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Commit 8d7a5970 由 几米阳光
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定义UR机器人接口，去掉epson代码

1 个父辈 34145f02
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内嵌 并排
正在显示 26 个修改的文件 包含 414 行增加 和 352 行删除
Common/util/ConfigAppSettings.cs
...@@ -23,11 +23,7 @@ namespace URSoldering.Common ...@@ -23,11 +23,7 @@ namespace URSoldering.Common
} }
return false; return false;
} }
public static string GetValue(object shuoKe_Control_SerialPort)
{
throw new NotImplementedException();
}
private static int seq = 1; private static int seq = 1;
......
DeviceLibrary/DeviceLibrary.csproj
...@@ -86,20 +86,19 @@ ...@@ -86,20 +86,19 @@
<Compile Include="bean\RobotBean.cs" /> <Compile Include="bean\RobotBean.cs" />
<Compile Include="bean\RobotManager.cs" /> <Compile Include="bean\RobotManager.cs" />
<Compile Include="bean\WorkCountManager.cs" /> <Compile Include="bean\WorkCountManager.cs" />
<Compile Include="deviceLibrary\epson\EpsonControl.cs" />
<Compile Include="deviceLibrary\epson\EpsonRobotDevice.cs" />
<Compile Include="deviceLibrary\halcon\HDevelopCodeLearn.cs" /> <Compile Include="deviceLibrary\halcon\HDevelopCodeLearn.cs" />
<Compile Include="deviceLibrary\halcon\HDevelopExport.cs" /> <Compile Include="deviceLibrary\halcon\HDevelopExport.cs" />
<Compile Include="deviceLibrary\halcon\UsbCameraHDevelop.cs" /> <Compile Include="deviceLibrary\halcon\UsbCameraHDevelop.cs" />
<Compile Include="deviceLibrary\jbc\SendWireManager.cs" /> <Compile Include="deviceLibrary\jbc\SendWireManager.cs" />
<Compile Include="deviceLibrary\jbc\SolderingManager.cs" /> <Compile Include="deviceLibrary\jbc\SolderingManager.cs" />
<Compile Include="deviceLibrary\kangnaide\KNDManager.cs" />
<Compile Include="deviceLibrary\kangnaide\MasterTcpClient.cs" />
<Compile Include="deviceLibrary\shuoke\ShuoKeControls.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotControl.cs" /> <Compile Include="deviceLibrary\urRobot\URRobotControl.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotManager.cs" /> <Compile Include="deviceLibrary\urRobot\URRobotManager.cs" />
<Compile Include="Robot\MoveType.cs" /> <Compile Include="Robot\MoveType.cs" />
<Compile Include="Robot\soldering\AlarmType.cs" /> <Compile Include="Robot\soldering\AlarmType.cs" />
<Compile Include="bean\BoardManager.cs" /> <Compile Include="bean\BoardManager.cs" />
<Compile Include="deviceLibrary\kangnaide\KNDManager.cs" />
<Compile Include="deviceLibrary\kangnaide\MasterTcpClient.cs" />
<Compile Include="Properties\AssemblyInfo.cs" /> <Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="Robot\LineSolderingRobot.cs" /> <Compile Include="Robot\LineSolderingRobot.cs" />
<Compile Include="Robot\LineSolderingRobot_Partial.cs" /> <Compile Include="Robot\LineSolderingRobot_Partial.cs" />
......
DeviceLibrary/Robot/LineSolderingRobot.cs
...@@ -24,11 +24,8 @@ namespace URSoldering.DeviceLibrary ...@@ -24,11 +24,8 @@ namespace URSoldering.DeviceLibrary
this.Config = config; this.Config = config;
WeldRobotBean.InitData(config); WeldRobotBean.InitData(config);
InitTimer(); InitTimer();
EpsonDevice.Init(config.Epson_IP); URRobotControl.InitConfig(config.UR_IP);
////初始化摄像机
//string nameStr = ConfigAppSettings.GetValue(Setting_Init.CameraName);
//string codeStr = ConfigAppSettings.GetValue(Setting_Init.CodeType);
//HDevelopExport.LoadConfig(nameStr, codeStr);
} }
public bool StartRun() public bool StartRun()
{ {
......
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
...@@ -96,11 +96,14 @@ namespace URSoldering.DeviceLibrary ...@@ -96,11 +96,14 @@ namespace URSoldering.DeviceLibrary
/// </summary> /// </summary>
public static void Init() public static void Init()
{ {
//EpsonDevice.InitEpson(); //URRobotControl.InitEpson();
Task.Factory.StartNew(delegate () Task.Factory.StartNew(delegate ()
{ {
string warnMsg = EpsonDevice.Start(); bool result = URRobotControl.StartRobot();
WarnMsg = warnMsg; if (!result)
{
WarnMsg = "连接UR机器人失败";
}
}); });
//SendWireManager.Init(); //SendWireManager.Init();
SolderingManager.Init(RobotConfig.JBC_SerialPort, RobotConfig.JBC_EquipmentPort); SolderingManager.Init(RobotConfig.JBC_SerialPort, RobotConfig.JBC_EquipmentPort);
...@@ -111,13 +114,17 @@ namespace URSoldering.DeviceLibrary ...@@ -111,13 +114,17 @@ namespace URSoldering.DeviceLibrary
public static void ResetInit() public static void ResetInit()
{ {
if (!EpsonDevice.IsRun) if (!URRobotControl.IsRun)
{ {
//EpsonDevice.InitEpson(); //URRobotControl.InitEpson();
Task.Factory.StartNew(delegate () Task.Factory.StartNew(delegate ()
{ {
string warnMsg = EpsonDevice.Start(); bool result = URRobotControl.StartRobot();
WarnMsg = warnMsg;
if(!result)
{
WarnMsg = "连接UR机器人失败";
}
}); });
} }
SendWireManager.Init(RobotConfig.JBC_SendWire_Port); SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
...@@ -147,7 +154,7 @@ namespace URSoldering.DeviceLibrary ...@@ -147,7 +154,7 @@ namespace URSoldering.DeviceLibrary
ResetInit(); ResetInit();
} }
Thread.Sleep(1000); Thread.Sleep(1000);
if (!EpsonDevice.IsRun) if (!URRobotControl.IsRun)
{ {
Thread.Sleep(2000); Thread.Sleep(2000);
...@@ -165,15 +172,13 @@ namespace URSoldering.DeviceLibrary ...@@ -165,15 +172,13 @@ namespace URSoldering.DeviceLibrary
LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上"); 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！"; return "JBC送丝器没有连接上！";
