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1、增加 底层运动平台异常事件的注册；2、增加快速定位功能；

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This commit is contained in:
zhengxuan.zhang
2024-03-26 16:07:09 +08:00
parent df934d5daf
commit 264c4c5601
3 changed files with 95 additions and 33 deletions
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HexcalMC/MainFrom.cs
+83 -22
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@@ -4,8 +4,8 @@ using System.Diagnostics;
using System.IO;
using System.Net;
using System.Runtime.InteropServices;
using System.Threading;
using System.Windows.Forms;
using System.Windows.Threading;
using ACS.SPiiPlusNET;
using HexcalMC.Base;
using HexcalMC.Form;
@@ -47,13 +47,11 @@ namespace HexcalMC
InitializeComponent();
//处理未捕获的异常
Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
//处理UI线程异常
Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
//处理非UI线程异常
AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
// 处理未被捕获的线程异常
Application.ThreadException += Application_ThreadException;
// 处理未被捕获的非UI线程异常
AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
}
private void MainFrom_Load(object sender, EventArgs e)
@@ -70,8 +68,6 @@ namespace HexcalMC
//启动界面刷新
timer_RefreshUI.Start();
}
private void MainFrom_Shown(object sender, EventArgs e) //窗体显示准备好接受用户输入时发生
@@ -543,23 +539,27 @@ namespace HexcalMC
#region 异常抓取
//实现函数
private void DispatcherUnhandledException(object sender, DispatcherUnhandledExceptionEventArgs e)
{
MessageBox.Show($"Application_ThreadException:{e.Exception}");
e.Handled = true; // 标记为 “已处理”，避免异常进一步传递而引起崩溃
}
private static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
private static void Application_ThreadException(object sender, ThreadExceptionEventArgs e)
{
// 在这里处理未被捕获的异常
// 您可以记录异常、显示错误信息等等
// 防止程序终止
MessageBox.Show("发生了未处理的异常：" + e.Exception.Message);
}
private void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
{
MessageBox.Show($"CurrentDomain_UnhandledException: {e.ExceptionObject}");
if (e.ExceptionObject is Exception ex)
{
HandleException(ex);
}
}
private static void HandleException(Exception ex)
{
MessageBox.Show($"发生了未处理的异常：{ex.Message}");
}
@@ -572,12 +572,33 @@ namespace HexcalMC
_acs.EnableEvent(Interrupts.ACSC_INTR_ETHERCAT_ERROR);
_acs.EnableEvent(Interrupts.ACSC_INTR_MOTOR_FAILURE);
_acs.EnableEvent(Interrupts.ACSC_INTR_MOTION_FAILURE);
_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
_acs.COMMCHANNELCLOSED += _acs_COMMCHANNELCLOSED;
_acs.MOTORFAILURE += _acs_MOTORFAILURE;
_acs.MOTIONFAILURE += _acs_MOTIONFAILURE;
_acs.SYSTEMERROR += _acs_SYSTEMERROR;
_acs.ETHERCATERROR += _acs_ETHERCATERROR;
_acs.EMERGENCY += _acs_EMERGENCY;
_acs.PHYSICALMOTIONEND += _acs_PHYSICAL_MOTION_END;
}
private void DisableFaultEvent()
{
_acs.COMMCHANNELCLOSED -= _acs_COMMCHANNELCLOSED;
_acs.MOTORFAILURE -= _acs_MOTORFAILURE;
_acs.MOTIONFAILURE -= _acs_MOTIONFAILURE;
_acs.SYSTEMERROR -= _acs_SYSTEMERROR;
_acs.ETHERCATERROR -= _acs_ETHERCATERROR;
_acs.EMERGENCY -= _acs_EMERGENCY;
_acs.PHYSICALMOTIONEND -= _acs_PHYSICAL_MOTION_END;
_acs.DisableEvent(Interrupts.ACSC_INTR_COMM_CHANNEL_CLOSED);
_acs.DisableEvent(Interrupts.ACSC_INTR_EMERGENCY);
_acs.DisableEvent(Interrupts.ACSC_INTR_SYSTEM_ERROR);
_acs.DisableEvent(Interrupts.ACSC_INTR_ETHERCAT_ERROR);
_acs.DisableEvent(Interrupts.ACSC_INTR_MOTOR_FAILURE);
_acs.DisableEvent(Interrupts.ACSC_INTR_MOTION_FAILURE);
