1、调试补偿模板过程中，屏蔽温度补充；2、增加 通讯发送不成功后，重发，3、修复运动到位判断

HexcalMC/Base/BaseFunction.cs

@@ -6,12 +6,13 @@ using System.Diagnostics;
 using System.Drawing;
 using System.IO;
 using System.Linq;
+using System.Net.NetworkInformation;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Text.RegularExpressions;
 using System.Threading.Tasks;
 using System.Windows.Forms;
-
+using System.Net.NetworkInformation;
 
 namespace HexcalMC.Base
 {
@@ -2948,8 +2949,26 @@ namespace HexcalMC.Base
 		#endregion
 	}
 
-	public class IpAddressValidator
+
+	
+	class Internet
 	{
+		
+		public static bool IsIpReachable(string ipAddress)
+		{
+			try
+			{
+				Ping ping = new Ping();
+				PingReply reply = ping.Send(ipAddress);
+				return (reply.Status == IPStatus.Success);
+			}
+			catch (PingException)
+			{
+				// 发生 Ping 异常，IP 不可达
+				return false;
+			}
+		}
+
 		public static bool IsIpAddressValid(string ipAddress)
 		{
 			string pattern = @"^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$";

HexcalMC/Hexcal/TcpIpServer.cs

@@ -156,7 +156,7 @@ namespace HexcalMC.Hexcal
 			}
 			catch (Exception e)
 			{
-				throw new Exception("WatchThread异常" + e);
+				//throw new Exception("WatchThread异常" + e);
 			}
 		}
 
@@ -284,15 +284,32 @@ namespace HexcalMC.Hexcal
 			}
 		}
 
+		public bool TrySendData(Socket socket, byte[] data)
+		{
+			int sentBytes = socket.Send(data);
+			return sentBytes == data.Length; // 检查是否完全发送成功
+		}
 		public void SendMessageToAllClients(string strMsg)
 		{
 			byte[] arrMsg = Encoding.Default.GetBytes(strMsg);
 			foreach (Socket soc in _dictSocket.Values)
 			{
-				soc.Send(arrMsg);
+				bool success = TrySendData(soc, arrMsg);
+				if (!success)
+				{
+					// 如果发送失败，进行重发逻辑
+					int attemptCount = 0;
+					const int maxAttempts = 3;
+					while (!success && attemptCount < maxAttempts)
+					{
+						success = TrySendData(soc, arrMsg);
+						attemptCount++;
+					}
+				}
 			}
 		}
 
+
 		public void SendMessageToAllClients(byte[] arrMsg)
 		{
 			foreach (Socket soc in _dictSocket.Values)

HexcalMC/HexcalMC.csproj

@@ -159,6 +159,12 @@
     <Compile Include="MainFrom.Designer.cs">
       <DependentUpon>MainFrom.cs</DependentUpon>
     </Compile>
+    <Compile Include="Motion\DemoShow.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Motion\DemoShow.Designer.cs">
+      <DependentUpon>DemoShow.cs</DependentUpon>
+    </Compile>
     <Compile Include="Motion\Motion.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -178,6 +184,9 @@
       <SubType>Designer</SubType>
       <LastGenOutput>MainFrom1.Designer.cs</LastGenOutput>
     </EmbeddedResource>
+    <EmbeddedResource Include="Motion\DemoShow.resx">
+      <DependentUpon>DemoShow.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Motion\Motion.resx">
       <DependentUpon>Motion.cs</DependentUpon>
       <SubType>Designer</SubType>
@@ -234,6 +243,9 @@
   </ItemGroup>
   <ItemGroup>
     <Content Include="Hexagon.ico" />
+    <None Include="Resources\demo_show.png" />
+    <None Include="Resources\demo_show_128.png" />
+    <None Include="Resources\mothion_64.png" />
     <Content Include="SharpGL.ico" />
     <Content Include="SharpGL.png" />
   </ItemGroup>