} }
if (EpsonDevice.IsRun) if (URRobotControl.IsRun)
{ {
//验证位置 URPointValue lastPoint = URRobotControl.GetLastPosition();
EpsonDevice.GetPosition(AfterGet); TimeSpan span = lastPoint.UpdateTime - DateTime.Now; ;
Thread.Sleep(200); if (span.TotalSeconds <= 60 && (lastPoint.Z != 0) && (lastPoint.X != 0))
TimeSpan span = EpsonDevice.LastPoint.UpdateTime - DateTime.Now; ;
if (span.TotalSeconds <= 60 && (EpsonDevice.LastPoint.U != 0) && (EpsonDevice.LastPoint.X != 0))
{ {
string msg = CheckEpsonPoint(EpsonDevice.LastPoint); string msg = CheckEpsonPoint(lastPoint);
if (!msg.Equals("")) if (!msg.Equals(""))
{ {
return msg; return msg;
...@@ -185,7 +190,7 @@ namespace URSoldering.DeviceLibrary ...@@ -185,7 +190,7 @@ namespace URSoldering.DeviceLibrary
//开始运行 //开始运行
alarmType = AlarmType.None; alarmType = AlarmType.None;
//锁定轴 //锁定轴
EpsonDevice.LockAxis(); URRobotControl.LockAxis();
//InitSendWireSpeed(); //InitSendWireSpeed();
...@@ -304,8 +309,7 @@ namespace URSoldering.DeviceLibrary ...@@ -304,8 +309,7 @@ namespace URSoldering.DeviceLibrary
} }
private static DateTime preCheckSendWireTime = DateTime.Now; private static DateTime preCheckSendWireTime = DateTime.Now;
private static DateTime lastSendWireOkTime = DateTime.Now; private static DateTime lastSendWireOkTime = DateTime.Now;
private static bool ISAlarmAndOk = false;
/// <summary> /// <summary>
/// 检测送丝错误 /// 检测送丝错误
/// </summary> /// </summary>
...@@ -373,8 +377,7 @@ namespace URSoldering.DeviceLibrary ...@@ -373,8 +377,7 @@ namespace URSoldering.DeviceLibrary
{ {
LogUtil.info(RobotName + "开始卡丝恢复，重新此焊点的焊接 ！"); 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);
} }
ISAlarmAndOk = true;
lastSendWireOkTime = DateTime.Now; lastSendWireOkTime = DateTime.Now;
LogUtil.info(RobotName + "开始卡丝恢复！"); LogUtil.info(RobotName + "开始卡丝恢复！");
return true; return true;
...@@ -493,7 +496,7 @@ namespace URSoldering.DeviceLibrary ...@@ -493,7 +496,7 @@ namespace URSoldering.DeviceLibrary
IsNoAir = true; IsNoAir = true;
} }
//急停之后需要机械臂重连 //急停之后需要机械臂重连
EpsonDevice.Stop(); URRobotControl.StopRobot();
//停止所有运行 //停止所有运行
StopMove(); StopMove();
} }
...@@ -529,10 +532,10 @@ namespace URSoldering.DeviceLibrary ...@@ -529,10 +532,10 @@ namespace URSoldering.DeviceLibrary
{ {
WeldMoveStep.NextMoveStep(MoveStep.Home_1_RobotMove); WeldMoveStep.NextMoveStep(MoveStep.Home_1_RobotMove);
//验证位置 //验证位置
TimeSpan span = EpsonDevice.LastPoint.UpdateTime - DateTime.Now; ; TimeSpan span = URRobotControl.GetLastPosition().UpdateTime - DateTime.Now; ;
if (span.TotalSeconds <= 60 && (EpsonDevice.LastPoint.U != 0) && (EpsonDevice.LastPoint.X != 0)) if (span.TotalSeconds <= 60 && (URRobotControl.GetLastPosition().Y != 0) && (URRobotControl.GetLastPosition().X != 0))
{ {
string msg = CheckEpsonPoint(EpsonDevice.LastPoint); string msg = CheckEpsonPoint(URRobotControl.GetLastPosition());
if (!msg.Equals("")) if (!msg.Equals(""))
{ {
WarnMsg = msg; WarnMsg = msg;
...@@ -593,13 +596,13 @@ namespace URSoldering.DeviceLibrary ...@@ -593,13 +596,13 @@ namespace URSoldering.DeviceLibrary
{ {
//SendWireDown(); //SendWireDown();
////判断需要抬起的高度 ////判断需要抬起的高度
//double limZ = EpsonDevice.Robot_LIM_Z; //double limZ = URRobotControl.Robot_LIM_Z;
//double ZValue = p.PositionZ; //double ZValue = p.PositionZ;
//string gaoStr = IsHigh ? "高" : "低"; //string gaoStr = IsHigh ? "高" : "低";
////WeldLog("移动到焊点【" + WeldMoveStep.CurrPoint.pointName + "】: X:" + p.PositionX + " Y: " + p.PositionY + " U:" + p.PositionU + " Z: " + ZValue + " ，limitZ: " + limZ); ////WeldLog("移动到焊点【" + WeldMoveStep.CurrPoint.pointName + "】: X:" + p.PositionX + " Y: " + p.PositionY + " U:" + p.PositionU + " Z: " + ZValue + " ，limitZ: " + limZ);
//EpsonDevice.MoveTo(p.PositionX, p.PositionY, ZValue, p.PositionU, isHighSpeed, p.HandDirection, limZ,AfterMove); //URRobotControl.MoveTo(p.PositionX, p.PositionY, ZValue, p.PositionU, isHighSpeed, p.HandDirection, limZ,AfterMove);
//WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson()); //WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson());
} }
...@@ -634,18 +637,18 @@ namespace URSoldering.DeviceLibrary ...@@ -634,18 +637,18 @@ namespace URSoldering.DeviceLibrary
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(mSenconds)); WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(mSenconds));
if (Clear2Point.X != 0 && Clear2Point.Y != 0 && Clear2Point.Z != 0) if (Clear2Point.X != 0 && Clear2Point.Y != 0 && Clear2Point.Z != 0)
{ {
double limZ = EpsonDevice.Robot_LIM_Z; //double limZ = URRobotControl.Robot_LIM_Z;
double preZValue = EpsonDevice.LastSendPoint.Z; //double preZValue = URRobotControl.LastSendPoint.Z;
if (EpsonDevice.LastSendPoint.UpdateTime < EpsonDevice.LastPoint.UpdateTime) //if (URRobotControl.LastSendPoint.UpdateTime < URRobotControl.GetLastPosition().UpdateTime)
{ //{
preZValue = EpsonDevice.LastPoint.Z; // preZValue = URRobotControl.GetLastPosition().Z;
} //}
//if (preZValue < EpsonClearZ2) //if (preZValue < EpsonClearZ2)
//{ //{
// preZValue = EpsonClearZ2; // preZValue = EpsonClearZ2;
//} //}
limZ = preZValue + 1; //limZ = preZValue + 1;
WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:"+mSenconds+" "); WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:"+mSenconds+" ");
