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Commit c5a1d21e 由 几米阳光
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添加拍照点和固定点的配置。增加拍照点流程

1 个父辈 dc05986e
内嵌 并排
正在显示 17 个修改的文件 包含 487 行增加 和 173 行删除
DeviceLibrary/Robot/MoveType.cs
......@@ -227,6 +227,10 @@ namespace URSoldering.DeviceLibrary
/// 送丝下降
/// </summary>
W23_SendWireDown = 23,
/// <summary>
/// 等待3秒后识别位置进行坐标偏移
/// </summary>
W31_WaitToPositionOffset = 31,
Home_Reset = 100,
/// <summary>
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -51,7 +51,7 @@ namespace URSoldering.DeviceLibrary
IsInWeld = true ;
return "";
}
private static void WeldProcess()
{
if (WeldMoveStep.IsInWait)
......@@ -70,15 +70,27 @@ namespace URSoldering.DeviceLibrary
else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotToHighPoint))
{
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
LogUtil.info(" " + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
WeldLog(" 预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint);
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W02_RobotMoveToPoint))
{
if (WeldMoveStep.CurrPoint.pointType.Equals(0))
//中间点
if (WeldMoveStep.CurrPoint.pointType.Equals(1))
{
PointEndPross();
}
else if (WeldMoveStep.CurrPoint.pointType.Equals(3))
{
//拍照点
WeldMoveStep.NextMoveStep(MoveStep.W31_WaitToPositionOffset);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(3000));
WeldLog(" 等待三秒后进行坐标识别");
}
else
{
if (WeldMoveStep.IsSlowSendWire)
{
......@@ -100,10 +112,11 @@ namespace URSoldering.DeviceLibrary
}
}
}
else
{
PointEndPross();
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W31_WaitToPositionOffset))
{
PositionOffProcess();
PointEndPross();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W03_SlowSendWire))
{
......@@ -173,7 +186,8 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
{
LastAOIResult= AOICheckFun.Invoke();
bool result = LastAOIResult = AOICheckFun.Invoke();
WeldLog("AOI检测结果：" + result);
Thread.Sleep(300);
IsInWeld = false;
if (WeldCount >= RobotConfig.ClearCount)
......@@ -186,10 +200,11 @@ namespace URSoldering.DeviceLibrary
{
WeldEnd();
}
}
}
}
private static void NewPoint()
{
string pointName = WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】";
//运动到焊点，送丝下降，烙铁加温，
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
if (WeldMoveStep.IsFirstPoint())
......@@ -206,12 +221,12 @@ namespace URSoldering.DeviceLibrary
{
//普通焊点先移动至高位
WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint);
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】移动至焊点高处");
LogUtil.info(" 新" + pointName + "移动至焊点高处");
MoveToHighPoint(WeldMoveStep.CurrPoint);
}
else
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
LogUtil.info(" 新" + pointName + "预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint);
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
......@@ -220,17 +235,42 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.CurrPoint.pointType.Equals(2))
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
LogUtil.info(" 新" + pointName + "预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
else
else if(WeldMoveStep.CurrPoint.pointType.Equals(1))
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】 移动机械臂");
//拖焊点
LogUtil.info(" 新" + pointName + " 移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
}else if (WeldMoveStep.CurrPoint.pointType.Equals(3))
{
//拍照点
MoveToPoint(WeldMoveStep.CurrPoint);
}
else
{
LogUtil.info(" 新" + pointName + " 未知焊点类型，跳过直接下一个焊点");
PointEndPross();
}
}
/// <summary>
/// 坐标偏移处理
/// </summary>
private static void PositionOffProcess()
{
List<PositionResult> result= PositionOffsetFun?.Invoke();
if (result.Count > 0)
{
//TODO 坐标偏移
}
else
{
WeldLog("未找到偏移点");
}
}
private static void PointEndPross()
......@@ -244,9 +284,7 @@ namespace URSoldering.DeviceLibrary
else
{
if (WeldMoveStep.NextPoint())
{
//WeldMoveStep.NextMoveStep(MoveStep.Wait);
//WeldLog("开始下一个焊点：" + WeldMoveStep.CurrPoint.pointName);
{
NewPoint();
}
else
......@@ -632,8 +670,7 @@ namespace URSoldering.DeviceLibrary
{
if (WeldMoveStep.CurrPoint != null)
{
LogUtil.info( "焊点【" + WeldMoveStep.CurrPoint.pointName + "】" + str);
LogUtil.info("焊点"+WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】" + str);
}
else
{
......
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg

353.9 KB | 宽: | 高:

DeviceLibrary/RobotConfig/config/TEST.jpg

347.4 KB | 宽: | 高:

DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
DeviceLibrary/RobotConfig/config/TEST.jpg
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DeviceLibrary/RobotConfig/config/boardData.txt
{"WeldTime":"00:00:00","myImage":null,"boardId":56,"WareCode":"hanjietest","ZHighValue":-20.0,"StationNum":0,"PartNumber":"보쌈꿎桿","boardName":"보쌈꿎桿","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":2,"pointName":"P2","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":1.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":3,"pointName":"P3","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":4,"pointName":"P4","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":5,"pointName":"P5","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":6,"pointName":"P6","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":7,"pointName":"P7","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":8,"pointName":"P8","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":9,"pointName":"P9","RobotX":0.0,"RoobtY":0.0,"RobotZ":0.0,"RobotRX":0.0,"RobotRY":0.0,"RobotRZ":0.0,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":0.0,"sendWireSpeed":10.0,"sendWireTime":0.0,"pointType":0,"isNeedClear":false,"ClearTime":3000}],"originX":-64.1489,"originY":119.404,"imgName":"보쌈꿎桿.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
{"WeldTime":"00:00:00","myImage":null,"boardId":57,"WareCode":"test","ZHighValue":-20.0,"StationNum":0,"PartNumber":"TEST","boardName":"TEST","boardWidth":115,"boardLength":180,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":-75.1,"RoobtY":-345.67,"RobotZ":134.52,"RobotRX":3.112,"RobotRY":0.0649,"RobotRZ":0.0376,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":2.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000},{"pointNum":2,"pointName":"P2","RobotX":-67.29,"RoobtY":-436.62,"RobotZ":293.68,"RobotRX":2.7394,"RobotRY":0.0599,"RobotRZ":0.0708,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":5.0,"startSendWireTime":3.0,"sendWireSpeed":20.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000}],"originX":-64.1489,"originY":119.404,"imgName":"TEST.jpg","planNeedTime":0.0,"orgType":1,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
