepMS = 100;
private Socket m_clientSocket = null;
private byte[] m_receiveBuffer = new byte[1078];
private string LogName = "";
private ByteHandleMessage byteOnReceived;
public int TimeOutTime = 0;
......@@ -39,14 +39,7 @@ namespace URSoldering.Common
{
return true;
}
#region remarks
/********************************************************************************************
* 当Socket.Conneted为false时， 如果您需要确定连接的当前状态，请进行非阻塞、零字节的 Send 调用。
* 如果该调用成功返回或引发 WAEWOULDBLOCK 错误代码 (10035)，则该套接字仍然处于连接状态；
* 否则，该套接字不再处于连接状态。
* Depending on http://msdn.microsoft.com/zh-cn/library/system.net.sockets.socket.connected.aspx?cs-save-lang=1&cs-lang=csharp#code-snippet-2
********************************************************************************************/
#endregion
try
{
#region 过程
......@@ -82,13 +75,12 @@ namespace URSoldering.Common
}
}
//Console.WriteLine("Connected: {0}", client.Connected);
return connectState;
#endregion
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "出错啦" + ex.ToString());
LogUtil.debug(LOGGER, "出错啦" + ex.ToString());
return false;
}
}
......@@ -98,6 +90,7 @@ namespace URSoldering.Common
/// </summary>
public bool connect(string serverIP, int serverPort, ByteHandleMessage byteHandle)
{
LogName = "【" + serverIP + " ，" + serverPort + "】";
m_receiveBuffer = new byte[DefaultDataLength];
m_clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
if (TimeOutTime <= 0)
......@@ -113,21 +106,18 @@ namespace URSoldering.Common
if (m_clientSocket.Connected)
{
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
byteOnReceived = byteHandle;
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
LogUtil.URLInfo("Connect to " + LogName + " success");
return true;
}
else
{
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!");
LogUtil.URLInfo("Connect to " + LogName + " fail");
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!" + ex.ToString(), 3);
LogUtil.URLError("Connect to " + LogName + " error :" + ex.ToString());
//m_clientSocket = null;
}
}
......@@ -139,7 +129,7 @@ namespace URSoldering.Common
connResult.AsyncWaitHandle.WaitOne(this.TimeOutTime, true); //等待2秒
if (!connResult.IsCompleted || (!m_clientSocket.Connected))
{
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!");
LogUtil.URLInfo("Connect to " + LogName + " fail");
m_clientSocket.Close();
//处理连接不成功的动作
return false;
......@@ -153,7 +143,7 @@ namespace URSoldering.Common
{
byteOnReceived = byteHandle;
}
LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
LogUtil.URLInfo("Connect to " + LogName + " success");
return true;
}
}
......@@ -167,20 +157,20 @@ namespace URSoldering.Common
{
try
{
if (m_clientSocket != null&&m_clientSocket.Connected)
if (m_clientSocket != null && m_clientSocket.Connected)
{
m_clientSocket.Shutdown(SocketShutdown.Both);
m_clientSocket.Close();
LogUtil.info(LOGGER, "Socket closed!");
m_clientSocket.Shutdown(SocketShutdown.Both);
m_clientSocket.Close();
LogUtil.URLInfo(LogName + "Socket closed!");
}
else
{
LogUtil.error(LOGGER, "No socket is running!");
LogUtil.URLInfo(LogName + "No socket is running!");
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "close error :" + ex.ToString());
LogUtil.URLError(LogName + "close error :" + ex.ToString());
}
}
......@@ -203,19 +193,10 @@ namespace URSoldering.Common
/// </summary>
public void sendLine(string strSendData)
{
if (strSendData.StartsWith("save"))
{
LogUtil.debug(LOGGER, "发送数据：" + strSendData);
}
else
{
LogUtil.debug(LOGGER, "发送数据：" + strSendData);
}
LogUtil.info(LOGGER, LogName + "发送数据：" + strSendData);
strSendData = strSendData + "\r\n";
byte[] sendBuffer = new byte[DefaultDataLength];
sendBuffer = Encoding.UTF8.GetBytes(strSendData);
if (m_clientSocket != null && m_clientSocket.Connected)
{
m_clientSocket.Send(sendBuffer);
......@@ -230,26 +211,27 @@ namespace URSoldering.Common
/// <param name="connId">每个客户的会话ID</param>
/// <param name="bytes">缓冲区数据</param>
/// <returns></returns>
private int OnReceive( byte[] bytes)
private int OnReceive(byte[] bytes)
{
try {
//bytes 为系统缓冲区数据
//bytesRead为系统缓冲区长度
int bytesRead = bytes.Length;
if (bytesRead > 0)
try
{
if (surplusBuffer == null)//判断是不是第一次接收，为空说是第一次
//bytes 为系统缓冲区数据
//bytesRead为系统缓冲区长度
int bytesRead = bytes.Length;
if (bytesRead > 0)
{
surplusBuffer = bytes;//把系统缓冲区数据放在自定义缓冲区里面
}
else
{
surplusBuffer = surplusBuffer.Concat(bytes).ToArray();//拼接上一次剩余的包
}
//已经完成读取每个数据包长度
int haveRead = 0;
//这里totalLen的长度有可能大于缓冲区大小的(因为 这里的surplusBuffer 是系统缓冲区+不完整的数据包)
int totalLen = surplusBuffer.Length;
if (surplusBuffer == null)//判断是不是第一次接收，为空说是第一次
{
surplusBuffer = bytes;//把系统缓冲区数据放在自定义缓冲区里面
}
else
{
surplusBuffer = surplusBuffer.Concat(bytes).ToArray();//拼接上一次剩余的包
}
//已经完成读取每个数据包长度
int haveRead = 0;
//这里totalLen的长度有可能大于缓冲区大小的(因为 这里的surplusBuffer 是系统缓冲区+不完整的数据包)
int totalLen = surplusBuffer.Length;
while (haveRead <= totalLen)
{
//如果在N此拆解后剩余的数据包连一个包头的长度都不够
......@@ -270,35 +252,35 @@ namespace URSoldering.Common
int bodySize = BitConverter.ToInt32(headByte, 0);//从包头里面分析出包体的长度
if (bodySize <= 0)
{
LogUtil.error("解析错误：长度："+bodySize);
LogUtil.error("解析错误：长度：" + bodySize);
}
//这里的 haveRead=等于N个数据包的长度 从0开始；0,1,2,3....N
//如果自定义缓冲区拆解N个包后的长度 大于 总长度，说最后一段数据不够一个完整的包了，拆出来保存
if (haveRead + bodySize > totalLen)
{
byte[] byteSub = new byte[totalLen - haveRead];
Buffer.BlockCopy(surplusBuffer, haveRead, byteSub, 0, totalLen - haveRead);
surplusBuffer = byteSub;
break;
}
else
{
//挨个分解每个包，解析成实际文字
byte[] endArray = surplusBuffer.Skip( haveRead ).Take( bodySize).ToArray();//
Task.Factory.StartNew(delegate ()
//这里的 haveRead=等于N个数据包的长度 从0开始；0,1,2,3....N
//如果自定义缓冲区拆解N个包后的长度 大于 总长度，说最后一段数据不够一个完整的包了，拆出来保存
if (haveRead + bodySize > totalLen)
{
byteOnReceived?.Invoke(endArray);
});
//依次累加当前的数据包的长度
haveRead = haveRead + bodySize;
if ( bodySize == bytesRead)//如果当前接收的数据包长度正好等于缓冲区长度，则待拼接的不规则数据长度归0
byte[] byteSub = new byte[totalLen - haveRead];
Buffer.BlockCopy(surplusBuffer, haveRead, byteSub, 0, totalLen - haveRead);
surplusBuffer = byteSub;
break;
}
else
{
surplusBuffer = null;//设置空 回到原始状态
totalLen = 0;//清0
//挨个分解每个包，解析成实际文字
byte[] endArray = surplusBuffer.Skip(haveRead).Take(bodySize).ToArray();//
Task.Factory.StartNew(delegate ()
{
byteOnReceived?.Invoke(endArray);
});
//依次累加当前的数据包的长度
haveRead = haveRead + bodySize;
if (bodySize == bytesRead)//如果当前接收的数据包长度正好等于缓冲区长度，则待拼接的不规则数据长度归0
{
surplusBuffer = null;//设置空 回到原始状态
totalLen = 0;//清0
}
}
}
}
}
}
catch (Exception ex)
{
......@@ -314,22 +296,22 @@ namespace URSoldering.Common
if (m_clientSocket != null && m_clientSocket.Connected)
{
int REnd = m_clientSocket.EndReceive(ar);
OnReceive(m_receiveBuffer);
//Task.Factory.StartNew(delegate ()
//{
// byteOnReceived(m_receiveBuffer);
//});
//OnReceive(m_receiveBuffer);
Task.Factory.StartNew(delegate ()
{
byteOnReceived(m_receiveBuffer);
});
Thread.Sleep(ReviceSleepMS);
//LOGGER.Debug("m_clientSocket:" + m_clientSocket + "\n m_receiveBuffer" + m_receiveBuffer);
//Task.Factory.StartNew(delegate ()
//{
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
//});
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "socket received error:" + ex.ToString(), 4);
LogUtil.URLError(LogName + " socket received error:" + ex.ToString());
}
}
}
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -80,6 +80,9 @@
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Xml" />
<Reference Include="URToolKit">
<HintPath>..\dll\URToolKit.dll</HintPath>
</Reference>
</ItemGroup>
<ItemGroup>
<Compile Include="bean\BoardInfo.cs" />
......@@ -94,7 +97,7 @@
<Compile Include="deviceLibrary\kangnaide\KNDManager.cs" />
<Compile Include="deviceLibrary\kangnaide\MasterTcpClient.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotControl.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotManager.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotClient.cs" />
<Compile Include="Robot\MoveType.cs" />
<Compile Include="Robot\soldering\AlarmType.cs" />
<Compile Include="bean\BoardManager.cs" />
......