//WeldLog("机械臂走到清洗点2 : X:" + EpsonClearX2 + " Y: " + EpsonClearY2 + " U:" + EpsonClearU2 + " Z: " + EpsonClearZ2 + " "); //WeldLog("机械臂走到清洗点2 : X:" + EpsonClearX2 + " Y: " + EpsonClearY2 + " U:" + EpsonClearU2 + " Z: " + EpsonClearZ2 + " ");
URRobotControl.MoveTo(Clear2Point); URRobotControl.MoveTo(Clear2Point);
...@@ -679,7 +682,7 @@ namespace URSoldering.DeviceLibrary ...@@ -679,7 +682,7 @@ namespace URSoldering.DeviceLibrary
/// </summary> /// </summary>
/// <param name="point"></param> /// <param name="point"></param>
/// <returns></returns> /// <returns></returns>
public static string CheckEpsonPoint(PointValue point) public static string CheckEpsonPoint(URPointValue point)
{ {
//if (EpsonXMin < EpsonXMax) //if (EpsonXMin < EpsonXMax)
//{ //{
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
...@@ -34,7 +34,7 @@ namespace URSoldering.DeviceLibrary ...@@ -34,7 +34,7 @@ namespace URSoldering.DeviceLibrary
{ {
return "开始焊接失败：" + WarnMsg; return "开始焊接失败：" + WarnMsg;
} }
if (EpsonDevice.IsRun == false) if (URRobotControl.IsRun == false)
{ {
return "机器人未连接，无法开始焊接"; return "机器人未连接，无法开始焊接";
} }
...@@ -406,17 +406,17 @@ namespace URSoldering.DeviceLibrary ...@@ -406,17 +406,17 @@ namespace URSoldering.DeviceLibrary
} }
else if (wait.WaitType == 3) else if (wait.WaitType == 3)
{ {
if (EpsonDevice.MoveOKTime() < WeldMoveStep.LastSetpTime) //if (URRobotControl.MoveOKTime() < WeldMoveStep.LastSetpTime)
{ //{
NotOkMsg = "机械臂移动到位"; // NotOkMsg = "机械臂移动到位";
isOk = false; // isOk = false;
break; // break;
} //}
else if (WeldMoveStep.OneWaitOk) //else if (WeldMoveStep.OneWaitOk)
{ //{
isOk = true; // isOk = true;
break; // break;
} //}
} }
else if (wait.WaitType == 4) else if (wait.WaitType == 4)
{ {
...@@ -550,7 +550,7 @@ namespace URSoldering.DeviceLibrary ...@@ -550,7 +550,7 @@ namespace URSoldering.DeviceLibrary
} }
else if (wait.WaitType == 6) else if (wait.WaitType == 6)
{ {
if (!EpsonDevice.IsRun) if (!URRobotControl.IsRun)
{ {
NotOkMsg = "机器人连接"; NotOkMsg = "机器人连接";
isOk = false; isOk = false;
......
DeviceLibrary/RobotConfig/config/solderingWorkCount.json deleted 100644 → 0
{"WorkLogList":[{"WeldCount":0,"WeldPointCount":0,"DayTime":"2018-06-06T23:59:59"},{"WeldCount":129,"WeldPointCount":610,"DayTime":"2018-06-05T23:59:59"},{"WeldCount":155,"WeldPointCount":782,"DayTime":"2018-06-04T23:59:59"},{"WeldCount":151,"WeldPointCount":607,"DayTime":"2018-06-03T23:59:59"},{"WeldCount":126,"WeldPointCount":557,"DayTime":"2018-06-02T23:59:59"},{"WeldCount":118,"WeldPointCount":750,"DayTime":"2018-06-01T23:59:59"},{"WeldCount":133,"WeldPointCount":571,"DayTime":"2018-05-31T23:59:59"},{"WeldCount":202,"WeldPointCount":703,"DayTime":"2018-05-30T23:59:59"},{"WeldCount":188,"WeldPointCount":627,"DayTime":"2018-05-29T23:59:59"},{"WeldCount":156,"WeldPointCount":507,"DayTime":"2018-05-28T23:59:59"},{"WeldCount":239,"WeldPointCount":786,"DayTime":"2018-05-27T23:59:59"},{"WeldCount":167,"WeldPointCount":511,"DayTime":"2018-05-26T23:59:59"},{"WeldCount":139,"WeldPointCount":610,"DayTime":"2018-05-25T23:59:59"},{"WeldCount":110,"WeldPointCount":685,"DayTime":"2018-05-24T23:59:59"},{"WeldCount":134,"WeldPointCount":613,"DayTime":"2018-05-23T23:59:59"},{"WeldCount":120,"WeldPointCount":602,"DayTime":"2018-05-22T23:59:59"},{"WeldCount":201,"WeldPointCount":690,"DayTime":"2018-05-21T23:59:59"},{"WeldCount":208,"WeldPointCount":742,"DayTime":"2018-05-20T23:59:59"},{"WeldCount":100,"WeldPointCount":716,"DayTime":"2018-05-19T23:59:59"},{"WeldCount":160,"WeldPointCount":737,"DayTime":"2018-05-18T23:59:59"},{"WeldCount":113,"WeldPointCount":674,"DayTime":"2018-05-17T23:59:59"},{"WeldCount":233,"WeldPointCount":694,"DayTime":"2018-05-16T23:59:59"},{"WeldCount":209,"WeldPointCount":517,"DayTime":"2018-05-15T23:59:59"},{"WeldCount":123,"WeldPointCount":724,"DayTime":"2018-05-14T23:59:59"},{"WeldCount":142,"WeldPointCount":586,"DayTime":"2018-05-13T23:59:59"},{"WeldCount":210,"WeldPointCount":717,"DayTime":"2018-05-12T23:59:59"},{"WeldCount":210,"WeldPointCount":706,"DayTime":"2018-05-11T23:59:59"},{"WeldCount":197,"WeldPointCount":780,"DayTime":"2018-05-10T23:59:59"},{"WeldCount":228,"WeldPointCount":730,"DayTime":"2018-05-09T23:59:59"},{"WeldCount":242,"WeldPointCount":517,"DayTime":"2018-05-08T23:59:59"},{"WeldCount":225,"WeldPointCount":618,"DayTime":"2018-05-07T23:59:59"},{"WeldCount":218,"WeldPointCount":608,"DayTime":"2018-05-06T23:59:59"},{"WeldCount":218,"WeldPointCount":700,"DayTime":"2018-05-05T23:59:59"},{"WeldCount":216,"WeldPointCount":788,"DayTime":"2018-05-04T23:59:59"},{"WeldCount":176,"WeldPointCount":736,"DayTime":"2018-05-03T23:59:59"},{"WeldCount":209,"WeldPointCount":526,"DayTime":"2018-05-02T23:59:59"},{"WeldCount":172,"WeldPointCount":577,"DayTime":"2018-05-01T23:59:59"},{"WeldCount":123,"WeldPointCount":580,"DayTime":"2018-04-30T23:59:59"},{"WeldCount":225,"WeldPointCount":504,"DayTime":"2018-04-29T23:59:59"},{"WeldCount":190,"WeldPointCount":540,"DayTime":"2018-04-28T23:59:59"},{"WeldCount":117,"WeldPointCount":594,"DayTime":"2018-04-27T23:59:59"},{"WeldCount":104,"WeldPointCount":595,"DayTime":"2018-04-26T23:59:59"},{"WeldCount":129,"WeldPointCount":650,"DayTime":"2018-04-25T23:59:59"},{"WeldCount":160,"WeldPointCount":685,"DayTime":"2018-04-24T23:59:59"},{"WeldCount":142,"WeldPointCount":504,"DayTime":"2018-04-23T23:59:59"},{"WeldCount":171,"WeldPointCount":614,"DayTime":"2018-04-22T23:59:59"},{"WeldCount":129,"WeldPointCount":651,"DayTime":"2018-04