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增加运动相关的变量，回家判断，运动到指定点，获取配置等；新增配置文件

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This commit is contained in:
zhengxuan.zhang
2024-02-23 15:13:57 +08:00
parent cee64af0af
commit 5815739a4c
31 changed files with 942 additions and 146871 deletions
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HSI_HexagonMI_EF3.sln
+2 -50
View File
@@ -1,14 +1,8 @@
Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.3.32922.545
# Visual Studio 15
VisualStudioVersion = 15.0.34112.143
MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_Sevenocean_EF1", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1\HSI_Sevenocean_EF1.vcxproj", "{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_Sevenocean_EF1_WPFTest", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1_WPFTest\HSI_Sevenocean_EF1_WPFTest.csproj", "{B8B35406-6406-424C-94B4-C6BB4A481413}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_Sevenocean_EF3", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF3\HSI_Sevenocean_EF3.vcxproj", "{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_HexagonMI_EF3", "HSI_HexagonMI_EF3\HSI_HexagonMI_EF3.vcxproj", "{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACS Motion", "Motion\ACS Motion\ACS Motion.csproj", "{19741897-37D8-43EE-94A2-637975035CEA}"
@@ -22,8 +16,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_SEVENOCEAN_EF1_CsTest",
{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B} = {ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ACSPL_VS2017", "C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\ACSC\C_CPP\Samples\Reciprocated\ACSPL\ACSPL_VS2017.vcxproj", "{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@@ -34,35 +26,6 @@ Global
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Debug|Any CPU.ActiveCfg = Debug|Win32
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Debug|x64.ActiveCfg = Debug|x64
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Debug|x86.ActiveCfg = Debug|Win32
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Debug|x86.Build.0 = Debug|Win32
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Release|Any CPU.ActiveCfg = Release|Win32
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Release|x64.ActiveCfg = Release|x64
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Release|x64.Build.0 = Release|x64
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Release|x86.ActiveCfg = Release|Win32
{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}.Release|x86.Build.0 = Release|Win32
{B8B35406-6406-424C-94B4-C6BB4A481413}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Debug|Any CPU.Build.0 = Debug|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Debug|x64.ActiveCfg = Debug|x64
{B8B35406-6406-424C-94B4-C6BB4A481413}.Debug|x86.ActiveCfg = Debug|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Debug|x86.Build.0 = Debug|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|Any CPU.ActiveCfg = Release|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|Any CPU.Build.0 = Release|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|x64.ActiveCfg = Release|x64
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|x64.Build.0 = Release|x64
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|x86.ActiveCfg = Release|Any CPU
{B8B35406-6406-424C-94B4-C6BB4A481413}.Release|x86.Build.0 = Release|Any CPU
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Debug|Any CPU.ActiveCfg = Debug|Win32
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Debug|x64.ActiveCfg = Debug|x64
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Debug|x86.ActiveCfg = Debug|Win32
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Debug|x86.Build.0 = Debug|Win32
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Release|Any CPU.ActiveCfg = Release|Win32
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Release|x64.ActiveCfg = Release|x64
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Release|x64.Build.0 = Release|x64
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Release|x86.ActiveCfg = Release|Win32
{3B731938-04B1-46FE-9EEA-CBDD1D3B522A}.Release|x86.Build.0 = Release|Win32
{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|Any CPU.ActiveCfg = Debug|Win32
{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x64.ActiveCfg = Debug|x64
{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x64.Build.0 = Debug|x64
@@ -116,17 +79,6 @@ Global
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x64.Build.0 = Release|Any CPU
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.ActiveCfg = Release|x86
{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.Build.0 = Release|x86
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.ActiveCfg = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.Build.0 = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x64.ActiveCfg = Debug|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.ActiveCfg = Debug|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.Build.0 = Debug|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.ActiveCfg = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.Build.0 = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.ActiveCfg = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.Build.0 = Release|x64
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.ActiveCfg = Release|Win32
{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
HexcalMC/Hexcal/TcpIpServer.cs
+7 -7
View File
@@ -110,6 +110,7 @@ namespace HexcalMC.Hexcal
}
catch
{
throw new Exception("TCP /IP 服务器关闭失败！");
}
}
@@ -134,7 +135,6 @@ namespace HexcalMC.Hexcal
{
if (_dictSocket.Values.ToArray()[i].Poll(10, SelectMode.SelectRead))