HexcalMC/MainFrom.Designer.cs

@@ -36,7 +36,7 @@
 			this.radTextBoxElement1 = new Telerik.WinControls.UI.RadTextBoxElement();
 			this.ribbonTab1 = new Telerik.WinControls.UI.RibbonTab();
 			this.radRibbonBarGroup1 = new Telerik.WinControls.UI.RadRibbonBarGroup();
-			this.rtb_motion = new Telerik.WinControls.UI.RadButtonElement();
+			this.btn_motion = new Telerik.WinControls.UI.RadButtonElement();
 			this.radRibbonBarGroup4 = new Telerik.WinControls.UI.RadRibbonBarGroup();
 			this.radRibbonBarButtonGroup4 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
 			this.radLabelElement5 = new Telerik.WinControls.UI.RadLabelElement();
@@ -47,6 +47,9 @@
 			this.radRibbonBarButtonGroup6 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
 			this.radLabelElement7 = new Telerik.WinControls.UI.RadLabelElement();
 			this.rtb_zPos = new Telerik.WinControls.UI.RadTextBoxElement();
+			this.radRibbonBarGroup5 = new Telerik.WinControls.UI.RadRibbonBarGroup();
+			this.radRibbonBarButtonGroup7 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
+			this.rtb_demo = 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();
@@ -136,6 +139,7 @@
 			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.radRibbonBarGroup6 = new Telerik.WinControls.UI.RadRibbonBarGroup();
 			((System.ComponentModel.ISupportInitialize)(this.radRibbonBar1)).BeginInit();
 			((System.ComponentModel.ISupportInitialize)(this.radRibbonBarBackstageView1)).BeginInit();
 			((System.ComponentModel.ISupportInitialize)(this.radStatusStrip1)).BeginInit();
@@ -201,7 +205,9 @@
 			this.ribbonTab1.IsSelected = true;
 			this.ribbonTab1.Items.AddRange(new Telerik.WinControls.RadItem[] {
             this.radRibbonBarGroup1,
-            this.radRibbonBarGroup4});
+            this.radRibbonBarGroup4,
+            this.radRibbonBarGroup5,
+            this.radRibbonBarGroup6});
 			this.ribbonTab1.Name = "ribbonTab1";
 			this.ribbonTab1.Text = "常用";
 			this.ribbonTab1.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
@@ -210,11 +216,11 @@
 			// 
 			// radRibbonBarGroup1
 			// 
-			this.radRibbonBarGroup1.Alignment = System.Drawing.ContentAlignment.MiddleCenter;
+			this.radRibbonBarGroup1.Alignment = System.Drawing.ContentAlignment.TopLeft;
 			this.radRibbonBarGroup1.AutoSize = false;
-			this.radRibbonBarGroup1.Bounds = new System.Drawing.Rectangle(0, 0, 110, 100);
+			this.radRibbonBarGroup1.Bounds = new System.Drawing.Rectangle(0, 0, 77, 100);
 			this.radRibbonBarGroup1.Items.AddRange(new Telerik.WinControls.RadItem[] {
-            this.rtb_motion});
+            this.btn_motion});
 			this.radRibbonBarGroup1.Margin = new System.Windows.Forms.Padding(0);
 			this.radRibbonBarGroup1.MaxSize = new System.Drawing.Size(110, 100);
 			this.radRibbonBarGroup1.MinSize = new System.Drawing.Size(110, 100);
@@ -222,17 +228,12 @@
 			this.radRibbonBarGroup1.Text = "运动控制";
 			this.radRibbonBarGroup1.UseCompatibleTextRendering = false;
 			// 
-			// rtb_motion
+			// btn_motion
 			// 
-			this.rtb_motion.Alignment = System.Drawing.ContentAlignment.MiddleCenter;
+			this.btn_motion.Image = global::HexcalMC.Properties.Resources.mothion_64;
-			this.rtb_motion.Image = global::HexcalMC.Properties.Resources.motion;
+			this.btn_motion.Name = "btn_motion";
-			this.rtb_motion.Name = "rtb_motion";
+			this.btn_motion.Text = "";
-			this.rtb_motion.Text = "ACS调试";
+			this.btn_motion.Click += new System.EventHandler(this.btn_motion_Click);
-			this.rtb_motion.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
-			this.rtb_motion.TextImageRelation = System.Windows.Forms.TextImageRelation.ImageAboveText;
-			this.rtb_motion.TextOrientation = System.Windows.Forms.Orientation.Horizontal;
-			this.rtb_motion.UseCompatibleTextRendering = false;
-			this.rtb_motion.Click += new System.EventHandler(this.Rtb_motion_Click);
 			// 
 			// radRibbonBarGroup4
 			// 
@@ -312,6 +313,28 @@
 			this.rtb_zPos.Text = "-50.000";
 			this.rtb_zPos.TextAlign = System.Windows.Forms.HorizontalAlignment.Left;
 			// 
+			// radRibbonBarGroup5
+			// 
+			this.radRibbonBarGroup5.Items.AddRange(new Telerik.WinControls.RadItem[] {
+            this.radRibbonBarButtonGroup7});
+			this.radRibbonBarGroup5.Name = "radRibbonBarGroup5";
+			this.radRibbonBarGroup5.Text = "演示模式";
+			// 
+			// radRibbonBarButtonGroup7
+			// 
+			this.radRibbonBarButtonGroup7.Items.AddRange(new Telerik.WinControls.RadItem[] {
+            this.rtb_demo});
+			this.radRibbonBarButtonGroup7.Name = "radRibbonBarButtonGroup7";
+			this.radRibbonBarButtonGroup7.Text = "radRibbonBarButtonGroup7";
+			// 
+			// rtb_demo
+			// 
+			this.rtb_demo.Image = global::HexcalMC.Properties.Resources.demo_show;
+			this.rtb_demo.Name = "rtb_demo";
+			this.rtb_demo.Text = "";
+			this.rtb_demo.TextAlignment = System.Drawing.ContentAlignment.BottomLeft;
+			this.rtb_demo.Click += new System.EventHandler(this.rtb_demo_Click);
+			// 
 			// ribbonTab2
 			// 
 			this.ribbonTab2.AutoEllipsis = false;
@@ -1210,6 +1233,11 @@
 			this.timer_RefreshUI.Interval = 1000;
 			this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick);
 			// 
+			// radRibbonBarGroup6
+			// 
+			this.radRibbonBarGroup6.Name = "radRibbonBarGroup6";
+			this.radRibbonBarGroup6.Text = "快速定位";
+			// 
 			// MainFrom
 			// 
 			this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -1267,7 +1295,6 @@
 		private Telerik.WinControls.UI.RadTextBoxElement radTextBoxElement1;
 		private Telerik.WinControls.UI.RibbonTab ribbonTab1;
 		private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup1;
-		private Telerik.WinControls.UI.RadButtonElement rtb_motion;
 		private Telerik.WinControls.UI.RibbonTab ribbonTab2;
 		private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup2;
 		private Telerik.WinControls.UI.RadButtonElement rtb_about;
@@ -1367,5 +1394,10 @@
 		private ScottPlot.FormsPlot formsPlot1;
 		private System.Windows.Forms.Integration.ElementHost elementHost1;
 		private SharpGL.OpenGLControl openGLControl1;
+		private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup5;
+		private Telerik.WinControls.UI.RadRibbonBarButtonGroup radRibbonBarButtonGroup7;
+		private Telerik.WinControls.UI.RadButtonElement rtb_demo;
+		private Telerik.WinControls.UI.RadButtonElement btn_motion;
+		private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup6;
 	}
 }

HexcalMC/MainFrom.cs

@@ -85,17 +85,18 @@ namespace HexcalMC
 
 			//启动界面刷新
 			timer_RefreshUI.Start();
-			this.TopMost = true;
+			//TopMost = true;
 		}
 
 		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
+			////启动服务端,用于接收hexcal传来的指令
-			StartServer();
+			//StartServer();
 
-			Btn_ACSStart_Click(null, null);
+			//if (_enableAcs)
-
+			//{
-			//Plot3D();
+			//	Btn_ACSStart_Click(null, null); //模拟连接运动平台
+			//}
 		}
 
 		private void MainFrom_FormClosed(object sender, FormClosedEventArgs e)
@@ -132,16 +133,19 @@ namespace HexcalMC
 				return;
 			}
 
-			MOTION_SPEED = FileIni.ReadDouble(StrConfigFile, "MOTOR", "MOTION_SPEED"); //运动定位速度
+			//上电使能ACS
+			_enableAcs = FileIni.ReadBool(StrConfigFile, "MOTOR", "ENABLE_ACS");
+
+			MotionSpeed = FileIni.ReadDouble(StrConfigFile, "MOTOR", "MOTION_SPEED"); //运动定位速度
 			//正限位
-			X_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
+			XMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
-			Y_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MAXSTROKESW");
+			YMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MAXSTROKESW");
-			Z_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MAXSTROKESW");
+			ZMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MAXSTROKESW");
 
 			//负限位
-			X_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MINSTROKESW");
+			XMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MINSTROKESW");
-			Y_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MINSTROKESW");
+			YMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MINSTROKESW");
-			Z_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MINSTROKESW");
+			ZMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MINSTROKESW");
 		}
 
 		private void Plot2D(List<Point3D> pointCloud)
@@ -180,75 +184,35 @@ namespace HexcalMC
 		}
 
 
-		#region 运动平台变量区
+		#region hexcal软件交互
-
-		private Api _acs;
-
-		private const int MaxUiLimitCnt = 8;
-		private const int MaxUiIoCnt = 8;
-
-		private readonly int _mNTotalAxis = 0;
-		private int _mNTotalBuffer = 0;
-		private Axis[] _mArrAxisList = null;
-
-		private bool _mAcsConnected; //ACS通讯状态
-
-		// For update values
-		private MotorStates _mNMotorState; //运动状态
-
-		private ProgramStates _mNProgramState; //程序状态
-		private object _mObjReadVar;
-		private Array _mArrReadVector;
-		private double _mLfRPos, _mLfFPos, _mLfPe, _mLfFvel; //参考位置，反馈位置 位置误差 反馈速度 double类型
-		private int _mNValues, _mNOutputState;
-
-		private Label[] _mLblLeftLimit; //左限位
-		private Label[] _mLblRightLimit; //右限位
-
-		private HomeStates _homeStates; //回家状态
-		private MotionStates _currentMotionState; //当前运动状态
-		private readonly int _motionTimeout = 50000; //定义运动超时时间
-
-
-		public static Axis[] USE_AXIS =
-			{ Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_8, 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 MOTION_SPEED = 60;
-		public static double X_MAXSTROKESW = 730; //正限位
-		public static double Y_MAXSTROKESW = 1000;
-		public static double Z_MAXSTROKESW = 5;
-
-		public static double X_MINSTROKESW = -30; //负限位
-		public static double Y_MINSTROKESW = -10;
-		public static double Z_MINSTROKESW = -280;
-
-		#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;
-
+		public string LISTEN_ADDRESS = "100.0.0.1";
-		#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)
+			if (_mTcpIpServer != null && _mTcpIpServer.ConnectStatus)
 			{
 				//弹窗提醒已经启动
+				MyBase.TraceWriteLine("TCP服务端已经启动，请勿重复启动");
 				MessageBox.Show("TCP服务端已经启动，请勿重复启动", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
 				return;
 			}
 