-21T23:59:59"},{"WeldCount":121,"WeldPointCount":699,"DayTime":"2018-04-20T23:59:59"},{"WeldCount":203,"WeldPointCount":601,"DayTime":"2018-04-19T23:59:59"},{"WeldCount":194,"WeldPointCount":719,"DayTime":"2018-04-18T23:59:59"},{"WeldCount":211,"WeldPointCount":607,"DayTime":"2018-04-17T23:59:59"},{"WeldCount":206,"WeldPointCount":559,"DayTime":"2018-04-16T23:59:59"},{"WeldCount":223,"WeldPointCount":799,"DayTime":"2018-04-15T23:59:59"},{"WeldCount":194,"WeldPointCount":562,"DayTime":"2018-04-14T23:59:59"},{"WeldCount":154,"WeldPointCount":593,"DayTime":"2018-04-13T23:59:59"},{"WeldCount":219,"WeldPointCount":610,"DayTime":"2018-04-12T23:59:59"},{"WeldCount":242,"WeldPointCount":535,"DayTime":"2018-04-11T23:59:59"},{"WeldCount":190,"WeldPointCount":767,"DayTime":"2018-04-10T23:59:59"},{"WeldCount":198,"WeldPointCount":597,"DayTime":"2018-04-09T23:59:59"},{"WeldCount":205,"WeldPointCount":617,"DayTime":"2018-04-08T23:59:59"},{"WeldCount":134,"WeldPointCount":782,"DayTime":"2018-04-07T23:59:59"},{"WeldCount":248,"WeldPointCount":648,"DayTime":"2018-04-06T23:59:59"},{"WeldCount":187,"WeldPointCount":582,"DayTime":"2018-04-05T23:59:59"},{"WeldCount":205,"WeldPointCount":629,"DayTime":"2018-04-04T23:59:59"},{"WeldCount":160,"WeldPointCount":718,"DayTime":"2018-04-03T23:59:59"},{"WeldCount":159,"WeldPointCount":577,"DayTime":"2018-04-02T23:59:59"},{"WeldCount":142,"WeldPointCount":783,"DayTime":"2018-04-01T23:59:59"},{"WeldCount":161,"WeldPointCount":751,"DayTime":"2018-03-31T23:59:59"},{"WeldCount":249,"WeldPointCount":775,"DayTime":"2018-03-30T23:59:59"},{"WeldCount":249,"WeldPointCount":683,"DayTime":"2018-03-29T23:59:59"},{"WeldCount":217,"WeldPointCount":636,"DayTime":"2018-03-28T23:59:59"},{"WeldCount":169,"WeldPointCount":559,"DayTime":"2018-03-27T23:59:59"},{"WeldCount":166,"WeldPointCount":745,"DayTime":"2018-03-26T23:59:59"},{"WeldCount":105,"WeldPointCount":763,"DayTime":"2018-03-25T23:59:59"},{"WeldCount":121,"WeldPointCount":533,"DayTime":"2018-03-24T23:59:59"},{"WeldCount":116,"WeldPointCount":632,"DayTime":"2018-03-23T23:59:59"},{"WeldCount":171,"WeldPointCount":783,"DayTime":"2018-03-22T23:59:59"},{"WeldCount":211,"WeldPointCount":719,"DayTime":"2018-03-21T23:59:59"},{"WeldCount":182,"WeldPointCount":701,"DayTime":"2018-03-20T23:59:59"},{"WeldCount":163,"WeldPointCount":736,"DayTime":"2018-03-19T23:59:59"},{"WeldCount":173,"WeldPointCount":665,"DayTime":"2018-03-18T23:59:59"},{"WeldCount":152,"WeldPointCount":527,"DayTime":"2018-03-17T23:59:59"},{"WeldCount":161,"WeldPointCount":730,"DayTime":"2018-03-16T23:59:59"},{"WeldCount":154,"WeldPointCount":501,"DayTime":"2018-03-15T23:59:59"},{"WeldCount":221,"WeldPointCount":730,"DayTime":"2018-03-14T23:59:59"},{"WeldCount":167,"WeldPointCount":758,"DayTime":"2018-03-13T23:59:59"},{"WeldCount":112,"WeldPointCount":763,"DayTime":"2018-03-12T23:59:59"},{"WeldCount":205,"WeldPointCount":503,"DayTime":"2018-03-11T23:59:59"},{"WeldCount":145,"WeldPointCount":773,"DayTime":"2018-03-10T23:59:59"},{"WeldCount":193,"WeldPointCount":541,"DayTime":"2018-03-09T23:59:59"},{"WeldCount":149,"WeldPointCount":620,"DayTime":"2018-03-08T23:59:59"},{"WeldCount":182,"WeldPointCount":711,"DayTime":"2018-03-07T23:59:59"},{"WeldCount":222,"WeldPointCount":577,"DayTime":"2018-03-06T23:59:59"},{"WeldCount":128,"WeldPointCount":556,"DayTime":"2018-03-05T23:59:59"},{"WeldCount":199,"WeldPointCount":611,"DayTime":"2018-03-04T23:59:59"},{"WeldCount":134,"WeldPointCount":512,"DayTime":"2018-03-03T23:59:59"},{"WeldCount":206,"WeldPointCount":798,"DayTime":"2018-03-02T23:59:59"},{"WeldCount":109,"WeldPointCount":508,"DayTime":"2018-03-01T23:59:59"},{"WeldCount":167,"WeldPointCount":573,"DayTime":"2018-02-28T23:59:59"},{"WeldCount":191,"WeldPointCount":770,"DayTime":"2018-02-27T23:59:59"}],"OKCount":1681,"NGCount":125,"StartTime":"2018-04-12T14:31:25.9111109+08:00","TodayOKCount":2,"TodayNGCount":1,"TodayTime":"2018-06-01T11:26:54.2115483+08:00","WeldStartTime":"2018-04-12T14:31:25.9121111+08:00","WeldPointCount":12376,"AlarmCount":600000}
DeviceLibrary/bean/ComponentInfo.cs deleted 100644 → 0
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace LineSoldering.DeviceLibrary
{
public class ComponentInfo
{
public int id { get; set; }
/// <summary>
/// 名字
/// </summary>
public string name { get; set; }
/// <summary>
/// 预热温度
/// </summary>
public int preheatTemperature { get; set; }
/// <summary>
/// 预热温度上限
/// </summary>
public int preheatTemperatureMax { get; set; }
/// <summary>
/// 预热温度下限
/// </summary>
public int preheatTemperatureMin { get; set; }
/// <summary>
/// 预热时间（秒）
/// </summary>
public double preheatTime { get; set; }
/// <summary>
/// 焊接温度
/// </summary>
public int weldTemperature { get; set; }
/// <summary>
/// 焊接温度上限
/// </summary>
public int weldTemperatureMax { get; set; }
/// <summary>
/// 焊接温度下限
/// </summary>
public int weldTemperatureMin { get; set; }
/// <summary>
/// 焊接时间（秒）
/// </summary>
public double weldTime { get; set; }
/// <summary>
/// 起始送丝速度
/// </summary>
public double startSendWireSpeed { get; set; }
/// <summary>
/// 起始送丝时间（秒）
/// </summary>
public double startSendWireTime { get; set; }
/// <summary>
/// 送丝速度
/// </summary>
public double sendWireSpeed { get; set; }
/// <summary>
/// 送丝时间（秒）
/// </summary>
public double sendWireTime { get; set; }
}
}
DeviceLibrary/bean/LogAnalyzeManager.cs deleted 100644 → 0