{
RemoveSocketClient(_dictSocket.Keys.ToArray()[i]);
}
}
@@ -145,7 +145,7 @@ namespace HexcalMC.Hexcal
_dictSocket.Add(sokClient.RemoteEndPoint.ToString(), sokClient); // 将与客户端连接的套接字对象添加到集合中；
RaisedStatus(EnumTcpIpServer.ClientConnect,
"客户端连接成功！RemoteEndPoint=" + sokClient.RemoteEndPoint);
"客户端连接成功！:" + sokClient.RemoteEndPoint);
Thread thread = new Thread(ReceiveThread);
thread.IsBackground = true;
@@ -154,17 +154,20 @@ namespace HexcalMC.Hexcal
_dictThread.Add(sokClient.RemoteEndPoint.ToString(), thread); // 将新建的线程 添加 到线程的集合中去。
}
}
catch
catch (Exception e)
{
throw new Exception("WatchThread异常" + e);
}
}
public event EventHandler<byte[]> DataReceived;
protected virtual void OnDataReceivedByte(byte[] data)
{
// 触发事件
DataReceived?.Invoke(this, data);
}
//接收线程
private void ReceiveThread(object sokObj)
{
@@ -222,7 +225,6 @@ namespace HexcalMC.Hexcal
case 3:
if (length > 0)
{
OnDataReceivedByte(arrMsgRec);
}
@@ -258,9 +260,7 @@ namespace HexcalMC.Hexcal
_dictSocket[strSocketKey].Send(arrMsg);
}
/// <summary>
/// 发送数据函数（字符串, 自动添加长度（byte格式））
/// </summary>
//发送数据函数（字符串, 自动添加长度（byte格式））
public string SendMessage2(string strSocketKey, string strMsg)
{
try
HexcalMC/HexcalMC.csproj
+49
View File
@@ -17,6 +17,8 @@
<SccAuxPath>SAK</SccAuxPath>
<SccProvider>SAK</SccProvider>
<TargetFrameworkProfile />
<NuGetPackageImportStamp>
</NuGetPackageImportStamp>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
<PlatformTarget>x86</PlatformTarget>
@@ -67,23 +69,49 @@
<SpecificVersion>False</SpecificVersion>
<HintPath>bin\x64\Debug\ACS.SPiiPlusNET.dll</HintPath>
</Reference>
<Reference Include="Microsoft.CSharp" />
<Reference Include="Microsoft.Extensions.Logging.Abstractions, Version=6.0.0.0, Culture=neutral, PublicKeyToken=adb9793829ddae60, processorArchitecture=MSIL">
<HintPath>packages\Microsoft.Extensions.Logging.Abstractions.6.0.0\lib\net461\Microsoft.Extensions.Logging.Abstractions.dll</HintPath>
</Reference>
<Reference Include="PresentationCore" />
<Reference Include="PresentationFramework" />
<Reference Include="ScottPlot, Version=4.1.67.0, Culture=neutral, PublicKeyToken=86698dc10387c39e, processorArchitecture=MSIL">
<HintPath>packages\ScottPlot.4.1.67\lib\net462\ScottPlot.dll</HintPath>
</Reference>
<Reference Include="ScottPlot.WinForms, Version=4.1.67.0, Culture=neutral, PublicKeyToken=5df1dfa5321e734b, processorArchitecture=MSIL">
<HintPath>packages\ScottPlot.WinForms.4.1.67\lib\net461\ScottPlot.WinForms.dll</HintPath>
</Reference>
<Reference Include="SharpGL, Version=3.1.1.0, Culture=neutral, PublicKeyToken=27fc851303210b27, processorArchitecture=MSIL">
<HintPath>packages\SharpGL.3.1.1\lib\net45\SharpGL.dll</HintPath>
</Reference>
<Reference Include="SharpGL.SceneGraph, Version=3.1.1.0, Culture=neutral, PublicKeyToken=27fc851303210b27, processorArchitecture=MSIL">
<HintPath>packages\SharpGL.SceneGraph.3.1.1\lib\net45\SharpGL.SceneGraph.dll</HintPath>
</Reference>
<Reference Include="SharpGL.WinForms, Version=3.1.1.0, Culture=neutral, PublicKeyToken=27fc851303210b27, processorArchitecture=MSIL">
<HintPath>packages\SharpGL.WinForms.3.1.1\lib\net45\SharpGL.WinForms.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Buffers, Version=4.0.3.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51, processorArchitecture=MSIL">
<HintPath>packages\System.Buffers.4.5.1\lib\net461\System.Buffers.dll</HintPath>
</Reference>
<Reference Include="System.Data" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="System.Deployment" />
<Reference Include="System.Design" />
<Reference Include="System.Drawing" />
<Reference Include="System.Drawing.Common, Version=4.0.0.2, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51, processorArchitecture=MSIL">
<HintPath>packages\System.Drawing.Common.4.7.2\lib\net461\System.Drawing.Common.dll</HintPath>
</Reference>
<Reference Include="System.Memory, Version=4.0.1.1, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51, processorArchitecture=MSIL">
<HintPath>packages\System.Memory.4.5.4\lib\net461\System.Memory.dll</HintPath>
</Reference>
<Reference Include="System.Numerics" />
<Reference Include="System.Numerics.Vectors, Version=4.1.4.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL">
<HintPath>packages\System.Numerics.Vectors.4.5.0\lib\net46\System.Numerics.Vectors.dll</HintPath>
</Reference>
<Reference Include="System.Runtime.CompilerServices.Unsafe, Version=4.0.4.1, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL">
<HintPath>packages\System.Runtime.CompilerServices.Unsafe.4.5.3\lib\net461\System.Runtime.CompilerServices.Unsafe.dll</HintPath>
</Reference>
<Reference Include="System.Runtime.InteropServices.RuntimeInformation, Version=4.0.1.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL">
<HintPath>packages\System.Runtime.InteropServices.RuntimeInformation.4.3.0\lib\net45\System.Runtime.InteropServices.RuntimeInformation.dll</HintPath>
</Reference>
@@ -91,6 +119,7 @@
<HintPath>packages\System.ValueTuple.4.5.0\lib\net461\System.ValueTuple.dll</HintPath>
</Reference>
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xaml" />
<Reference Include="System.Xml" />
<Reference Include="Telerik.WinControls, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
<Reference Include="Telerik.WinControls.GridView, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
@@ -98,6 +127,9 @@
<Reference Include="Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e, processorArchitecture=MSIL" />
<Reference Include="TelerikCommon, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
<Reference Include="TelerikData, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e, processorArchitecture=MSIL" />
