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Commit 76f9c750 由 几米阳光
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调试修改

1 个父辈 dbf9a7a6
内嵌 并排
正在显示 23 个修改的文件 包含 312 行增加 和 486 行删除
Common/util/URTcpClient.cs
......@@ -193,15 +193,22 @@ namespace URSoldering.Common
/// </summary>
public void sendLine(string strSendData)
{
LogUtil.info(LOGGER, LogName + "发送数据：" + strSendData);
LogUtil.URLInfo(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)
try
{
m_clientSocket.Send(sendBuffer);
LogUtil.debug(LOGGER, "Send >> " + strSendData);
LogUtil.info(LOGGER, LogName + "发送数据：" + strSendData);
LogUtil.URLInfo(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);
LogUtil.debug(LOGGER, "Send >> " + strSendData);
}
}catch (Exception ex)
{
LogUtil.error(LogName + "发送数据【" + strSendData + "】出错");
LogUtil.URLError(LogName+ "发送数据【"+ strSendData + "】出错："+ex.ToString());
}
}
int headSize = 4;//包头长度 固定4
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -103,7 +103,6 @@
<Compile Include="bean\BoardManager.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="Robot\LineSolderingRobot.cs" />
<Compile Include="Robot\LineSolderingRobot_Partial.cs" />
<Compile Include="Robot\soldering\WeldRobotBean.cs" />
<Compile Include="Robot\soldering\WeldRobotBean_Partial.cs" />
<Compile Include="Robot\soldering\WeldStepBean.cs" />
......
DeviceLibrary/Robot/LineSolderingRobot.cs
......@@ -34,18 +34,12 @@ namespace URSoldering.DeviceLibrary
ledTimer.Enabled = false;
IsInSuddendown = false;
WarnMsg = "";
if (!ShuddenOK())
{
WarnMsg = "急停未开";
return false;
}
//if (KNDIOValue(IO_Type.AirCheck_Single).Equals(IO_VALUE.LOW))
//{
// WarnMsg = "没有气压信号";
// return false;
//}
}
//焊接机器人复位
string solderingStr = "";
if (Status > RobotStatus.Wait)
......@@ -63,13 +57,9 @@ namespace URSoldering.DeviceLibrary
return false;
}
Status = RobotStatus.Reset;
//KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
//KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
IsInProcess = false;
Status = RobotStatus.Reset;
WeldRobotBean.IsInWeld = false;
IsInProcess = false;
ledTimer.Enabled = true;
mainTimer.Enabled = true;
return true;
......@@ -85,6 +75,26 @@ namespace URSoldering.DeviceLibrary
IsInSuddendown = true;
Alarm(AlarmType.SuddenStop);
}
public string StartWeld()
{
string msg = "";
//如果开始焊接，开始焊接
if (Status.Equals(RobotStatus.Runing) && WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
{
msg = WeldRobotBean.StartWeld();
if (msg.Equals(""))
{
Status = RobotStatus.Busy;
}
}
else
{
msg = "无法开始焊接";
}
return msg;
}
private bool IsInProcess = false;
protected override void mainTimer_Elapsed(object sender, ElapsedEventArgs e)
{
......@@ -116,11 +126,7 @@ namespace URSoldering.DeviceLibrary
&& KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{
LogUtil.info(RobotName + "复位完成");
Status = RobotStatus.Runing;
//KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
//KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.HIGH);
Status = RobotStatus.Runing;
}
}
else if (Status.Equals(RobotStatus.Runing))
......@@ -175,8 +181,7 @@ namespace URSoldering.DeviceLibrary
}
private void StopMove()
{
//KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
{
WeldRobotBean.StopMove();
this.Status = RobotStatus.Runing;
}
......@@ -185,14 +190,68 @@ namespace URSoldering.DeviceLibrary
ledTimer.Enabled = false;
mainTimer.Enabled = false;
StopMove();
WeldRobotBean.StopRun();
//KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
WeldRobotBean.StopRun();
this.Status = RobotStatus.Wait;
LogUtil.info(RobotName + "停止运行");
}
public DateTime LastStartWeldTime = DateTime.Now;
public DateTime LastEndWeldTime = DateTime.Now;
public bool IsWeld = false;
public delegate void GetCode();
public event GetCode GetCodeFun;
public bool IsAutoRun = false;
private void BusyProcess()
{
if (LineStep.moveStep.Equals(MoveStep.Wait))
{
if (WeldRobotBean.IsInWeld.Equals(false))
{
LastEndWeldTime = DateTime.Now;
TimeSpan span = LastEndWeldTime - LastStartWeldTime;
if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
{
BoardManager.CurrBoard.WeldTime = span;
}
else
{
BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
}
BoardManager.Update(BoardManager.CurrBoard);
LogUtil.info("Busy处理：" + "焊接结束，焊接耗时" + FormUtil.GetSpanStr(span) + "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "");
LineStep.EndMove();
Status = RobotStatus.Runing;
}
}
}
/// <summary>
/// 判断是否还有未完成的工作
/// </summary>
public bool NeedWork()
{
if (Status > RobotStatus.Wait)
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
{
return true;
}
}
return false;
}
private void Alarm(AlarmType alarmType)
{
this.alarmType = alarmType;
if (AlarmType.SuddenStop.Equals(alarmType))
{
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
SendWireManager.Release();
StopMove();
}
}
}
}
DeviceLibrary/Robot/LineSolderingRobot_Partial.cs deleted 100644 → 0
using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using System;
namespace URSoldering.DeviceLibrary
{
public partial class URSolderingRobot
{
public DateTime LastStartWeldTime = DateTime.Now;
public DateTime LastEndWeldTime = DateTime.Now;
public bool IsWeld = false;
public delegate void GetCode();
public event GetCode GetCodeFun;
public bool IsAutoRun = false;
private void BusyProcess()
{
if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
{
if (WeldRobotBean.IsInWeld.Equals(false))
{
LastEndWeldTime = DateTime.Now;
TimeSpan span = LastEndWeldTime - LastStartWeldTime;
if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
{
BoardManager.CurrBoard.WeldTime = span;
}
else
{
BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
}
BoardManager.Update(BoardManager.CurrBoard);
LogUtil.info("Busy处理：" + "焊接结束，焊接耗时" + FormUtil.GetSpanStr(span) + "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "，阻挡气缸下降");
LineStep.EndMove();
Status = RobotStatus.Runing;
}
}
}
/// <summary>
/// 判断是否还有未完成的工作
/// </summary>
public bool NeedWork()
{
if (Status > RobotStatus.Wait)
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
{
return true;
}
}
return false;
}
private void Alarm(AlarmType alarmType)
{
this.alarmType = alarmType;
if (AlarmType.SuddenStop.Equals(alarmType))
{
//KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
SendWireManager.Release();
StopMove();
}
}
}
}
DeviceLibrary/Robot/MoveType.cs
......@@ -73,7 +73,7 @@ namespace URSoldering.DeviceLibrary
}
else if (WaitType == 3)
{
return "等待机器人运动结束";
return "等待机器人运动结束"+UrPoint.ToShowStr();
}
else if (WaitType == 4)
{
......@@ -82,6 +82,9 @@ namespace URSoldering.DeviceLibrary
else if (WaitType == 5)
{
return "等待送丝";
}else if (WaitType == 6)
{
return "等待机器人连接完成";
}
else
{
......