using LineSoldering.Common;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace LineSoldering.DeviceLibrary
{
public class LogAnalyzeManager
{
public static List<TempLog> getWeldLog(DateTime startTime, DateTime endTime)
{
//查找文件夹
string dic = Application.StartupPath + @"\logs\temp\";
string[] files = Directory.GetFiles(dic);
List<TempLog> tempList = new List<TempLog>();
List<string> lines = new List<string>();
foreach (string f in files)
{
DateTime time = LogUtil.GetFileTime(f);
DateTime logEndTime = time.AddDays(1);
if (time != null && ((startTime <= time && time <= endTime) || (time <= startTime && startTime <= logEndTime)))
{
//读取文件内容
string[] fileValue = File.ReadAllLines(f);
foreach (string s in fileValue)
{
TempLog log = TempLog.GetLog(s);
if (log != null)
{
if (log.LogTime >= startTime && log.LogTime <= endTime)
{
tempList.Add(log);
lines.Add(s);
}
}
}
}
}
LogUtil.info("查询结果：共【" + tempList.Count + "】条记录");
int i = 1;
return tempList;
}
public static List<BoardLog> getBoardLogList(DateTime startTime, DateTime endTime, BoardInfo board, out List<string> lines)
{
if (board.boardId <= 0)
{
board = null;
}
//查找文件夹
string dic = Application.StartupPath + @"\logs\soldering\";
List<BoardLog> boardLogList = new List<BoardLog>();
string[] files = Directory.GetFiles(dic);
lines = new List<string>();
foreach (string f in files)
{
DateTime time = LogUtil.GetFileTime(f);
DateTime logEndTime = time.AddDays(1);
if (time != null && ((startTime <= time && time <= endTime)||(time<=startTime&&startTime<=logEndTime)))
{
//读取文件内容
string[] fileValue = File.ReadAllLines(f);
foreach (string s in fileValue)
{
BoardLog log = BoardLog.GetLog(s);
if (log != null)
{
if (log.LogTime >= startTime && log.LogTime <= endTime && (board == null || board.boardId <= 0 || log.BoardName.Equals(board.boardName)))
{
List<WeldPointInfo> list = new List<WeldPointInfo>();
if (board == null || board.boardId <= 0)
{
BoardInfo theBorad = BoardManager.getBoardByName(log.BoardName);
if (theBorad != null)
{
list = (from m in theBorad.pointList where m.pointName.Equals(log.BoardPoint) select m).ToList<WeldPointInfo>();
}
}
else
{
list = (from m in board.pointList where m.pointName.Equals(log.BoardPoint) select m).ToList<WeldPointInfo>();
}
if (list != null && list.Count > 0)
{
WeldPointInfo point = list[0];
if (log.PreTemp <= 0)
{
log.PreTemp = point.preheatTemperature;
} if (log.WeldTemp <= 0)
{
log.WeldTemp = point.weldTemperature;
}
if (log.PreSendWire <= 0)
{
log.PreSendWire = point.startSendWireSpeed * point.startSendWireTime;
} if (log.SendWire <= 0)
{
log.SendWire = point.sendWireSpeed * point.sendWireTime;
}
boardLogList.Add(log);
lines.Add(log.ToCSVString());
}
}
}
}
}
}
lines.Insert(0, BoardLog.CSVTitleString());
return boardLogList;
}
}
}
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
...@@ -53,7 +53,16 @@ namespace URSoldering.DeviceLibrary ...@@ -53,7 +53,16 @@ namespace URSoldering.DeviceLibrary
public static string WarnMsg = ""; public static string WarnMsg = "";
private static System.Timers.Timer reconnectTimer = new System.Timers.Timer(); private static System.Timers.Timer reconnectTimer = new System.Timers.Timer();
public static bool InitRobot()
public static void InitConfig(string ip)
{
RobotIp = ip;
}
/// <summary>
/// 开始启动连接机器人
/// </summary>
/// <returns></returns>
public static bool StartRobot()
{ {
if (reconnectTimer == null) if (reconnectTimer == null)
{ {
...@@ -70,17 +79,18 @@ namespace URSoldering.DeviceLibrary ...@@ -70,17 +79,18 @@ namespace URSoldering.DeviceLibrary
} }
return StartConnect(); return StartConnect();
} }
public static string Start()
{
return "";
}
private static bool StartConnect() private static bool StartConnect()
{ {
try try
{ {
WarnMsg = ""; WarnMsg = "";
if (RobotIp.Equals(""))
{
LogUtil.info("未初始化UR机械臂的IP地址");
return false;
}
if (startCount > 0) if (startCount > 0)
{ {
TimeSpan span = DateTime.Now - PreStartTime; TimeSpan span = DateTime.Now - PreStartTime;
...@@ -228,6 +238,9 @@ namespace URSoldering.DeviceLibrary ...@@ -228,6 +238,9 @@ namespace URSoldering.DeviceLibrary
LogUtil.error("stopTcp出错啦" + ex.ToString()); LogUtil.error("stopTcp出错啦" + ex.ToString());
} }
} }
/// <summary>
/// 停止机器人，断开连接
/// </summary>
public static void StopRobot() public static void StopRobot()
{ {
try try
...@@ -240,26 +253,31 @@ namespace URSoldering.DeviceLibrary ...@@ -240,26 +253,31 @@ namespace URSoldering.DeviceLibrary
{ {
LogUtil.error("StopEpson出错啦" + ex.ToString()); LogUtil.error("StopEpson出错啦" + ex.ToString());
} }
} }
public static void GetPosition(Action<double, double, double, double, int> afterGet) /// <summary>
{ /// 释放所有轴，切换为手移方式
} /// </summary>
public static void FreeAxis() public static void FreeAxis()
{ {
} }
public static void MoveTo(URPointValue point) /// <summary>
{ /// 锁定轴，改为程序模式
} /// </summary>
public static void MoveTo(double x, double y, double z, double rx, double ry, double rz) public static void LockAxis()
{ {
} }
/// <summary>
public static void LockAxis() /// 移动到指定的坐标
/// </summary>
/// <param name="point"></param>
public static void MoveTo(URPointValue point)
{ {
} }
/// <summary>
/// 获取机器人最后一次获取的坐标
/// </summary>
/// <returns></returns>
public static URPointValue GetLastPosition() public static URPointValue GetLastPosition()
{ {
return new URPointValue(); return new URPointValue();
......