<Reference Include="UIAutomationProvider" />
<Reference Include="WindowsBase" />
<Reference Include="WindowsFormsIntegration" />
</ItemGroup>
<ItemGroup>
<Compile Include="Base\BaseFunction.cs" />
@@ -108,6 +140,12 @@
<Compile Include="Base\Lamp.Designer.cs">
<DependentUpon>Lamp.cs</DependentUpon>
</Compile>
<Compile Include="Base\SharpGLViewportControl.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Base\SharpGLViewportControl.Designer.cs">
<DependentUpon>SharpGLViewportControl.cs</DependentUpon>
</Compile>
<Compile Include="Form\AboutBox.cs">
<SubType>Form</SubType>
</Compile>
@@ -137,6 +175,8 @@
</EmbeddedResource>
<EmbeddedResource Include="MainFrom.resx">
<DependentUpon>MainFrom.cs</DependentUpon>
<SubType>Designer</SubType>
<LastGenOutput>MainFrom1.Designer.cs</LastGenOutput>
</EmbeddedResource>
<EmbeddedResource Include="Motion\Motion.resx">
<DependentUpon>Motion.cs</DependentUpon>
@@ -194,8 +234,17 @@
</ItemGroup>
<ItemGroup>
<Content Include="Hexagon.ico" />
<Content Include="SharpGL.ico" />
<Content Include="SharpGL.png" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<Import Project="packages\Microsoft.Extensions.Logging.Abstractions.6.0.0\build\Microsoft.Extensions.Logging.Abstractions.targets" Condition="Exists('packages\Microsoft.Extensions.Logging.Abstractions.6.0.0\build\Microsoft.Extensions.Logging.Abstractions.targets')" />
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('packages\Microsoft.Extensions.Logging.Abstractions.6.0.0\build\Microsoft.Extensions.Logging.Abstractions.targets')" Text="$([System.String]::Format('$(ErrorText)', 'packages\Microsoft.Extensions.Logging.Abstractions.6.0.0\build\Microsoft.Extensions.Logging.Abstractions.targets'))" />
</Target>
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
HexcalMC/MainFrom.Designer.cs
Generated
+138 -94
View File
@@ -76,10 +76,17 @@
this.radMenuButtonItem1 = new Telerik.WinControls.UI.RadMenuButtonItem();
this.radMenuItem1 = new Telerik.WinControls.UI.RadMenuItem();
this.splitContainer1 = new System.Windows.Forms.SplitContainer();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage1 = new System.Windows.Forms.TabPage();
this.formsPlot1 = new ScottPlot.FormsPlot();
this.tabPage2 = new System.Windows.Forms.TabPage();
this.sharpGLViewportControl1 = new HexcalMC.Base.SharpGLViewportControl();
this.elementHost1 = new System.Windows.Forms.Integration.ElementHost();
this.groupBox7 = new System.Windows.Forms.GroupBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.btn_HexcalStop = new System.Windows.Forms.Button();
this.btn_HexcalStart = new System.Windows.Forms.Button();
this.lamp_hexcal = new HexcalMC.Lamp();
this.Btn_StopServer = new System.Windows.Forms.Button();
this.Btn_StartServer = new System.Windows.Forms.Button();
this.label3 = new System.Windows.Forms.Label();
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.grpSafety = new System.Windows.Forms.GroupBox();
@@ -118,21 +125,17 @@
this.btnEnable = new System.Windows.Forms.Button();
this.btnDisable = new System.Windows.Forms.Button();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.lamp_acs = new HexcalMC.Lamp();
this.txtPort = new System.Windows.Forms.TextBox();
this.txtIP = new System.Windows.Forms.TextBox();
this.btn_ACSStop = new System.Windows.Forms.Button();
this.btn_ACSStart = new System.Windows.Forms.Button();
this.label2 = new System.Windows.Forms.Label();
this.label1 = new System.Windows.Forms.Label();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.formsPlot1 = new ScottPlot.FormsPlot();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.TextBoxMsg = new System.Windows.Forms.RichTextBox();
this.tmrMonitor = new System.Windows.Forms.Timer(this.components);
this.timer_RefreshUI = new System.Windows.Forms.Timer(this.components);
this.TextBoxMsg = new System.Windows.Forms.RichTextBox();
this.lamp_hexcal = new HexcalMC.Lamp();
this.lamp_acs = new HexcalMC.Lamp();
this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
((System.ComponentModel.ISupportInitialize)(this.radRibbonBar1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.radRibbonBarBackstageView1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.radStatusStrip1)).BeginInit();
@@ -140,6 +143,9 @@
this.splitContainer1.Panel1.SuspendLayout();
this.splitContainer1.Panel2.SuspendLayout();
this.splitContainer1.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout();
this.groupBox7.SuspendLayout();
this.groupBox1.SuspendLayout();
this.groupBox5.SuspendLayout();
@@ -147,7 +153,6 @@
this.grpMst.SuspendLayout();
this.groupBox6.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox4.SuspendLayout();
this.groupBox3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this)).BeginInit();
this.SuspendLayout();
@@ -375,7 +380,7 @@
//
this.radRibbonBar1.RootElement.AutoSizeMode = Telerik.WinControls.RadAutoSizeMode.WrapAroundChildren;
this.radRibbonBar1.ShowExpandButton = false;
this.radRibbonBar1.Size = new System.Drawing.Size(1192, 173);
this.radRibbonBar1.Size = new System.Drawing.Size(1192, 176);
this.radRibbonBar1.StartButtonImage = global::HexcalMC.Properties.Resources.Hexagon;
this.radRibbonBar1.StartMenuItems.AddRange(new Telerik.WinControls.RadItem[] {
this.radMenuItem2});
@@ -581,24 +586,82 @@
// splitContainer1
//
this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill;
this.splitContainer1.Location = new System.Drawing.Point(0, 173);
this.splitContainer1.Location = new System.Drawing.Point(0, 176);
this.splitContainer1.Name = "splitContainer1";
//
// splitContainer1.Panel1
//
this.splitContainer1.Panel1.BackColor = System.Drawing.SystemColors.Control;
this.splitContainer1.Panel1.Controls.Add(this.tabControl1);
this.splitContainer1.Panel1.Controls.Add(this.groupBox7);