DeviceLibrary/Robot/LineSolderingRobot_Partial.cs
......@@ -13,10 +13,7 @@ namespace URSoldering.DeviceLibrary
public event GetCode GetCodeFun;
public bool IsAutoRun = false;
private void LineLog(string msg)
{
LogUtil.debug(RobotName + msg);
}
private void BusyProcess()
{
if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
......
DeviceLibrary/RobotConfig/config/boardData.txt
{"myImage":null,"boardId":56,"WareCode":"hanjietest","ZHighValue":-20.0,"StationNum":0,"PartNumber":"보쌈꿎桿","boardName":"보쌈꿎桿","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","PositionX":-139.107,"PositionY":264.566,"PositionU":32.2339,"PositionZ":-105.762,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":2,"pointName":"P2","PositionX":-137.652,"PositionY":215.817,"PositionU":32.9741,"PositionZ":-105.762,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":3,"pointName":"P3","PositionX":-142.84,"PositionY":163.777,"PositionU":77.6469,"PositionZ":-98.8411,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":4,"pointName":"P4","PositionX":-154.846,"PositionY":271.558,"PositionU":36.3087,"PositionZ":-116.111,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":5,"pointName":"P5","PositionX":-155.533,"PositionY":224.878,"PositionU":37.3001,"PositionZ":-116.115,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":6,"pointName":"P6","PositionX":-154.178,"PositionY":174.523,"PositionU":40.7436,"PositionZ":-116.116,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":7,"pointName":"P7","PositionX":-146.152,"PositionY":148.147,"PositionU":42.3167,"PositionZ":-116.117,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":8,"pointName":"P8","PositionX":-180.554,"PositionY":259.323,"PositionU":41.3738,"PositionZ":-116.143,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":9,"pointName":"P9","PositionX":-177.282,"PositionY":162.491,"PositionU":46.8716,"PositionZ":-116.143,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"}],"originX":-64.1489,"originY":119.404,"imgName":"보쌈꿎桿.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
{"myImage":null,"boardId":57,"WareCode":"test","ZHighValue":-20.0,"StationNum":0,"PartNumber":"TEST","boardName":"TEST","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","PositionX":-154.178,"PositionY":174.523,"PositionU":40.7436,"PositionZ":-116.116,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":2.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"},{"pointNum":2,"pointName":"P2","PositionX":-146.152,"PositionY":148.147,"PositionU":42.3167,"PositionZ":-116.117,"HandDirection":2,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":3.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"HandValue":"璘글"}],"originX":-64.1489,"originY":119.404,"imgName":"TEST.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
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DeviceLibrary/RobotConfig/config/solderingWorkCount.json 0 → 100644
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DeviceLibrary/RobotConfig/solderingConfig/SolderingRobotConfig.csv
类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID
DI,急停,SuddenStop_Single,200,192.168.200.11,0,急停,X01,DI-01,0
DI,气压检测,AirCheck_Single,201,192.168.200.11,0,气压检测,X02,DI-02,0
DI,自动夹具夹紧端,Fixture_Clamp,202,192.168.200.11,0,自动夹具夹紧端,X03,DI-03,0
DI,自动夹具放松端,Fixture_Relax,203,192.168.200.11,0,自动夹具放松端,X04,DI-04,0
DI,送丝气缸工作端,SendWire_Work,204,192.168.200.11,0,送丝气缸工作端,X05,DI-05,0
DI,送丝气缸清洗端,SendWire_Clear,205,192.168.200.11,0,送丝气缸清洗端,X06,DI-06,0
DI,烙铁气缸上升端,Soldering_Up,206,192.168.200.11,0,烙铁气缸上升端,X07,DI-07,0
DI,烙铁气缸下降端,Soldering_Down,207,192.168.200.11,0,烙铁气缸下降端,X08,DI-08,0
,,,208,192.168.200.11,0,,X09,DI-09,0
,,,209,192.168.200.11,0,,X10,DI-10,0
,,,210,192.168.200.11,0,,X11,DI-11,0
,,,211,192.168.200.11,0,,X12,DI-12,0
,,,212,192.168.200.11,0,,X13,DI-13,0
,,,213,192.168.200.11,0,,X14,DI-14,0
,,,214,192.168.200.11,0,,X15,DI-15,0
,,,215,192.168.200.11,0,,X16,DI-16,0
DO,自动夹具夹紧SOL,Fixture_Clamp,100,192.168.200.11,0,自动夹具夹紧SOL,Y01,DO-01,0
DO,自动夹具放松SOL,Fixture_Relax,101,192.168.200.11,0,自动夹具放松SOL,Y02,DO-02,0
DO,送丝气缸工作SOL,SendWire_Work,102,192.168.200.11,0,送丝气缸工作SOL,Y03,DO-03,0
DO,送丝气缸清洗SOL,SendWire_Clear,103,192.168.200.11,0,送丝气缸清洗SOL,Y04,DO-04,0
DO,烙铁气缸上升SOL,Soldering_Up,104,192.168.200.11,0,烙铁气缸上升SOL,Y05,DO-05,0
DO,烙铁气缸下降SOL,Soldering_Down,105,192.168.200.11,0,烙铁气缸下降SOL,Y06,DO-06,0
DO,送丝电机启动,SendWireStart,106,192.168.200.11,0,送丝电机启动,Y07,DO-07,0
,,,107,192.168.200.11,0,,Y08,DO-08,0
,,,108,192.168.200.11,0,,Y09,DO-09,0
,,,109,192.168.200.11,0,,Y10,DO-10,0
,,,110,192.168.200.11,0,,Y11,DO-11,0
,,,111,192.168.200.11,0,,Y12,DO-12,0
,,,112,192.168.200.11,0,,Y13,DO-13,0
,自动指示灯（绿色）,AutoRunSingle,113,192.168.200.11,0,自动指示灯（绿色）,Y14,DO-14,0
,待机指示灯（黄色）,WaitSingle,114,192.168.200.11,0,待机指示灯（黄色）,Y15,DO-15,0
,故障指示灯（红色）,AlarmSingle,115,192.168.200.11,0,故障指示灯（红色）,Y16,DO-16,0
DI,急停,SuddenStop_Single,200,192.168.10.11,0,急停,X01,DI-01,0
DI,气压检测,AirCheck_Single,201,192.168.10.11,0,气压检测,X02,DI-02,0
DI,自动夹具夹紧端,Fixture_Clamp,202,192.168.10.11,0,自动夹具夹紧端,X03,DI-03,0
DI,自动夹具放松端,Fixture_Relax,203,192.168.10.11,0,自动夹具放松端,X04,DI-04,0
DI,送丝气缸工作端,SendWire_Work,204,192.168.10.11,0,送丝气缸工作端,X05,DI-05,0
DI,送丝气缸清洗端,SendWire_Clear,205,192.168.10.11,0,送丝气缸清洗端,X06,DI-06,0
DI,烙铁气缸上升端,Soldering_Up,206,192.168.10.11,0,烙铁气缸上升端,X07,DI-07,0
DI,烙铁气缸下降端,Soldering_Down,207,192.168.10.11,0,烙铁气缸下降端,X08,DI-08,0
,,,208,192.168.10.11,0,,X09,DI-09,0
,,,209,192.168.10.11,0,,X10,DI-10,0
,,,210,192.168.10.11,0,,X11,DI-11,0
,,,211,192.168.10.11,0,,X12,DI-12,0
,,,212,192.168.10.11,0,,X13,DI-13,0
,,,213,192.168.10.11,0,,X14,DI-14,0
,,,214,192.168.10.11,0,,X15,DI-15,0
,,,215,192.168.10.11,0,,X16,DI-16,0
DO,自动夹具夹紧SOL,Fixture_Clamp,100,192.168.10.11,0,自动夹具夹紧SOL,Y01,DO-01,0
DO,自动夹具放松SOL,Fixture_Relax,101,192.168.10.11,0,自动夹具放松SOL,Y02,DO-02,0
DO,送丝气缸工作SOL,SendWire_Work,102,192.168.10.11,0,送丝气缸工作SOL,Y03,DO-03,0
DO,送丝气缸清洗SOL,SendWire_Clear,103,192.168.10.11,0,送丝气缸清洗SOL,Y04,DO-04,0