+			//判断 要监听的IP地址是否存在
+
+			if (!Internet.IsIpReachable(LISTEN_ADDRESS))
+			{
+				MyBase.TraceWriteLine("启动服务失败，请确认本地网卡是否启用且配置 " + LISTEN_ADDRESS);
+				MessageBox.Show("请确认本地网卡是否启用且配置 " + LISTEN_ADDRESS, "启动服务失败");
+				return;
+			}
+
+
 			//启动服务器，并获取数据，解析
-			_mTcpIpServer = new TcpIpServer("100.0.0.1", Convert.ToString(1234));
+			_mTcpIpServer = new TcpIpServer(LISTEN_ADDRESS, Convert.ToString(1234));
 			_mTcpIpServer.UseMode = 1; //设置通讯返回数据流格式
 			try
 			{
@@ -348,10 +312,17 @@ namespace HexcalMC
 		private void ParseHexcalMsg(string msg) //编写一个Hexcal协议解析函数
 		{
 			DebugDfn.AddLogText("正在解析 " + msg);
+
 			//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("ERROR"))
+			{
+				//弹窗提醒
+				MessageBox.Show("CMM错误", msg, MessageBoxButtons.OK, MessageBoxIcon.Error);
+				return;
+			}
 
 			if (msg.Contains("\x02") || msg.Contains("\u0002"))
 			{
@@ -377,17 +348,18 @@ namespace HexcalMC
 
 			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");
+				//MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000
 
-				double[] values = { X_MAXSTROKESW, Y_MAXSTROKESW, Z_MAXSTROKESW, 0.0, 0.0, 0.0, 0.0 };
+				double[] values = { XMaxstrokesw, YMaxstrokesw, ZMaxstrokesw, 0.0, 0.0, 0.0, 0.0 };
 				string resultString = ConstructString("MAXSTROKESW", values);
 				SendMsgToHexcal(resultString);
 			}
+
 			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");
+				//MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000
 
-				double[] values = { X_MINSTROKESW, Y_MINSTROKESW, Z_MINSTROKESW, 0.0, 0.0, 0.0, 0.0 };
+				double[] values = { XMinstrokesw, YMinstrokesw, ZMinstrokesw, 0.0, 0.0, 0.0, 0.0 };
 				string resultString = ConstructString("MINSTROKESW", values);
 				SendMsgToHexcal(resultString);
 			}
@@ -416,9 +388,9 @@ 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 TEMPCOMPTYPE")) //温度补偿，温度补偿 >1 表示支持温度补偿
+			else if (msg.Contains("SHOW TEMPCOMPTYPE")) //温度补偿，温度补偿 >1 表示支持温度补偿，此处不支持
 			{
-				SendMsgToHexcal("TEMPCOMPTYPE 1");
+				SendMsgToHexcal("TEMPCOMPTYPE 0");
 			}
 			else if (msg.Contains("READTP"))
 			{
@@ -470,6 +442,10 @@ namespace HexcalMC
 			{
 				SendMsgToHexcal("%");
 			}
+			else if (msg.Contains("DISABLE GEO"))
+			{
+				SendMsgToHexcal("%");
+			}
 			else if (msg.Contains("AUTZER")) //回家指令
 			{
 				SendMsgToHexcal("%"); //收到并执行，同时状态改为忙碌
@@ -489,7 +465,7 @@ namespace HexcalMC
 			}
 			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");
+				//POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000
 				Point3D point3D = GetPositionXyz(); //获取当前位置
 				string resultString = ConstructPosString(point3D);
 				SendMsgToHexcal(resultString);
@@ -542,12 +518,66 @@ namespace HexcalMC
 
 		#region ACS平台相关
 
+		#region 运动平台变量区
+
+		public Api _acs;
+
+		private const int MaxUiLimitCnt = 8;
+		private const int MaxUiIoCnt = 8;
+
+		private readonly int _mNTotalAxis = 0;
+		private int _mNTotalBuffer = 0;
+		private Axis[] _mArrAxisList = null;
+
+		public bool _mAcsConnected; //ACS通讯状态
+
+		// For update values
+		private MotorStates _mNMotorState; //运动状态
+
+		private ProgramStates _mNProgramState; //程序状态
+		private object _mObjReadVar;
+		private Array _mArrReadVector;
+		private double _mLfRPos, _mLfFPos, _mLfPe, _mLfFvel; //参考位置，反馈位置 位置误差 反馈速度 double类型
+		private int _mNValues, _mNOutputState;
+
+		private Label[] _mLblLeftLimit; //左限位
+		private Label[] _mLblRightLimit; //右限位
+
+		private HomeStates _homeStates; //回家状态
+		private MotionStates _currentMotionState; //当前运动状态
+		private readonly int _motionTimeout = 50000; //定义运动超时时间
+
+
+		public static Axis[] UseAxis =
+			{ Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_8, Axis.ACSC_NONE }; //定义启用的轴，后面运动时会使用
+
+		//定义轴的运动状态
+		private readonly bool[] axisFinished = new bool[10]; // 假设只有轴 0、1和8，数组大小为10（0到9）
+
+		//定义 XYZ三个轴的左右行程范围
+		public string StrConfigFile = Application.StartupPath + "\\File\\config.ini";
+		public static double MotionSpeed = 60;
+		public static double XMaxstrokesw = 730; //正限位
+		public static double YMaxstrokesw = 1000;
+		public static double ZMaxstrokesw = 5;
+
+		public static double XMinstrokesw = -30; //负限位
+		public static double YMinstrokesw = -10;
+		public static double ZMinstrokesw = -280;
+
+		private bool _enableAcs; //读取配置，是否上电自动连接平台
+
+		private Point3D _mPoint3D; //定义一个3D点,存储当前平台位置
+		private Point3D _mPoint3DLast; //存储上一周期的位置
+
+		#endregion
+
 		private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
 		{
 			if (_mAcsConnected)
 			{
 				//!!!! Important !! Must insert '-1' at the last
-				_acs.EnableM(USE_AXIS);
+				_acs.EnableM(UseAxis);
 			}
 			else
 			{
@@ -562,6 +592,36 @@ namespace HexcalMC
 			_acs.DisableAll();
 		}
 
+		private bool IsMotionInPose()
+		{
+			bool x_inpose = false, y_inpose = false, z_inpose = false;
+
+			_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_1);
+			if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
+			{
+				x_inpose = true;
+			}
+
+			_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_0);
+			if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
+			{
+				y_inpose = true;
+			}
+
+			_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_8);
+			if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
+			{
+				z_inpose = true;
+			}
+
+			if (x_inpose && y_inpose && z_inpose)
+			{
+				return true;
+			}
+
+			return false;
+		}
+
 		private void TmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
 		{
 			int iAxisNo = cboAxisNo.SelectedIndex;
@@ -569,6 +629,9 @@ namespace HexcalMC
 			{
 				try
 				{
+					//获取平台当前位置
+					_mPoint3D = GetPositionXyz();
+
 					// Get Motor State ACSPL+ Variable : MST (integer)
 					_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
 