this.splitContainer1.Panel1.Controls.Add(this.groupBox5);
this.splitContainer1.Panel1.Controls.Add(this.groupBox4);
//
// splitContainer1.Panel2
//
this.splitContainer1.Panel2.BackColor = System.Drawing.SystemColors.Control;
this.splitContainer1.Panel2.Controls.Add(this.groupBox3);
this.splitContainer1.Size = new System.Drawing.Size(1192, 696);
this.splitContainer1.Size = new System.Drawing.Size(1192, 693);
this.splitContainer1.SplitterDistance = 760;
this.splitContainer1.TabIndex = 2;
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabPage1);
this.tabControl1.Controls.Add(this.tabPage2);
this.tabControl1.Location = new System.Drawing.Point(9, 330);
this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(748, 363);
this.tabControl1.TabIndex = 1;
//
// tabPage1
//
this.tabPage1.Controls.Add(this.formsPlot1);
this.tabPage1.Location = new System.Drawing.Point(4, 22);
this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
this.tabPage1.Size = new System.Drawing.Size(740, 337);
this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "X-Y绘图";
this.tabPage1.UseVisualStyleBackColor = true;
//
// formsPlot1
//
this.formsPlot1.Location = new System.Drawing.Point(6, 5);
this.formsPlot1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.formsPlot1.Name = "formsPlot1";
this.formsPlot1.Size = new System.Drawing.Size(728, 336);
this.formsPlot1.TabIndex = 0;
//
// tabPage2
//
this.tabPage2.Controls.Add(this.sharpGLViewportControl1);
this.tabPage2.Controls.Add(this.elementHost1);
this.tabPage2.Location = new System.Drawing.Point(4, 22);
this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
this.tabPage2.Size = new System.Drawing.Size(740, 337);
this.tabPage2.TabIndex = 1;
this.tabPage2.Text = "3D绘图";
this.tabPage2.UseVisualStyleBackColor = true;
//
// sharpGLViewportControl1
//
this.sharpGLViewportControl1.Location = new System.Drawing.Point(28, 16);
this.sharpGLViewportControl1.Name = "sharpGLViewportControl1";
this.sharpGLViewportControl1.Size = new System.Drawing.Size(699, 314);
this.sharpGLViewportControl1.TabIndex = 1;
//
// elementHost1
//
this.elementHost1.Dock = System.Windows.Forms.DockStyle.Fill;
this.elementHost1.Location = new System.Drawing.Point(3, 3);
this.elementHost1.Name = "elementHost1";
this.elementHost1.Size = new System.Drawing.Size(734, 331);
this.elementHost1.TabIndex = 0;
this.elementHost1.Text = "elementHost1";
this.elementHost1.Child = null;
//
// groupBox7
//
this.groupBox7.Controls.Add(this.groupBox1);
@@ -612,8 +675,8 @@
// groupBox1
//
this.groupBox1.Controls.Add(this.lamp_hexcal);
this.groupBox1.Controls.Add(this.btn_HexcalStop);
this.groupBox1.Controls.Add(this.btn_HexcalStart);
this.groupBox1.Controls.Add(this.Btn_StopServer);
this.groupBox1.Controls.Add(this.Btn_StartServer);
this.groupBox1.Controls.Add(this.label3);
this.groupBox1.Location = new System.Drawing.Point(14, 19);
this.groupBox1.Name = "groupBox1";
@@ -622,29 +685,42 @@
this.groupBox1.TabStop = false;
this.groupBox1.Text = "通讯状态";
//
// btn_HexcalStop
// lamp_hexcal
//
this.btn_HexcalStop.Location = new System.Drawing.Point(113, 79);
this.btn_HexcalStop.Name = "btn_HexcalStop";
this.btn_HexcalStop.Size = new System.Drawing.Size(81, 23);
this.btn_HexcalStop.TabIndex = 26;
this.btn_HexcalStop.Text = "关闭服务";
this.btn_HexcalStop.UseVisualStyleBackColor = true;
this.lamp_hexcal.Font = new System.Drawing.Font("宋体", 16F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Pixel, ((byte)(134)));
this.lamp_hexcal.Location = new System.Drawing.Point(57, 23);
this.lamp_hexcal.LText = "";
this.lamp_hexcal.Margin = new System.Windows.Forms.Padding(3, 4, 3, 4);
this.lamp_hexcal.Name = "lamp_hexcal";
this.lamp_hexcal.Shadow = false;
this.lamp_hexcal.Size = new System.Drawing.Size(24, 24);
this.lamp_hexcal.State = -1;
this.lamp_hexcal.TabIndex = 29;
//
// btn_HexcalStart
// Btn_StopServer
//
this.btn_HexcalStart.Location = new System.Drawing.Point(18, 79);
this.btn_HexcalStart.Name = "btn_HexcalStart";
this.btn_HexcalStart.Size = new System.Drawing.Size(81, 23);
this.btn_HexcalStart.TabIndex = 25;
this.btn_HexcalStart.Text = "开启服务";
this.btn_HexcalStart.UseVisualStyleBackColor = true;
this.btn_HexcalStart.Click += new System.EventHandler(this.Btn_HexcalStart_Click);
this.Btn_StopServer.Location = new System.Drawing.Point(113, 79);
this.Btn_StopServer.Name = "Btn_StopServer";
this.Btn_StopServer.Size = new System.Drawing.Size(81, 23);
this.Btn_StopServer.TabIndex = 26;
this.Btn_StopServer.Text = "关闭服务";
this.Btn_StopServer.UseVisualStyleBackColor = true;
this.Btn_StopServer.Click += new System.EventHandler(this.Btn_StopServer_Click);
//
// Btn_StartServer
//
this.Btn_StartServer.Location = new System.Drawing.Point(18, 79);
this.Btn_StartServer.Name = "Btn_StartServer";
this.Btn_StartServer.Size = new System.Drawing.Size(81, 23);
this.Btn_StartServer.TabIndex = 25;
this.Btn_StartServer.Text = "开启服务";
this.Btn_StartServer.UseVisualStyleBackColor = true;
this.Btn_StartServer.Click += new System.EventHandler(this.Btn_StartServer_Click);
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(18, 29);
this.label3.Location = new System.Drawing.Point(18, 30);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(33, 13);
this.label3.TabIndex = 23;
@@ -687,7 +763,7 @@
this.grpSafety.Controls.Add(this.label17);
this.grpSafety.Location = new System.Drawing.Point(492, 15);
this.grpSafety.Name = "grpSafety";
this.grpSafety.Size = new System.Drawing.Size(191, 133);
this.grpSafety.Size = new System.Drawing.Size(223, 133);
this.grpSafety.TabIndex = 12;
this.grpSafety.TabStop = false;
this.grpSafety.Text = "安全限位";
@@ -1025,7 +1101,19 @@
this.groupBox2.Size = new System.Drawing.Size(209, 133);