DO,烙铁气缸上升SOL,Soldering_Up,104,192.168.10.11,0,烙铁气缸上升SOL,Y05,DO-05,0
DO,烙铁气缸下降SOL,Soldering_Down,105,192.168.10.11,0,烙铁气缸下降SOL,Y06,DO-06,0
DO,送丝电机启动,SendWireStart,106,192.168.10.11,0,送丝电机启动,Y07,DO-07,0
,,,107,192.168.10.11,0,,Y08,DO-08,0
,,,108,192.168.10.11,0,,Y09,DO-09,0
,,,109,192.168.10.11,0,,Y10,DO-10,0
,,,110,192.168.10.11,0,,Y11,DO-11,0
,,,111,192.168.10.11,0,,Y12,DO-12,0
,,,112,192.168.10.11,0,,Y13,DO-13,0
,自动指示灯（绿色）,AutoRunSingle,113,192.168.10.11,0,自动指示灯（绿色）,Y14,DO-14,0
,待机指示灯（黄色）,WaitSingle,114,192.168.10.11,0,待机指示灯（黄色）,Y15,DO-15,0
,故障指示灯（红色）,AlarmSingle,115,192.168.10.11,0,故障指示灯（红色）,Y16,DO-16,0
,,,,,,,,,
PRO,尤傲机器人IP,UR_IP,192.168.200.13,,,,,,
PRO,尤傲机器人IP,UR_IP,192.168.10.13,,,,,,
PRO,焊接多少块板子后，清洗烙铁,ClearCount,1,,,,,,
PRO,清洗IO的毫秒数,ClearMSenconds,3000,,,,,,
PRO,JBC烙铁端口号,JBC_Soldering_Port,COM4,,,,,,
......
DeviceLibrary/bean/BoardManager.cs
......@@ -256,30 +256,7 @@ namespace URSoldering.DeviceLibrary
}return null;
}
public static void UpdateTime(BoardInfo board, DateTime startTime, DateTime endTime)
{
LogUtil.BoardSolderingLog(board.boardName, startTime, endTime);
int index = 0;
foreach (BoardInfo bo in boardList)
{
if (bo.boardId.Equals(board.boardId))
{
boardList[index].solderingCount++;
double addtime = (endTime - startTime).TotalSeconds;
boardList[index].solderingTime += addtime;
boardList[index].solderTime += addtime;
boardList[index].solderCount++;
double value = boardList[index].solderingTime / boardList[index].solderingCount;
value = Math.Round(value, 1, MidpointRounding.AwayFromZero);
boardList[index].planNeedTime = value;
LogUtil.info("电路板：" + board.boardName + ",总时间" + boardList[index].solderingTime + "，总次数" + boardList[index].solderingCount + "，本次焊接时间"+addtime+"，平均焊接时间：" + boardList[index].planNeedTime);
break;
}
index++;
}
SaveListToFile(boardList);
}
public static Dictionary<int, BoardInfo> GetBoardMapByPartNum(string partNum)
{
......
DeviceLibrary/bean/RobotBean.cs
......@@ -126,12 +126,13 @@ namespace URSoldering.DeviceLibrary
}
}
//连接上IO模块后，夹具夹紧
KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW);
//KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH);
//KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW);
}
public static bool ShuddenOK()
{
return true;
if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
{
return false;
......
DeviceLibrary/deviceLibrary/urRobot/URRobotManager.cs → DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs
......@@ -7,20 +7,17 @@ using URSoldering.Common;
namespace URSoldering.DeviceLibrary
{
public class URRobotManager
public class URRobotClient
{
private static URTcpClient listenClient = null;
public static double Robot_LIM_Z { get; set; }
public static bool IsRun { get; set; }
public static void StartListen()
private static URTcpClient listenClient = null;
private static int Port = 30003;
public static string LastMoveCMD = "";
public static void StartListen(string ip)
{
listenClient = new URTcpClient();
listenClient.DefaultDataLength = 1024;
listenClient.DefaultDataLength = 1078;
listenClient.ReviceSleepMS = 5;
listenClient.connect("192.168.10.10", 30003, HandleMessage);
listenClient.connect(ip, Port, HandleMessage);
}
public static void StopListen()
{
......@@ -29,6 +26,17 @@ namespace URSoldering.DeviceLibrary
listenClient.close();
}
}
public static bool IsConnected()
{
if (listenClient != null)
{
return listenClient.IsConnected();
}return false;
}
public static string LogName
{
get { return "【UR端口：" + Port + "】"; }
}
private static double BitToDouble(byte[] data)
{
double f = BitConverter.ToDouble(data, 0);
......@@ -55,11 +63,14 @@ namespace URSoldering.DeviceLibrary
reviceMsg = reviceMsg + " " + String.Format(strFromat, data);
}return reviceMsg;
}
private static void HandleMessage(byte[] reviceData)
{
//StopListen();
if (LastMoveCMD.Equals("").Equals(false))
{
listenClient.sendLine(LastMoveCMD);
}
StopListen();
try
{
//string reviceMsg = ByteToStr(reviceData);
......@@ -75,41 +86,55 @@ namespace URSoldering.DeviceLibrary
int maxdouble = (messageSize - 4) / 8;
List<double> doubleList = new List<double>();
doubleList.Add(messageSize);
for (int i = 0; i < maxdouble; i++)
if (maxdouble > 61)
{
if (reviceData.Length >= (12 + i * 8))
for (int i = 0; i < maxdouble; i++)
{
byte[] data = reviceData.Skip(4 + i * 8).Take(8).ToArray().Reverse<byte>().ToArray();
double value = BitToDouble(data);
//LogUtil.info("第【"+(i+1)+"】个double["+ByteToStr(data) +"]值："+value);
doubleList.Add(value);
if (i >= 55 && i <= 61)
{
if (reviceData.Length >= (12 + i * 8))
{
byte[] data = reviceData.Skip(4 + i * 8).Take(8).ToArray().Reverse<byte>().ToArray();
double value = BitToDouble(data);
//LogUtil.info("第【"+(i+1)+"】个double["+ByteToStr(data) +"]值："+value);
doubleList.Add(value);
}
else
{
break;
}
}
else
{
doubleList.Add(0);
}
}
else
if (doubleList.Count > 61)
{
break;
string spilt = "，";
double x = doubleList[56] * 1000;
double y = doubleList[57] * 1000;
double z = doubleList[58] * 1000;
double rx = doubleList[59] * 1;
double ry = doubleList[60] * 1;
double rz = doubleList[61] * 1;
URPointValue newp = new URPointValue(x, y, z, rx, ry, rz);
URRobotControl.LastPoint = newp;
string reviceMsg = ByteToStr(reviceData);
//LogUtil.info("Read data：【" + reviceMsg + "】 ");
LogUtil.URLInfo( LogName+"length[" + messageSize + "]，data长[" + reviceData.Length + "]坐标"+newp.ToShowStr());
}
}
if (doubleList.Count > 100)
{
string spilt = "，";
double x = doubleList[56] * 1000;
double y = doubleList[57] * 1000;
double z = doubleList[58] * 1000;
double rx = doubleList[59] * 1;
double ry = doubleList[60] * 1;
double rz = doubleList[61] * 1;
LogUtil.info("数据长度："+messageSize+"，data长度："+reviceData.Length+"。实际坐标：" + x + spilt + y + spilt + z + spilt + rx + spilt + ry + spilt + rz + spilt);
}
else
{
string reviceMsg = ByteToStr(reviceData);
LogUtil.info("Read data：【" + reviceMsg + "】 ");
LogUtil.info("无法获取坐标，数据长度不正确");
LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】 ");
LogUtil.URLError(LogName + "无法获取坐标，数据长度不正确");
}
}catch(Exception ex)
{
LogUtil.error("出错：" + ex.ToString());
LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
StopListen();
}
}
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
......@@ -7,17 +7,19 @@ using System.Reflection;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using URToolKit;
namespace URSoldering.DeviceLibrary
{
public class URRobotControl
{
private static string spiltStr = ",";
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static TcpClient controlTcp = new TcpClient();
public static URPointValue LastPoint = new URPointValue();
public static string RobotIp = "192.168.1.120";
public static string RobotIp = "";
public static int ControlPort = 29999;
public static double Robot_LIM_Z = (double)ConfigAppSettings.GetNumValue(Setting_Init.Soldering_LIM_Z);
......@@ -26,9 +28,12 @@ namespace URSoldering.DeviceLibrary
private static string CMD_powerOff = "power off";
private static string CMD_robotMode = "robotmode";
private static string CMD_brakeRelease = "brake release";
private static string CMD_Safetymode = "Safetymode";
private static string REV_PowerOn = "powering on";
private static string REV_BrakeRelease = "brake releasing";
private static string REV_RobotMode = "robotmode";
private static string REV_SafetyMode = "safetymode";
/// <summary>
/// 记录最后一次收到OK的时间
/// </summary>
......@@ -52,12 +57,21 @@ namespace URSoldering.DeviceLibrary
private static int StartTimeOutSeconds = 10000;
public static string WarnMsg = "";
private static System.Timers.Timer reconnectTimer = new System.Timers.Timer();
private static System.Timers.Timer reconnectTimer = null;
public static void InitConfig(string ip)
{
RobotIp = ip;
}
public static string LogName
{
get { return "【" + RobotIp + " ，" + ControlPort + "】"; }
}
public static void Test()
{
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
}
/// <summary>
/// 开始启动连接机器人
/// </summary>
......@@ -68,7 +82,7 @@ namespace URSoldering.DeviceLibrary
{
reconnectTimer = new System.Timers.Timer();
reconnectTimer.AutoReset = true;
reconnectTimer.Interval = 30000;
reconnectTimer.Interval = 1000;
reconnectTimer.Elapsed += reconnectTimer_Elapsed;
reconnectTimer.Enabled = false;
}
......@@ -79,13 +93,11 @@ namespace URSoldering.DeviceLibrary
}
return StartConnect();
}
private static bool StartConnect()
{
try
{
WarnMsg = "";
if (RobotIp.Equals(""))
{
LogUtil.info("未初始化UR机械臂的IP地址");
......@@ -96,15 +108,16 @@ namespace URSoldering.DeviceLibrary
TimeSpan span = DateTime.Now - PreStartTime;
if (span.TotalMilliseconds < StartTimeOutSeconds)
{
LogUtil.info("UR机械臂正在连接中，不需要重连");
LogUtil.info("" + LogName + "正在连接中，不需要重连");
return true;
}
else
{
LogUtil.info("UR机械臂距离上次启动已经超过10秒，重新开始连接");
LogUtil.info("" + LogName + "距离上次启动已经超过10秒，重新开始连接");
StopRobot();
}
}
WarnMsg = "";
PreStartTime = DateTime.Now;
startCount++;
......@@ -113,44 +126,75 @@ namespace URSoldering.DeviceLibrary
bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
if (!result)
{
LogUtil.error(LOGGER, "连接【" + RobotIp + "】【" + ControlPort + "】失败");
LogUtil.error(LOGGER, "连接" + LogName + "失败");
return false;
}
else
{
LogUtil.info(LOGGER, "连接【" + RobotIp + "】【" + ControlPort + "】成功");
LogUtil.info(LOGGER, "连接" + LogName + "成功");
}
//发送
controlTcp.sendLine(CMD_robotMode);
controlTcp.sendLine(CMD_Safetymode);
//controlTcp.sendLine(CMD_robotMode);
preCheckTime = DateTime.Now;
return true;
}
catch (Exception ex)
{
LogUtil.error("starttcp error:" + ex.ToString());
LogUtil.error("" + LogName + "starttcp error:" + ex.ToString());
return false;
}
}
private static DateTime preCheckTime = DateTime.Now;
private static bool IsInPorcess = false;
private static void reconnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsStartConnect)
if (IsInPorcess)
{
return;
}
IsInPorcess = true;
try
{
//判断500在连接上，则获取状态
if (controlTcp.IsConnected())
if (IsStartConnect)
{
controlTcp.sendLine(CMD_robotMode);
TimeSpan span = DateTime.Now - preCheckTime;
if (span.TotalSeconds > 30)
{
preCheckTime = DateTime.Now;
//判断500在连接上，则获取状态
if (controlTcp.IsConnected())
{
controlTcp.sendLine(CMD_robotMode);
}
else
{
LogUtil.error("" + LogName + "reconnectTimer_Elapsed检测到 机械臂已经断开，需要重连！");
stopTcp();
StartConnect();
}
}
}
else
if (IsRun)
{
LogUtil.error("reconnectTimer_Elapsed检测到UR机械臂已经断开，需要重连！");
stopTcp();
StartConnect();
//如果监听的断开，直接重新连接
if (!URRobotClient.IsConnected())
{
URRobotClient.StartListen(RobotIp);
}
}
}
catch (Exception ex)
{
LOGGER.Error("" + LogName + " 定时器出错：" + ex.ToString());
}
IsInPorcess = false;
}
public static bool SendCMD(string cmd, int msendons)
{
try
{
LogUtil.URSInfo(LogName + "将于【" + msendons + "】后发送数据：" + cmd);
if (msendons > 0)
{
Task.Factory.StartNew(delegate ()
......@@ -166,7 +210,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "SendCMD出错啦cmd[" + cmd + "]msendons[" + msendons + "]" + ex.ToString());
LogUtil.URSError("" + LogName + "SendCMD出错啦cmd[" + cmd + "]msendons[" + msendons + "]" + ex.ToString());
}
return true;
}
......@@ -175,7 +219,7 @@ namespace URSoldering.DeviceLibrary
return SendCMD(CMD_robotMode, 0);
}
private static void OnControlRevice(string message)
{
if (message == null || message.Equals(""))
......@@ -184,45 +228,94 @@ namespace URSoldering.DeviceLibrary
}
try
{
LogUtil.info(LOGGER, "【" + RobotIp + "】【" + ControlPort + "】收到数据：" + message);
if (message.ToLower().IndexOf("powering on") >= 0)
//Connected: Universal Robots Dashboard Server
message = message.Replace("\n", "");
LogUtil.URSInfo(LogName + "收到数据：" + message);
if (message.ToLower().IndexOf(REV_PowerOn) >= 0)
{
SendCMD(CMD_brakeRelease, 1000);
}
else if (message.ToLower().IndexOf("brake releasing") >= 0)
else if (message.ToLower().IndexOf(REV_BrakeRelease) >= 0)
{
SendCMD(CMD_robotMode, 2000);
}
else if (message.ToLower().IndexOf("robotmode") >= 0)
else if (message.ToLower().IndexOf(REV_RobotMode) >= 0)
{