{"WeldTime":"00:00:00","myImage":null,"APointValue":{"UpdateTime":"2018-10-22T19:00:43.2420221+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"BPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"CPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"DPointValue":{"UpdateTime":"2018-10-22T19:00:43.2430223+08:00","X":0.0,"Y":0.0,"Z":0.0,"RX":0.0,"RY":0.0,"RZ":0.0},"boardId":59,"AoiFileName":"AOIPointProgram.vscf","WareCode":"","StationNum":0,"PartNumber":"1","boardName":"1","boardWidth":400,"boardLength":400,"pointList":[{"pointNum":1,"pointName":"P1","RobotX":-122.1,"RobotY":-418.13,"RobotZ":321.4,"RobotRX":0.6359,"RobotRY":3.0461,"RobotRZ":0.03,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":2,"pointName":"P2","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":-0.0054,"RobotRY":3.1163,"RobotRZ":0.0389,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":3,"pointName":"P3","RobotX":-131.96,"RobotY":-355.36,"RobotZ":30.76,"RobotRX":0.9882,"RobotRY":-2.685,"RobotRZ":0.1507,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":0,"isNeedClear":false,"ClearTime":3000,"TypeValue":"普通焊点"},{"pointNum":4,"pointName":"P4","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":2,"isNeedClear":false,"ClearTime":3000,"TypeValue":"拖焊焊点"},{"pointNum":5,"pointName":"P5","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":1,"isNeedClear":false,"ClearTime":3000,"TypeValue":"中间点"},{"pointNum":6,"pointName":"P6","RobotX":-122.1,"RobotY":-418.13,"RobotZ":301.4,"RobotRX":0.3898,"RobotRY":-3.0307,"RobotRZ":0.0342,"preheatTemperature":360,"preheatTemperatureMax":380,"preheatTemperatureMin":340,"preheatTime":1.0,"weldTemperature":360,"weldTemperatureMax":380,"weldTemperatureMin":340,"weldTime":1.0,"startSendWireSpeed":1.0,"startSendWireTime":2.0,"sendWireSpeed":10.0,"sendWireTime":2.0,"pointType":2,"isNeedClear":false,"ClearTime":3000,"TypeValue":"拖焊焊点"}],"imgName":null,"planNeedTime":0.0,"solderingCount":0,"solderingTime":0.0,"solderCount":0,"solderTime":0.0}
DeviceLibrary/RobotConfig/config/solderingWorkCount.json
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DeviceLibrary/bean/BoardInfo.cs
......@@ -127,6 +127,11 @@ namespace URSoldering.DeviceLibrary
}
}
public URPointValue APointValue = new URPointValue();
public URPointValue BPointValue = new URPointValue();
public URPointValue CPointValue = new URPointValue();
public URPointValue DPointValue = new URPointValue();
//public double getImageOrgX()
//{
// double orgX = originX;
......@@ -242,7 +247,11 @@ namespace URSoldering.DeviceLibrary
public double sendWireTime { get; set; }
/// <summary>
/// 焊点类型，0=普通焊点，必须要焊接，1=中间点，机器人跳转位置使用
/// 焊点类型，
/// 0=普通焊点，必须要焊接，
/// 1=中间点，机器人跳转位置使用
/// 2=拖焊焊点
/// 3=拍照点，实现坐标偏移功能
/// </summary>
public int pointType { get; set; }
/// <summary>
......
DeviceLibrary/bean/BoardManager.cs
......@@ -99,7 +99,14 @@ namespace URSoldering.DeviceLibrary
{
board.WareCode = "";
}
if (board.APointValue == null)
{
board.APointValue = new URPointValue();
board.BPointValue = new URPointValue();
board.CPointValue = new URPointValue();
board.DPointValue = new URPointValue();
isUpdate = true;
}
idList.Add(board.boardId);
nameList.Add(board.boardName);
if (board.boardId.Equals(CurrBoardId))
......
URSolderingClient/FrmBoardInfo.Designer.cs
......@@ -50,6 +50,7 @@
this.dataGridViewImageColumn1 = new System.Windows.Forms.DataGridViewImageColumn();
this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn();
this.panel1 = new System.Windows.Forms.Panel();
this.dgvPoint = new System.Windows.Forms.DataGridView();
this.btnExit = new System.Windows.Forms.Button();
this.panPoint = new System.Windows.Forms.Panel();
this.panBoard = new System.Windows.Forms.Panel();
......@@ -92,6 +93,7 @@
this.dgvList = new System.Windows.Forms.DataGridView();
this.Column_pointNum = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_Name = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_pointType = new System.Windows.Forms.DataGridViewComboBoxColumn();
this.Column_X = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_Y = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_Z = new System.Windows.Forms.DataGridViewTextBoxColumn();
......@@ -110,7 +112,6 @@
this.Column_startSendWireTime = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_sendWireSpeed = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_sendWireTime = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_pointType = new System.Windows.Forms.DataGridViewComboBoxColumn();
this.Column_isClear = new System.Windows.Forms.DataGridViewCheckBoxColumn();
this.Column_ClearTime = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column_getPosition = new System.Windows.Forms.DataGridViewLinkColumn();
......@@ -135,6 +136,15 @@
this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button();
this.label14 = new System.Windows.Forms.Label();
this.Col_ID = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_X = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_Y = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_Z = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_RX = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_RY = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_RZ = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Col_Update = new System.Windows.Forms.DataGridViewLinkColumn();
this.Col_Move = new System.Windows.Forms.DataGridViewLinkColumn();
this.contextMenuStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picRight)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picLeft)).BeginInit();
......@@ -144,6 +154,7 @@
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).BeginInit();
this.contextMenuStrip2.SuspendLayout();
this.panel1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.dgvPoint)).BeginInit();
this.panBoard.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picBoard)).BeginInit();
this.groupBox2.SuspendLayout();
......@@ -322,6 +333,7 @@
// panel1
//
this.panel1.AutoScroll = true;
this.panel1.Controls.Add(this.dgvPoint);
this.panel1.Controls.Add(this.btnExit);
this.panel1.Controls.Add(this.panPoint);
this.panel1.Controls.Add(this.panBoard);
......@@ -335,6 +347,36 @@
this.panel1.Size = new System.Drawing.Size(1392, 634);
this.panel1.TabIndex = 0;
//
// dgvPoint
//
this.dgvPoint.AllowDrop = true;
this.dgvPoint.AllowUserToAddRows = false;
this.dgvPoint.AllowUserToDeleteRows = false;
this.dgvPoint.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.dgvPoint.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.dgvPoint.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Col_ID,
this.Col_X,
this.Col_Y,
this.Col_Z,
this.Col_RX,
this.Col_RY,
this.Col_RZ,
this.Col_Update,
this.Col_Move});
this.dgvPoint.ContextMenuStrip = this.contextMenuStrip2;