this.groupBox2.TabIndex = 1;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "ACS通讯设置";
this.groupBox2.Text = "通讯状态";
//
// lamp_acs
//
this.lamp_acs.Font = new System.Drawing.Font("宋体", 16F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Pixel, ((byte)(134)));
this.lamp_acs.Location = new System.Drawing.Point(57, 50);
this.lamp_acs.LText = "";
this.lamp_acs.Margin = new System.Windows.Forms.Padding(3, 4, 3, 4);
this.lamp_acs.Name = "lamp_acs";
this.lamp_acs.Shadow = false;
this.lamp_acs.Size = new System.Drawing.Size(24, 24);
this.lamp_acs.State = -1;
this.lamp_acs.TabIndex = 30;
//
// txtPort
//
@@ -1081,25 +1169,6 @@
this.label1.TabIndex = 18;
this.label1.Text = "目标设备 IP";
//
// groupBox4
//
this.groupBox4.Controls.Add(this.formsPlot1);
this.groupBox4.Location = new System.Drawing.Point(9, 328);
this.groupBox4.Name = "groupBox4";
this.groupBox4.Size = new System.Drawing.Size(730, 359);
this.groupBox4.TabIndex = 2;
this.groupBox4.TabStop = false;
this.groupBox4.Text = "轨迹点";
//
// formsPlot1
//
this.formsPlot1.Dock = System.Windows.Forms.DockStyle.Fill;
this.formsPlot1.Location = new System.Drawing.Point(3, 18);
this.formsPlot1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.formsPlot1.Name = "formsPlot1";
this.formsPlot1.Size = new System.Drawing.Size(724, 338);
this.formsPlot1.TabIndex = 0;
//
// groupBox3
//
this.groupBox3.Controls.Add(this.TextBoxMsg);
@@ -1111,16 +1180,6 @@
this.groupBox3.TabStop = false;
this.groupBox3.Text = "交互信息";
//
// tmrMonitor
//
this.tmrMonitor.Interval = 50;
this.tmrMonitor.Tick += new System.EventHandler(this.TmrMonitor_Tick);
//
// timer_RefreshUI
//
this.timer_RefreshUI.Interval = 1000;
this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick);
//
// TextBoxMsg
//
this.TextBoxMsg.Dock = System.Windows.Forms.DockStyle.Fill;
@@ -1131,35 +1190,15 @@
this.TextBoxMsg.TabIndex = 0;
this.TextBoxMsg.Text = "";
//
// lamp_hexcal
// tmrMonitor
//
this.lamp_hexcal.Font = new System.Drawing.Font("宋体", 16F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Pixel, ((byte)(134)));
this.lamp_hexcal.Location = new System.Drawing.Point(57, 22);
this.lamp_hexcal.LText = "";
this.lamp_hexcal.Margin = new System.Windows.Forms.Padding(3, 4, 3, 4);
this.lamp_hexcal.Name = "lamp_hexcal";
this.lamp_hexcal.Shadow = false;
this.lamp_hexcal.Size = new System.Drawing.Size(24, 24);
this.lamp_hexcal.State = -1;
this.lamp_hexcal.TabIndex = 29;
this.tmrMonitor.Interval = 50;
this.tmrMonitor.Tick += new System.EventHandler(this.TmrMonitor_Tick);
//
// lamp_acs
// timer_RefreshUI
//
this.lamp_acs.Font = new System.Drawing.Font("宋体", 16F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Pixel, ((byte)(134)));
this.lamp_acs.Location = new System.Drawing.Point(57, 50);
this.lamp_acs.LText = "";
this.lamp_acs.Margin = new System.Windows.Forms.Padding(3, 4, 3, 4);
this.lamp_acs.Name = "lamp_acs";
this.lamp_acs.Shadow = false;
this.lamp_acs.Size = new System.Drawing.Size(24, 24);
this.lamp_acs.State = -1;
this.lamp_acs.TabIndex = 30;
//
// contextMenuStrip1
//
this.contextMenuStrip1.BackColor = System.Drawing.SystemColors.Control;
this.contextMenuStrip1.Name = "contextMenuStrip1";
this.contextMenuStrip1.Size = new System.Drawing.Size(61, 4);
this.timer_RefreshUI.Interval = 1000;
this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick);
//
// MainFrom
//
@@ -1189,6 +1228,9 @@
this.splitContainer1.Panel2.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).EndInit();
this.splitContainer1.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabPage1.ResumeLayout(false);
this.tabPage2.ResumeLayout(false);
this.groupBox7.ResumeLayout(false);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
@@ -1200,7 +1242,6 @@
this.groupBox6.ResumeLayout(false);
this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout();
this.groupBox4.ResumeLayout(false);
this.groupBox3.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this)).EndInit();
this.ResumeLayout(false);
@@ -1262,11 +1303,9 @@
private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.GroupBox groupBox3;
private System.Windows.Forms.Button btn_HexcalStop;
private System.Windows.Forms.Button btn_HexcalStart;
private System.Windows.Forms.Button Btn_StopServer;
private System.Windows.Forms.Button Btn_StartServer;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.GroupBox groupBox4;
private ScottPlot.FormsPlot formsPlot1;
private System.Windows.Forms.GroupBox groupBox5;
private System.Windows.Forms.GroupBox groupBox6;
private System.Windows.Forms.Button btnEnable;
@@ -1311,6 +1350,11 @@
private System.Windows.Forms.Timer timer_RefreshUI;
private Telerik.WinControls.UI.RadLabelElement rle_timer;
private System.Windows.Forms.RichTextBox TextBoxMsg;
private System.Windows.Forms.ContextMenuStrip contextMenuStrip1;
private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPage1;
private System.Windows.Forms.TabPage tabPage2;
private ScottPlot.FormsPlot formsPlot1;
private System.Windows.Forms.Integration.ElementHost elementHost1;
private Base.SharpGLViewportControl sharpGLViewportControl1;
}
}
HexcalMC/MainFrom.cs
+336 -64
View File
@@ -1,5 +1,5 @@
using System;
using System.Diagnostics;
using System.Collections.Generic;
using System.IO;
using System.Text;
using System.Windows.Forms;
@@ -17,6 +17,30 @@ namespace HexcalMC
public MainFrom()
{
InitializeComponent();
var sharpGlViewportControl = new SharpGLViewportControl
{
Dock = DockStyle.Fill
};
var tabPage = new TabPage("3D 窗口");
tabPage.Controls.Add(sharpGlViewportControl);
tabControl1.TabPages.Add(tabPage);
// 设置容器控件的 DoubleBuffered 属性为 true
DoubleBuffered = true;
// 创建一个包含点云数据的列表
var points = new List<Point3D>
{
new Point3D(0, 0, 0),