SafetymodeProcess(message);
}
else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0)
{
StatusProcess(message);
}
else
{
//急停模式
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "出错啦" + ex.ToString());
LogUtil.URSError(LogName + " OnControlRevice出错啦" + ex.ToString());
}
}
private static void StatusProcess(string message)
private static void SafetymodeProcess(string message)
{
string msg = message.ToLower().Replace("robotmode: ", "").ToUpper().Trim();
//LogUtil.info("收到机器人状态："+message);
string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
if (msg.Equals(URStatus.POWER_ON))
{
SendCMD(CMD_brakeRelease, 1000);
}
else if (msg.Equals(URStatus.RUNNING) || msg.Equals(URStatus.IDLE))
{
LogUtil.info("优傲机器人当前状态：" + msg + "，机器人连接成功！");
WarnMsg = "";
LogUtil.URSInfo(LogName + " 当前状态：" + msg + "，机器人连接成功！");
LogUtil.info(LogName + " 当前状态：" + msg + "，机器人连接成功！");
IsRun = true;
reconnectTimer.Enabled = true;
}
else
{
LogUtil.info("优傲机器人当前状态：" + msg + "，发送打开命令" + CMD_powerOn);
SendCMD(CMD_powerOn, 1000);
if (!IsTimeOut(message))
{
LogUtil.URSInfo(LogName + "当前状态：" + msg + "，发送打开命令" + CMD_powerOn);
SendCMD(CMD_powerOn, 1000);
}
}
}
private static void StatusProcess(string message)
{
string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
{
if (!IsTimeOut(message))
{
WarnMsg = "机器人急停中[" + msg + "]，请先打开急停";
SendCMD(CMD_Safetymode, 1000);
}
else
{
WarnMsg = "机器人急停中[" + msg + "]，启动超时";
IsRun = false;
}
}
else
{
SendCMD(CMD_Safetymode, 500);
}
}
private static bool IsTimeOut(string status)
{
TimeSpan span = DateTime.Now - PreStartTime;
if (span.TotalMilliseconds > StartTimeOutSeconds)
{
string logMsg = LogName + "【" + status + "】 已持续" + Math.Round(span.TotalMilliseconds) + "，启动超时！";
LogUtil.info(logMsg);
LogUtil.URSInfo(logMsg);
return true ;
}
return false ;
}
private static void stopTcp()
{
......@@ -235,12 +328,12 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error("stopTcp出错啦" + ex.ToString());
LogUtil.error(LogName + "stopTcp出错啦" + ex.ToString());
}
}
/// <summary>
/// 停止机器人，断开连接
/// </summary>
/// <summary>
/// 停止机器人，断开连接
/// </summary>
public static void StopRobot()
{
try
......@@ -251,16 +344,16 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error("StopEpson出错啦" + ex.ToString());
LogUtil.error(LogName + "StopEpson出错啦" + ex.ToString());
}
}
}
/// <summary>
/// 释放所有轴，切换为手移方式
/// </summary>
public static void FreeAxis()
{
}
/// <summary>
/// 锁定轴，改为程序模式
/// </summary>
......@@ -271,8 +364,12 @@ namespace URSoldering.DeviceLibrary
/// 移动到指定的坐标
/// </summary>
/// <param name="point"></param>
public static void MoveTo(URPointValue point)
public static bool MoveTo(URPointValue point)
{
//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)";
URRobotClient.LastMoveCMD = moveCmd;
return true;
}
/// <summary>
/// 获取机器人最后一次获取的坐标
......@@ -280,7 +377,7 @@ namespace URSoldering.DeviceLibrary
/// <returns></returns>
public static URPointValue GetLastPosition()
{
return new URPointValue();
return LastPoint;
}
}
public class URPointValue
......@@ -295,15 +392,15 @@ namespace URSoldering.DeviceLibrary
this.RZ = 0;
this.UpdateTime = DateTime.Now;
}
public URPointValue(double x, double y, double z, double rx,double ry,double rz)
public URPointValue(double x, double y, double z, double rx, double ry, double rz)
{
// TODO: Complete member initialization
this.X = x;
this.Y = y;
this.Z = z;
this.RX = rx;
this.RY = ry;
this.RZ = rz;
this.X = Math.Round(x, 2);
this.Y = Math.Round(y, 2);
this.Z = Math.Round(z, 2);
this.RX = Math.Round(rx, 4);
this.RY = Math.Round(ry, 4);
this.RZ = Math.Round(rz, 4);
this.UpdateTime = DateTime.Now;
}
/// <summary>
......@@ -311,15 +408,15 @@ namespace URSoldering.DeviceLibrary
/// </summary>
public DateTime UpdateTime { get; set; }
public double X { get; set; }
public double Y { get; set; }
public double Y { get; set; }
public double Z { get; set; }
public double RX { get; set; }
public double RY { get; set; }
public double RZ { get; set; }
public double RZ { get; set; }
public string ToShowStr()
{
return "[X: " + X + ",Y: " + Y + ",Z: " + Z + ",RX: " + RX + ",RY:" + RY + ",RZ:" + RZ+"]" ;
return "[X: " + X + ",Y: " + Y + ",Z: " + Z + ",RX: " + RX + ",RY:" + RY + ",RZ:" + RZ + "]";
}
public string ToJosonStr()
......@@ -330,7 +427,7 @@ namespace URSoldering.DeviceLibrary
public static URPointValue ToObject(string json)
{
return JsonHelper.DeserializeJsonToObject<URPointValue>(json);
return JsonHelper.DeserializeJsonToObject<URPointValue>(json);
}
}
public struct URStatus
......@@ -344,5 +441,17 @@ namespace URSoldering.DeviceLibrary
public static string IDLE = "IDLE";
public static string BACKDRIVE = "BACKDRIVE";
public static string RUNNING = "RUNNING";
/// <summary>
/// ROBOT_EMERGENCY_STOP 急停
/// </summary>
public static string ROBOT_EMERGENCY_STOP = "ROBOT_EMERGENCY_STOP";
/// <summary>
/// FAULT 急停
/// </summary>
public static string FAULT = "FAULT";
/// <summary>
/// POWER_OFF 外部急停
/// </summary>
public static string SFETY_POWER_OFF = "POWER_OFF";
}
}
URSolderingClient/App.config
......@@ -9,79 +9,56 @@
<add key="Robot_Type" value="SolderingRobot" />
<add key="Robot_ConfigPath" value="\RobotConfig\solderingConfig\SolderingRobotConfig.csv" />
<add key="Robot_CID" value="1" />
<add key="ScanCodeConfig" value="\RobotConfig\AOIConfig\ScanCode.vscf" />
<add key="HasSoldering" value ="0"/>
<add key="HasSoldering" value="0" />
<!--AOI检测文件-->
<add key="VideoCameraName" value="[0] Integrated Camera" />
<add key="AOIFileConfig" value="\RobotConfig\AOIConfig\AOIProgram.vscf" />
<add key="AOICheckPointFile" value="\RobotConfig\AOIConfig\AOIPointProgram.vscf" />
<add key ="AOIWaitSeconds" value ="4000"/>
<add key="AOIWaitSeconds" value="4000" />
<!--送丝器消除报警需要持续的秒数-->
<add key="SendWireRecoverSeconds" value="5" />
<!--空闲多久需要休眠，=0表示不需要休眠，>0表示休眠秒数-->
<add key="SleepSeconds" value="180" />
<!--摄像机名称列表配置，用#分割-->
<add key="CameraName" value="[1] HD USB Camera" />