URSolderingClient/DfIcon.ico deleted 100644 → 0
此文件类型无法预览
URSolderingClient/FrmBase.resx
此文件的差异太大，无法显示。
URSolderingClient/FrmBoardInfo.cs
...@@ -29,8 +29,7 @@ namespace URSoldering.Client ...@@ -29,8 +29,7 @@ namespace URSoldering.Client
private bool isSave = false; private bool isSave = false;
private bool isNew = false; private bool isNew = false;
private BoardInfo updateBoardInfo = null; private BoardInfo updateBoardInfo = null;
private bool isAuto = false; private bool isAuto = false;
private bool isConnect = false;
private bool isFinishLoad = false; private bool isFinishLoad = false;
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public FrmBoardInfo(BoardInfo board) public FrmBoardInfo(BoardInfo board)
...@@ -92,8 +91,7 @@ namespace URSoldering.Client ...@@ -92,8 +91,7 @@ namespace URSoldering.Client
} }
if (URRobotControl.IsRun) if (URRobotControl.IsRun)
{ {
URRobotControl.FreeAxis(); URRobotControl.FreeAxis();
isConnect = true;
btnChange.Text = "切换到自动模式(&M)（当前手动）"; btnChange.Text = "切换到自动模式(&M)（当前手动）";
RobotStatus(true); RobotStatus(true);
...@@ -267,32 +265,12 @@ namespace URSoldering.Client ...@@ -267,32 +265,12 @@ namespace URSoldering.Client
private bool isRun = false; private bool isRun = false;
private void timer_Elapsed(object sender, EventArgs e) private void timer_Elapsed(object sender, EventArgs e)
{ {
////判断是否开急停 //判断是否开急停
//if (IOManager.ISConnection().Equals(false)) if (RobotBean.KNDIOValue(IO_Type.SuddenStop_Single).Equals(IO_VALUE.LOW))
//{ {
// lblMsg.Text = "获取不到急停信号"; lblMsg.Text = "急停未开";
// if (this.btnSDown.Enabled == true) }
// { else
// this.btnSDown.Enabled = false;
// this.btnSUp.Enabled = false;
// this.btnWDown.Enabled = false;
// this.btnWUp.Enabled = false;
// }
//}
//else if (IOManager.ShuddenOK().Equals(false))
//{
// lblMsg.Text = "急停未开";
// if (this.btnSDown.Enabled == true)
// {
// this.btnSDown.Enabled = false;
// this.btnSUp.Enabled = false;
// this.btnWDown.Enabled = false;
// this.btnWUp.Enabled = false;
// }
//}
//else
{ {
lblMsg.Text = ""; lblMsg.Text = "";
if (this.btnWUp.Enabled == false) if (this.btnWUp.Enabled == false)
...@@ -304,8 +282,8 @@ namespace URSoldering.Client ...@@ -304,8 +282,8 @@ namespace URSoldering.Client
{ {
Task.Factory.StartNew(delegate () Task.Factory.StartNew(delegate ()
{ {
string result = URRobotControl.Start(); bool result = URRobotControl.StartRobot();
if (result != "") if (!result)
{ {
LogUtil.info("连接失败：" + result); LogUtil.info("连接失败：" + result);
} }
...@@ -320,7 +298,7 @@ namespace URSoldering.Client ...@@ -320,7 +298,7 @@ namespace URSoldering.Client
} }
else else
{ {
EpsonControl.FreeAxis(); URRobotControl.FreeAxis();
UpdateRobotPosition(); UpdateRobotPosition();
} }
} }
......
URSolderingClient/FrmBoardList.cs
...@@ -26,12 +26,7 @@ namespace URSoldering.Client ...@@ -26,12 +26,7 @@ namespace URSoldering.Client
} }
private void FrmBoard_Load(object sender, EventArgs e) private void FrmBoard_Load(object sender, EventArgs e)
{ {
//if (SProgramManager.programList.Count <= 0)
//{
// MessageBox.Show("请先配置程序！");
// this.Close();
//}
LoadCom(); LoadCom();
} }
private void LoadCom() private void LoadCom()
...@@ -160,12 +155,7 @@ namespace URSoldering.Client ...@@ -160,12 +155,7 @@ namespace URSoldering.Client
if (cmbBoardList.Text != "" && cmbBoardList.SelectedIndex >= 0) if (cmbBoardList.Text != "" && cmbBoardList.SelectedIndex >= 0)
{ {
BoardInfo board = (BoardInfo)cmbBoardList.SelectedItem; BoardInfo board = (BoardInfo)cmbBoardList.SelectedItem;
////如果是当前默认程序，不能删除
//if (BoardManager.CurrBoard != null && board.boardId.Equals(BoardManager.CurrBoardId))
//{
// MessageBox.Show("【" + board.boardName + "】是默认焊接程序，不能删除！");
// return;
//}
if (MessageBox.Show("确认要删除程序【" + board.boardName + "】吗？", "删除确认", if (MessageBox.Show("确认要删除程序【" + board.boardName + "】吗？", "删除确认",
MessageBoxButtons.OKCancel, MessageBoxButtons.OKCancel,
MessageBoxIcon.Question).Equals(DialogResult.OK)) MessageBoxIcon.Question).Equals(DialogResult.OK))
......