new Point3D(1, 1, 1),
new Point3D(-1, -1, -1)
// 可以添加更多的点云数据
};
// 将点云数据传递给 SharpGLViewportControl
sharpGlViewportControl.SetPointCloud(points);
}
private void MainFrom_Load(object sender, EventArgs e)
@@ -25,6 +49,9 @@ namespace HexcalMC
MaximizeBox = false; // 禁用窗体的最大化按钮
DebugDfn.textBox_Msg = TextBoxMsg;
//加载配置文件
LoadConfig();
double[] dataX = { 1, 2, 3, 4, 5 };
double[] dataY = { 1, 4, 9, 16, 25 };
@@ -33,9 +60,11 @@ namespace HexcalMC
//启动界面刷新
timer_RefreshUI.Start();
//
}
private void MainFrom_Shown(object sender, EventArgs e)
private void MainFrom_Shown(object sender, EventArgs e) //窗体显示准备好接受用户输入时发生
{
//启动服务端,用于接收hexcal传来的指令
StartServer();
@@ -47,10 +76,17 @@ namespace HexcalMC
DebugDfn._strEndTime = DateTime.Now.ToString("yyyy.MM.dd HH-mm-ss");
timer_RefreshUI.Stop();
string CopyFileName = DebugDfn.StrDebugSavePath + "Debug(" + DebugDfn._strStartTime + " To " +
string copyFileName = DebugDfn.StrDebugSavePath + "\\Debug(" + DebugDfn._strStartTime + " To " +
DebugDfn._strEndTime + ")" + ".txt";
if (File.Exists(DebugDfn.StrDebugSavePath))
File.Copy(DebugDfn.StrDebugSavePath, CopyFileName);
if (!File.Exists(DebugDfn.StrDebugSavePath))
{
//创建文件夹 DebugDfn.StrDebugSavePath
Directory.CreateDirectory(DebugDfn.StrDebugSavePath);
}
File.Copy(DebugDfn.StrDebugFile, copyFileName);
if (Errors.ErrorWrite != null)
Errors.ErrorWrite.Close();
if (Errors.OtherWrite != null)
@@ -59,12 +95,23 @@ namespace HexcalMC
Errors.StatusWrite.Close();
}
#region hexcal变量区
//定一个 回家状态枚举，包括 从未回家，正在回家，已经回家
private enum HomeStates
{
None, //默认状态
NotHome,
Homing,
Homed
}
private TcpIpServer _mTcpIpServer; //创建tcpserver，用于接收hexcal传来的指令，并解析传递平台
private readonly bool _mBHexcalConnected = false;
#endregion hexcal变量区
//定义 运动状态枚举，包括 正在运动，运动到位，Jog运动
private enum MotionStates
{
None, //默认状态
Moving,
InPos,
Jogging
}
#region 运动平台变量区
@@ -77,7 +124,7 @@ namespace HexcalMC
private int _mNTotalBuffer = 0;
private Axis[] _mArrAxisList = null;
private readonly bool _mBConnected = false;
private bool _mBConnected; //ACS通讯状态
// For update values
private MotorStates _mNMotorState; //运动状态
@@ -91,23 +138,58 @@ namespace HexcalMC
private Label[] _mLblLeftLimit; //左限位
private Label[] _mLblRightLimit; //右限位
#endregion 运动平台变量区
private HomeStates _homeStates; //回家状态
private MotionStates _motionStates; //运动状态
private readonly int _motion_timeout = 5000; //定义运动超时时间
#region hexcal软件相关
public static Axis[] USE_AXIS =
{ Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE }; //定义启用的轴，后面运动时会使用
//定义 XYZ三个轴的左右行程范围
public string strConfigFile = Application.StartupPath + "\\File\\config.ini";
public static double X_MAXSTROKESW = 100.0; //正限位
public static double Y_MAXSTROKESW = 50.0;
public static double Z_MAXSTROKESW = 10.0;
public static double X_MINSTROKESW = -100.0; //负限位
public static double Y_MINSTROKESW = -50.0;
public static double Z_MINSTROKESW = -10.0;
#endregion
#region hexcal变量区
private TcpIpServer _mTcpIpServer; //创建tcpserver，用于接收hexcal传来的指令，并解析传递平台
private bool _mBHexcalConnected;
#endregion
#region hexcal软件交互
private void StartServer()
{
// 对_mTcpIpServer增加判断是否已经启动且存在设备连接
if (_mTcpIpServer != null)
{
//弹窗提醒已经启动
MessageBox.Show("TCP服务端已经启动，请勿重复启动", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
//启动服务器，并获取数据，解析
_mTcpIpServer = new TcpIpServer("100.0.0.1", Convert.ToString(1234));
_mTcpIpServer.UseMode = 1; //
_mTcpIpServer.UseMode = 1; //设置通讯返回数据流格式
try
{
//启动监听
if (_mTcpIpServer.StartListen())
{
//绑定两个事件 OnRaisedStatus 和OnRaisedMessage
_mTcpIpServer.OnRaisedMessage += ReceiveMessage;
_mTcpIpServer.OnRaisedStatus += ReceiveStatus;
_mTcpIpServer.OnRaisedMessage += ReceiveMessage; //接收消息回调
_mTcpIpServer.OnRaisedStatus += ReceiveStatus; //连接状态
_mTcpIpServer.DataReceived += ReceiveByte;
DebugDfn.AddLogText("TCP服务端启动成功 ");
}
@@ -139,22 +221,22 @@ namespace HexcalMC
case "100.0.0.1": //L2系统
//解析处理数据
ParseHexcalPacket(msg);
ParseHexcalMsg(msg);
break;
default:
DebugDfn.AddLogText("未知来源，没有应答");
break;
}
}
private void ParseHexcalPacket(string msg) //编写一个Hexcal协议解析函数
private void ParseHexcalMsg(string msg) //编写一个Hexcal协议解析函数
{
DebugDfn.AddLogText("正在解析" + msg);
//判断是否含有故障ERROR字样
if (msg.Contains("ERROR")) return;
//去除Msg中\r\n
msg = msg.Replace("\r\n", "");
//判断是否含有故障ERROR字样
if (msg.Contains("ERROR")) return;
if (msg.Contains("\x02") || msg.Contains("\u0002"))
{
@@ -162,15 +244,13 @@ namespace HexcalMC
byte[] response = Encoding.ASCII.GetBytes("READY");
SendMsgToHexcal("READY");
}
if (msg.Contains("\x03") || msg.Contains("\u0003"))
else if (msg.Contains("\x03") || msg.Contains("\u0003"))
{
// 发送 "READY" 字符串作为响应
byte[] response = Encoding.ASCII.GetBytes("READY");
SendMsgToHexcal("READY");
}
else if (msg.Contains("CMMTYP"))
else if (msg.Contains("CMMTYP")) //测量机类型
{
SendMsgToHexcal("CMMTYP MA 19617, FDC V15.00, 6 6 2 , 0");
}
@@ -182,11 +262,11 @@ namespace HexcalMC
{
SendMsgToHexcal("READY");
}
else if (msg.Contains("SHOW MAXSTROKESW")) //最大行程
else if (msg.Contains("SHOW MAXSTROKESW")) //最大行程,根据实际情况填写
{
SendMsgToHexcal("MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000");
}
else if (msg.Contains("SHOW MINSTROKESW")) //最小行程
else if (msg.Contains("SHOW MINSTROKESW")) //最小行程,根据实际情况填写
{
SendMsgToHexcal("MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000");
}
@@ -199,14 +279,6 @@ namespace HexcalMC
SendMsgToHexcal(
"MAXACC 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
}
else if (msg.Contains("SHOW TEMPCOMPTYPE")) //温度补偿，温度补偿 >1 表示支持温度补偿
{
SendMsgToHexcal("TEMPCOMPTYPE 1");
}
else if (msg.Contains("READTP"))
{
SendMsgToHexcal("READTP 0.000000");
}
else if (msg.Contains("SHOW SENSWKP"))
{
SendMsgToHexcal("X_ SENSWKP 4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
@@ -223,7 +295,15 @@ namespace HexcalMC
{