this.dgvPoint.Location = new System.Drawing.Point(1080, 85);
this.dgvPoint.MultiSelect = false;
this.dgvPoint.Name = "dgvPoint";
this.dgvPoint.ReadOnly = true;
this.dgvPoint.RowHeadersWidth = 5;
this.dgvPoint.RowTemplate.Height = 23;
this.dgvPoint.SelectionMode = System.Windows.Forms.DataGridViewSelectionMode.FullRowSelect;
this.dgvPoint.Size = new System.Drawing.Size(303, 145);
this.dgvPoint.TabIndex = 323;
this.dgvPoint.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.dgvPoint_CellContentClick);
//
// btnExit
//
this.btnExit.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
......@@ -354,7 +396,7 @@
| System.Windows.Forms.AnchorStyles.Left)));
this.panPoint.Location = new System.Drawing.Point(12, 349);
this.panPoint.Name = "panPoint";
this.panPoint.Size = new System.Drawing.Size(1049, 267);
this.panPoint.Size = new System.Drawing.Size(1062, 267);
this.panPoint.TabIndex = 321;
//
// panBoard
......@@ -363,9 +405,9 @@
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.panBoard.Controls.Add(this.picBoard);
this.panBoard.Location = new System.Drawing.Point(1069, 78);
this.panBoard.Location = new System.Drawing.Point(1080, 236);
this.panBoard.Name = "panBoard";
this.panBoard.Size = new System.Drawing.Size(311, 553);
this.panBoard.Size = new System.Drawing.Size(303, 395);
this.panBoard.TabIndex = 261;
//
// picBoard
......@@ -376,7 +418,7 @@
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(292, 493);
this.picBoard.Size = new System.Drawing.Size(284, 335);
this.picBoard.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.picBoard.TabIndex = 259;
this.picBoard.TabStop = false;
......@@ -421,7 +463,7 @@
this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox2.Location = new System.Drawing.Point(12, 78);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(1049, 227);
this.groupBox2.Size = new System.Drawing.Size(1062, 227);
this.groupBox2.TabIndex = 22;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "机器人实时坐标";
......@@ -429,7 +471,7 @@
// label17
//
this.label17.AutoSize = true;
this.label17.Location = new System.Drawing.Point(834, 66);
this.label17.Location = new System.Drawing.Point(748, 66);
this.label17.Name = "label17";
this.label17.Size = new System.Drawing.Size(30, 17);
this.label17.TabIndex = 330;
......@@ -438,7 +480,7 @@
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(833, 35);
this.label15.Location = new System.Drawing.Point(747, 35);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(41, 17);
this.label15.TabIndex = 329;
......@@ -485,11 +527,10 @@
//
// label6
//
this.label6.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.label6.AutoSize = true;
this.label6.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label6.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label6.Location = new System.Drawing.Point(688, 66);
this.label6.Location = new System.Drawing.Point(602, 66);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(68, 17);
this.label6.TabIndex = 326;
......@@ -498,9 +539,8 @@
//
// txtSendWireLength
//
this.txtSendWireLength.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.txtSendWireLength.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtSendWireLength.Location = new System.Drawing.Point(761, 63);
this.txtSendWireLength.Location = new System.Drawing.Point(675, 63);
this.txtSendWireLength.MaxLength = 6;
this.txtSendWireLength.Name = "txtSendWireLength";
this.txtSendWireLength.Size = new System.Drawing.Size(67, 23);
......@@ -579,7 +619,7 @@
this.panel3.Controls.Add(this.picDown);
this.panel3.Controls.Add(this.picZDel);
this.panel3.Controls.Add(this.picZAdd);
this.panel3.Location = new System.Drawing.Point(375, 43);
this.panel3.Location = new System.Drawing.Point(298, 43);
this.panel3.Name = "panel3";
this.panel3.Size = new System.Drawing.Size(199, 129);
this.panel3.TabIndex = 259;
......@@ -588,7 +628,7 @@
//
this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnPositionTest.FlatAppearance.BorderSize = 0;
this.btnPositionTest.Location = new System.Drawing.Point(926, 175);
this.btnPositionTest.Location = new System.Drawing.Point(947, 175);
this.btnPositionTest.Name = "btnPositionTest";
this.btnPositionTest.Size = new System.Drawing.Size(100, 37);
this.btnPositionTest.TabIndex = 318;
......@@ -608,11 +648,10 @@
//
// lblMsg
//
this.lblMsg.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.lblMsg.AutoSize = true;
this.lblMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblMsg.ForeColor = System.Drawing.Color.Red;
this.lblMsg.Location = new System.Drawing.Point(743, 144);
this.lblMsg.Location = new System.Drawing.Point(657, 144);
this.lblMsg.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(65, 19);
this.lblMsg.TabIndex = 260;
......@@ -622,7 +661,7 @@
//
this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSavePoint.FlatAppearance.BorderSize = 0;
this.btnSavePoint.Location = new System.Drawing.Point(926, 136);
this.btnSavePoint.Location = new System.Drawing.Point(947, 136);
this.btnSavePoint.Name = "btnSavePoint";
this.btnSavePoint.Size = new System.Drawing.Size(100, 37);
this.btnSavePoint.TabIndex = 30;
......@@ -634,7 +673,7 @@
//
this.btnStopDown.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopDown.Location = new System.Drawing.Point(926, 58);
this.btnStopDown.Location = new System.Drawing.Point(947, 58);
this.btnStopDown.Name = "btnStopDown";
this.btnStopDown.Size = new System.Drawing.Size(100, 37);
this.btnStopDown.TabIndex = 317;
......@@ -646,7 +685,7 @@
//
this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnGoHome.FlatAppearance.BorderSize = 0;
this.btnGoHome.Location = new System.Drawing.Point(926, 97);
this.btnGoHome.Location = new System.Drawing.Point(947, 97);
this.btnGoHome.Name = "btnGoHome";
this.btnGoHome.Size = new System.Drawing.Size(100, 37);
this.btnGoHome.TabIndex = 35;
......@@ -656,11 +695,10 @@
//
// label5
//
this.label5.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.label5.AutoSize = true;
this.label5.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label5.Location = new System.Drawing.Point(688, 32);
this.label5.Location = new System.Drawing.Point(602, 32);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(68, 17);
this.label5.TabIndex = 276;
......@@ -696,9 +734,8 @@
//
// txtSpeed
//
this.txtSpeed.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.txtSpeed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtSpeed.Location = new System.Drawing.Point(761, 29);
this.txtSpeed.Location = new System.Drawing.Point(675, 29);
this.txtSpeed.MaxLength = 6;
this.txtSpeed.Name = "txtSpeed";
this.txtSpeed.Size = new System.Drawing.Size(66, 23);
......@@ -707,10 +744,9 @@
//
// btnStopSend
//