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
......@@ -23,7 +23,7 @@ namespace URSoldering.DeviceLibrary
public static URPointValue Clear2Point = new URPointValue();
public static URPointValue RobotMin = new URPointValue();
public static URPointValue RobotMax = new URPointValue();
public static int SendWireXiShu = ConfigAppSettings.GetIntValue(Setting_Init.SendWire_Change);
//休眠的秒数，<=0不需要休眠
......@@ -52,7 +52,7 @@ namespace URSoldering.DeviceLibrary
public static int WeldCount = 0;
private static bool isInit = false;
public static AlarmType alarmType = AlarmType.None;
//记录是否空闲中，如果空闲并且超过三分钟，就关闭烙铁，下次启动时需要打卡
private static bool IsFree = false;
private static DateTime BeginFreeTime = DateTime.Now;
......@@ -73,7 +73,7 @@ namespace URSoldering.DeviceLibrary
RobotMax = LoadPoint(Setting_Init.Soldering_RobotMax);
}
private static URPointValue LoadPoint( string configStr)
private static URPointValue LoadPoint(string configStr)
{
URPointValue p = new URPointValue();
string configP = ConfigAppSettings.GetValue(configStr);
......@@ -89,10 +89,10 @@ namespace URSoldering.DeviceLibrary
}
public static SolderingRobotConfig RobotConfig = null;
public static SolderingRobotConfig RobotConfig = null;
public static void InitData(SolderingRobotConfig config)
{
RobotConfig = config;
RobotConfig = config;
}
/// <summary>
/// 初始化
......@@ -107,7 +107,7 @@ namespace URSoldering.DeviceLibrary
{
WarnMsg = "连接UR机器人失败";
}
});
});
SolderingManager.Init(RobotConfig.JBC_Soldering_Port, RobotConfig.JBC_Soldering_Num);
SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
......@@ -115,15 +115,14 @@ namespace URSoldering.DeviceLibrary
}
public static void ResetInit()
{
{
if (!URRobotControl.IsRun)
{
//URRobotControl.InitEpson();
Task.Factory.StartNew(delegate ()
{
bool result = URRobotControl.StartRobot();
if(!result)
if (!result)
{
WarnMsg = "连接UR机器人失败";
}
......@@ -137,8 +136,8 @@ namespace URSoldering.DeviceLibrary
/// </summary>
/// <returns></returns>
public static string StartRun()
{
LogUtil.info(RobotName + "开始启动");
{
LogUtil.info(RobotName + "开始启动");
IsFirstStart = true;
return GoHome();
}
......@@ -155,12 +154,22 @@ namespace URSoldering.DeviceLibrary
{
ResetInit();
}
Thread.Sleep(1000);
if (!URRobotControl.IsRun)
//Thread.Sleep(1000);
//if (!URRobotControl.IsRun)
//{
// Thread.Sleep(2000);
//}
if (!URRobotControl.PointIsValid(HomePoint))
{
LogUtil.info(RobotName + "开始启动失败：原点坐标无效");
return "原点坐标无效";
}
if ((!URRobotControl.PointIsValid(Clear1Point)) || (!URRobotControl.PointIsValid(Clear2Point)))
{
Thread.Sleep(2000);
LogUtil.info(RobotName + "开始启动失败：清洗点坐标无效");
return "清洗点坐标无效";
}
if (HasSoldering)
{
if (!SolderingManager.IsRun)
......@@ -168,20 +177,21 @@ namespace URSoldering.DeviceLibrary
LogUtil.info(RobotName + "开始启动:烙铁没有连接上");
return "烙铁没有连接上！";
}
if (!SendWireManager.IsRun)
{
LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上");
return "JBC送丝器没有连接上！";
}
}
if (!SendWireManager.IsRun)
{
LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上");
return "JBC送丝器没有连接上！";
}
IsInSudden = false;
IsNoAir = false;
//开始运行
alarmType = AlarmType.None;
alarmType = AlarmType.None;
//锁定轴
URRobotControl.LockAxis();
//烙铁温度=0， 送丝上升，机器复位
SolderingUp(false);
SendWireWork(false);
......@@ -190,24 +200,24 @@ namespace URSoldering.DeviceLibrary
mainTimer.Enabled = true;
return "";
}
public static void StopWeld()
{
LogUtil.info(RobotName + "停止当前焊接");
LogUtil.info(RobotName + "停止当前焊接");
WeldMoveStep.EndMove();
}
/// <summary>
/// 停止所有运动
/// </summary>
public static void StopMove()
{
{
StopWeld();
LogUtil.info(RobotName + "停止所有运动");
//烙铁温度=0，烙铁上升，送丝上升，机器复位
SolderingUp(false);
SendWireWork(false);
SendWireManager.StopSend();
SolderingManager.Release();
}
......@@ -220,8 +230,8 @@ namespace URSoldering.DeviceLibrary
SolderSleep = false;
StopMove();
mainTimer.Enabled = false;
ISRun = false;
ISRun = false;
LogUtil.info(LOGGER, RobotName + "停止运行");
}
private static bool IsTimerProcess = false;
......@@ -293,7 +303,7 @@ namespace URSoldering.DeviceLibrary
{
return;
}
if (URRobotControl.WarnMsg.Equals(""))
{
if (URRobotControl.IsRun.Equals(false))
......@@ -324,7 +334,7 @@ namespace URSoldering.DeviceLibrary
}
private static DateTime preCheckSendWireTime = DateTime.Now;
private static DateTime lastSendWireOkTime = DateTime.Now;
private static DateTime lastSendWireOkTime = DateTime.Now;
/// <summary>
/// 检测送丝错误
/// </summary>
......@@ -342,7 +352,7 @@ namespace URSoldering.DeviceLibrary
WarnMsg = "送丝器报警";
Alarm(AlarmType.SendWireAlarm);
LogUtil.error(RobotName + WarnMsg);
}
}
}
else
{
......@@ -374,9 +384,9 @@ namespace URSoldering.DeviceLibrary
if (alarmType.Equals(AlarmType.SendWireAlarm) && IsInSudden.Equals(false) && IsNoAir.Equals(false))
{
if (WeldMoveStep.moveType.Equals(MoveType.Weld))
{
{
LogUtil.info(RobotName + "开始卡丝恢复，重新此焊点的焊接 ！");
WeldMoveStep.NextMoveStep(MoveStep.Wait);
WeldMoveStep.NextMoveStep(MoveStep.Wait);
}
lastSendWireOkTime = DateTime.Now;
LogUtil.info(RobotName + "开始卡丝恢复！");
......@@ -410,7 +420,7 @@ namespace URSoldering.DeviceLibrary
{
//10秒钟检测一次
TimeSpan span = DateTime.Now - preCheckSolderingTime;
if (span.TotalSeconds > 10)
{
preCheckSolderingTime = DateTime.Now;