URSolderingClient/FrmDebugMenu.cs
...@@ -41,10 +41,10 @@ namespace URSoldering.Client ...@@ -41,10 +41,10 @@ namespace URSoldering.Client
private void btnSendWireDebug_Click(object sender, EventArgs e) private void btnSendWireDebug_Click(object sender, EventArgs e)
{ {
//FrmShuoKeDebug shuoke = new FrmShuoKeDebug(); FrmSendWire shuoke = new FrmSendWire();
//this.Visible = false; this.Visible = false;
//shuoke.ShowDialog(); shuoke.ShowDialog();
//this.Visible = true; this.Visible = true;
} }
private void btnConfig_Click(object sender, EventArgs e) private void btnConfig_Click(object sender, EventArgs e)
......
URSolderingClient/FrmMenu.Designer.cs
...@@ -35,13 +35,13 @@ namespace URSoldering.Client ...@@ -35,13 +35,13 @@ namespace URSoldering.Client
this.btnProduct = new System.Windows.Forms.Button(); this.btnProduct = new System.Windows.Forms.Button();
this.btnWelding = new System.Windows.Forms.Button(); this.btnWelding = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.button2 = new System.Windows.Forms.Button();
this.btnStop = new System.Windows.Forms.Button(); this.btnStop = new System.Windows.Forms.Button();
this.btnStart = new System.Windows.Forms.Button(); this.btnStart = new System.Windows.Forms.Button();
this.btnAutoEdit = new System.Windows.Forms.Button(); this.btnAutoEdit = new System.Windows.Forms.Button();
this.btnTongji = new System.Windows.Forms.Button(); this.btnTongji = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button(); this.button1 = new System.Windows.Forms.Button();
this.btnCom = new System.Windows.Forms.Button(); this.btnCom = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
...@@ -132,6 +132,17 @@ namespace URSoldering.Client ...@@ -132,6 +132,17 @@ namespace URSoldering.Client
this.panel1.Size = new System.Drawing.Size(861, 453); this.panel1.Size = new System.Drawing.Size(861, 453);
this.panel1.TabIndex = 15; 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 // btnStop
// //
this.btnStop.Location = new System.Drawing.Point(67, 204); this.btnStop.Location = new System.Drawing.Point(67, 204);
...@@ -140,6 +151,7 @@ namespace URSoldering.Client ...@@ -140,6 +151,7 @@ namespace URSoldering.Client
this.btnStop.TabIndex = 16; this.btnStop.TabIndex = 16;
this.btnStop.Text = "停止"; this.btnStop.Text = "停止";
this.btnStop.UseVisualStyleBackColor = true; this.btnStop.UseVisualStyleBackColor = true;
this.btnStop.Visible = false;
this.btnStop.Click += new System.EventHandler(this.btnStop_Click); this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
// //
// btnStart // btnStart
...@@ -150,6 +162,7 @@ namespace URSoldering.Client ...@@ -150,6 +162,7 @@ namespace URSoldering.Client
this.btnStart.TabIndex = 15; this.btnStart.TabIndex = 15;
this.btnStart.Text = "开始"; this.btnStart.Text = "开始";
this.btnStart.UseVisualStyleBackColor = true; this.btnStart.UseVisualStyleBackColor = true;
this.btnStart.Visible = false;
this.btnStart.Click += new System.EventHandler(this.btnStart_Click); this.btnStart.Click += new System.EventHandler(this.btnStart_Click);
// //
// btnAutoEdit // btnAutoEdit
...@@ -215,16 +228,6 @@ namespace URSoldering.Client ...@@ -215,16 +228,6 @@ namespace URSoldering.Client
this.btnCom.TabIndex = 5; this.btnCom.TabIndex = 5;
this.btnCom.UseVisualStyleBackColor = false; this.btnCom.UseVisualStyleBackColor = false;
// //
// 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.Click += new System.EventHandler(this.button2_Click);
//
// FrmMenu // FrmMenu
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
......
URSolderingClient/FrmMenu.cs
...@@ -85,7 +85,7 @@ namespace URSoldering.Client ...@@ -85,7 +85,7 @@ namespace URSoldering.Client
{ {
isClick = true; isClick = true;
EpsonDevice.Stop(); URRobotControl.StopRobot();
KNDManager.CloseAllDO(); KNDManager.CloseAllDO();
KNDManager.CloseAllConnection(); KNDManager.CloseAllConnection();
SolderingManager.Release(); SolderingManager.Release();
...@@ -118,7 +118,7 @@ namespace URSoldering.Client ...@@ -118,7 +118,7 @@ namespace URSoldering.Client
private void btnStart_Click(object sender, EventArgs e) private void btnStart_Click(object sender, EventArgs e)
{ {
URRobotControl.InitRobot(); URRobotControl.StartRobot();
//URRobotManager.StartListen(); //URRobotManager.StartListen();
} }
......
URSolderingClient/FrmOrgConfig.cs
...@@ -26,8 +26,7 @@ namespace URSoldering.Client ...@@ -26,8 +26,7 @@ namespace URSoldering.Client
{ {
public partial class FrmOrgConfig : FrmBase public partial class FrmOrgConfig : FrmBase
{ {
private bool isAuto = false; private bool isAuto = false;
private bool isConnect = false;
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public FrmOrgConfig( ) public FrmOrgConfig( )
...@@ -72,8 +71,8 @@ namespace URSoldering.Client ...@@ -72,8 +71,8 @@ namespace URSoldering.Client
{ {
Task.Factory.StartNew(delegate () Task.Factory.StartNew(delegate ()
{ {
string result = URRobotControl.Start(); bool result = URRobotControl.StartRobot();
if (result != "") if (!result)
{ {
LogUtil.info("连接失败：" + result); LogUtil.info("连接失败：" + result);
} }
......