this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopSend.Enabled = false;
this.btnStopSend.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopSend.Location = new System.Drawing.Point(783, 97);
this.btnStopSend.Location = new System.Drawing.Point(697, 97);
this.btnStopSend.Name = "btnStopSend";
this.btnStopSend.Size = new System.Drawing.Size(80, 34);
this.btnStopSend.TabIndex = 274;
......@@ -720,10 +756,9 @@
//
// btnSendWire
//
this.btnSendWire.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSendWire.Enabled = false;
this.btnSendWire.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSendWire.Location = new System.Drawing.Point(696, 97);
this.btnSendWire.Location = new System.Drawing.Point(610, 97);
this.btnSendWire.Name = "btnSendWire";
this.btnSendWire.Size = new System.Drawing.Size(80, 34);
this.btnSendWire.TabIndex = 273;
......@@ -756,7 +791,7 @@
//
this.btnWUp.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnWUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnWUp.Location = new System.Drawing.Point(926, 19);
this.btnWUp.Location = new System.Drawing.Point(947, 19);
this.btnWUp.Name = "btnWUp";
this.btnWUp.Size = new System.Drawing.Size(100, 37);
this.btnWUp.TabIndex = 254;
......@@ -793,6 +828,7 @@
this.dgvList.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column_pointNum,
this.Column_Name,
this.Column_pointType,
this.Column_X,
this.Column_Y,
this.Column_Z,
......@@ -811,7 +847,6 @@
this.Column_startSendWireTime,
this.Column_sendWireSpeed,
this.Column_sendWireTime,
this.Column_pointType,
this.Column_isClear,
this.Column_ClearTime,
this.Column_getPosition,
......@@ -828,7 +863,7 @@
this.dgvList.RowHeadersWidth = 5;
this.dgvList.RowTemplate.Height = 23;
this.dgvList.SelectionMode = System.Windows.Forms.DataGridViewSelectionMode.FullRowSelect;
this.dgvList.Size = new System.Drawing.Size(1049, 316);
this.dgvList.Size = new System.Drawing.Size(1062, 316);
this.dgvList.TabIndex = 31;
this.dgvList.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.dataGridView1_CellContentClick);
this.dgvList.CellMouseDown += new System.Windows.Forms.DataGridViewCellMouseEventHandler(this.dgvList_CellMouseDown);
......@@ -841,12 +876,11 @@
//
// Column_pointNum
//
this.Column_pointNum.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.AllCells;
this.Column_pointNum.DataPropertyName = "pointNum";
this.Column_pointNum.HeaderText = "ID";
this.Column_pointNum.Name = "Column_pointNum";
this.Column_pointNum.ReadOnly = true;
this.Column_pointNum.Width = 46;
this.Column_pointNum.Width = 40;
//
// Column_Name
//
......@@ -856,13 +890,22 @@
this.Column_Name.ReadOnly = true;
this.Column_Name.Width = 120;
//
// Column_pointType
//
this.Column_pointType.DataPropertyName = "pointType";
this.Column_pointType.HeaderText = "类型";
this.Column_pointType.Name = "Column_pointType";
this.Column_pointType.ReadOnly = true;
this.Column_pointType.Resizable = System.Windows.Forms.DataGridViewTriState.True;
this.Column_pointType.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.Automatic;
//
// Column_X
//
this.Column_X.DataPropertyName = "RobotX";
this.Column_X.HeaderText = "坐标X";
this.Column_X.Name = "Column_X";
this.Column_X.ReadOnly = true;
this.Column_X.Width = 68;
this.Column_X.Width = 75;
//
// Column_Y
//
......@@ -870,7 +913,7 @@
this.Column_Y.HeaderText = "坐标Y";
this.Column_Y.Name = "Column_Y";
this.Column_Y.ReadOnly = true;
this.Column_Y.Width = 68;
this.Column_Y.Width = 75;
//
// Column_Z
//
......@@ -878,7 +921,7 @@
this.Column_Z.HeaderText = "坐标Z";
this.Column_Z.Name = "Column_Z";
this.Column_Z.ReadOnly = true;
this.Column_Z.Width = 68;
this.Column_Z.Width = 75;
//
// Column_RX
//
......@@ -1008,16 +1051,6 @@
this.Column_sendWireTime.ReadOnly = true;
this.Column_sendWireTime.Width = 80;
//
// Column_pointType
//
this.Column_pointType.DataPropertyName = "pointType";
this.Column_pointType.HeaderText = "焊点类型";
this.Column_pointType.Name = "Column_pointType";
this.Column_pointType.ReadOnly = true;
this.Column_pointType.Resizable = System.Windows.Forms.DataGridViewTriState.True;
this.Column_pointType.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.Automatic;
this.Column_pointType.Width = 90;
//
// Column_isClear
//
this.Column_isClear.DataPropertyName = "isNeedClear";
......@@ -1111,7 +1144,7 @@
this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox1.Location = new System.Drawing.Point(12, 8);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(1049, 68);
this.groupBox1.Size = new System.Drawing.Size(1062, 68);
this.groupBox1.TabIndex = 20;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "程序基本信息";
......@@ -1176,7 +1209,7 @@
this.btnSave.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSave.FlatAppearance.BorderSize = 0;
this.btnSave.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSave.Location = new System.Drawing.Point(909, 16);
this.btnSave.Location = new System.Drawing.Point(927, 16);
this.btnSave.Name = "btnSave";
this.btnSave.Size = new System.Drawing.Size(117, 41);
this.btnSave.TabIndex = 40;
......@@ -1271,6 +1304,81 @@
this.label14.Text = "条形码";
this.label14.Visible = false;
//
// Col_ID
//
this.Col_ID.HeaderText = "固定点";
this.Col_ID.Name = "Col_ID";
this.Col_ID.ReadOnly = true;
this.Col_ID.Width = 90;
//
// Col_X
//
this.Col_X.DataPropertyName = "RobotX";
this.Col_X.HeaderText = "X";
this.Col_X.Name = "Col_X";
this.Col_X.ReadOnly = true;
this.Col_X.Width = 68;
//
// Col_Y
//
this.Col_Y.DataPropertyName = "RobotY";
this.Col_Y.HeaderText = "Y";
this.Col_Y.Name = "Col_Y";
this.Col_Y.ReadOnly = true;
this.Col_Y.Width = 68;
//
// Col_Z
//
this.Col_Z.DataPropertyName = "RobotZ";
this.Col_Z.HeaderText = "Z";
this.Col_Z.Name = "Col_Z";
this.Col_Z.ReadOnly = true;
this.Col_Z.Width = 68;
//
// Col_RX
//
this.Col_RX.DataPropertyName = "RobotRX";
this.Col_RX.HeaderText = "RX";
this.Col_RX.Name = "Col_RX";
this.Col_RX.ReadOnly = true;
this.Col_RX.Width = 75;
//
// Col_RY
//
this.Col_RY.DataPropertyName = "RobotRY";
this.Col_RY.HeaderText = "RY";
this.Col_RY.Name = "Col_RY";
this.Col_RY.ReadOnly = true;
this.Col_RY.Width = 75;
//
// Col_RZ
//
this.Col_RZ.DataPropertyName = "RobotRZ";
this.Col_RZ.HeaderText = "RZ";
this.Col_RZ.Name = "Col_RZ";
this.Col_RZ.ReadOnly = true;
this.Col_RZ.Width = 75;
//
// Col_Update
//
this.Col_Update.HeaderText = "更新坐标";
this.Col_Update.Name = "Col_Update";
this.Col_Update.ReadOnly = true;
this.Col_Update.Resizable = System.Windows.Forms.DataGridViewTriState.True;
this.Col_Update.Text = "更新坐标";
this.Col_Update.ToolTipText = "更新坐标";
this.Col_Update.UseColumnTextForLinkValue = true;
this.Col_Update.Width = 75;
//
// Col_Move
//
this.Col_Move.HeaderText = "移动测试";