......@@ -419,11 +429,11 @@ namespace URSoldering.DeviceLibrary
//添加验证，需要连续两次都是同一个值才算有效，跳过不稳定的错误
if (!ErrorCode.Equals(preSolderingRet))
{
LOGGER.Info(RobotName+"烙铁PortError更改，本次读取的值："+ErrorCode+",上次的值："+preSolderingRet+"");
LOGGER.Info(RobotName + "烙铁PortError更改，本次读取的值：" + ErrorCode + ",上次的值：" + preSolderingRet + "");
preSolderingRet = ErrorCode;
}
if (ErrorCode > 0)
{
{
string str = SolderingManager.GetErrorStr(ErrorCode);
WarnMsg = "烙铁报警：" + str;
Alarm(AlarmType.SolderingAlarm);
......@@ -436,13 +446,13 @@ namespace URSoldering.DeviceLibrary
WarnMsg = "";
alarmType = AlarmType.None;
WarnMsg = "";
LogUtil.error(RobotName +"消除烙铁报警！");
LogUtil.error(RobotName + "消除烙铁报警！");
}
}
}
}
}
/// <summary>
/// io检测异常,如果所有的步骤已经完成，表示信号超时异常已经结束
/// </summary>
......@@ -460,7 +470,7 @@ namespace URSoldering.DeviceLibrary
return;
}
if (alarmType.Equals(AlarmType.IoSingleTimeOut) || alarmType.Equals(AlarmType.StepTimeOut))
{
{
if (WeldMoveStep.IsInWait == false)
{
LogUtil.info(RobotName + "之前有IO超时异常，清理信号超时异常！");
......@@ -476,7 +486,7 @@ namespace URSoldering.DeviceLibrary
LogUtil.error(LOGGER, "IOTimeOutProcess出错：" + ex.ToString());
}
}
public static void Alarm(AlarmType alarm)
public static void Alarm(AlarmType alarm)
{
LogUtil.error(LOGGER, RobotName + "收到报警：" + alarm);
alarmType = alarm;
......@@ -485,10 +495,10 @@ namespace URSoldering.DeviceLibrary
if (alarmType.Equals(AlarmType.IoSingleTimeOut))
{
}
else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck)||alarm.Equals(AlarmType.RobotError))
else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck) || alarm.Equals(AlarmType.RobotError))
{
if (alarmType.Equals(AlarmType.SuddenStop))
{
{
IsInSudden = true;
}
else if (alarmType.Equals(AlarmType.NoAirCheck))
......@@ -496,9 +506,9 @@ namespace URSoldering.DeviceLibrary
IsNoAir = true;
}
//急停之后需要机械臂重连
URRobotControl.StopRobot();
URRobotControl.StopRobot();
//停止所有运行
StopMove();
StopMove();
}
}
......@@ -531,17 +541,7 @@ namespace URSoldering.DeviceLibrary
if (WeldMoveStep.moveStep.Equals(MoveStep.Home_Reset))
{
WeldMoveStep.NextMoveStep(MoveStep.Home_1_RobotMove);
//验证位置
TimeSpan span = URRobotControl.GetLastPosition().UpdateTime - DateTime.Now; ;
if (span.TotalSeconds <= 60 && (URRobotControl.GetLastPosition().Y != 0) && (URRobotControl.GetLastPosition().X != 0))
{
string msg = CheckEpsonPoint(URRobotControl.GetLastPosition());
if (!msg.Equals(""))
{
WarnMsg = msg;
return;
}
}
if (IsFirstStart)
{
if (BoardManager.CurrBoard != null && BoardManager.CurrBoard.pointList.Count > 0)
......@@ -551,10 +551,8 @@ namespace URSoldering.DeviceLibrary
int maxTemp = BoardManager.CurrBoard.pointList[0].preheatTemperatureMax;
int minTemp = BoardManager.CurrBoard.pointList[0].preheatTemperatureMin;
SolderingManager.setTemp(temp.ToString());
//等待温度到达，并达到指定时间
WeldLog("设置烙铁温度" + temp + "");
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTemperature(temp, maxTemp, minTemp));
//WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(time));
}
}
MoveToOrg();
......@@ -564,8 +562,8 @@ namespace URSoldering.DeviceLibrary
if (IsFirstStart)
{
IsFirstStart = false;
WeldMoveStep.NextMoveStep(MoveStep.Home_3_StartClear);
SendWireUpToClear1();
WeldMoveStep.NextMoveStep(MoveStep.Home_3_StartClear);
SendWireUpToClear1();
}
else
{
......@@ -573,16 +571,16 @@ namespace URSoldering.DeviceLibrary
WarnMsg = "";
WeldMoveStep.EndMove();
}
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.Home_3_StartClear))
{
WeldMoveStep.NextMoveStep(MoveStep.Home_4_ToClear2);
WeldMoveStep.NextMoveStep(MoveStep.Home_4_ToClear2);
MoveToClear2(RobotConfig.ClearMSenconds);
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.Home_4_ToClear2))
{
WeldMoveStep.NextMoveStep(MoveStep.Home_5_ToOrg);
WeldMoveStep.NextMoveStep(MoveStep.Home_5_ToOrg);
MoveToOrg();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.Home_5_ToOrg))
......@@ -590,108 +588,69 @@ namespace URSoldering.DeviceLibrary
WeldLog("回原点结束，清洗完成 ,送丝上升到位 ");
WarnMsg = "";
WeldMoveStep.EndMove();
}
}
}
private static void MoveToPoint(WeldPointInfo p, bool IsHigh)
{
SendWireWork(true);
SolderingDown(true);
URPointValue point = new URPointValue(p.RobotX, p.RoobtY, p.RobotZ, p.RobotRX, p.RobotRY, p.RobotRZ);
URPointValue point = p.GetURPoint();
WeldLog("移动到焊点【" + WeldMoveStep.CurrPoint.pointName + "】:" + point.ToShowStr());
URRobotControl.MoveTo(point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(point));
}
}
private static void MoveToOrg()
{
SolderingUp(true);
SendWireWork(true);
if (HomePoint.X != 0 && HomePoint.Y != 0 && HomePoint.Z != 0 )
{
WeldLog("送丝上升，机械臂走到待机点 ");
URRobotControl.MoveTo(HomePoint,isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(HomePoint));
}
WeldLog("送丝上升，机械臂走到待机点 ");
URRobotControl.MoveTo(HomePoint, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(HomePoint));
}
private static void SendWireUpToClear1()
{
SolderingUp(true );
SolderingUp(true);
SendWireClear(true);
Thread.Sleep(100);
Thread.Sleep(100);
WeldCount = 0;
if (Clear1Point.X != 0 && Clear1Point.Y != 0 && Clear1Point.Z != 0)
{
WeldLog("送丝上升，打开清洗装置，机械臂走到清洗点1 ");
URRobotControl.MoveTo(Clear1Point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear1Point));