@@ -589,7 +652,7 @@ namespace HexcalMC
 					if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
 					{
 						lblInPos.Image = Resources.On;
-						_currentMotionState = MotionStates.InPos;
+						//_currentMotionState = MotionStates.InPos;
 					}
 					else
 					{
@@ -622,6 +685,17 @@ namespace HexcalMC
 					MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
 				}
 			}
+
+			if (IsMotionInPose())
+			{
+				_currentMotionState = MotionStates.InPos;
+				DebugDfn.AddLogText("运动到位");
+			}
+			else
+			{
+				_currentMotionState = MotionStates.Moving;
+				DebugDfn.AddLogText("运动中");
+			}
 		}
 
 		private void Btn_ACSStart_Click(object sender, EventArgs e) //连接
@@ -722,9 +796,9 @@ namespace HexcalMC
 					DebugDfn.AddLogText("回家运动中");
 
 					//等待回家完成
-					for (int i = 0; i < USE_AXIS.Length; i++)
+					for (int i = 0; i < UseAxis.Length; i++)
 					{
-						_acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
+						_acs.WaitMotionEnd(UseAxis[i], _motionTimeout); //等待回家完成
 					}
 
 					_homeStates = HomeStates.Homed;
@@ -759,10 +833,10 @@ namespace HexcalMC
 			}
 
 			//轴启用，加电
-			_acs.EnableM(USE_AXIS);
+			_acs.EnableM(UseAxis);
-			for (int i = 0; i < USE_AXIS.Length; i++)
+			for (int i = 0; i < UseAxis.Length; i++)
 			{
-				_acs.WaitMotorEnabled(USE_AXIS[i], 1, _motionTimeout); //等待电机使能
+				_acs.WaitMotorEnabled(UseAxis[i], 1, _motionTimeout); //等待电机使能
 			}
 
 			DebugDfn.AddLogText("电机已启用");
@@ -773,42 +847,47 @@ namespace HexcalMC
 			SetSpeedXyz();
 
 			//注册到位事件
-			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
+			//_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
 			_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
 		}
 
 		private void ACS_PHYSICALMOTIONEND(AxisMasks axis)
 		{
-			int bit = 0x01;
+			//int bit = 0x01;
-			int axisNo = 0;
+			//int axisNo = 0;
-			// Param value is bit number 
+
-			// Bit Number = Axis Number
+			//for (int i = 0; i < 64; i++)
-			for (int i = 0; i < 64; i++)
+			//{
+			//	if ((int)axis == bit)
+			//	{
+			//		axisNo = i;
+			//		axisFinished[axisNo] = true; // 将对应轴的完成情况标记为 true
+			//		Console.WriteLine($" %d %d",axisNo, axisFinished[axisNo]);
+			//		break;
+			//	}
+
+			//	bit = bit << 1;
+			//}
+			//打印数组 axisFinished
+
+
+			// 检查轴0、1和8是否全部完成
+			//if (axisFinished[0] && axisFinished[1] && axisFinished[8])
 			{
-				if ((int)axis == bit)
+				// 三个轴均完成后的操作
+				Invoke((MethodInvoker)delegate
 				{
-					axisNo = i;
+					_currentMotionState = MotionStates.InPos;
-					break;
+					//DebugDfn.AddLogText("运动到位");
-				}
+				});
-
-				bit = bit << 1;
 			}
-
-			// Add log to ListBox
-			Invoke((MethodInvoker)delegate
-			{
-				DebugDfn.AddLogText("运动到位");
-				_currentMotionState = MotionStates.InPos;
-				DebugDfn.AddLogText("运动到位");
-
-			});
 		}
 
 		private bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内
 		{
-			if (point.X >= X_MINSTROKESW && point.X <= X_MAXSTROKESW &&
+			if (point.X >= XMinstrokesw && point.X <= XMaxstrokesw &&
-			    point.Y >= Y_MINSTROKESW && point.Y <= Y_MAXSTROKESW &&
+			    point.Y >= YMinstrokesw && point.Y <= YMaxstrokesw &&
-			    point.Z >= Z_MINSTROKESW && point.Z <= Z_MAXSTROKESW)
+			    point.Z >= ZMinstrokesw && point.Z <= ZMaxstrokesw)
 			{
 				return true;
 			}
@@ -841,7 +920,7 @@ namespace HexcalMC
 						};
 
 						//执行运动指令
-						_acs.ToPointM(MotionFlags.ACSC_NONE, USE_AXIS, pointsArray); //多轴运动到指定位置
+						_acs.ToPointM(MotionFlags.ACSC_NONE, UseAxis, pointsArray); //多轴运动到指定位置
 
 						////等待运动完成
 						//for (int i = 0; i < USE_AXIS.Length; i++)
@@ -881,17 +960,17 @@ namespace HexcalMC
 			if (positionMode == 1)
 			{
 				//获取反馈位置 Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
-				xPosition = _acs.GetFPosition(USE_AXIS[0]);
+				xPosition = _acs.GetFPosition(UseAxis[0]);
-				yPosition = _acs.GetFPosition(USE_AXIS[1]);
+				yPosition = _acs.GetFPosition(UseAxis[1]);
-				zPosition = _acs.GetFPosition(USE_AXIS[2]);
+				zPosition = _acs.GetFPosition(UseAxis[2]);
-				DebugDfn.AddLogText("反馈位置: " + xPosition + " " + yPosition + " " + zPosition);
+				//DebugDfn.AddLogText("反馈位置: " + xPosition + " " + yPosition + " " + zPosition);
 			}
 			else
 			{
 				//获取参考位置 ACSPL+ Variable : RPOS (real)
-				xPosition = _acs.GetRPosition(USE_AXIS[0]);
+				xPosition = _acs.GetRPosition(UseAxis[0]);
-				yPosition = _acs.GetRPosition(USE_AXIS[1]);
+				yPosition = _acs.GetRPosition(UseAxis[1]);
-				zPosition = _acs.GetRPosition(USE_AXIS[2]);
+				zPosition = _acs.GetRPosition(UseAxis[2]);
 				DebugDfn.AddLogText("参考位置: " + xPosition + " " + yPosition + " " + zPosition);
 			}
 
@@ -909,20 +988,19 @@ namespace HexcalMC
 			DebugDfn.AddLogText("实际速度: " + feedbackVelocity);
 
 			//设置Y轴 速度参数
-			_acs.SetVelocity(Axis.ACSC_AXIS_0, MOTION_SPEED);
+			_acs.SetVelocity(Axis.ACSC_AXIS_0, MotionSpeed);
-			_acs.SetAcceleration(Axis.ACSC_AXIS_0,MOTION_SPEED*10);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_0, MotionSpeed * 10);
-			_acs.SetDeceleration(Axis.ACSC_AXIS_0,MOTION_SPEED*10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_0, MotionSpeed * 10);
 
 			//设置X轴速度参数
-			_acs.SetVelocity(Axis.ACSC_AXIS_1, MOTION_SPEED);
+			_acs.SetVelocity(Axis.ACSC_AXIS_1, MotionSpeed);
-			_acs.SetAcceleration(Axis.ACSC_AXIS_1, MOTION_SPEED * 10);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_1, MotionSpeed * 10);
-			_acs.SetDeceleration(Axis.ACSC_AXIS_1, MOTION_SPEED * 10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_1, MotionSpeed * 10);
 
 			//设置Z轴速度参数
-			_acs.SetVelocity(Axis.ACSC_AXIS_8, MOTION_SPEED);
+			_acs.SetVelocity(Axis.ACSC_AXIS_8, MotionSpeed);
-			_acs.SetAcceleration(Axis.ACSC_AXIS_8, MOTION_SPEED * 10);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_8, MotionSpeed * 10);
-			_acs.SetDeceleration(Axis.ACSC_AXIS_8, MOTION_SPEED * 10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_8, MotionSpeed * 10);
-
 		}
 
 		private void openGLControl1_OpenGLDraw(object sender, RenderEventArgs args)
@@ -974,15 +1052,13 @@ namespace HexcalMC
 		{
 		}
 