this.Col_Move.Name = "Col_Move";
this.Col_Move.ReadOnly = true;
this.Col_Move.Text = "移动测试";
this.Col_Move.ToolTipText = "移动测试";
this.Col_Move.UseColumnTextForLinkValue = true;
//
// FrmBoardInfo
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
......@@ -1295,6 +1403,7 @@
((System.ComponentModel.ISupportInitialize)(this.picZAdd)).EndInit();
this.contextMenuStrip2.ResumeLayout(false);
this.panel1.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.dgvPoint)).EndInit();
this.panBoard.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picBoard)).EndInit();
this.groupBox2.ResumeLayout(false);
......@@ -1386,8 +1495,12 @@
private System.Windows.Forms.Button btnExit;
private System.Windows.Forms.Label label9;
private System.Windows.Forms.ComboBox cmbAoiFile;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.DataGridView dgvPoint;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_pointNum;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_Name;
private System.Windows.Forms.DataGridViewComboBoxColumn Column_pointType;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_X;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_Y;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_Z;
......@@ -1406,7 +1519,6 @@
private System.Windows.Forms.DataGridViewTextBoxColumn Column_startSendWireTime;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_sendWireSpeed;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_sendWireTime;
private System.Windows.Forms.DataGridViewComboBoxColumn Column_pointType;
private System.Windows.Forms.DataGridViewCheckBoxColumn Column_isClear;
private System.Windows.Forms.DataGridViewTextBoxColumn Column_ClearTime;
private System.Windows.Forms.DataGridViewLinkColumn Column_getPosition;
......@@ -1415,7 +1527,14 @@
private System.Windows.Forms.DataGridViewLinkColumn Column_Del;
private System.Windows.Forms.DataGridViewImageColumn Column_Up;
private System.Windows.Forms.DataGridViewImageColumn Column_Down;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_ID;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_X;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_Y;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_Z;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_RX;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_RY;
private System.Windows.Forms.DataGridViewTextBoxColumn Col_RZ;
private System.Windows.Forms.DataGridViewLinkColumn Col_Update;
private System.Windows.Forms.DataGridViewLinkColumn Col_Move;
}
}
\ No newline at end of file
URSolderingClient/FrmBoardInfo.cs
......@@ -242,6 +242,11 @@ namespace URSoldering.Client
dgvList.Rows.Add(setPointInfo(null, point));
}
}
dgvPoint.Rows.Add(setFPoint(null, "固定点A", updateBoardInfo.APointValue));
dgvPoint.Rows.Add(setFPoint(null, "固定点B", updateBoardInfo.BPointValue));
dgvPoint.Rows.Add(setFPoint(null, "固定点C", updateBoardInfo.CPointValue));
dgvPoint.Rows.Add(setFPoint(null, "固定点D", updateBoardInfo.DPointValue));
}
private DataGridViewRow setPointInfo(DataGridViewRow view, WeldPointInfo point)
{
......@@ -252,28 +257,28 @@ namespace URSoldering.Client
}
view.Cells[0].Value = point.pointNum.ToString();
view.Cells[1].Value = point.pointName;
view.Cells[2].Value = point.RobotX.ToString();
view.Cells[3].Value = point.RobotY.ToString();
view.Cells[4].Value = point.RobotZ.ToString();
view.Cells[5].Value = point.RobotRX.ToString();
view.Cells[6].Value = point.RobotRY.ToString();
view.Cells[7].Value = point.RobotRZ.ToString();
view.Cells[8].Value = point.preheatTemperature.ToString()+ "°C";
view.Cells[9].Value = point.preheatTemperatureMax.ToString();
view.Cells[10].Value = point.preheatTemperatureMin.ToString();
view.Cells[11].Value = point.preheatTime.ToString();
view.Cells[12].Value = point.weldTemperature.ToString() + "°C";
view.Cells[13].Value = point.weldTemperatureMax.ToString();
view.Cells[14].Value = point.weldTemperatureMin.ToString();
view.Cells[15].Value = point.weldTime.ToString();
view.Cells[16].Value = point.startSendWireSpeed.ToString();
view.Cells[17].Value = point.startSendWireTime.ToString();
view.Cells[18].Value = point.sendWireSpeed.ToString()+"mm/s";
view.Cells[19].Value = point.sendWireTime.ToString()+"s";
view.Cells[20].Value = point.pointType;
view.Cells[21].Value = point.isNeedClear.ToString();
view.Cells[22].Value = point.ClearTime;
view.Cells[Column_X.Index].Value = point.RobotX.ToString();
view.Cells[Column_Y.Index].Value = point.RobotY.ToString();
view.Cells[Column_Z.Index].Value = point.RobotZ.ToString();
view.Cells[Column_RX.Index].Value = point.RobotRX.ToString();
view.Cells[Column_RY.Index].Value = point.RobotRY.ToString();
view.Cells[Column_RZ.Index].Value = point.RobotRZ.ToString();
view.Cells[Column_preheatTemperature.Index].Value = point.preheatTemperature.ToString()+ "°C";
view.Cells[Column_preheatTemperatureMax.Index].Value = point.preheatTemperatureMax.ToString();
view.Cells[Column_preheatTemperatureMin.Index].Value = point.preheatTemperatureMin.ToString();
view.Cells[Column_preheatTime.Index].Value = point.preheatTime.ToString();
view.Cells[Column_weldTemperature.Index].Value = point.weldTemperature.ToString() + "°C";
view.Cells[Column_weldTemperatureMax.Index].Value = point.weldTemperatureMax.ToString();
view.Cells[Column_weldTemperatureMin.Index].Value = point.weldTemperatureMin.ToString();
view.Cells[Column_weldTime.Index].Value = point.weldTime.ToString();
view.Cells[Column_startSendWireSpeed.Index].Value = point.startSendWireSpeed.ToString();
view.Cells[Column_startSendWireTime.Index].Value = point.startSendWireTime.ToString();
view.Cells[Column_sendWireSpeed.Index].Value = point.sendWireSpeed.ToString()+"mm/s";
view.Cells[Column_sendWireTime.Index].Value = point.sendWireTime.ToString()+"s";
view.Cells[Column_pointType.Index].Value = point.pointType;
view.Cells[Column_isClear.Index].Value = point.isNeedClear.ToString();
view.Cells[Column_ClearTime.Index].Value = point.ClearTime;
return view;
}
private bool isRun = false;
......@@ -642,6 +647,10 @@ namespace URSoldering.Client
board.pointList = new List<WeldPointInfo>();
board.APointValue = GetFRowPoint(0);
board.BPointValue = GetFRowPoint(1);
board.CPointValue = GetFRowPoint(2);
board.DPointValue = GetFRowPoint(3);
List<WeldPointInfo> pointList = allPointInfo();
//UpdateTime(pointList);
......@@ -672,6 +681,22 @@ namespace URSoldering.Client
if (pointList != null)
{
//判断是否有拍照点，如果有，把拍照点放到第一个
int photoIndex = -1;
for(int i = 0; i < pointList.Count; i++)
{
if (pointList[i].pointType.Equals(3))
{
photoIndex = i;
break;
}
}
if (photoIndex >= 0)
{
WeldPointInfo point = pointList[photoIndex];
pointList.RemoveAt(photoIndex);
pointList.Insert(0, point);