<add key="CodeCameraName" value="[1] HD USB Camera" />
<add key="VideoCameraName" value="[0] Integrated Webcam" />
<add key="CameraName" value="SolderingAOI" />
<!--条码类型列表配置，用#分割-->
<add key="CodeType" value="QR Code" />
<add key="CodeType" value="QR Code#Data Matrix ECC 200" />
<!--条码参数文件所在路径，文件名与条码类型名一样-->
<add key="CodeParamPath" value="\RobotConfig\solderingConfig\" />
<!--摄像机名称列表配置，用#分割-->
<add key ="CameraName" value ="192168024#192168025"/>
<!--条码类型列表配置，用#分割-->
<add key ="CodeType" value ="QR Code#Data Matrix ECC 200"/>
<!--条码参数文件所在路径，文件名与条码类型名一样-->
<add key="CodeParamPath" value="\RobotConfig\solderingConfig\" />
<!--统计文件路径-->
<add key="WorkCount_ConfigPath" value="\RobotConfig\config\solderingWorkCount.json" />
<!--板子配置-->
<add key="Board_ConfigPath" value="\RobotConfig\config\boardData.txt" />
<add key="Program_ConfigPath" value="\RobotConfig\config\sprogram.txt" />
<add key="Default_BoardID" value="56" />
<add key="Board_Origin_X" value="-64.1489" />
<add key="Board_Origin_Y" value="119.404" />
<add key="Board_Origin_X" value="-67.29" />
<add key="Board_Origin_Y" value="-436.62" />
<!--机器人抬起高点设置-->
<add key="Soldering_LIM_Z" value="0" />
<!--机器人待机点位置-->
<add key="Soldering_Home_X" value="-57.0885" />
<add key="Soldering_Home_Y" value="218.558" />
<add key="Soldering_Home_Hand" value="2" />
<add key="Soldering_Home_U" value="4.29512" />
<add key="Soldering_Home_Z" value="-4.93001" />
<!--机器人清洗点1配置-->
<add key="Soldering_Clear_X_1" value="289.864" />
<add key="Soldering_Clear_Y_1" value="-10.0607" />
<add key="Soldering_Clear_Hand_1" value="2" />
<add key="Soldering_Clear_U_1" value="-84.4832" />
<add key="Soldering_Clear_Z_1" value="-114.909" />
<!--机器人清洗点2配置-->
<add key="Soldering_Clear_X_2" value="289.37" />
<add key="Soldering_Clear_Y_2" value="-21.5826" />
<add key="Soldering_Clear_Hand_2" value="2" />
<add key="Soldering_Clear_U_2" value="-86.7414" />
<add key="Soldering_Clear_Z_2" value="-114.907" />
<add key="Soldering_LIM_Z" value="500" />
<!--程序图片路径-->
<add key="Board_Image_Path" value="\RobotConfig\config" />
<!--程序默认图片-->
<add key="BOARD_IMAGE_DEFAULT" value="defaultBoard.jpg" />
<!--送丝1mm对应的脉冲数-->
<add key="SendWire_Change" value="-305" />
<add key="Component_ConfigPath" value="\RobotConfig\config\componentData.txt" />
<!--报警时反转送丝速度-->
<add key="ReverseSendWireSpeed" value="-10" />
<!--报警时反转送丝时间-->
<add key="ReverseSendWireTime" value="3" />
<add key="ISDebug" value="1" />
<!--机器人是否高速运行-->
<add key="Robot_IsHigh" value="1" />
<add key="Soldering_X_Min" value="0" />
<add key="Soldering_Y_Min" value="0" />
<add key="Soldering_Z_Min" value="0" />
<add key="Soldering_U_Min" value="0" />
<add key="Soldering_X_Max" value="0" />
<add key="Soldering_Y_Max" value="0" />
<add key="Soldering_Z_Max" value="0" />
<add key="Soldering_U_Max" value="0" />
<add key="Soldering_Clear1Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:04.5888384+08:00&quot;,&quot;X&quot;:-67.28,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.7,&quot;RX&quot;:2.7394,&quot;RY&quot;:0.0599,&quot;RZ&quot;:0.0708}" />
<add key="Soldering_Clear2Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:06.1809687+08:00&quot;,&quot;X&quot;:-67.29,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.68,&quot;RX&quot;:2.7394,&quot;RY&quot;:0.06,&quot;RZ&quot;:0.0708}" />
<add key="Soldering_HomePoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:02.1180802+08:00&quot;,&quot;X&quot;:-67.29,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.66,&quot;RX&quot;:2.7395,&quot;RY&quot;:0.0599,&quot;RZ&quot;:0.0707}" />
<add key="Soldering_RobotMin" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Soldering_RobotMax" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Config_Pwd" value="123456" />
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/URSoldering.log" />
<appender name="defaultAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/URSolderingClient.log" />
<appendToFile value="true" />
<rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" />
......@@ -89,10 +66,37 @@
<conversionPattern value="[%date][%t]%-5p %m%n" />
</layout>
</appender>
<root>
<appender name="RobotStatusLogAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/UR/RobotStatus.log" />
<appendToFile value="true" />
<rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date] %m%n" />
</layout>
</appender>
<appender name="RobotListenLogAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/UR/RobotListen.log" />
<appendToFile value="true" />
<rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date] %m%n" />
</layout>
</appender>
<logger name="RobotStatusLogAppender">
<level value="Info" />
<appender-ref ref="RobotStatusLogAppender" />
</logger>
<logger name="RobotListenLogAppender">
<level value="Info" />
<appender-ref ref="RobotListenLogAppender" />
</logger>
<logger name="defaultAppender">
<level value="Info" />
<appender-ref ref="RollingLogFileAppender" />
</root>
<appender-ref ref="defaultAppender" />
</logger>
</log4net>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0" />
......
URSolderingClient/FrmBoardInfo.cs
......@@ -115,7 +115,7 @@ namespace URSoldering.Client
if (!SendWireManager.IsRun)
{
SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
//SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
}
if (SendWireManager.IsRun) {
......@@ -259,7 +259,7 @@ namespace URSoldering.Client
private void timer_Elapsed(object sender, EventArgs e)
{
//判断是否开急停
if (RobotBean.KNDIOValue(IO_Type.SuddenStop_Single).Equals(IO_VALUE.LOW))
if (RobotBean.ShuddenOK().Equals(false))
{
lblMsg.Text = "急停未开";
}
......@@ -431,11 +431,11 @@ namespace URSoldering.Client
private bool isfast = false;
private void MoveTest(int rowIndex)
{
if (isAuto == false)
{
MessageBox.Show("请先切换到自动模式！");
return;
}
//if (isAuto == false)
//{
// MessageBox.Show("请先切换到自动模式！");
// return;
//}
URRobotControl.MoveTo(GetRowPoint(rowIndex));
}
......