-
-
 		#endregion ACS平台相关
 
 		#region 菜单栏
 
-		private void Rtb_motion_Click(object sender, EventArgs e) //ACS调试页面
+		private void btn_motion_Click(object sender, EventArgs e)
 		{
-			Motion motion = new Motion();
+			Motion motion = new Motion(_acs);
 			motion.Show();
 		}
 
@@ -993,6 +1069,13 @@ namespace HexcalMC
 			mAboutBox.Show();
 		}
 
+		private void rtb_demo_Click(object sender, EventArgs e)
+		{
+			DemoShow demoShow = new DemoShow(_acs);
+			demoShow.Show();
+			demoShow.BringToFront();
+		}
+
 		private void Timer_RefreshUI_Tick(object sender, EventArgs e) //UI刷新
 		{
 			//状态灯刷新
@@ -1004,6 +1087,14 @@ namespace HexcalMC
 			rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
 
 			Plot2D(_pointCloud); //绘图
+
+			//更新位置
+			if (_mPoint3D != null)
+			{
+				rtb_xPos.Text = _mPoint3D.X.ToString("F3");
+				rtb_yPos.Text = _mPoint3D.Y.ToString("F3");
+				rtb_zPos.Text = _mPoint3D.Z.ToString("F3");
+			}
 		}
 