}
board.pointList = pointList;
}
else
......@@ -730,7 +755,7 @@ namespace URSoldering.Client
point.RobotRX = Convert.ToDouble(row.Cells[this.Column_RX.Name].Value.ToString());
point.RobotRY = Convert.ToDouble(row.Cells[this.Column_RY.Name].Value.ToString());
point.RobotRZ = Convert.ToDouble(row.Cells[this.Column_RZ.Name].Value.ToString());
point.weldTemperature = Convert.ToInt32(row.Cells[this.Column_weldTemperature.Name].Value.ToString().Replace("°C", ""));
point.weldTime = Convert.ToDouble(row.Cells[this.Column_weldTime.Name].Value.ToString());
point.sendWireSpeed = Convert.ToDouble(row.Cells[this.Column_sendWireSpeed.Name].Value.ToString().Replace("mm/s", ""));
......@@ -826,12 +851,48 @@ namespace URSoldering.Client
locationX = (panBoard.Size.Width - picBoard.Width) / 2;
picBoard.Location = new Point(locationX, locationY);
//显示点
Graphics g = (picBoard).CreateGraphics();
//g.Clear(Color.White);
picBoard.Refresh();
//显示点
Graphics g = (picBoard).CreateGraphics();
Graphics grfx = picBoard.CreateGraphics();
float preX = 0;
float preY = 0;
int index = 0;
foreach (WeldPointInfo weld in pointList)
{
//float x = (float)Math.Abs(weld.PositionX - orgX) * imageXiShu;
//float y = (float)Math.Abs(weld.PositionY - orgY) * imageXiShu;
//LogUtil.debug("显示焊点：X【" + x + "】Y【" + y + "】,坐标X【" + weld.PositionX + "】坐标Y【" + weld.PositionY + "】");
//g.FillEllipse(Brushes.Red, x - pointHight / 2, y - pointHight / 2, pointHight, pointHight);
//if (index > 0)
//{
// Pen p = new Pen(Color.Red, 2);
// //中间点
// float xCenter = (preX + x) / 2;
// float yCenter = (preY + y) / 2;
// System.Drawing.Drawing2D.AdjustableArrowCap lineCap = new System.Drawing.Drawing2D.AdjustableArrowCap(6, 8, true);
// Pen RedPen = new Pen(Color.Red, 2);
// RedPen.CustomEndCap = lineCap;
// grfx.DrawLine(RedPen, preX, preY, xCenter, yCenter);
// grfx.DrawLine(p, preX, preY, x, y);
//}
//preX = x;
//preY = y;
//index++;
}
grfx.SmoothingMode = SmoothingMode.HighQuality;
g.DrawString("A ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, 3, 3);
g.DrawString("B ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, 3, picBoard.Height - 20);
g.DrawString("C ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, picBoard.Width - 18, 0);
g.DrawString("D ", new Font("Arial ", 10, FontStyle.Bold), Brushes.White, picBoard.Width - 18, picBoard.Height - 20);
grfx.Dispose();
g.Dispose();
//picBoard.Refresh();
}
private void dgvList_CellValueChanged(object sender, DataGridViewCellEventArgs e)
......@@ -1390,5 +1451,72 @@ namespace URSoldering.Client
{
this.Close();
}
private DataGridViewRow setFPoint(DataGridViewRow view, string name,URPointValue point)
{
if (view == null)
{
view = new DataGridViewRow();
view.CreateCells(dgvPoint);
}
view.Cells[0].Value = name;
view.Cells[Col_X.Index].Value = point.X.ToString();
view.Cells[Col_Y.Index].Value = point.Y.ToString();
view.Cells[Col_Z.Index].Value = point.Z.ToString();
view.Cells[Col_RX.Index].Value = point.RX.ToString();
view.Cells[Col_RY.Index].Value = point.RY.ToString();
view.Cells[Col_RZ.Index].Value = point.RZ.ToString();
return view;
}
private URPointValue GetFRowPoint(int rowIndex)
{
double x = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_X.Name].Value.ToString());
double y = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_Y.Name].Value.ToString());
double z = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_Z.Name].Value.ToString());
double rx = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_RX.Name].Value.ToString());
double ry = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_RY.Name].Value.ToString());
double rz = Double.Parse(dgvPoint.Rows[rowIndex].Cells[this.Col_RZ.Name].Value.ToString());
return new URPointValue(x, y, z, rx, ry, rz);
}
private void dgvPoint_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
if (e.RowIndex != -1 && e.ColumnIndex >= 0)
{
int rowIndex = e.RowIndex;
string name = this.dgvPoint.Columns[e.ColumnIndex].Name;
if (name.Equals(this.Col_Move.Name))
{
URPointValue point = GetFRowPoint(rowIndex);
if (SureMoveRobot().Equals(false))
{
return;
}
URRobotControl.MoveTo(point);
}
else if (name.Equals(this.Col_Update.Name))
{
URPointValue point = URRobotControl.GetLastPosition();
DialogResult result = MessageBox.Show("当前坐标:" + point.ToShowStr() + "，是否确定更新？", "提示", MessageBoxButtons.YesNo);
if (result.Equals(DialogResult.Yes))
{
dgvPoint.Rows[rowIndex].Cells[this.Col_X.Name].Value = txtRobotX.Text.ToString();
dgvPoint.Rows[rowIndex].Cells[this.Col_Y.Name].Value = txtRobotY.Text.ToString();
dgvPoint.Rows[rowIndex].Cells[this.Col_Z.Name].Value = txtRobotZ.Text;
dgvPoint.Rows[rowIndex].Cells[this.Col_RX.Name].Value = lblRobotRX.Text.ToString();
dgvPoint.Rows[rowIndex].Cells[this.Col_RY.Name].Value = lblRobotRY.Text.ToString();
dgvPoint.Rows[rowIndex].Cells[this.Col_RZ.Name].Value = lblRobotRZ.Text;
dgvPoint.UpdateCellValue(Col_X.Index, rowIndex);
dgvPoint.UpdateCellValue(Col_Y.Index, rowIndex);
dgvPoint.UpdateCellValue(Col_Z.Index, rowIndex);
dgvPoint.UpdateCellValue(Col_RX.Index, rowIndex);
dgvPoint.UpdateCellValue(Col_RY.Index, rowIndex);
dgvPoint.UpdateCellValue(Col_RZ.Index, rowIndex);
}
}
}
}
}
}
URSolderingClient/FrmBoardInfo.resx
......@@ -379,28 +379,31 @@
AeLDoohrNFdzAAAAAElFTkSuQmCC
</value>
</data>
<metadata name="dataGridViewTextBoxColumn2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_ID.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_X.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_Y.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn5.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_Z.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn6.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_RX.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn7.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_RY.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_RZ.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewLinkColumn1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Col_Update.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Col_Move.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_pointNum.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
......@@ -409,6 +412,9 @@
<metadata name="Column_Name.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_pointType.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_X.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
......@@ -463,9 +469,6 @@
<metadata name="Column_sendWireTime.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_pointType.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_isClear.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
......
