diff --git a/HexcalMC/Hexcal/TcpIpServer.cs b/HexcalMC/Hexcal/TcpIpServer.cs index f164d72..9c42ebb 100644 --- a/HexcalMC/Hexcal/TcpIpServer.cs +++ b/HexcalMC/Hexcal/TcpIpServer.cs @@ -6,6 +6,7 @@ using System.Net.Sockets; using System.Text; using System.Threading; using System.Windows.Forms; +using HexcalMC.Base; using Timer = System.Windows.Forms.Timer; namespace HexcalMC.Hexcal @@ -64,8 +65,8 @@ namespace HexcalMC.Hexcal { try { - _serverTimer.Tick += ServerTimerLoop; //510,增加时钟，判断是否有断掉的连接。 - _serverTimer.Start(); + //_serverTimer.Tick += ServerTimerLoop; //510,增加时钟，判断是否有断掉的连接。 + //_serverTimer.Start(); _mWatchSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); //创建负责监听的套接字，注意其中的参数； @@ -304,6 +305,7 @@ namespace HexcalMC.Hexcal { success = TrySendData(soc, arrMsg); attemptCount++; + DebugDfn.AddLogText("正在重发"); } } } @@ -382,7 +384,7 @@ namespace HexcalMC.Hexcal for (int i = _dictSocket.Values.ToArray().Length - 1; i >= 0; i--) { if (_dictSocket.Values.ToArray()[i] - .Poll(10, SelectMode.SelectRead)) //10毫秒，检查套接字状态， SelectMode 参数指定要监视的套接字的类别。 + .Poll(100, SelectMode.SelectRead)) //10毫秒，检查套接字状态， SelectMode 参数指定要监视的套接字的类别。 { // DictSocket.Remove(DictSocket.Keys.ToArray()[i]); diff --git a/HexcalMC/HexcalMC.csproj b/HexcalMC/HexcalMC.csproj index 405214f..739563f 100644 --- a/HexcalMC/HexcalMC.csproj +++ b/HexcalMC/HexcalMC.csproj @@ -19,6 +19,27 @@ + true + ftp://wio.me/upgrade/dotnet/Hexcal/ + true + Web + true + Foreground + 7 + Days + false + false + true + http://wio.me/upgrade/dotnet/Hexcal/ + Zhengxuan.zhang + HexcalMC + true + publish.htm + 2 + 1.0.0.%2a + false + true + true x86 @@ -64,6 +85,18 @@ Hexagon.ico + + 6EDD851028CAF15F53977FDAABCEB5A0859CFE89 + + + HexcalMC_TemporaryKey.pfx + + + true + + + true + False @@ -203,6 +236,7 @@ True + SettingsSingleFileGenerator @@ -249,6 +283,18 @@ + + + False + Microsoft .NET Framework 4.6.2 %28x86 和 x64%29 + true + + + False + .NET Framework 3.5 SP1 + false + + diff --git a/HexcalMC/MainFrom.Designer.cs b/HexcalMC/MainFrom.Designer.cs index 32dbc52..fc8d428 100644 --- a/HexcalMC/MainFrom.Designer.cs +++ b/HexcalMC/MainFrom.Designer.cs @@ -50,6 +50,7 @@ this.radRibbonBarGroup5 = new Telerik.WinControls.UI.RadRibbonBarGroup(); this.radRibbonBarButtonGroup7 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup(); this.rtb_demo = new Telerik.WinControls.UI.RadButtonElement(); + this.radRibbonBarGroup6 = new Telerik.WinControls.UI.RadRibbonBarGroup(); this.ribbonTab2 = new Telerik.WinControls.UI.RibbonTab(); this.radRibbonBarGroup2 = new Telerik.WinControls.UI.RadRibbonBarGroup(); this.rtb_about = new Telerik.WinControls.UI.RadButtonElement(); @@ -87,28 +88,21 @@ this.elementHost1 = new System.Windows.Forms.Integration.ElementHost(); this.groupBox7 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox(); - 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(); this.lblEMG = new System.Windows.Forms.Label(); - this.lblRL3 = new System.Windows.Forms.Label(); - this.lblLL3 = new System.Windows.Forms.Label(); this.lblRL2 = new System.Windows.Forms.Label(); this.lblLL2 = new System.Windows.Forms.Label(); this.lblRL1 = new System.Windows.Forms.Label(); - this.lblRL4 = new System.Windows.Forms.Label(); this.lblLL1 = new System.Windows.Forms.Label(); - this.lblLL4 = new System.Windows.Forms.Label(); this.lblRL0 = new System.Windows.Forms.Label(); this.lblLL0 = new System.Windows.Forms.Label(); this.label18 = new System.Windows.Forms.Label(); this.label27 = new System.Windows.Forms.Label(); - this.label26 = new System.Windows.Forms.Label(); this.label25 = new System.Windows.Forms.Label(); - this.label33 = new