URSolderingClient/FrmMenu.Designer.cs
......@@ -35,9 +35,6 @@ namespace URSoldering.Client
this.btnProduct = new System.Windows.Forms.Button();
this.btnWelding = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel();
this.button2 = new System.Windows.Forms.Button();
this.btnStop = new System.Windows.Forms.Button();
this.btnStart = new System.Windows.Forms.Button();
this.btnAutoEdit = new System.Windows.Forms.Button();
this.btnTongji = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button();
......@@ -116,9 +113,6 @@ namespace URSoldering.Client
| System.Windows.Forms.AnchorStyles.Right)));
this.panel1.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("panel1.BackgroundImage")));
this.panel1.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Stretch;
this.panel1.Controls.Add(this.button2);
this.panel1.Controls.Add(this.btnStop);
this.panel1.Controls.Add(this.btnStart);
this.panel1.Controls.Add(this.btnAutoEdit);
this.panel1.Controls.Add(this.btnTongji);
this.panel1.Controls.Add(this.btnExit);
......@@ -132,39 +126,6 @@ namespace URSoldering.Client
this.panel1.Size = new System.Drawing.Size(861, 453);
this.panel1.TabIndex = 15;
//
// button2
//
this.button2.Location = new System.Drawing.Point(67, 238);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(85, 28);
this.button2.TabIndex = 17;
this.button2.Text = "状态";
this.button2.UseVisualStyleBackColor = true;
this.button2.Visible = false;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// btnStop
//
this.btnStop.Location = new System.Drawing.Point(67, 204);
this.btnStop.Name = "btnStop";
this.btnStop.Size = new System.Drawing.Size(85, 28);
this.btnStop.TabIndex = 16;
this.btnStop.Text = "停止";
this.btnStop.UseVisualStyleBackColor = true;
this.btnStop.Visible = false;
this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
//
// btnStart
//
this.btnStart.Location = new System.Drawing.Point(67, 175);
this.btnStart.Name = "btnStart";
this.btnStart.Size = new System.Drawing.Size(85, 28);
this.btnStart.TabIndex = 15;
this.btnStart.Text = "开始";
this.btnStart.UseVisualStyleBackColor = true;
this.btnStart.Visible = false;
this.btnStart.Click += new System.EventHandler(this.btnStart_Click);
//
// btnAutoEdit
//
this.btnAutoEdit.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(186)))), ((int)(((byte)(118)))), ((int)(((byte)(159)))));
......@@ -179,7 +140,6 @@ namespace URSoldering.Client
this.btnAutoEdit.Size = new System.Drawing.Size(222, 81);
this.btnAutoEdit.TabIndex = 14;
this.btnAutoEdit.UseVisualStyleBackColor = false;
this.btnAutoEdit.Click += new System.EventHandler(this.btnAutoEdit_Click);
//
// btnTongji
//
......@@ -256,8 +216,5 @@ namespace URSoldering.Client
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Button btnCom;
private System.Windows.Forms.Button btnAutoEdit;
private System.Windows.Forms.Button btnStop;
private System.Windows.Forms.Button btnStart;
private System.Windows.Forms.Button button2;
}
}
\ No newline at end of file
URSolderingClient/FrmMenu.cs
......@@ -16,10 +16,20 @@ namespace URSoldering.Client
CheckForIllegalCrossThreadCalls = false;
InitializeComponent();
this.MaximizeBox = false;
this.MinimizeBox = false;
this.MinimizeBox = false;
}
private System.Timers.Timer timer = new System.Timers.Timer();
private void FrmMenu_Load(object sender, EventArgs e)
{
//加载板卡
WorkCountManager.LoadData();
BoardManager.LoadBoard();
RobotManager.InitRobotConfig();
RobotBean.ConnectionIO();
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
}
private void btnWelding_Click(object sender, EventArgs e)
{
if (BoardManager.CurrBoard == null)
......@@ -59,20 +69,7 @@ namespace URSoldering.Client
frmOrgConfig.ShowDialog();
this.Visible = true;
}
private System.Timers.Timer timer = new System.Timers.Timer();
private void FrmMenu_Load(object sender, EventArgs e)
{
//加载板卡
WorkCountManager.LoadData();
//SProgramManager.LoadData();
BoardManager.LoadBoard();
//ComponentManager.LoadData();
RobotManager.InitRobotConfig();
//RobotBean.ConnectionIO();
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
}
private void FrmMenu_FormClosing(object sender, FormClosingEventArgs e)
{
isClick = true;
......@@ -94,35 +91,6 @@ namespace URSoldering.Client
{
this.Close();
}
private void btnProgram_Click(object sender, EventArgs e)
{
}
private void btnAutoEdit_Click(object sender, EventArgs e)
{
//isClick = true;
//FrmAutoAddBoard info = new FrmAutoAddBoard(null);
//this.Visible = false;
//info.ShowDialog();
//this.Visible = true;
}
private void btnStart_Click(object sender, EventArgs e)
{
URRobotControl.StartRobot();
//URRobotManager.StartListen();
}
private void btnStop_Click(object sender, EventArgs e)
{
URRobotControl.StopRobot();
//URRobotManager.StopListen();
}
private void button2_Click(object sender, EventArgs e)
{
URRobotControl.GetRobotMode();
}
}
}
URSolderingClient/FrmOrgConfig.Designer.cs
......@@ -28,9 +28,7 @@
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmOrgConfig));
this.timer2 = new System.Windows.Forms.Timer(this.components);
this.dataGridViewImageColumn1 = new System.Windows.Forms.DataGridViewImageColumn();
this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn();
this.panel1 = new System.Windows.Forms.Panel();
......@@ -39,21 +37,17 @@
this.btnSetClear2 = new System.Windows.Forms.Button();
this.btnSetClear1 = new System.Windows.Forms.Button();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.urRobotSControl1 = new UserFromControl.URRobotSControl();
this.btnSetOrigin = new System.Windows.Forms.Button();
this.btnSaveHome = new System.Windows.Forms.Button();
this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button();
this.label14 = new System.Windows.Forms.Label();
this.urRobotSControl1 = new UserFromControl.URRobotSControl();
this.lblMsg = new System.Windows.Forms.Label();
this.panel1.SuspendLayout();
this.groupBox2.SuspendLayout();
this.SuspendLayout();
//
// timer2
//
this.timer2.Interval = 1000;
this.timer2.Tick += new System.EventHandler(this.timer2_Tick);
//
// dataGridViewImageColumn1
//
this.dataGridViewImageColumn1.HeaderText = "上升";
......@@ -73,6 +67,7 @@
// panel1
//
this.panel1.AutoScroll = true;
this.panel1.Controls.Add(this.lblMsg);
this.panel1.Controls.Add(this.btnMore);
this.panel1.Controls.Add(this.btnBack);
this.panel1.Controls.Add(this.btnSetClear2);
......@@ -83,13 +78,13 @@
this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.panel1.Location = new System.Drawing.Point(0, 0);
this.panel1.Name = "panel1";
this.panel1.Size = new System.Drawing.Size(529, 318);
this.panel1.Size = new System.Drawing.Size(545, 347);
this.panel1.TabIndex = 0;
//
// btnMore
//
this.btnMore.FlatAppearance.BorderSize = 0;
this.btnMore.Location = new System.Drawing.Point(70, 260);
this.btnMore.Location = new System.Drawing.Point(80, 276);
this.btnMore.Name = "btnMore";
this.btnMore.Size = new System.Drawing.Size(159, 38);
this.btnMore.TabIndex = 261;
......@@ -100,7 +95,7 @@
// btnBack
//
this.btnBack.FlatAppearance.BorderSize = 0;
this.btnBack.Location = new System.Drawing.Point(321, 260);
this.btnBack.Location = new System.Drawing.Point(347, 276);
this.btnBack.Name = "btnBack";
this.btnBack.Size = new System.Drawing.Size(159, 38);
this.btnBack.TabIndex = 260;
......@@ -111,7 +106,7 @@
// btnSetClear2
//
this.btnSetClear2.FlatAppearance.BorderSize = 0;
this.btnSetClear2.Location = new System.Drawing.Point(321, 192);
this.btnSetClear2.Location = new System.Drawing.Point(347, 192);
this.btnSetClear2.Name = "btnSetClear2";
this.btnSetClear2.Size = new System.Drawing.Size(159, 38);
this.btnSetClear2.TabIndex = 38;
......@@ -122,7 +117,7 @@
// btnSetClear1
//
this.btnSetClear1.FlatAppearance.BorderSize = 0;
this.btnSetClear1.Location = new System.Drawing.Point(321, 142);
this.btnSetClear1.Location = new System.Drawing.Point(347, 142);
this.btnSetClear1.Name = "btnSetClear1";
this.btnSetClear1.Size = new System.Drawing.Size(159, 38);
this.btnSetClear1.TabIndex = 37;
......@@ -134,17 +129,27 @@
//
this.groupBox2.Controls.Add(this.urRobotSControl1);
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(40, 34);