SendMsgToHexcal("Z_SENSAXIS 7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
}
else if (msg.Contains("SHOW ESTOP")) //查询急停状态
else if (msg.Contains("SHOW TEMPCOMPTYPE")) //温度补偿，温度补偿 >1 表示支持温度补偿
{
SendMsgToHexcal("TEMPCOMPTYPE 1");
}
else if (msg.Contains("READTP"))
{
SendMsgToHexcal("READTP 0.000000");
}
else if (msg.Contains("SHOW ESTOP")) //查询急停状态，根据真是情况调整
{
SendMsgToHexcal("ESTOP FALSE");
}
@@ -236,7 +316,6 @@ namespace HexcalMC
SendMsgToHexcal(
"MOVPAR 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.00000 0,0.000000");
}
else if (msg.Contains("SHOW MAXVEL")) //查询最大速度
{
SendMsgToHexcal("MAXVEL 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
@@ -246,8 +325,6 @@ namespace HexcalMC
SendMsgToHexcal(
"ACCEL 1000.000000,1000.000000,1000.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
}
else if (msg.Contains("MOVPAR 300.0,300.0,300.0,0.0,0.0,0.0")) //设置速度 xyz 轴的速度
{
SendMsgToHexcal("%");
@@ -272,40 +349,73 @@ namespace HexcalMC
{
SendMsgToHexcal("%");
}
else if (msg.Contains("MOVABS")) //移动指令
else if (msg.Contains("AUTZER")) //回家指令
{
SendMsgToHexcal("%"); //收到并执行，同时状态改为忙碌
}
else if (msg.Contains("MOVABS")) //移动指令，解析移动位置
{
//MOVABS 0.015000,127.172997,-114.897003,0.000000\r\n
SendMsgToHexcal("%");
}
else if (msg.Contains("GETPOS")) //获取位置
{
SendMsgToHexcal("POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000");
}
else
{
DebugDfn.AddLogText("未知命令，没有应答");
}
}
private void ReceiveStatus(TcpIpServer.EnumTcpIpServer iType, string msg)
{
//记录到日志
DebugDfn.AddLogText(iType + " : " + msg);
//根据连接状态，更新界面
switch (iType)
{
case TcpIpServer.EnumTcpIpServer.ClientConnect:
_mBHexcalConnected = true;
break;
default:
_mBHexcalConnected = false;
break;
}
}
private void SendMsgToHexcal(string msg)
{
//发送数据
DebugDfn.AddLogText("回复" + msg);
_mTcpIpServer.SendMessageToAllClients(msg += "\r\n");
DebugDfn.AddLogText("回复 " + msg);
_mTcpIpServer.SendMessageToAllClients(msg += "\r\n"); //回复内容末尾加上\r\n，协议要求
}
#endregion hexcal软件相关
private void Btn_StartServer_Click(object sender, EventArgs e)
{
StartServer();
}
private void Btn_StopServer_Click(object sender, EventArgs e)
{
//关闭服务端
if (_mTcpIpServer != null)
{
_mTcpIpServer.StopListen();
}
}
#endregion
#region ACS平台相关
private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
{
Axis[] axisList =
{
Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE
}; //!!!! Important !! Must insert '-1' at the last
_acs.EnableM(axisList);
//!!!! Important !! Must insert '-1' at the last
_acs.EnableM(USE_AXIS);
}
private void BtnDisable_Click(object sender, EventArgs e) //轴取消
@@ -335,14 +445,47 @@ namespace HexcalMC
_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
// Returned value is integer, you need to use bitmaks
if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Resources.On;
else lblMoving.Image = Resources.Off; // 运动中
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Resources.On;
else lblInPos.Image = Resources.Off; // 就位
if ((_mNMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Resources.On;
else lblAcc.Image = Resources.Off; // 加速
if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Resources.On;
else lblEnable.Image = Resources.Off; // 使能
// 运动中
if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0)
{
lblMoving.Image = Resources.On;
}
else
{
lblMoving.Image = Resources.Off;
}
// 就位
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
{
lblInPos.Image = Resources.On;
}
else
{
lblInPos.Image = Resources.Off;
}
// 加速
if ((_mNMotorState & MotorStates.ACSC_MST_ACC) != 0)
{
lblAcc.Image = Resources.On;
}
else
{
lblAcc.Image = Resources.Off;
}
// 使能
if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0)
{
lblEnable.Image = Resources.On;
}
else
{
lblEnable.Image = Resources.Off;
}
// Reference position ACSPL+ Variable : RPOS (real)
_mLfRPos = _acs.GetRPosition((Axis)iAxisNo); // 参考位置
@@ -382,8 +525,8 @@ namespace HexcalMC
}
catch (Exception ex)
{
DebugDfn.AddLogText("ACS平台刷新异常" + ex);
MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
Debug.WriteLine(ex.Message);
}
}
}
@@ -393,9 +536,28 @@ namespace HexcalMC
btn_ACSStart.Enabled = false;
btn_ACSStop.Enabled = true;
// Set updating timer
try
{
_acs.OpenCommEthernetTCP(
txtIP.Text, // IP Address (Default : 10.0.0.100)
Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
_mBConnected = true;
}
catch (Exception ex)
{
DebugDfn.AddLogText("ACS平台连接异常" + ex);
MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
// 启动定时器
tmrMonitor.Interval = 50;
tmrMonitor.Start();
//运动相关初始化操作
InitMotion();
}
private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
@@ -408,10 +570,6 @@ namespace HexcalMC
btn_ACSStop.Enabled = false;
}
private void Btn_HexcalStart_Click(object sender, EventArgs e)
{
}
private void UpdateLimitState(int axisNo, int fault) //刷新限位
{
if (axisNo < MaxUiLimitCnt)
@@ -425,8 +583,122 @@ namespace HexcalMC
}
}
private void Ishome() //读取回家状态，当未回家时执行回家指令
{
// 1、连接状态检查，如果未连接，提示
if (!_mBConnected)
{
DebugDfn.AddLogText("[Ishome] 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;
}
// 2、回家状态检查是否已经回家
if (_mBConnected && _homeStates == HomeStates.Homed)
{
//弹窗提示
MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
// 3、读取回家状态
if (_acs != null && _mBConnected)
{
var yaw_home = _acs.ReadVariable("YAW_HOME_DONE");
if (yaw_home != null && (bool)yaw_home)
{
//弹窗提示
MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
_homeStates = HomeStates.Homed;
return;
}
// 4、执行回家指令,弹窗等待用户确认
DialogResult result = MessageBox.Show("轴未回家，即将执行回家指令", "提示", MessageBoxButtons.OK,
MessageBoxIcon.Information);
if (result == DialogResult.OK)
{
// 在这里执行接下来的操作,例如回家指令
_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;
_motionStates = MotionStates.Moving;
//等待回家完成