_acs.DisableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
}
//关联函数
@@ -638,6 +659,31 @@ namespace HexcalMC
DebugDfn.AddLogText($"[CommError] Error Message:{_acs.GetErrorString((int)param)}");
}
private void _acs_PHYSICAL_MOTION_END(AxisMasks axis)
{
int bit = 0x01;
int axisNo = 0;
//DebugDfn.AddLogText(string.Format(" {0}", axis));
for (int i = 0; i < 64; i++)
{
if ((int)axis == bit)
{
axisNo = i;
break;
}
bit = bit << 1;
}
if (axisNo == 2)
{
return;
}
//DebugDfn.AddLogText(string.Format(" - Axis {0}, Stoppped", axisNo));
}
#endregion
@@ -792,10 +838,14 @@ namespace HexcalMC
private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
{
if (_mAcsConnected) _acs.CloseComm();
DisableFaultEvent();
if (_mAcsConnected)
{
_acs.CloseComm();
}
tmrMonitor.Stop();
_mAcsConnected = false;
btn_ACSStart.Enabled = true;
btn_ACSStop.Enabled = false;
}
@@ -1019,9 +1069,10 @@ namespace HexcalMC
_mlblEnable[1] = lblEnable1;
_mlblEnable[2] = lblEnable2;
EnableFaultEvent();//订阅错误事件
EnableFaultEvent(); //订阅错误事件
}
public static bool IsWithinLimit(Point3D point) //判断点是否在行程范围内
{
if (point.X >= XMinstrokesw && point.X <= XMaxstrokesw &&
@@ -1136,6 +1187,16 @@ namespace HexcalMC
private void rtb_quick_loc_Click(object sender, EventArgs e)
{
//获取输入
// 获取文本框的值
double x = double.Parse(rtb_SetX.Text);
double y = double.Parse(rtb_Sety.Text);
double z = double.Parse(rtb_SetZ.Text);
// 构造 Point3D 对象
Point3D point = new Point3D(x, y, z);
SetPositionXyz(point);
}
#endregion ACS平台相关
HexcalMC/Motion/Motion.Designer.cs
Generated
+11 -11
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@@ -198,6 +198,7 @@
this.btn_X_left = new System.Windows.Forms.Button();
this.btn_Y_Forward = new System.Windows.Forms.Button();
this.groupBox6 = new System.Windows.Forms.GroupBox();
this.button1 = new System.Windows.Forms.Button();
this.btn_home = new System.Windows.Forms.Button();
this.groupBox10 = new System.Windows.Forms.GroupBox();
this.label48 = new System.Windows.Forms.Label();
@@ -207,7 +208,6 @@
this.checkBox_Z = new System.Windows.Forms.CheckBox();
this.checkBox_y = new System.Windows.Forms.CheckBox();
this.checkBox_X = new System.Windows.Forms.CheckBox();
this.button1 = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.grpMotionTest.SuspendLayout();
this.grpMst.SuspendLayout();
@@ -1954,6 +1954,16 @@
this.groupBox6.TabStop = false;
this.groupBox6.Text = "动作";
//
// button1
//
this.button1.Location = new System.Drawing.Point(94, 24);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(75, 30);
this.button1.TabIndex = 3;
this.button1.Text = "立即停止";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.BtnHallAll_Click);
//
// btn_home
//
this.btn_home.Location = new System.Drawing.Point(7, 24);
@@ -2046,16 +2056,6 @@
this.checkBox_X.Text = "X";
this.checkBox_X.UseVisualStyleBackColor = true;
//
// button1
//
this.button1.Location = new System.Drawing.Point(94, 24);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(75, 30);
this.button1.TabIndex = 3;
this.button1.Text = "立即停止";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.BtnHallAll_Click);
//
// Motion
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
HexcalMC/Motion/Motion.cs
+1
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@@ -1150,6 +1150,7 @@ namespace HexcalMC
}
}
private void btn_Y_Back_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;