URSolderingClient/FrmBoardList.cs
......@@ -51,7 +51,8 @@ namespace URSoldering.Client
}
private void btnSave_Click(object sender, EventArgs e)
{
if (cmbBoardList.Text != "" && cmbBoardList.SelectedIndex >= 0)
int updateIndex = cmbBoardList.SelectedIndex;
if (cmbBoardList.Text != "" && updateIndex >= 0)
{
BoardInfo board = (BoardInfo)cmbBoardList.SelectedItem;
FrmBoardInfo frm = new FrmBoardInfo(board);
......@@ -59,6 +60,11 @@ namespace URSoldering.Client
frm.ShowDialog();
this.Visible = true;
LoadCom();
if (updateIndex.Equals(cmbBoardList.SelectedIndex))
{
LoadBoard();
}
preId = -1;
}
else
......
URSolderingClient/FrmWork.Designer.cs
......@@ -30,17 +30,17 @@
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmWork));
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend7 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series7 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.DataPoint dataPoint5 = new System.Windows.Forms.DataVisualization.Charting.DataPoint(1D, 98D);
System.Windows.Forms.DataVisualization.Charting.DataPoint dataPoint6 = new System.Windows.Forms.DataVisualization.Charting.DataPoint(2D, 2D);
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea8 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend8 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series8 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.DataPoint dataPoint1 = new System.Windows.Forms.DataVisualization.Charting.DataPoint(1D, 98D);
System.Windows.Forms.DataVisualization.Charting.DataPoint dataPoint2 = new System.Windows.Forms.DataVisualization.Charting.DataPoint(2D, 2D);
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
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.groupBox3 = new System.Windows.Forms.GroupBox();
this.label2 = new System.Windows.Forms.Label();
......@@ -118,7 +118,7 @@
this.groupBox3.Controls.Add(this.lblRobot);
this.groupBox3.Location = new System.Drawing.Point(16, 3);
this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(1240, 67);
this.groupBox3.Size = new System.Drawing.Size(1242, 67);
this.groupBox3.TabIndex = 272;
this.groupBox3.TabStop = false;
//
......@@ -144,7 +144,7 @@
this.logBox.Location = new System.Drawing.Point(6, 38);
this.logBox.Name = "logBox";
this.logBox.ReadOnly = true;
this.logBox.Size = new System.Drawing.Size(1231, 24);
this.logBox.Size = new System.Drawing.Size(1233, 24);
this.logBox.TabIndex = 272;
this.logBox.Text = "";
//
......@@ -157,7 +157,7 @@
this.lblRobot.ForeColor = System.Drawing.Color.Green;
this.lblRobot.Location = new System.Drawing.Point(89, 13);
this.lblRobot.Name = "lblRobot";
this.lblRobot.Size = new System.Drawing.Size(771, 19);
this.lblRobot.Size = new System.Drawing.Size(773, 19);
this.lblRobot.TabIndex = 3;
this.lblRobot.Text = "未启动";
//
......@@ -175,7 +175,7 @@
this.groupBox2.Location = new System.Drawing.Point(1155, 62);
this.groupBox2.MaximumSize = new System.Drawing.Size(1000, 1000);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(99, 595);
this.groupBox2.Size = new System.Drawing.Size(101, 595);
this.groupBox2.TabIndex = 269;
this.groupBox2.TabStop = false;
//
......@@ -199,7 +199,7 @@
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, 548);
this.axCKVisionCtrl1.Size = new System.Drawing.Size(93, 548);
this.axCKVisionCtrl1.TabIndex = 306;
//
// lblCodeResult
......@@ -263,7 +263,7 @@
this.groupBox1.Controls.Add(this.chbHigh);
this.groupBox1.Location = new System.Drawing.Point(17, 657);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(1238, 77);
this.groupBox1.Size = new System.Drawing.Size(1240, 77);
this.groupBox1.TabIndex = 268;
this.groupBox1.TabStop = false;
//
......@@ -274,7 +274,7 @@
this.chbXunHuan.Checked = true;
this.chbXunHuan.CheckState = System.Windows.Forms.CheckState.Checked;
this.chbXunHuan.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbXunHuan.Location = new System.Drawing.Point(423, 6);
this.chbXunHuan.Location = new System.Drawing.Point(425, 6);
this.chbXunHuan.Name = "chbXunHuan";
this.chbXunHuan.Size = new System.Drawing.Size(93, 25);
this.chbXunHuan.TabIndex = 315;
......@@ -302,7 +302,7 @@
this.panel2.Controls.Add(this.lblRobotWarnMsg);
this.panel2.Location = new System.Drawing.Point(518, 11);
this.panel2.Name = "panel2";
this.panel2.Size = new System.Drawing.Size(550, 59);
this.panel2.Size = new System.Drawing.Size(552, 59);
this.panel2.TabIndex = 270;
//
// lblRobotWarnMsg
......@@ -313,7 +313,7 @@
this.lblRobotWarnMsg.ForeColor = System.Drawing.Color.Red;
this.lblRobotWarnMsg.Location = new System.Drawing.Point(4, 3);
this.lblRobotWarnMsg.Name = "lblRobotWarnMsg";
this.lblRobotWarnMsg.Size = new System.Drawing.Size(540, 51);
this.lblRobotWarnMsg.Size = new System.Drawing.Size(542, 51);
this.lblRobotWarnMsg.TabIndex = 4;
//
// btnStart
......@@ -331,7 +331,7 @@
//
this.btnBack.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnBack.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnBack.Location = new System.Drawing.Point(1080, 16);
this.btnBack.Location = new System.Drawing.Point(1082, 16);