}
WeldLog("送丝上升，打开清洗装置，机械臂走到清洗点1 ");
URRobotControl.MoveTo(Clear1Point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear1Point));
}
private static void MoveToClear2(int mSenconds)
{
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(mSenconds));
if (Clear2Point.X != 0 && Clear2Point.Y != 0 && Clear2Point.Z != 0)
{
WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:" + mSenconds + " ");
URRobotControl.MoveTo(Clear2Point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear1Point));
}
WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:" + mSenconds + " ");
URRobotControl.MoveTo(Clear2Point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear2Point));
}
//更新原点
public static void UpdateOrgPoint(URPointValue point)
{
{
WeldRobotBean.HomePoint = point;
string str = point.ToJosonStr();
ConfigAppSettings.SaveValue(Setting_Init.Soldering_HomePoint, str);
ConfigAppSettings.SaveValue(Setting_Init.Soldering_HomePoint, str);
}
public static void UpdateClear1Point(URPointValue point)
{
WeldRobotBean.Clear1Point = point;
string str = point.ToJosonStr();
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Clear1Point, str);
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Clear1Point, str);
}
public static void UpdateClear2Point(URPointValue point)
{
WeldRobotBean.Clear2Point = point;
string str = point.ToJosonStr();
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Clear2Point, str);
}
/// <summary>
/// 验证机器人是否超出活动范围
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public static string CheckEpsonPoint(URPointValue point)
{
//if (EpsonXMin < EpsonXMax)
//{
// if (point.X < EpsonXMin || point.X > EpsonXMax)
// {
// return "机械臂X轴超出活动范围";
// }
//}
//if (EpsonYMin < EpsonYMax)
//{
// if (point.Y < EpsonYMin || point.Y > EpsonYMax)
// {
// return "机械臂Y轴超出活动范围";
// }
//}
//if (EpsonZMin < EpsonZMax)
//{
// if (point.Z < EpsonZMin || point.Z > EpsonZMax)
// {
// return "机械臂Z轴超出活动范围";
// }
//}
//if (EpsonUMin < EpsonUMax)
//{
// if (point.U < EpsonUMin || point.U > EpsonUMax)
// {
// return "机械臂U轴超出活动范围";
// }
//}
{
return "";
}
}
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -39,6 +39,7 @@ namespace URSoldering.DeviceLibrary
{
return "没有找到电路板信息，无法开始焊接";
}
//记录焊接板子数量
WeldCount++;
......@@ -68,19 +69,7 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotMoveToPoint))
{
if (WeldMoveStep.IsFirstPoint())
{
for (int i = 0; i < 5; i++)
{
GetCodeFun?.Invoke();
if (RobotManager.SolderingRobot.WareCode.Equals(""))
{ Thread.Sleep(100); }
else
{
break;
}
}
}
if (WeldMoveStep.IsSlowSendWire)
{
//已经慢速送丝
......@@ -172,8 +161,8 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
{
AOICheckFun.Invoke();
Thread.Sleep(300);
//AOICheckFun.Invoke();
//Thread.Sleep(300);
IsInWeld = false;
if (WeldCount >= RobotConfig.ClearCount)
{
......@@ -342,6 +331,11 @@ namespace URSoldering.DeviceLibrary
}
public static void SolderingUp(bool isWait)
{
if (RobotBean.KNDIOValue(IO_Type.Soldering_Down).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.Soldering_Up).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.Soldering_Down, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.Soldering_Up, IO_VALUE.HIGH);
if (isWait)
......@@ -353,6 +347,11 @@ namespace URSoldering.DeviceLibrary
public static void SendWireWork(bool isWait)
{
if (RobotBean.KNDIOValue(IO_Type.SendWire_Clear).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.SendWire_Clear, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.SendWire_Work, IO_VALUE.HIGH);
if (isWait)
......@@ -363,12 +362,17 @@ namespace URSoldering.DeviceLibrary
}
public static void SendWireClear(bool isWait)
{
RobotBean.KNDIOMove(IO_Type.SendWire_Clear, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.SendWire_Work, IO_VALUE.HIGH);
if (RobotBean.KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.SendWire_Clear).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.SendWire_Clear, IO_VALUE.HIGH);
RobotBean.KNDIOMove(IO_Type.SendWire_Work, IO_VALUE.LOW);
if (isWait)
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Clear, IO_VALUE.LOW));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Work, IO_VALUE.HIGH));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Clear, IO_VALUE.HIGH));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Work, IO_VALUE.LOW));
}
}
private static DateTime preGetStatusTime = DateTime.Now;
......
DeviceLibrary/Robot/soldering/WeldStepBean.cs
......@@ -113,6 +113,13 @@ namespace URSoldering.DeviceLibrary
{
return false;
}
foreach(WeldPointInfo p in weldPointList)
{
if (!URRobotControl.PointIsValid(p.GetURPoint()))
{
return false;
}
}
CurrPoint = weldPointList[CurrPointIndex];
PointTime = new PointWeldTime();
ResetCount = 0;
......
DeviceLibrary/RobotConfig/solderingConfig/SolderingRobotConfig.csv
......@@ -33,7 +33,7 @@ DO,送丝电机启动,SendWireStart,106,192.168.10.11,0,送丝电机启动,Y07,DO-07,0
,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,192.168.10.13,,,,,,
PRO,焊接多少块板子后，清洗烙铁,ClearCount,1,,,,,,
PRO,焊接多少块板子后，清洗烙铁,ClearCount,10,,,,,,
PRO,清洗IO的毫秒数,ClearMSenconds,3000,,,,,,
PRO,JBC烙铁端口号,JBC_Soldering_Port,COM2,,,,,,
PRO,JBC烙铁编号,JBC_Soldering_Num,1,,,,,,
......