 		#endregion 菜单栏

HexcalMC/Motion/Motion.Designer.cs

@@ -37,8 +37,6 @@
 			this.btnOpen = new System.Windows.Forms.Button();
 			this.label2 = new System.Windows.Forms.Label();
 			this.label1 = new System.Windows.Forms.Label();
-			this.rdoTCP = new System.Windows.Forms.RadioButton();
-			this.rdoSimu = new System.Windows.Forms.RadioButton();
 			this.tmrMonitor = new System.Windows.Forms.Timer(this.components);
 			this.grpMotionTest = new System.Windows.Forms.GroupBox();
 			this.btnHallAll = new System.Windows.Forms.Button();
@@ -185,7 +183,7 @@
 			this.label49 = new System.Windows.Forms.Label();
 			this.label47 = new System.Windows.Forms.Label();
 			this.groupBox8 = new System.Windows.Forms.GroupBox();
-			this.button8 = new System.Windows.Forms.Button();
+			this.btn_movepose = new System.Windows.Forms.Button();
 			this.checkBox1 = new System.Windows.Forms.CheckBox();
 			this.textBox3 = new System.Windows.Forms.TextBox();
 			this.textBox2 = new System.Windows.Forms.TextBox();
@@ -194,19 +192,19 @@
 			this.label45 = new System.Windows.Forms.Label();
 			this.label44 = new System.Windows.Forms.Label();
 			this.groupBox7 = new System.Windows.Forms.GroupBox();
-			this.button7 = new System.Windows.Forms.Button();
+			this.btn_Y_Back = new System.Windows.Forms.Button();
-			this.button6 = new System.Windows.Forms.Button();
+			this.btn_X_right = new System.Windows.Forms.Button();
-			this.button5 = new System.Windows.Forms.Button();
+			this.btn_X_left = new System.Windows.Forms.Button();
-			this.button4 = new System.Windows.Forms.Button();
+			this.btn_Y_Forward = new System.Windows.Forms.Button();
 			this.groupBox6 = new System.Windows.Forms.GroupBox();
-			this.button3 = new System.Windows.Forms.Button();
+			this.btn_home = new System.Windows.Forms.Button();
-			this.button2 = new System.Windows.Forms.Button();
+			this.btn_stop = new System.Windows.Forms.Button();
-			this.button1 = new System.Windows.Forms.Button();
+			this.btn_start = new System.Windows.Forms.Button();
 			this.groupBox10 = new System.Windows.Forms.GroupBox();
 			this.label48 = new System.Windows.Forms.Label();
 			this.textBox4 = new System.Windows.Forms.TextBox();
-			this.button10 = new System.Windows.Forms.Button();
+			this.btn_halt = new System.Windows.Forms.Button();
-			this.button9 = new System.Windows.Forms.Button();
+			this.btn_run = new System.Windows.Forms.Button();
 			this.checkBox4 = new System.Windows.Forms.CheckBox();
 			this.checkBox3 = new System.Windows.Forms.CheckBox();
 			this.checkBox2 = new System.Windows.Forms.CheckBox();
@@ -238,8 +236,6 @@
 			this.groupBox1.Controls.Add(this.btnOpen);
 			this.groupBox1.Controls.Add(this.label2);
 			this.groupBox1.Controls.Add(this.label1);
-			this.groupBox1.Controls.Add(this.rdoTCP);
-			this.groupBox1.Controls.Add(this.rdoSimu);
 			this.groupBox1.Location = new System.Drawing.Point(12, 12);
 			this.groupBox1.Name = "groupBox1";
 			this.groupBox1.Size = new System.Drawing.Size(273, 94);
@@ -249,7 +245,7 @@
 			// 
 			// txtPort
 			// 
-			this.txtPort.Location = new System.Drawing.Point(171, 40);
+			this.txtPort.Location = new System.Drawing.Point(103, 37);
 			this.txtPort.Name = "txtPort";
 			this.txtPort.Size = new System.Drawing.Size(91, 21);
 			this.txtPort.TabIndex = 15;
@@ -257,15 +253,15 @@
 			// 
 			// txtIP
 			// 
-			this.txtIP.Location = new System.Drawing.Point(171, 17);
+			this.txtIP.Location = new System.Drawing.Point(103, 14);
 			this.txtIP.Name = "txtIP";
 			this.txtIP.Size = new System.Drawing.Size(91, 21);
 			this.txtIP.TabIndex = 16;
-			this.txtIP.Text = "10.0.0.100";
+			this.txtIP.Text = "100.0.0.100";
 			// 
 			// btnClose
 			// 
-			this.btnClose.Location = new System.Drawing.Point(181, 65);
+			this.btnClose.Location = new System.Drawing.Point(113, 62);
 			this.btnClose.Name = "btnClose";
 			this.btnClose.Size = new System.Drawing.Size(81, 23);
 			this.btnClose.TabIndex = 14;
@@ -275,7 +271,7 @@
 			// 
 			// btnOpen
 			// 
-			this.btnOpen.Location = new System.Drawing.Point(94, 65);
+			this.btnOpen.Location = new System.Drawing.Point(7, 62);
 			this.btnOpen.Name = "btnOpen";
 			this.btnOpen.Size = new System.Drawing.Size(81, 23);
 			this.btnOpen.TabIndex = 13;
@@ -286,7 +282,7 @@
 			// label2
 			// 
 			this.label2.AutoSize = true;
-			this.label2.Location = new System.Drawing.Point(102, 44);
+			this.label2.Location = new System.Drawing.Point(15, 41);
 			this.label2.Name = "label2";
 			this.label2.Size = new System.Drawing.Size(29, 12);
 			this.label2.TabIndex = 11;
@@ -295,36 +291,12 @@
 			// label1
 			// 
 			this.label1.AutoSize = true;
-			this.label1.Location = new System.Drawing.Point(102, 21);
+			this.label1.Location = new System.Drawing.Point(15, 18);
 			this.label1.Name = "label1";
 			this.label1.Size = new System.Drawing.Size(71, 12);
 			this.label1.TabIndex = 12;
 			this.label1.Text = "目标设备 IP";
 			// 
-			// rdoTCP
-			// 
-			this.rdoTCP.AutoSize = true;
-			this.rdoTCP.Location = new System.Drawing.Point(6, 19);
-			this.rdoTCP.Name = "rdoTCP";
-			this.rdoTCP.Size = new System.Drawing.Size(41, 16);
-			this.rdoTCP.TabIndex = 10;
-			this.rdoTCP.TabStop = true;
-			this.rdoTCP.Text = "TCP";
-			this.rdoTCP.UseVisualStyleBackColor = true;
-			this.rdoTCP.CheckedChanged += new System.EventHandler(this.RdoTCP_CheckedChanged);
-			// 
-			// rdoSimu
-			// 
-			this.rdoSimu.AutoSize = true;
-			this.rdoSimu.Location = new System.Drawing.Point(6, 42);
-			this.rdoSimu.Name = "rdoSimu";
-			this.rdoSimu.Size = new System.Drawing.Size(59, 16);
-			this.rdoSimu.TabIndex = 9;
-			this.rdoSimu.TabStop = true;
-			this.rdoSimu.Text = "模拟器";
-			this.rdoSimu.UseVisualStyleBackColor = true;
-			this.rdoSimu.CheckedChanged += new System.EventHandler(this.RdoSimu_CheckedChanged);
-			// 
 			// tmrMonitor
 			// 
 			this.tmrMonitor.Interval = 50;
@@ -584,6 +556,10 @@
 			// 
 			this.cboAxisNo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
 			this.cboAxisNo.FormattingEnabled = true;
+			this.cboAxisNo.Items.AddRange(new object[] {
+            "1",
+            "0",
+            "8"});
 			this.cboAxisNo.Location = new System.Drawing.Point(115, 20);
 			this.cboAxisNo.Name = "cboAxisNo";
 			this.cboAxisNo.Size = new System.Drawing.Size(60, 20);
@@ -1814,7 +1790,7 @@
 			// 
 			// groupBox8
 			// 
-			this.groupBox8.Controls.Add(this.button8);
+			this.groupBox8.Controls.Add(this.btn_movepose);
 			this.groupBox8.Controls.Add(this.checkBox1);
 			this.groupBox8.Controls.Add(this.textBox3);
 			this.groupBox8.Controls.Add(this.textBox2);
@@ -1829,14 +1805,15 @@
 			this.groupBox8.TabStop = false;
 			this.groupBox8.Text = "定位";
 			// 
-			// button8
+			// btn_movepose
 			// 
-			this.button8.Location = new System.Drawing.Point(129, 122);
+			this.btn_movepose.Location = new System.Drawing.Point(129, 122);
-			this.button8.Name = "button8";
+			this.btn_movepose.Name = "btn_movepose";
-			this.button8.Size = new System.Drawing.Size(120, 37);
+			this.btn_movepose.Size = new System.Drawing.Size(120, 37);
-			this.button8.TabIndex = 7;
+			this.btn_movepose.TabIndex = 7;
-			this.button8.Text = "移动到目标位置";
+			this.btn_movepose.Text = "移动到目标位置";
-			this.button8.UseVisualStyleBackColor = true;
+			this.btn_movepose.UseVisualStyleBackColor = true;
+			this.btn_movepose.Click += new System.EventHandler(this.btn_movepose_Click);
 			// 
 			// checkBox1
 			// 
@@ -1898,10 +1875,10 @@
 			// 
 			// groupBox7
 			// 
-			this.groupBox7.Controls.Add(this.button7);
+			this.groupBox7.Controls.Add(this.btn_Y_Back);
-			this.groupBox7.Controls.Add(this.button6);
+			this.groupBox7.Controls.Add(this.btn_X_right);
-			this.groupBox7.Controls.Add(this.button5);
+			this.groupBox7.Controls.Add(this.btn_X_left);
-			this.groupBox7.Controls.Add(this.button4);
+			this.groupBox7.Controls.Add(this.btn_Y_Forward);
 			this.groupBox7.Location = new System.Drawing.Point(6, 100);
 			this.groupBox7.Name = "groupBox7";
 			this.groupBox7.Size = new System.Drawing.Size(283, 160);
@@ -1909,47 +1886,51 @@
 			this.groupBox7.TabStop = false;
 			this.groupBox7.Text = "Jog";
 			// 
-			// button7
+			// btn_Y_Back
 			// 
-			this.button7.Location = new System.Drawing.Point(104, 107);
+			this.btn_Y_Back.Location = new System.Drawing.Point(104, 107);
-			this.button7.Name = "button7";
+			this.btn_Y_Back.Name = "btn_Y_Back";
-			this.button7.Size = new System.Drawing.Size(75, 35);
+			this.btn_Y_Back.Size = new System.Drawing.Size(75, 35);
-			this.button7.TabIndex = 3;
+			this.btn_Y_Back.TabIndex = 3;
-			this.button7.Text = "Y后退";
+			this.btn_Y_Back.Text = "Y后退";
-			this.button7.UseVisualStyleBackColor = true;
+			this.btn_Y_Back.UseVisualStyleBackColor = true;
+			this.btn_Y_Back.Click += new System.EventHandler(this.btn_Y_Back_Click);