this.btnBack.Name = "btnBack";
this.btnBack.Size = new System.Drawing.Size(150, 52);
this.btnBack.TabIndex = 267;
......@@ -640,25 +640,25 @@
//
this.chartPersent.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)));
chartArea7.Name = "ChartArea1";
this.chartPersent.ChartAreas.Add(chartArea7);
legend7.Name = "Legend1";
this.chartPersent.Legends.Add(legend7);
chartArea1.Name = "ChartArea1";
this.chartPersent.ChartAreas.Add(chartArea1);
legend1.Name = "Legend1";
this.chartPersent.Legends.Add(legend1);
this.chartPersent.Location = new System.Drawing.Point(8, 227);
this.chartPersent.Name = "chartPersent";
this.chartPersent.Palette = System.Windows.Forms.DataVisualization.Charting.ChartColorPalette.Bright;
series7.ChartArea = "ChartArea1";
series7.ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Pie;
series7.IsValueShownAsLabel = true;
series7.Legend = "Legend1";
series7.Name = "Series1";
dataPoint5.Label = "合格";
dataPoint5.MarkerColor = System.Drawing.Color.DarkGreen;
dataPoint6.Label = "不合格";
dataPoint6.MarkerColor = System.Drawing.Color.Red;
series7.Points.Add(dataPoint5);
series7.Points.Add(dataPoint6);
this.chartPersent.Series.Add(series7);
series1.ChartArea = "ChartArea1";
series1.ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Pie;
series1.IsValueShownAsLabel = true;
series1.Legend = "Legend1";
series1.Name = "Series1";
dataPoint1.Label = "合格";
dataPoint1.MarkerColor = System.Drawing.Color.DarkGreen;
dataPoint2.Label = "不合格";
dataPoint2.MarkerColor = System.Drawing.Color.Red;
series1.Points.Add(dataPoint1);
series1.Points.Add(dataPoint2);
this.chartPersent.Series.Add(series1);
this.chartPersent.Size = new System.Drawing.Size(286, 187);
this.chartPersent.TabIndex = 303;
this.chartPersent.Text = "烙铁头工作统计：";
......@@ -679,17 +679,17 @@
//
this.chartSolder.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
chartArea8.Name = "ChartArea1";
this.chartSolder.ChartAreas.Add(chartArea8);
legend8.Name = "Legend1";
this.chartSolder.Legends.Add(legend8);
chartArea2.Name = "ChartArea1";
this.chartSolder.ChartAreas.Add(chartArea2);
legend2.Name = "Legend1";
this.chartSolder.Legends.Add(legend2);
this.chartSolder.Location = new System.Drawing.Point(270, 4);
this.chartSolder.Name = "chartSolder";
series8.ChartArea = "ChartArea1";
series8.IsXValueIndexed = true;
series8.Legend = "Legend1";
series8.Name = "烙铁头统计";
this.chartSolder.Series.Add(series8);
series2.ChartArea = "ChartArea1";
series2.IsXValueIndexed = true;
series2.Legend = "Legend1";
series2.Name = "烙铁头统计";
this.chartSolder.Series.Add(series2);
this.chartSolder.Size = new System.Drawing.Size(847, 206);
this.chartSolder.TabIndex = 308;
this.chartSolder.Text = "烙铁头工作统计：";
......@@ -698,18 +698,18 @@
//
this.chartLine.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
chartArea9.Name = "ChartArea1";
this.chartLine.ChartAreas.Add(chartArea9);
legend9.Name = "Legend1";
this.chartLine.Legends.Add(legend9);
chartArea3.Name = "ChartArea1";
this.chartLine.ChartAreas.Add(chartArea3);
legend3.Name = "Legend1";
this.chartLine.Legends.Add(legend3);
this.chartLine.Location = new System.Drawing.Point(270, 212);
this.chartLine.Name = "chartLine";
this.chartLine.Palette = System.Windows.Forms.DataVisualization.Charting.ChartColorPalette.EarthTones;
series9.ChartArea = "ChartArea1";
series9.IsXValueIndexed = true;
series9.Legend = "Legend1";
series9.Name = "工作量统计";
this.chartLine.Series.Add(series9);
series3.ChartArea = "ChartArea1";
series3.IsXValueIndexed = true;
series3.Legend = "Legend1";
series3.Name = "工作量统计";
this.chartLine.Series.Add(series3);
this.chartLine.Size = new System.Drawing.Size(847, 206);
this.chartLine.TabIndex = 302;
this.chartLine.Text = "烙铁头工作统计：";
......@@ -728,7 +728,7 @@
this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi;
this.AutoSize = true;
this.ClientSize = new System.Drawing.Size(1276, 741);
this.ClientSize = new System.Drawing.Size(1278, 741);
this.Controls.Add(this.gbBoardInfo);
this.Controls.Add(this.groupBox4);
this.Controls.Add(this.groupBox3);
......
URSolderingClient/FrmWork.cs
......@@ -640,7 +640,7 @@ namespace URSoldering.Client
{
WeldRobotBean.StopWeld();
}
}
}
/// <summary>
/// true表示检测OK
/// </summary>
......
URSolderingClient/FrmWork.resx
......@@ -125,7 +125,7 @@
AAEAAAD/////AQAAAAAAAAAMAgAAAFdTeXN0ZW0uV2luZG93cy5Gb3JtcywgVmVyc2lvbj00LjAuMC4w
LCBDdWx0dXJlPW5ldXRyYWwsIFB1YmxpY0tleVRva2VuPWI3N2E1YzU2MTkzNGUwODkFAQAAACFTeXN0
ZW0uV2luZG93cy5Gb3Jtcy5BeEhvc3QrU3RhdGUBAAAABERhdGEHAgIAAAAJAwAAAA8DAAAAJQAAAAIB
AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAaAkAAKM4AAAAAAAACw==
AAAAAQAAAAAAAAAAAAAAABAAAAAAAAEAnQkAAKM4AAAAAAAACw==
</value>
</data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
......
URSolderingClient/记录.txt
......@@ -42,6 +42,8 @@ AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
2.每个电路板需要配置拍照点
3.流程修改：焊接之前，先去拍照点，拍照识别，取出坐标后进行整体坐标偏移，然后再焊接。
AOI程序修改：分支1是左边偏移功能。分支2是AOI检测功能。
图片上自动编程功能：
图片上要显示四个点：ABCD
需要配置AC点或者BD点作为固定点
......
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