DeviceLibrary/bean/BoardInfo.cs
......@@ -28,13 +28,13 @@ namespace URSoldering.DeviceLibrary
/// <summary>
/// 机器人焊接时Z轴的高点
/// </summary>
public double ZHighValue { get; set; }
public double ZHighValue { get; set; }
/// <summary>
/// 工位编号，夹具编号（每一个程序需要配置四个夹具的位置，防止位置偏差）
/// </summary>
public int StationNum { get; set; }
/// <summary>
/// 料号
/// </summary>
......@@ -43,7 +43,7 @@ namespace URSoldering.DeviceLibrary
/// 电路板名称
/// </summary>
public string boardName { get; set; }
/// <summary>
/// 宽度
/// </summary>
......@@ -79,11 +79,11 @@ namespace URSoldering.DeviceLibrary
/// <summary>
/// 已经焊接次数，每次修改板子都会重置
/// </summary>
public int solderingCount { get; set; }
public int solderingCount { get; set; }
/// <summary>
/// 焊接的时间,每次修改板子都会重置
/// </summary>
public double solderingTime { get; set; }
public double solderingTime { get; set; }
/// <summary>
/// 已经焊接次数，不重置
/// </summary>
......@@ -96,7 +96,7 @@ namespace URSoldering.DeviceLibrary
public string GetDes()
{
return " 长度：" + boardLength + "，宽度：" + boardWidth + "，焊点数量：" + this.pointList.Count;
}
public Image GetImage()
{
......@@ -190,7 +190,7 @@ namespace URSoldering.DeviceLibrary
public double RobotRX { get; set; }
public double RobotRY { get; set; }
public double RobotRZ { get; set; }
/// <summary>
/// 预热温度
/// </summary>
......@@ -202,7 +202,7 @@ namespace URSoldering.DeviceLibrary
/// <summary>
/// 预热温度下限
/// </summary>
public int preheatTemperatureMin { get; set; }
public int preheatTemperatureMin { get; set; }
/// <summary>
/// 预热时间（秒）
/// </summary>
......@@ -255,5 +255,11 @@ namespace URSoldering.DeviceLibrary
/// </summary>
public int ClearTime { get; set; }
public URPointValue GetURPoint()
{
URPointValue p = new URPointValue(RobotX, RoobtY, RobotZ, RobotRX, RobotRY, RobotRZ);
return p;
}
}
}
DeviceLibrary/deviceLibrary/jbc/SolderingManager.cs
......@@ -178,7 +178,7 @@ namespace URSoldering.DeviceLibrary
}
else
{
LogUtil.info("烙铁未初始化，调用了setTemp直接返回false");
LogUtil.debug("烙铁未初始化，调用了setTemp直接返回false");
return false;
}
}
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
......@@ -18,7 +18,7 @@ namespace URSoldering.DeviceLibrary
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static TcpClient controlTcp = new TcpClient();
public static URPointValue LastPoint = new URPointValue();
public static URPointValue LastSendPoint = new URPointValue();
public static string RobotIp = "";
public static int ControlPort = 29999;
......@@ -54,7 +54,7 @@ namespace URSoldering.DeviceLibrary
/// 上一次启动的时间，UR机械臂启动需要时间，默认需要3分钟，若三分钟后还没有链接，需要重新启动
/// </summary>
private static DateTime PreStartTime = DateTime.Now;
private static int StartTimeOutSeconds = 10000;
private static int StartTimeOutSeconds = 20000;
public static string WarnMsg = "";
private static System.Timers.Timer reconnectTimer = null;
......@@ -452,8 +452,22 @@ namespace URSoldering.DeviceLibrary
public static void LockAxis()
{
}
public static bool PointIsValid(URPointValue point)
{
if (point.X != 0 && point.Y != 0 && point.Z != 0)
{
return true;
}
return false;
}
public static void MoveTo(URPointValue point, bool isHigh)
{
if (!PointIsValid(point))
{
LogUtil.info(LogName + "试图移动到：" + point.ToShowStr()+",此坐标无效，直接返回");
return;
}
//movep(p[0.062, -0.030, 0.325, 0.0299, 2.2263, 2.2171], a = 1.2, v = 0.25, r = 0)
//movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0)
......@@ -475,7 +489,8 @@ namespace URSoldering.DeviceLibrary
{
//LogUtil.info(LogName + "试图移动到：" + point.ToShowStr());
}
URRobotClient.LastMoveCMD = moveCmd;
URRobotClient.LastMoveCMD = moveCmd;
LastSendPoint = point;
}
public static void MoveTo(URPointValue point)
{
......
URSolderingClient/FrmBoardInfo.Designer.cs
......@@ -51,8 +51,6 @@
this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn();
this.panel1 = new System.Windows.Forms.Panel();
this.panPoint = new System.Windows.Forms.Panel();
this.panVideo = new System.Windows.Forms.Panel();
this.hWVideo = new HalconDotNet.HWindowControl();
this.panBoard = new System.Windows.Forms.Panel();
this.picBoard = new System.Windows.Forms.PictureBox();
this.gbOriginInfo = new System.Windows.Forms.GroupBox();
......@@ -154,7 +152,6 @@
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).BeginInit();
this.contextMenuStrip2.SuspendLayout();
this.panel1.SuspendLayout();
this.panVideo.SuspendLayout();
this.panBoard.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picBoard)).BeginInit();
this.gbOriginInfo.SuspendLayout();
......@@ -335,7 +332,6 @@
//
this.panel1.AutoScroll = true;
this.panel1.Controls.Add(this.panPoint);
this.panel1.Controls.Add(this.panVideo);
this.panel1.Controls.Add(this.panBoard);
this.panel1.Controls.Add(this.groupBox2);
this.panel1.Controls.Add(this.label25);
......@@ -362,31 +358,6 @@
this.panPoint.Size = new System.Drawing.Size(869, 267);
this.panPoint.TabIndex = 321;
//
// panVideo
//
this.panVideo.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.panVideo.Controls.Add(this.hWVideo);
this.panVideo.Location = new System.Drawing.Point(898, 202);
this.panVideo.Name = "panVideo";
this.panVideo.Size = new System.Drawing.Size(485, 424);
this.panVideo.TabIndex = 320;
//
// hWVideo
//
this.hWVideo.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.hWVideo.BackColor = System.Drawing.Color.Black;
this.hWVideo.BorderColor = System.Drawing.Color.Black;
this.hWVideo.ImagePart = new System.Drawing.Rectangle(0, 0, 640, 480);
this.hWVideo.Location = new System.Drawing.Point(3, 3);
this.hWVideo.MaximumSize = new System.Drawing.Size(800, 500);
this.hWVideo.Name = "hWVideo";
this.hWVideo.Size = new System.Drawing.Size(479, 418);
this.hWVideo.TabIndex = 319;
this.hWVideo.WindowSize = new System.Drawing.Size(479, 418);
//
// panBoard
//
this.panBoard.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
......@@ -394,9 +365,9 @@
| System.Windows.Forms.AnchorStyles.Right)));
this.panBoard.Controls.Add(this.picBoard);
this.panBoard.Controls.Add(this.gbOriginInfo);