 			// 
-			// button6
+			// btn_X_right
 			// 
-			this.button6.Location = new System.Drawing.Point(198, 61);
+			this.btn_X_right.Location = new System.Drawing.Point(198, 61);
-			this.button6.Name = "button6";
+			this.btn_X_right.Name = "btn_X_right";
-			this.button6.Size = new System.Drawing.Size(75, 35);
+			this.btn_X_right.Size = new System.Drawing.Size(75, 35);
-			this.button6.TabIndex = 2;
+			this.btn_X_right.TabIndex = 2;
-			this.button6.Text = "X右移";
+			this.btn_X_right.Text = "X右移";
-			this.button6.UseVisualStyleBackColor = true;
+			this.btn_X_right.UseVisualStyleBackColor = true;
+			this.btn_X_right.Click += new System.EventHandler(this.btn_X_right_Click);
 			// 
-			// button5
+			// btn_X_left
 			// 
-			this.button5.Location = new System.Drawing.Point(10, 61);
+			this.btn_X_left.Location = new System.Drawing.Point(10, 61);
-			this.button5.Name = "button5";
+			this.btn_X_left.Name = "btn_X_left";
-			this.button5.Size = new System.Drawing.Size(75, 35);
+			this.btn_X_left.Size = new System.Drawing.Size(75, 35);
-			this.button5.TabIndex = 1;
+			this.btn_X_left.TabIndex = 1;
-			this.button5.Text = "X左移";
+			this.btn_X_left.Text = "X左移";
-			this.button5.UseVisualStyleBackColor = true;
+			this.btn_X_left.UseVisualStyleBackColor = true;
+			this.btn_X_left.Click += new System.EventHandler(this.btn_X_left_Click);
 			// 
-			// button4
+			// btn_Y_Forward
 			// 
-			this.button4.Location = new System.Drawing.Point(104, 12);
+			this.btn_Y_Forward.Location = new System.Drawing.Point(104, 12);
-			this.button4.Name = "button4";
+			this.btn_Y_Forward.Name = "btn_Y_Forward";
-			this.button4.Size = new System.Drawing.Size(75, 35);
+			this.btn_Y_Forward.Size = new System.Drawing.Size(75, 35);
-			this.button4.TabIndex = 0;
+			this.btn_Y_Forward.TabIndex = 0;
-			this.button4.Text = "Y前进";
+			this.btn_Y_Forward.Text = "Y前进";
-			this.button4.UseVisualStyleBackColor = true;
+			this.btn_Y_Forward.UseVisualStyleBackColor = true;
+			this.btn_Y_Forward.Click += new System.EventHandler(this.btn_Y_Forward_Click);
 			// 
 			// groupBox6
 			// 
-			this.groupBox6.Controls.Add(this.button3);
+			this.groupBox6.Controls.Add(this.btn_home);
-			this.groupBox6.Controls.Add(this.button2);
+			this.groupBox6.Controls.Add(this.btn_stop);
-			this.groupBox6.Controls.Add(this.button1);
+			this.groupBox6.Controls.Add(this.btn_start);
 			this.groupBox6.Location = new System.Drawing.Point(6, 24);
 			this.groupBox6.Name = "groupBox6";
 			this.groupBox6.Size = new System.Drawing.Size(283, 70);
@@ -1957,39 +1938,42 @@
 			this.groupBox6.TabStop = false;
 			this.groupBox6.Text = "动作";
 			// 
-			// button3
+			// btn_home
 			// 
-			this.button3.Location = new System.Drawing.Point(198, 24);
+			this.btn_home.Location = new System.Drawing.Point(198, 24);
-			this.button3.Name = "button3";
+			this.btn_home.Name = "btn_home";
-			this.button3.Size = new System.Drawing.Size(75, 30);
+			this.btn_home.Size = new System.Drawing.Size(75, 30);
-			this.button3.TabIndex = 2;
+			this.btn_home.TabIndex = 2;
-			this.button3.Text = "回原点";
+			this.btn_home.Text = "回原点";
-			this.button3.UseVisualStyleBackColor = true;
+			this.btn_home.UseVisualStyleBackColor = true;
+			this.btn_home.Click += new System.EventHandler(this.btn_home_Click);
 			// 
-			// button2
+			// btn_stop
 			// 
-			this.button2.Location = new System.Drawing.Point(104, 24);
+			this.btn_stop.Location = new System.Drawing.Point(104, 24);
-			this.button2.Name = "button2";
+			this.btn_stop.Name = "btn_stop";
-			this.button2.Size = new System.Drawing.Size(75, 30);
+			this.btn_stop.Size = new System.Drawing.Size(75, 30);
-			this.button2.TabIndex = 1;
+			this.btn_stop.TabIndex = 1;
-			this.button2.Text = "停止";
+			this.btn_stop.Text = "停止";
-			this.button2.UseVisualStyleBackColor = true;
+			this.btn_stop.UseVisualStyleBackColor = true;
+			this.btn_stop.Click += new System.EventHandler(this.btn_stop_Click);
 			// 
-			// button1
+			// btn_start
 			// 
-			this.button1.Location = new System.Drawing.Point(10, 24);
+			this.btn_start.Location = new System.Drawing.Point(10, 24);
-			this.button1.Name = "button1";
+			this.btn_start.Name = "btn_start";
-			this.button1.Size = new System.Drawing.Size(75, 30);
+			this.btn_start.Size = new System.Drawing.Size(75, 30);
-			this.button1.TabIndex = 0;
+			this.btn_start.TabIndex = 0;
-			this.button1.Text = "开始";
+			this.btn_start.Text = "开始";
-			this.button1.UseVisualStyleBackColor = true;
+			this.btn_start.UseVisualStyleBackColor = true;
+			this.btn_start.Click += new System.EventHandler(this.btn_start_Click);
 			// 
 			// groupBox10
 			// 
 			this.groupBox10.Controls.Add(this.label48);
 			this.groupBox10.Controls.Add(this.textBox4);
-			this.groupBox10.Controls.Add(this.button10);
+			this.groupBox10.Controls.Add(this.btn_halt);
-			this.groupBox10.Controls.Add(this.button9);
+			this.groupBox10.Controls.Add(this.btn_run);
 			this.groupBox10.Controls.Add(this.checkBox4);
 			this.groupBox10.Controls.Add(this.checkBox3);
 			this.groupBox10.Controls.Add(this.checkBox2);
@@ -2016,23 +2000,25 @@
 			this.textBox4.Size = new System.Drawing.Size(35, 21);
 			this.textBox4.TabIndex = 5;
 			// 
-			// button10
+			// btn_halt
 			// 
-			this.button10.Location = new System.Drawing.Point(94, 60);
+			this.btn_halt.Location = new System.Drawing.Point(94, 60);
-			this.button10.Name = "button10";
+			this.btn_halt.Name = "btn_halt";
-			this.button10.Size = new System.Drawing.Size(60, 23);
+			this.btn_halt.Size = new System.Drawing.Size(60, 23);
-			this.button10.TabIndex = 4;
+			this.btn_halt.TabIndex = 4;
-			this.button10.Text = "停止";
+			this.btn_halt.Text = "停止";
-			this.button10.UseVisualStyleBackColor = true;
+			this.btn_halt.UseVisualStyleBackColor = true;
+			this.btn_halt.Click += new System.EventHandler(this.btn_halt_Click);
 			// 
-			// button9
+			// btn_run
 			// 
-			this.button9.Location = new System.Drawing.Point(13, 60);
+			this.btn_run.Location = new System.Drawing.Point(13, 60);
-			this.button9.Name = "button9";
+			this.btn_run.Name = "btn_run";
-			this.button9.Size = new System.Drawing.Size(60, 23);
+			this.btn_run.Size = new System.Drawing.Size(60, 23);
-			this.button9.TabIndex = 3;
+			this.btn_run.TabIndex = 3;
-			this.button9.Text = "运行";
+			this.btn_run.Text = "运行";
-			this.button9.UseVisualStyleBackColor = true;
+			this.btn_run.UseVisualStyleBackColor = true;
+			this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
 			// 
 			// checkBox4
 			// 
@@ -2154,8 +2140,6 @@
 		private System.Windows.Forms.Button btnOpen;
 		private System.Windows.Forms.Label label2;
 		private System.Windows.Forms.Label label1;
-		private System.Windows.Forms.RadioButton rdoTCP;
-		private System.Windows.Forms.RadioButton rdoSimu;
 		private System.Windows.Forms.Button btnHalt;
 		private System.Windows.Forms.GroupBox grpMst;
 		private System.Windows.Forms.Label label16;
@@ -2266,7 +2250,7 @@
 		private System.Windows.Forms.GroupBox groupBox5;
 		private System.Windows.Forms.GroupBox groupBox9;
 		private System.Windows.Forms.GroupBox groupBox8;
-		private System.Windows.Forms.Button button8;
+		private System.Windows.Forms.Button btn_movepose;
 		private System.Windows.Forms.CheckBox checkBox1;
 		private System.Windows.Forms.TextBox textBox3;
 		private System.Windows.Forms.TextBox textBox2;
@@ -2275,19 +2259,19 @@
 		private System.Windows.Forms.Label label45;
 		private System.Windows.Forms.Label label44;
 		private System.Windows.Forms.GroupBox groupBox7;
-		private System.Windows.Forms.Button button7;
+		private System.Windows.Forms.Button btn_Y_Back;
-		private System.Windows.Forms.Button button6;
+		private System.Windows.Forms.Button btn_X_right;
-		private System.Windows.Forms.Button button5;
+		private System.Windows.Forms.Button btn_X_left;
-		private System.Windows.Forms.Button button4;
+		private System.Windows.Forms.Button btn_Y_Forward;
 		private System.Windows.Forms.GroupBox groupBox6;
-		private System.Windows.Forms.Button button3;
+		private System.Windows.Forms.Button btn_home;
-		private System.Windows.Forms.Button button2;
+		private System.Windows.Forms.Button btn_stop;
-		private System.Windows.Forms.Button button1;
+		private System.Windows.Forms.Button btn_start;
 		private System.Windows.Forms.GroupBox groupBox10;
 		private System.Windows.Forms.Label label48;
 		private System.Windows.Forms.TextBox textBox4;
-		private System.Windows.Forms.Button button10;
+		private System.Windows.Forms.Button btn_halt;
-		private System.Windows.Forms.Button button9;
+		private System.Windows.Forms.Button btn_run;
 		private System.Windows.Forms.CheckBox checkBox4;
 		private System.Windows.Forms.CheckBox checkBox3;
 		private System.Windows.Forms.CheckBox checkBox2;