for (int i = 0; i < USE_AXIS.Length; i++)
{
_acs.WaitMotionEnd(USE_AXIS[i], _motion_timeout); //等待回家完成
}
_homeStates = HomeStates.Homed;
_motionStates = MotionStates.InPos;
}
else
{
//弹窗提醒
MessageBox.Show("点击了取消，未进行任何动作", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
}
private void InitMotion() //定义 运动状态初始化函数，包括内部变量，轴启用，回家判断等
{
//运动相关变量初始化
_homeStates = HomeStates.None;
_motionStates = MotionStates.None;
//轴启用，加电
_acs.EnableM(USE_AXIS);
//回家
Ishome();
}
private void SetPositionXyz(Point3D point3D) //运动到指定位置
{
//判断 point3D是否合法
if(point3D)
}
private void GetPositionXyz() //获取当前位置
{
}
private void GetSpeedXyz() //获取运动参数
{
}
private void SetSpeedXyz() //设置运动参数
{
}
#endregion ACS平台相关
private void LoadConfig() //加载配置文件
{
//判断配置文件是否存在
if (!File.Exists(strConfigFile))
{
MessageBox.Show("配置文件不存在，请检查配置文件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
//正限位
X_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "X_MAXSTROKESW", 0);
Y_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Y_MAXSTROKESW", 0);
Z_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Z_MAXSTROKESW", 0);
//负限位
X_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "X_MINSTROKESW", 0);
Y_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Y_MINSTROKESW", 0);
Z_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Z_MINSTROKESW", 0);
}
#region 菜单栏
private void Rtb_motion_Click(object sender, EventArgs e) //ACS调试页面
HexcalMC/MainFrom.resx
+404 -75
View File
@@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
@@ -524,91 +524,420 @@
</value>
</data>
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<value>17, 17</value>
<value>328, 17</value>
</metadata>
<metadata name="timer_RefreshUI.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>137, 4</value>
</metadata>
<metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>139, 17</value>
<value>17, 17</value>
</metadata>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>25</value>
</metadata>
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</data>
</root>
HexcalMC/Motion/Motion.Designer.cs
Generated
+1 -1
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@@ -2080,7 +2080,7 @@
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "Motion";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "HexcalMC运动补偿";
this.Text = "平台运动";
this.Load += new System.EventHandler(this.Form1_Load);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
HexcalMC/bin/x64/Debug/HexcalMC.exe
BIN
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HexcalMC/bin/x64/Debug/HexcalMC.exe.config
-12
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@@ -1,12 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<configuration>
<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2" /></startup>
<runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
<dependentAssembly>
<assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
<bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
</dependentAssembly>
</assemblyBinding>
</runtime>
</configuration>
HexcalMC/bin/x64/Debug/HexcalMC.pdb
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HexcalMC/bin/x64/Debug/ScottPlot.WinForms.dll
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HexcalMC/bin/x64/Debug/ScottPlot.dll
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HexcalMC/bin/x64/Debug/ScottPlot.xml
-7989
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HexcalMC/bin/x64/Debug/System.Drawing.Common.dll
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HexcalMC/bin/x64/Debug/System.Numerics.Vectors.dll
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HexcalMC/bin/x64/Debug/System.Numerics.Vectors.xml
-2621
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HexcalMC/bin/x64/Debug/System.Runtime.InteropServices.RuntimeInformation.dll
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HexcalMC/bin/x64/Debug/System.ValueTuple.dll
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HexcalMC/bin/x64/Debug/System.ValueTuple.xml
-1299
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HexcalMC/bin/x64/Debug/Telerik.WinControls.GridView.dll
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HexcalMC/bin/x64/Debug/Telerik.WinControls.GridView.xml
-29351
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HexcalMC/bin/x64/Debug/Telerik.WinControls.Scheduler.dll
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HexcalMC/bin/x64/Debug/Telerik.WinControls.Scheduler.xml
-13082
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HexcalMC/bin/x64/Debug/Telerik.WinControls.UI.dll
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HexcalMC/bin/x64/Debug/Telerik.WinControls.UI.xml
-61373
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-8473
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HexcalMC/packages.config
+5
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@@ -1,7 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Microsoft.CSharp" version="4.7.0" targetFramework="net462" />
<package id="ScottPlot" version="4.1.67" targetFramework="net462" />
<package id="ScottPlot.WinForms" version="4.1.67" targetFramework="net462" />
<package id="SharpGL" version="3.1.1" targetFramework="net462" />
<package id="SharpGL.SceneGraph" version="3.1.1" targetFramework="net462" />
<package id="SharpGL.WinForms" version="3.1.1" targetFramework="net462" />
<package id="System.Data.DataSetExtensions" version="4.5.0" targetFramework="net462" />
<package id="System.Drawing.Common" version="4.7.2" targetFramework="net462" />
<package id="System.Numerics.Vectors" version="4.5.0" targetFramework="net462" />
<package id="System.Runtime.InteropServices.RuntimeInformation" version="4.3.0" targetFramework="net462" />