this.panBoard.Location = new System.Drawing.Point(899, 19);
this.panBoard.Location = new System.Drawing.Point(898, 78);
this.panBoard.Name = "panBoard";
this.panBoard.Size = new System.Drawing.Size(482, 136);
this.panBoard.Size = new System.Drawing.Size(482, 553);
this.panBoard.TabIndex = 261;
//
// picBoard
......@@ -407,7 +378,7 @@
this.picBoard.Cursor = System.Windows.Forms.Cursors.Cross;
this.picBoard.Location = new System.Drawing.Point(0, 0);
this.picBoard.Name = "picBoard";
this.picBoard.Size = new System.Drawing.Size(463, 76);
this.picBoard.Size = new System.Drawing.Size(463, 493);
this.picBoard.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.picBoard.TabIndex = 259;
this.picBoard.TabStop = false;
......@@ -857,7 +828,7 @@
this.tckSpeed.Name = "tckSpeed";
this.tckSpeed.Size = new System.Drawing.Size(214, 45);
this.tckSpeed.TabIndex = 314;
this.tckSpeed.Value = 4;
this.tckSpeed.Value = 4;
this.tckSpeed.ValueChanged += new System.EventHandler(this.tckSpeed_ValueChanged);
//
// txtRobotY
......@@ -904,7 +875,7 @@
//
this.label25.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.label25.AutoSize = true;
this.label25.Location = new System.Drawing.Point(1131, 170);
this.label25.Location = new System.Drawing.Point(1145, 40);
this.label25.Name = "label25";
this.label25.Size = new System.Drawing.Size(30, 17);
this.label25.TabIndex = 37;
......@@ -914,7 +885,7 @@
//
this.label24.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.label24.AutoSize = true;
this.label24.Location = new System.Drawing.Point(1001, 170);
this.label24.Location = new System.Drawing.Point(1015, 40);
this.label24.Name = "label24";
this.label24.Size = new System.Drawing.Size(30, 17);
this.label24.TabIndex = 36;
......@@ -1237,7 +1208,7 @@
// txtBoardLength
//
this.txtBoardLength.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.txtBoardLength.Location = new System.Drawing.Point(943, 167);
this.txtBoardLength.Location = new System.Drawing.Point(957, 37);
this.txtBoardLength.MaxLength = 8;
this.txtBoardLength.Name = "txtBoardLength";
this.txtBoardLength.Size = new System.Drawing.Size(53, 23);
......@@ -1327,7 +1298,7 @@
// txtBoardWidth
//
this.txtBoardWidth.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.txtBoardWidth.Location = new System.Drawing.Point(1073, 167);
this.txtBoardWidth.Location = new System.Drawing.Point(1087, 37);
this.txtBoardWidth.MaxLength = 8;
this.txtBoardWidth.Name = "txtBoardWidth";
this.txtBoardWidth.Size = new System.Drawing.Size(53, 23);
......@@ -1338,7 +1309,7 @@
//
this.label3.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(917, 170);
this.label3.Location = new System.Drawing.Point(931, 40);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(20, 17);
this.label3.TabIndex = 3;
......@@ -1348,7 +1319,7 @@
//
this.label4.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(1051, 170);
this.label4.Location = new System.Drawing.Point(1065, 40);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(20, 17);
this.label4.TabIndex = 5;
......@@ -1359,7 +1330,7 @@
this.btnOpenFile.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.btnOpenFile.FlatAppearance.BorderSize = 0;
this.btnOpenFile.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOpenFile.Location = new System.Drawing.Point(1182, 161);
this.btnOpenFile.Location = new System.Drawing.Point(1196, 31);
this.btnOpenFile.Name = "btnOpenFile";
this.btnOpenFile.Size = new System.Drawing.Size(100, 35);
this.btnOpenFile.TabIndex = 260;
......@@ -1426,7 +1397,6 @@
this.contextMenuStrip2.ResumeLayout(false);
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
this.panVideo.ResumeLayout(false);
this.panBoard.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picBoard)).EndInit();
this.gbOriginInfo.ResumeLayout(false);
......@@ -1503,8 +1473,6 @@
private System.Windows.Forms.Label lblSpeed;
private System.Windows.Forms.Label lblEpsonError;
private System.Windows.Forms.Button btnStopDown;
private HalconDotNet.HWindowControl hWVideo;
private System.Windows.Forms.Panel panVideo;
private System.Windows.Forms.TextBox txtCode;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.Button btnPositionTest;
......
URSolderingClient/FrmBoardInfo.cs
......@@ -46,16 +46,11 @@ namespace URSoldering.Client
this.Text = "修改程序【" + board.boardName + "】";
}
}
private System.Timers.Timer timer1 = new System.Timers.Timer();
private System.Timers.Timer usbTimer = new System.Timers.Timer();
private System.Timers.Timer timer1 = new System.Timers.Timer();
private void FrmBoardInfo_Load(object sender, EventArgs e)
{
CheckForIllegalCrossThreadCalls = false;
usbTimer = new System.Timers.Timer();
usbTimer.AutoReset = true;
usbTimer.Enabled = false;
usbTimer.Interval = 300;
usbTimer.Elapsed += UsbTimer_Elapsed;
StepValue = 0.5;
tckSpeed.Value = 3;
isFinishLoad = false;
......@@ -121,11 +116,7 @@ namespace URSoldering.Client
btnSendWire.Enabled = false;
btnStopSend.Enabled = false;
}
if (!ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug))
{
UsbCameraHDevelop.OpenCamera(VideoCameraName);
}
usbTimer.Enabled = true;
isFinishLoad = true;
}
......@@ -152,39 +143,7 @@ namespace URSoldering.Client
}
return false;
}
private int dWidth = 0;
private int dHeight = 0;
private string VideoCameraName = ConfigAppSettings.GetValue(Setting_Init.VideoCameraName);
private void UsbTimer_Elapsed(object sender, ElapsedEventArgs e)
{
try
{
if (panVideo.Visible)
{
if (UsbCameraHDevelop.IsOpen(VideoCameraName))
{
HObject ho_Image = UsbCameraHDevelop.GrabImage(VideoCameraName);
if (ho_Image != null)
{
if (dWidth <= 0)
{
HTuple width, height;
HOperatorSet.GetImageSize(ho_Image, out width, out height);
dWidth = (int)width.D;
dHeight = (int)height.D;
hWVideo.HalconWindow.SetPart(0, 0, dHeight, dWidth);
}
HOperatorSet.DispObj(ho_Image, hWVideo.HalconWindow);
}
}
}
}
catch (Exception ex)
{
LogUtil.error("获取实时出错：" + ex.ToString());
}
}
private void RobotStatus(bool isConnect)
......