HexcalMC/Motion/Motion.cs

@@ -3,7 +3,9 @@ using System.Diagnostics;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
 using ACS.SPiiPlusNET;
+using HexcalMC.Base;
 using HexcalMC.Properties;
+
 // ACS .NET Library
 
 namespace HexcalMC
@@ -38,11 +40,11 @@ namespace HexcalMC
 		private int _mNValues, _mNOutputState;
 		private object _mObjReadVar;
 
-		public Motion()
+		public Motion(Api api)
 		{
 			InitializeComponent();
 
-			_acs = new Api(); //初始化 ACS运动控制类
+			_acs = api; //初始化 ACS运动控制类
 
 			// Register Event 注册时间
 			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
@@ -129,7 +131,6 @@ namespace HexcalMC
 
 		private void Form1_Load(object sender, EventArgs e)
 		{
-			rdoTCP.Checked = true;
 			btnOpen.Enabled = true;
 			btnClose.Enabled = false;
 
@@ -237,18 +238,17 @@ namespace HexcalMC
 
 			try
 			{
-				if (rdoTCP.Checked)
+				if (_acs.IsConnected)
+				{
+					DebugDfn.AddLogText("运动平台已连接");
+				}
+				else
 				{
 					// TCP/IP (Ethernet) 
 					_acs.OpenCommEthernetTCP(
 						txtIP.Text, // IP Address (Default : 10.0.0.100)
 						Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
 				}
-				else if (rdoSimu.Checked)
-				{
-					// Simmulation mode
-					_acs.OpenCommSimulator();
-				}
 
 				_mBConnected = true;
 
@@ -263,11 +263,11 @@ namespace HexcalMC
 				// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
 				// Because of the last delimeter (-1)
 				_mArrAxisList = new Axis[_mNTotalAxis + 1];
-				for (i = 0; i < _mNTotalAxis; i++)
+				//for (i = 0; i < _mNTotalAxis; i++)
-				{
+				//{
-					cboAxisNo.Items.Add(i.ToString());
+				//	cboAxisNo.Items.Add(i.ToString());
-					_mArrAxisList[i] = (Axis)i;
+				//	_mArrAxisList[i] = (Axis)i;
-				}
+				//}
 
 				// Insert '-1' at the last
 				_mArrAxisList[_mNTotalAxis] = Axis.ACSC_NONE;
@@ -664,7 +664,7 @@ namespace HexcalMC
 			}
 		}
 
-		// 정방향 이동 동작
+
 		private void BtnJogPos_MouseDown(object sender, MouseEventArgs e)
 		{
 			double lfVelocity = 0.0f;
@@ -852,7 +852,7 @@ namespace HexcalMC
 
 		private void BtnEventMotionEnd_Click(object sender, EventArgs e)
 		{
-			_acs.PHYSICALMOTIONEND +=ACS_PHYSICALMOTIONEND;
+			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
 			_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
 			lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
 		}
@@ -889,6 +889,47 @@ namespace HexcalMC
 			lstLog.Items.Add("PROGRAM_END event enabled");
 		}
 
+
+		private void btn_movepose_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_start_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_stop_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_home_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_X_left_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_X_right_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_Y_Forward_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_Y_Back_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_run_Click(object sender, EventArgs e)
+		{
+		}
+
+		private void btn_halt_Click(object sender, EventArgs e)
+		{
+		}
+
 		private void ACS_PROGRAMEND(BufferMasks buffer)
 		{
 			int bit = 0x01;

HexcalMC/Motion/Motion.resx

@@ -1148,7 +1148,7 @@
 </value>
   </data>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>176</value>
+    <value>77</value>
   </metadata>
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>

HexcalMC/Program.cs

@@ -9,18 +9,21 @@ using static Telerik.WinControls.UI.Export.ExportSettings;
 //
 //
 //开发说明
-// V0.1 2023/04/10
+// V0.1 2024/03/1
 //---------------------------------------
 //1、初版构建
 //2、调用流程： 开启TCP服务端、连接到平台轴启用—》hexcal软件连接，开启校准通讯流程—》移动至到位后反馈—》hexcal逻辑处理—》hexcal校准完成关系—》软件关闭
 //
+// V0.2 2024/03/7
+//---------------------------------------
+//1、取消上电自动连接
+//2、优化运动窗体间传递 运动平台对象
+//3、增加平台位置动态显示
+//4、修复运动到位判断逻辑
+//5、增加演示模式按钮
 //
 //
-//
+//6、点击停止报错，运动测试界面问题？
-//
-//
-//
-//
 //
 //
 //

HexcalMC/Properties/AssemblyInfo.cs

@@ -8,7 +8,7 @@ using System.Runtime.InteropServices;
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("Hexagon HMI")]
 [assembly: AssemblyProduct("直线电机平台补偿软件(HexcalMC)")]
-[assembly: AssemblyCopyright("Copyright ©  2023 Hexagon,Inc")]
+[assembly: AssemblyCopyright("Copyright ©  2024 Hexagon,Inc")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
@@ -19,5 +19,5 @@ using System.Runtime.InteropServices;
 [assembly: Guid("6215eb36-92d3-4f96-9331-1e8cbda161f4")]
 
 
-[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyVersion("0.0.2")]
-[assembly: AssemblyFileVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("0.0.2")]

HexcalMC/Properties/Resources.Designer.cs

@@ -70,6 +70,26 @@ namespace HexcalMC.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap demo_show {
+            get {
+                object obj = ResourceManager.GetObject("demo_show", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap demo_show_128 {
+            get {
+                object obj = ResourceManager.GetObject("demo_show_128", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找 System.Drawing.Bitmap 类型的本地化资源。
         /// </summary>
@@ -110,6 +130,16 @@ namespace HexcalMC.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap mothion_64 {
+            get {
+                object obj = ResourceManager.GetObject("mothion_64", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找 System.Drawing.Bitmap 类型的本地化资源。
         /// </summary>

HexcalMC/Properties/Resources.resx

@@ -112,35 +112,43 @@
     <value>2.0</value>
   </resheader>
   <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="HexagonNew" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\HexagonNew.ico;System.Drawing.Icon, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="about" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\about.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="On" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\On.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
   <data name="Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\Error.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="Hexagon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Hexagon.ico;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="demo_show_128" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\demo_show_128.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="Off" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\Off.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="motion" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\motion.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="about" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\about.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="demo_show" type="System.Resources.ResXFileRef, System.Windows.Forms">
-  <data name="Hexagon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\demo_show.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-    <value>..\Resources\Hexagon.ico;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="mothion_64" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\mothion_64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
 </root>