URSolderingClient/FrmSendWire.cs 0 → 100644
using log4net;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using URSoldering.Common;
using URSoldering.DeviceLibrary;
using URSoldering.LoadCSVLibrary;
namespace URSoldering.Client
{
public partial class FrmSendWire : FrmBase
{
public FrmSendWire()
{
CheckForIllegalCrossThreadCalls = false;
InitializeComponent();
}
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
{
}
private void btnStopSend_Click(object sender, EventArgs e)
{
SendWireManager.StopSend();
}
protected override void OnVisibleChanged(EventArgs e)
{
base.OnVisibleChanged(e);
if (!IsHandleCreated)
{
this.Close();
}
}
private void formStatus(bool isOpen)
{
btnSetSold.Enabled = isOpen;
btnOpenSold.Enabled = !isOpen;
btnCloseSold.Enabled = isOpen;
btnStartSend.Enabled = isOpen;
btnStartSend.Enabled = isOpen;
btnStartBack.Enabled = isOpen;
btnReadError.Enabled = isOpen;
}
private void btnOpenSold_Click(object sender, EventArgs e)
{
if (SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port))
{
formStatus(true);
}
else
{
MessageBox.Show("打开送丝机失败！");
}
}
private void btnCloseSold_Click(object sender, EventArgs e)
{
SendWireManager.Release();
formStatus(false);
}
private void btnSetSold_Click(object sender, EventArgs e)
{
int speed = FormUtil.GetIntValue(txtSpeed);
int length = FormUtil.GetIntValue(txtLength);
SendWireManager.setLength(length);
SendWireManager.setSpeed(speed);
}
private void btnCloseForm_Click(object sender, EventArgs e)
{
this.Close();
}
private void timer2_Tick(object sender, EventArgs e)
{
if (RobotBean.KNDIOValue(IO_Type.SuddenStop_Single).Equals(IO_VALUE.LOW))
{
lblMsg.Text = "急停未开";
}
else
{
lblMsg.Text = "";
}
}
private void btnReadError_Click(object sender, EventArgs e)
{
int error = SendWireManager.ReadPortError();
txtPortError.Text = error.ToString();
}
private void btnStartSend_Click(object sender, EventArgs e)
{
SendWireManager.StartFSend();
}
private void btnStartBack_Click(object sender, EventArgs e)
{
SendWireManager.StartBSend();
}
private void btnStop_Click(object sender, EventArgs e)
{
SendWireManager.StopSend();
}
private void FrmSendWire_Load(object sender, EventArgs e)
{
txtSoldingCom.Text = WeldRobotBean.RobotConfig.JBC_SendWire_Port;
if (SendWireManager.IsRun)
{
formStatus(true);
}
else
{
formStatus(false);
}
}
private void btnReadError_Click_1(object sender, EventArgs e)
{
int value = SendWireManager.ReadPortError();
txtPortError.Text = value.ToString();
}
private void btnReset_Click(object sender, EventArgs e)
{
SendWireManager.Reset();
}
}
}
URSolderingClient/FrmSendWire.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmSolderingSetting.cs
...@@ -152,7 +152,7 @@ namespace URSoldering.Client ...@@ -152,7 +152,7 @@ namespace URSoldering.Client
WeldRobotBean.UpdateClear2Point(clear2P); WeldRobotBean.UpdateClear2Point(clear2P);
ConfigAppSettings.SaveValue(Setting_Init.Soldering_LIM_Z, limz.ToString()); ConfigAppSettings.SaveValue(Setting_Init.Soldering_LIM_Z, limz.ToString());
EpsonDevice.Robot_LIM_Z = limz; URRobotControl.Robot_LIM_Z = limz;
ConfigAppSettings.SaveValue(Setting_Init.Default_BoardID, boardId); ConfigAppSettings.SaveValue(Setting_Init.Default_BoardID, boardId);
BoardManager.UpdateCurrBoard(boardId); BoardManager.UpdateCurrBoard(boardId);
......
URSolderingClient/FrmWeldPointInfo.cs
...@@ -252,9 +252,9 @@ namespace URSoldering.Client ...@@ -252,9 +252,9 @@ namespace URSoldering.Client
URPointValue point = URRobotControl.GetLastPosition(); URPointValue point = URRobotControl.GetLastPosition();
//判断原点的Z轴 //判断原点的Z轴
if (point.Z > EpsonDevice.Robot_LIM_Z) if (point.Z > URRobotControl.Robot_LIM_Z)
{ {
MessageBox.Show("保存失败，焊点Z坐标(" + point.Z + ")不能高于最高Z点(" + EpsonDevice.Robot_LIM_Z + ")"); MessageBox.Show("保存失败，焊点Z坐标(" + point.Z + ")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
return; return;
} }
DialogResult result = MessageBox.Show("当前坐标:" +point.ToShowStr()+ "，是否确定更新？", "提示", MessageBoxButtons.YesNo); DialogResult result = MessageBox.Show("当前坐标:" +point.ToShowStr()+ "，是否确定更新？", "提示", MessageBoxButtons.YesNo);
......
URSolderingClient/FrmWork.cs
...@@ -497,14 +497,14 @@ namespace URSoldering.Client ...@@ -497,14 +497,14 @@ namespace URSoldering.Client
} }
return; return;
} }
//如果报警，需要显示报警 ////如果报警，需要显示报警
bool epsonIsAlarm = EpsonDevice.HasError(); //bool epsonIsAlarm = URRobotControl.HasError();
if ((!WeldRobotBean.WarnMsg.Equals("")) || (!epsonIsAlarm)) //if ((!WeldRobotBean.WarnMsg.Equals("")) || (!epsonIsAlarm))
{ //{
string epsonAlarm = epsonIsAlarm ? "机械臂报警" : ""; // string epsonAlarm = epsonIsAlarm ? "机械臂报警" : "";
lblMsg.ForeColor = Color.Red; // lblMsg.ForeColor = Color.Red;
lblMsg.Text = WeldRobotBean.WarnMsg + " " + epsonAlarm; // lblMsg.Text = WeldRobotBean.WarnMsg + " " + epsonAlarm;
} //}
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome)) if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome))
{ {
lblMsg.ForeColor = Color.Green; lblMsg.ForeColor = Color.Green;
......
URSolderingClient/URSolderingClient.csproj
...@@ -145,6 +145,12 @@ ...@@ -145,6 +145,12 @@
<Compile Include="FrmPwd.Designer.cs"> <Compile Include="FrmPwd.Designer.cs">
<DependentUpon>FrmPwd.cs</DependentUpon> <DependentUpon>FrmPwd.cs</DependentUpon>
</Compile> </Compile>
<Compile Include="FrmSendWire.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmSendWire.Designer.cs">
<DependentUpon>FrmSendWire.cs</DependentUpon>
</Compile>
<Compile Include="FrmSolderingSetting.cs"> <Compile Include="FrmSolderingSetting.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
...@@ -213,6 +219,9 @@ ...@@ -213,6 +219,9 @@
<EmbeddedResource Include="FrmPwd.resx"> <EmbeddedResource Include="FrmPwd.resx">
<DependentUpon>FrmPwd.cs</DependentUpon> <DependentUpon>FrmPwd.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
<EmbeddedResource Include="FrmSendWire.resx">
<DependentUpon>FrmSendWire.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmSolderingSetting.resx"> <EmbeddedResource Include="FrmSolderingSetting.resx">
<DependentUpon>FrmSolderingSetting.cs</DependentUpon> <DependentUpon>FrmSolderingSetting.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
...@@ -306,8 +315,6 @@ ...@@ -306,8 +315,6 @@
</COMReference> </COMReference>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Content Include="box_vista_business_disc_128px_544092_easyicon.net.ico" />
<Content Include="DfIcon.ico" />
<Content Include="robot.ico" /> <Content Include="robot.ico" />
<Content Include="记录.txt" /> <Content Include="记录.txt" />
</ItemGroup> </ItemGroup>
......
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