diff --git a/HexcalMC/HexcalMC.csproj b/HexcalMC/HexcalMC.csproj index fd186d6..b6433b9 100644 --- a/HexcalMC/HexcalMC.csproj +++ b/HexcalMC/HexcalMC.csproj @@ -283,6 +283,7 @@ + diff --git a/HexcalMC/MainFrom.Designer.cs b/HexcalMC/MainFrom.Designer.cs index cd5089d..da5a813 100644 --- a/HexcalMC/MainFrom.Designer.cs +++ b/HexcalMC/MainFrom.Designer.cs @@ -58,6 +58,8 @@ this.rtb_SetZ = new Telerik.WinControls.UI.RadTextBoxElement(); this.radRibbonBarGroup7 = new Telerik.WinControls.UI.RadRibbonBarGroup(); this.rtb_stop = new Telerik.WinControls.UI.RadButtonElement(); + this.radRibbonBarGroup8 = new Telerik.WinControls.UI.RadRibbonBarGroup(); + this.rtb_home = new Telerik.WinControls.UI.RadButtonElement(); this.ribbonTab2 = new Telerik.WinControls.UI.RibbonTab(); this.radRibbonBarGroup2 = new Telerik.WinControls.UI.RadRibbonBarGroup(); this.rtb_about = new Telerik.WinControls.UI.RadButtonElement(); @@ -207,13 +209,14 @@ // this.ribbonTab1.AutoEllipsis = false; this.ribbonTab1.DisabledTextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault; - this.ribbonTab1.IsSelected = false; + this.ribbonTab1.IsSelected = true; this.ribbonTab1.Items.AddRange(new Telerik.WinControls.RadItem[] { this.radRibbonBarGroup1, this.radRibbonBarGroup4, this.radRibbonBarGroup5, this.radRibbonBarGroup6, - this.radRibbonBarGroup7}); + this.radRibbonBarGroup7, + this.radRibbonBarGroup8}); this.ribbonTab1.Name = "ribbonTab1"; this.ribbonTab1.Text = "常用"; this.ribbonTab1.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault; @@ -344,6 +347,8 @@ // // radRibbonBarGroup6 // + this.radRibbonBarGroup6.AutoSize = false; + this.radRibbonBarGroup6.Bounds = new System.Drawing.Rectangle(0, 0, 158, 80); this.radRibbonBarGroup6.Items.AddRange(new Telerik.WinControls.RadItem[] { this.rtb_quick_loc, this.radRibbonBarButtonGroup8}); @@ -352,6 +357,8 @@ // // rtb_quick_loc // + this.rtb_quick_loc.AutoSize = false; + this.rtb_quick_loc.Bounds = new System.Drawing.Rectangle(0, 0, 66, 82); this.rtb_quick_loc.Image = global::HexcalMC.Properties.Resources.quick_location_64; this.rtb_quick_loc.Name = "rtb_quick_loc"; this.rtb_quick_loc.Text = ""; @@ -410,11 +417,25 @@ this.rtb_stop.Text = ""; this.rtb_stop.Click += new System.EventHandler(this.rtb_stop_Click); // + // radRibbonBarGroup8 + // + this.radRibbonBarGroup8.Items.AddRange(new Telerik.WinControls.RadItem[] { + this.rtb_home}); + this.radRibbonBarGroup8.Name = "radRibbonBarGroup8"; + this.radRibbonBarGroup8.Text = "回家"; + // + // rtb_home + // + this.rtb_home.Image = global::HexcalMC.Properties.Resources.home; + this.rtb_home.Name = "rtb_home"; + this.rtb_home.Text = ""; + this.rtb_home.Click += new System.EventHandler(this.rtb_home_Click); + // // ribbonTab2 // this.ribbonTab2.AutoEllipsis = false; this.ribbonTab2.DisabledTextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault; - this.ribbonTab2.IsSelected = true; + this.ribbonTab2.IsSelected = false; this.ribbonTab2.Items.AddRange(new Telerik.WinControls.RadItem[] { this.radRibbonBarGroup2}); this.ribbonTab2.Name = "ribbonTab2"; @@ -1455,5 +1476,7 @@ private Telerik.WinControls.UI.RadTextBoxElement rtb_SetZ; private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup7; private Telerik.WinControls.UI.RadButtonElement rtb_stop; + private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup8; + private Telerik.WinControls.UI.RadButtonElement