URSolderingClient/FrmMenu.cs
......@@ -32,20 +32,20 @@ namespace URSoldering.Client
private void btnWelding_Click(object sender, EventArgs e)
{
if (BoardManager.CurrBoard == null)
{
if (BoardManager.boardList.Count > 0)
{
BoardManager.UpdateCurrBoard(BoardManager.boardList[0].boardId);
}
else
{
MessageBox.Show("请先配置程序");
return;
}
}
//if (BoardManager.CurrBoard == null)
//{
// if (BoardManager.boardList.Count > 0)
// {
// BoardManager.UpdateCurrBoard(BoardManager.boardList[0].boardId);
// }
// else
// {
// MessageBox.Show("请先配置程序");
// return;
// }
//}
isClick = true;
FrmWork fw = new FrmWork();
FrmProgramSelect fw = new FrmProgramSelect();
this.Visible = false; ;
fw.ShowDialog();
this.Visible = true;
......
URSolderingClient/FrmBoardSelect.cs → URSolderingClient/FrmProgramSelect.cs
......@@ -58,9 +58,9 @@ namespace URSoldering.Client
BoardManager.UpdateCurrBoard(board.boardId);
//判断程序是否配置完成
//FrmWork fw = new FrmWork();
//this.Hide();
//fw.ShowDialog();
FrmWork fw = new FrmWork();
this.Hide();
fw.ShowDialog();
}
this.Close();
}
......
URSolderingClient/FrmWeldPointInfo.cs
......@@ -64,7 +64,7 @@ namespace URSoldering.Client
{
this.txtClearTime.Text = weldPointInfo.ClearTime.ToString();
}
ShowPoint(new URPointValue(weldPointInfo.RobotX, weldPointInfo.RoobtY, weldPointInfo.RobotZ, weldPointInfo.RobotRX, weldPointInfo.RobotRY, weldPointInfo.RobotRZ));
ShowPoint(weldPointInfo.GetURPoint());
}
private void btnSave_Click(object sender, EventArgs e)
......
URSolderingClient/FrmWork.Designer.cs
......@@ -42,9 +42,6 @@
System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
this.timer = new System.Windows.Forms.Timer(this.components);
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.hWVideo = new HalconDotNet.HWindowControl();
this.label4 = new System.Windows.Forms.Label();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.label2 = new System.Windows.Forms.Label();
this.logBox = new System.Windows.Forms.RichTextBox();
......@@ -95,7 +92,6 @@
this.chartSolder = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.chartLine = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.label7 = new System.Windows.Forms.Label();
this.groupBox5.SuspendLayout();
this.groupBox3.SuspendLayout();
this.groupBox2.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.axCKVisionCtrl1)).BeginInit();
......@@ -115,46 +111,6 @@
this.timer.Interval = 300;
this.timer.Tick += new System.EventHandler(this.timer_Tick);
//
// groupBox5
//
this.groupBox5.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.groupBox5.Controls.Add(this.hWVideo);
this.groupBox5.Controls.Add(this.label4);
this.groupBox5.Location = new System.Drawing.Point(1155, 499);
this.groupBox5.MaximumSize = new System.Drawing.Size(800, 500);
this.groupBox5.Name = "groupBox5";
this.groupBox5.Size = new System.Drawing.Size(102, 157);
this.groupBox5.TabIndex = 316;
this.groupBox5.TabStop = false;
//
// hWVideo
//
this.hWVideo.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.hWVideo.BackColor = System.Drawing.Color.Black;
this.hWVideo.BorderColor = System.Drawing.Color.Black;
this.hWVideo.ImagePart = new System.Drawing.Rectangle(0, 0, 640, 480);
this.hWVideo.Location = new System.Drawing.Point(4, 44);
this.hWVideo.Name = "hWVideo";
this.hWVideo.Size = new System.Drawing.Size(94, 108);
this.hWVideo.TabIndex = 301;
this.hWVideo.WindowSize = new System.Drawing.Size(94, 108);
//
// label4
//
this.label4.BackColor = System.Drawing.Color.MediumBlue;
this.label4.Font = new System.Drawing.Font("微软雅黑", 15.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label4.ForeColor = System.Drawing.Color.White;
this.label4.Location = new System.Drawing.Point(4, 11);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(134, 31);
this.label4.TabIndex = 300;
this.label4.Text = "实时视频";
this.label4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// groupBox3
//
this.groupBox3.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
......@@ -209,7 +165,8 @@
//
// groupBox2
//
this.groupBox2.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
this.groupBox2.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.groupBox2.Controls.Add(this.button2);
this.groupBox2.Controls.Add(this.button1);
......@@ -219,9 +176,9 @@
this.groupBox2.Controls.Add(this.label1);
this.groupBox2.Controls.Add(this.lblAOIResult);
this.groupBox2.Location = new System.Drawing.Point(1155, 62);
this.groupBox2.MaximumSize = new System.Drawing.Size(800, 500);
this.groupBox2.MaximumSize = new System.Drawing.Size(1000, 1000);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(99, 436);
this.groupBox2.Size = new System.Drawing.Size(99, 595);
this.groupBox2.TabIndex = 269;
this.groupBox2.TabStop = false;
//
......@@ -256,7 +213,7 @@
this.axCKVisionCtrl1.Location = new System.Drawing.Point(4, 43);
this.axCKVisionCtrl1.Name = "axCKVisionCtrl1";
this.axCKVisionCtrl1.OcxState = ((System.Windows.Forms.AxHost.State)(resources.GetObject("axCKVisionCtrl1.OcxState")));
this.axCKVisionCtrl1.Size = new System.Drawing.Size(91, 389);
this.axCKVisionCtrl1.Size = new System.Drawing.Size(91, 548);
this.axCKVisionCtrl1.TabIndex = 306;
//
// lblCodeResult
......@@ -265,7 +222,7 @@
this.lblCodeResult.AutoSize = true;
this.lblCodeResult.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblCodeResult.ForeColor = System.Drawing.Color.Blue;
this.lblCodeResult.Location = new System.Drawing.Point(183, 13);
this.lblCodeResult.Location = new System.Drawing.Point(183, 172);
this.lblCodeResult.Name = "lblCodeResult";
this.lblCodeResult.Size = new System.Drawing.Size(107, 25);
this.lblCodeResult.TabIndex = 305;
......@@ -301,7 +258,7 @@
this.lblAOIResult.AutoSize = true;
this.lblAOIResult.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblAOIResult.ForeColor = System.Drawing.Color.Blue;
this.lblAOIResult.Location = new System.Drawing.Point(183, 14);
this.lblAOIResult.Location = new System.Drawing.Point(183, 173);
this.lblAOIResult.Name = "lblAOIResult";
this.lblAOIResult.Size = new System.Drawing.Size(77, 25);
this.lblAOIResult.TabIndex = 301;
......@@ -802,7 +759,6 @@
this.ClientSize = new System.Drawing.Size(1276, 741);
this.Controls.Add(this.gbBoardInfo);
this.Controls.Add(this.groupBox4);
this.Controls.Add(this.groupBox5);
this.Controls.Add(this.groupBox3);
this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox1);
......@@ -812,7 +768,6 @@
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmWelding_FormClosing);
this.Load += new System.EventHandler(this.FrmWelding_Load);
this.Shown += new System.EventHandler(this.FrmWork_Shown);
this.groupBox5.ResumeLayout(false);
this.groupBox3.ResumeLayout(false);
this.groupBox3.PerformLayout();
this.groupBox2.ResumeLayout(false);
......@@ -863,9 +818,6 @@
private System.Windows.Forms.ListView listPoint;
private System.Windows.Forms.GroupBox groupBox3;
private System.Windows.Forms.CheckBox chbXunHuan;
private System.Windows.Forms.GroupBox groupBox5;
private System.Windows.Forms.Label label4;
private HalconDotNet.HWindowControl hWVideo;
private System.Windows.Forms.Button btnBlow;
private System.Windows.Forms.Label lblCodeResult;
private AxCKVisionCtrlLib.AxCKVisionCtrl axCKVisionCtrl1;
......