this.groupBox2.Location = new System.Drawing.Point(36, 41);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(241, 192);
this.groupBox2.Size = new System.Drawing.Size(284, 206);
this.groupBox2.TabIndex = 259;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "机器人实时坐标";
//
// urRobotSControl1
//
this.urRobotSControl1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.urRobotSControl1.Location = new System.Drawing.Point(7, 28);
this.urRobotSControl1.Name = "urRobotSControl1";
this.urRobotSControl1.Size = new System.Drawing.Size(271, 157);
this.urRobotSControl1.TabIndex = 0;
//
// btnSetOrigin
//
this.btnSetOrigin.FlatAppearance.BorderSize = 0;
this.btnSetOrigin.Location = new System.Drawing.Point(321, 42);
this.btnSetOrigin.Location = new System.Drawing.Point(347, 42);
this.btnSetOrigin.Name = "btnSetOrigin";
this.btnSetOrigin.Size = new System.Drawing.Size(159, 38);
this.btnSetOrigin.TabIndex = 32;
......@@ -155,7 +160,7 @@
// btnSaveHome
//
this.btnSaveHome.FlatAppearance.BorderSize = 0;
this.btnSaveHome.Location = new System.Drawing.Point(321, 92);
this.btnSaveHome.Location = new System.Drawing.Point(347, 92);
this.btnSaveHome.Name = "btnSaveHome";
this.btnSaveHome.Size = new System.Drawing.Size(159, 38);
this.btnSaveHome.TabIndex = 36;
......@@ -167,7 +172,7 @@
//
this.btnSStop.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSStop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSStop.Location = new System.Drawing.Point(401, 9);
this.btnSStop.Location = new System.Drawing.Point(417, 9);
this.btnSStop.Name = "btnSStop";
this.btnSStop.Size = new System.Drawing.Size(117, 23);
this.btnSStop.TabIndex = 256;
......@@ -179,7 +184,7 @@
//
this.btnWStop.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnWStop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnWStop.Location = new System.Drawing.Point(401, 37);
this.btnWStop.Location = new System.Drawing.Point(417, 37);
this.btnWStop.Name = "btnWStop";
this.btnWStop.Size = new System.Drawing.Size(117, 23);
this.btnWStop.TabIndex = 257;
......@@ -197,18 +202,20 @@
this.label14.Text = "条形码";
this.label14.Visible = false;
//
// urRobotSControl1
// lblMsg
//
this.urRobotSControl1.Location = new System.Drawing.Point(7, 28);
this.urRobotSControl1.Name = "urRobotSControl1";
this.urRobotSControl1.Size = new System.Drawing.Size(228, 146);
this.urRobotSControl1.TabIndex = 0;
this.lblMsg.AutoSize = true;
this.lblMsg.ForeColor = System.Drawing.Color.Red;
this.lblMsg.Location = new System.Drawing.Point(33, 15);
this.lblMsg.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(0, 17);
this.lblMsg.TabIndex = 262;
//
// FrmOrgConfig
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(529, 318);
this.ClientSize = new System.Drawing.Size(545, 347);
this.Controls.Add(this.panel1);
this.Controls.Add(this.btnSStop);
this.Controls.Add(this.btnWStop);
......@@ -218,6 +225,7 @@
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmBoardInfo_FormClosing);
this.Load += new System.EventHandler(this.FrmBoardInfo_Load);
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
this.groupBox2.ResumeLayout(false);
this.ResumeLayout(false);
this.PerformLayout();
......@@ -228,7 +236,6 @@
private System.Windows.Forms.Panel panel1;
private System.Windows.Forms.Button btnWStop;
private System.Windows.Forms.Button btnSStop;
private System.Windows.Forms.Timer timer2;
private System.Windows.Forms.Button btnSetOrigin;
private System.Windows.Forms.Label label14;
......@@ -241,5 +248,6 @@
private System.Windows.Forms.Button btnBack;
private System.Windows.Forms.Button btnMore;
private UserFromControl.URRobotSControl urRobotSControl1;
private System.Windows.Forms.Label lblMsg;
}
}
\ No newline at end of file
URSolderingClient/FrmOrgConfig.cs
......@@ -4,7 +4,8 @@ using URSoldering.Common;
using URSoldering.DeviceLibrary;
using System;
using System.Reflection;
using System.Windows.Forms;
using System.Windows.Forms;
using System.Threading.Tasks;
namespace URSoldering.Client
{
......@@ -45,57 +46,45 @@ namespace URSoldering.Client
timer1.Interval = 1000;
timer1.AutoReset = true;
timer1.Elapsed += timer_Elapsed;
timer1.Start();
timer2.Start();
timer1.Start();
}
private bool isRun = false;
private void timer_Elapsed(object sender, EventArgs e)
{
//if (!URRobotControl.IsRun && isRun.Equals(false))
//{
// Task.Factory.StartNew(delegate ()
// {
// bool result = URRobotControl.StartRobot();
// if (!result)
// {
// LogUtil.info("连接失败：" + result);
// }
// else
// {
// URRobotControl.FreeAxis();
// isAuto = false;
// }
// });
// isRun = true;
//}
//else
//{
// URPointValue lastP = URRobotControl.GetLastPosition();
// urRobotSControl1.ShowPoint(lastP);
//}
if (!URRobotControl.IsRun && isRun.Equals(false))
{
Task.Factory.StartNew(delegate ()
{
bool result = URRobotControl.StartRobot();
if (!result)
{
LogUtil.info("连接失败：" + result);
}
else
{
URRobotControl.FreeAxis();
isAuto = false;
}
});
isRun = true;
}
else
{
URPointValue lastP = URRobotControl.GetLastPosition();
urRobotSControl1.ShowPoint(lastP);
}
lblMsg.Text = URRobotControl.WarnMsg;
}
private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
{
URRobotControl.LockAxis();
timer2.Stop();
URRobotControl.LockAxis();
timer1.Stop();
UsbCameraHDevelop.CloseAllCamera();
}
private void btnRead_Click(object sender, EventArgs e)
{
URPointValue lastP = URRobotControl.GetLastPosition();
}
private void timer2_Tick(object sender, EventArgs e)
{
if (URRobotControl.IsRun)
{
}
}
protected override void OnVisibleChanged(EventArgs e)
{
base.OnVisibleChanged(e);
......
URSolderingClient/FrmOrgConfig.resx
......@@ -117,9 +117,6 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="timer2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>107, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="dataGridViewImageColumn1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
......
URSolderingClient/FrmSolderingSetting.cs
......@@ -66,13 +66,13 @@ namespace URSoldering.Client
List<string> port = new List<string>(SerialPort.GetPortNames());
if (limz > 0)
{
MessageBox.Show("请输入正确的机器人最大Z点（<=0）");
this.txtLimZ.Focus();
txtLimZ.SelectAll();
return;
}
//if (limz > 0)
//{
// MessageBox.Show("请输入正确的机器人最大Z点（<=0）");
// this.txtLimZ.Focus();
// txtLimZ.SelectAll();
// return;
//}
int sendWireSpeed = FormUtil.GetIntValue(txtsendWireSpeed);
if (sendWireSpeed >= 0)
{
......
UserFromControl/URRobotSControl.Designer.cs
......@@ -45,7 +45,7 @@
// lblRZ
//
this.lblRZ.AutoSize = true;
this.lblRZ.Location = new System.Drawing.Point(167, 113);
this.lblRZ.Location = new System.Drawing.Point(162, 113);
this.lblRZ.Name = "lblRZ";
this.lblRZ.Size = new System.Drawing.Size(11, 12);
this.lblRZ.TabIndex = 44;
......@@ -54,7 +54,7 @@
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(133, 113);
this.label3.Location = new System.Drawing.Point(128, 113);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(29, 12);
this.label3.TabIndex = 41;
......@@ -63,7 +63,7 @@
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(132, 9);
this.label4.Location = new System.Drawing.Point(127, 9);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(29, 12);
this.label4.TabIndex = 39;
......@@ -72,7 +72,7 @@
// lblRY
//
this.lblRY.AutoSize = true;
this.lblRY.Location = new System.Drawing.Point(167, 61);
this.lblRY.Location = new System.Drawing.Point(162, 61);
this.lblRY.Name = "lblRY";
this.lblRY.Size = new System.Drawing.Size(11, 12);
this.lblRY.TabIndex = 43;
......@@ -81,7 +81,7 @@
// lblRX
//
this.lblRX.AutoSize = true;
this.lblRX.Location = new System.Drawing.Point(167, 9);
this.lblRX.Location = new System.Drawing.Point(162, 9);
this.lblRX.Name = "lblRX";
this.lblRX.Size = new System.Drawing.Size(11, 12);
this.lblRX.TabIndex = 42;
......@@ -90,7 +90,7 @@
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(133, 61);
this.label7.Location = new System.Drawing.Point(128, 61);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(29, 12);
this.label7.TabIndex = 40;
......
dll/URToolKit.dll 0 → 100644
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doc/设备IP地址分配.xlsx 0 → 100644
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