rtb_home; } } diff --git a/HexcalMC/MainFrom.cs b/HexcalMC/MainFrom.cs index ce2aa49..c2bcded 100644 --- a/HexcalMC/MainFrom.cs +++ b/HexcalMC/MainFrom.cs @@ -132,6 +132,7 @@ namespace HexcalMC port = FileIni.ReadInt(StrConfigFile, "MOTOR", "Port"); DebugDfn.AddLogText($"当前监听端口配置为: {port}"); + DebugDfn.AddLogText($"当前运动速度配置为: {MotionSpeed}"); } private void Plot2D(List pointCloud) @@ -1202,6 +1203,8 @@ namespace HexcalMC _acs.SetVelocity(Axis.ACSC_AXIS_8, speed); _acs.SetAcceleration(Axis.ACSC_AXIS_8, speed * 10); _acs.SetDeceleration(Axis.ACSC_AXIS_8, speed * 10); + + DebugDfn.AddLogText($"速度设置完成 {speed}"); } private void rtb_quick_loc_Click(object sender, EventArgs e)//快速定位 @@ -1249,6 +1252,48 @@ namespace HexcalMC Debug.WriteLine(ex.Message); } } + + private void rtb_home_Click(object sender, EventArgs e) + { + //弹窗提醒用户，是否执行回家指令 + DialogResult result = MessageBox.Show("是否执行回家指令", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Information); + + if (result == DialogResult.Cancel) + { + return; + } + + DebugDfn.AddLogText("回家指令已发送"); + if (!_mAcsConnected) + { + DebugDfn.AddLogText("ACS平台未连接,请先点击连接"); + MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); + return; + } + + + + if (_currentMotionState != MotionStates.Moving) + { + _currentMotionState = MotionStates.Moving; //设置当前运动状态 + + _acs.RunBuffer(ProgramBuffer.ACSC_BUFFER_6, null); //执行回家指令，这里的buffer6是回家指令的buffer + _homeStates = HomeStates.Homing; + _currentMotionState = MotionStates.Moving; + DebugDfn.AddLogText("回家运动中"); + + //等待回家完成 + for (int i = 0; i < UseAxis.Length; i++) + { + _acs.WaitMotionEnd(UseAxis[i], _motionTimeout); //等待回家完成 + } + + _homeStates = HomeStates.Homed; + _currentMotionState = MotionStates.InPos; + DebugDfn.AddLogText("回家完成"); + } + } + #endregion ACS平台相关 #region 菜单栏 diff --git a/HexcalMC/Properties/Resources.Designer.cs b/HexcalMC/Properties/Resources.Designer.cs index c2b881b..5906f3d 100644 --- a/HexcalMC/Properties/Resources.Designer.cs +++ b/HexcalMC/Properties/Resources.Designer.cs @@ -130,6 +130,16 @@ namespace HexcalMC.Properties { } } + /// + /// 查找 System.Drawing.Bitmap 类型的本地化资源。 + /// + internal static System.Drawing.Bitmap home { + get { + object obj = ResourceManager.GetObject("home", resourceCulture); + return ((System.Drawing.Bitmap)(obj)); + } + } + /// /// 查找 System.Drawing.Bitmap 类型的本地化资源。 /// diff --git a/HexcalMC/Properties/Resources.resx b/HexcalMC/Properties/Resources.resx index f8a1cee..daafa66 100644 --- a/HexcalMC/Properties/Resources.resx +++ b/HexcalMC/Properties/Resources.resx @@ -118,6 +118,9 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + ..\Resources\stop.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + ..\Resources\about.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a @@ -136,6 +139,9 @@ ..\Resources\Hexagon.ico;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + + ..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + ..\Resources\quick_location.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a @@ -154,10 +160,7 @@ ..\Resources\demo_show.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a - - ..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a - - - ..\Resources\stop.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + + ..\Resources\home.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a \ No newline at end of file