URSolderingClient/FrmWork.cs
......@@ -28,15 +28,14 @@ namespace URSoldering.Client
Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
private bool isInitOk = false;
private System.Timers.Timer usbTimer = new System.Timers.Timer();
private void FrmWelding_Load(object sender, EventArgs e)
{
lblCodeResult.Visible = false;
lblAOIResult.Visible = false;
LoadListPoint();
//LoadIOList();
ClearMsg();
Robot = RobotManager.SolderingRobot;
WeldRobotBean.AOICheckFun += AOICheck;
//WeldRobotBean.GetCodeFun += GetCode;
......@@ -47,12 +46,7 @@ namespace URSoldering.Client
this.WindowState = FormWindowState.Maximized;
this.chbHigh.Checked = WeldRobotBean.isHighSpeed;
usbTimer = new System.Timers.Timer();
usbTimer.AutoReset = true;
usbTimer.Enabled = false;
usbTimer.Interval = 300;
usbTimer.Elapsed += UsbTimer_Elapsed;
Robot = RobotManager.SolderingRobot;
//StartRun();
isInitOk = true;
......@@ -63,7 +57,7 @@ namespace URSoldering.Client
this.Close();
}
this.Text = "程序【" + BoardManager.CurrBoard.boardName + "】工作";
// LoadPoint(BoardManager.CurrBoard, -1);
LoadPoint(BoardManager.CurrBoard, -1);
this.btnChange.Focus();
......@@ -266,7 +260,7 @@ namespace URSoldering.Client
catch (Exception ex)
{
}
if (id != board.boardId || currWeldIndex == -3 || currWeldIndex >= -1)
if (id != board.boardId || currWeldIndex == -3 || currWeldIndex .Equals( -1))
{
this.lblPointCount.Text = board.pointList.Count.ToString();
this.lblProName.Text = board.boardName;
......@@ -385,45 +379,7 @@ namespace URSoldering.Client
btnStart.Text = "复位";
}
}
private int dWidth = 0;
private int dHeight = 0;
private void UsbTimer_Elapsed(object sender, ElapsedEventArgs e)
{
//try
//{
// if (WeldRobotBean.ISRun &&
// (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld)||
// WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome)))
// {
// if (UsbCameraHDevelop.IsOpen(VideoCameraName))
// {
// HObject ho_Image = UsbCameraHDevelop.GrabImage(VideoCameraName);
// if (ho_Image != null)
// {
// if (dWidth <= 0)
// {
// HTuple width, height;
// HOperatorSet.GetImageSize(ho_Image, out width, out height);
// dWidth = (int)width.D;
// dHeight = (int)height.D;
// hWVideo.HalconWindow.SetPart(0, 0, dHeight, dWidth);
// }
// HOperatorSet.DispObj(ho_Image, hWVideo.HalconWindow);
// }
// }
// }
//}
//catch (Exception ex)
//{
// LogUtil.error("获取实时出错：" + ex.ToString());
//}
}
private void ClearMsg()
{
}
private void timer_Tick(object sender, EventArgs e)
{
ActualTime(null, null);
......@@ -508,7 +464,7 @@ namespace URSoldering.Client
this.listPoint.Items.Clear();
//LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
}
else if (WeldRobotBean.IsInWeld)
else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
{
lblMsg.ForeColor = Color.Green;
lblMsg.Text = "程序【" + WeldRobotBean.WeldMoveStep.currBoard.boardName + "】焊接中";
......@@ -929,8 +885,11 @@ namespace URSoldering.Client
private void btnWeld_Click(object sender, EventArgs e)
{
//如果开始焊接，开始焊接
string msg = Robot.StartWeld();
if (!msg.Equals(""))
{
MessageBox.Show("焊接失败：" + msg);
}
}
}
}
URSolderingClient/FrmWork.resx
......@@ -125,7 +125,7 @@
AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj00LjAuMC4w
LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACFTeXN0
ZW0uV2luZG93cy5Gb3Jtcy5BeEhvc3QrU3RhdGUBAAAABERhdGEHAgIAAAAJAwAAAA8DAAAAJQAAAAIB
AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAaAkAADQoAAAAAAAACw==
AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAaAkAAKM4AAAAAAAACw==
</value>
</data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
......
URSolderingClient/URSolderingClient.csproj
......@@ -103,11 +103,11 @@
<Compile Include="FrmBoardList.Designer.cs">
<DependentUpon>FrmBoardList.cs</DependentUpon>
</Compile>
<Compile Include="FrmBoardSelect.cs">
<Compile Include="FrmProgramSelect.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmBoardSelect.Designer.cs">
<DependentUpon>FrmBoardSelect.cs</DependentUpon>
<Compile Include="FrmProgramSelect.Designer.cs">
<DependentUpon>FrmProgramSelect.cs</DependentUpon>
</Compile>
<Compile Include="FrmCodeLearn.cs">
<SubType>Form</SubType>
......@@ -204,8 +204,8 @@
<EmbeddedResource Include="FrmBoardList.resx">
<DependentUpon>FrmBoardList.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmBoardSelect.resx">
<DependentUpon>FrmBoardSelect.cs</DependentUpon>
<EmbeddedResource Include="FrmProgramSelect.resx">
<DependentUpon>FrmProgramSelect.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmCodeLearn.resx">
<DependentUpon>FrmCodeLearn.cs</DependentUpon>
......
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