System.Windows.Forms.Label(); this.label24 = new System.Windows.Forms.Label(); this.label20 = new System.Windows.Forms.Label(); this.label19 = new System.Windows.Forms.Label(); @@ -128,7 +122,6 @@ 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(); @@ -139,7 +132,8 @@ 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(); + this.lamp_hexcal = new HexcalMC.Lamp(); + this.lamp_acs = new HexcalMC.Lamp(); ((System.ComponentModel.ISupportInitialize)(this.radRibbonBar1)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.radRibbonBarBackstageView1)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.radStatusStrip1)).BeginInit(); @@ -335,6 +329,11 @@ this.rtb_demo.TextAlignment = System.Drawing.ContentAlignment.BottomLeft; this.rtb_demo.Click += new System.EventHandler(this.rtb_demo_Click); // + // radRibbonBarGroup6 + // + this.radRibbonBarGroup6.Name = "radRibbonBarGroup6"; + this.radRibbonBarGroup6.Text = "快速定位"; + // // ribbonTab2 // this.ribbonTab2.AutoEllipsis = false; @@ -404,7 +403,7 @@ // this.radRibbonBar1.RootElement.AutoSizeMode = Telerik.WinControls.RadAutoSizeMode.WrapAroundChildren; this.radRibbonBar1.ShowExpandButton = false; - this.radRibbonBar1.Size = new System.Drawing.Size(1192, 176); + this.radRibbonBar1.Size = new System.Drawing.Size(1192, 173); this.radRibbonBar1.StartButtonImage = global::HexcalMC.Properties.Resources.Hexagon; this.radRibbonBar1.StartMenuItems.AddRange(new Telerik.WinControls.RadItem[] { this.radMenuItem2}); @@ -610,7 +609,7 @@ // splitContainer1 // this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill; - this.splitContainer1.Location = new System.Drawing.Point(0, 176); + this.splitContainer1.Location = new System.Drawing.Point(0, 173); this.splitContainer1.Name = "splitContainer1"; // // splitContainer1.Panel1 @@ -624,7 +623,7 @@ // this.splitContainer1.Panel2.BackColor = System.Drawing.SystemColors.Control; this.splitContainer1.Panel2.Controls.Add(this.groupBox3); - this.splitContainer1.Size = new System.Drawing.Size(1192, 693); + this.splitContainer1.Size = new System.Drawing.Size(1192, 696); this.splitContainer1.SplitterDistance = 760; this.splitContainer1.TabIndex = 2; // @@ -718,23 +717,11 @@ this.groupBox1.TabStop = false; this.groupBox1.Text = "通讯状态"; // - // lamp_hexcal - // - 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_StopServer // 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.Size = new System.Drawing.Size(81, 30); this.Btn_StopServer.TabIndex = 26; this.Btn_StopServer.Text = "关闭服务"; this.Btn_StopServer.UseVisualStyleBackColor = true; @@ -744,7 +731,7 @@ // 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.Size = new System.Drawing.Size(81, 30); this.Btn_StartServer.TabIndex = 25; this.Btn_StartServer.Text = "开启服务"; this.Btn_StartServer.UseVisualStyleBackColor = true; @@ -775,21 +762,15 @@ // grpSafety // this.grpSafety.Controls.Add(this.lblEMG); - this.grpSafety.Controls.Add(this.lblRL3); - this.grpSafety.Controls.Add(this.lblLL3); this.grpSafety.Controls.Add(this.lblRL2); this.grpSafety.Controls.Add(this.lblLL2); this.grpSafety.Controls.Add(this.lblRL1); - this.grpSafety.Controls.Add(this.lblRL4); this.grpSafety.Controls.Add(this.lblLL1); - this.grpSafety.Controls.Add(this.lblLL4); this.grpSafety.Controls.Add(this.lblRL0); this.grpSafety.Controls.Add(this.lblLL0); this.grpSafety.Controls.Add(this.label18); this.grpSafety.Controls.Add(this.label27); - this.grpSafety.Controls.Add(this.label26); this.grpSafety.Controls.Add(this.label25); - this.grpSafety.Controls.Add(this.label33); this.grpSafety.Controls.Add(this.label24); this.grpSafety.Controls.Add(this.label20); this.grpSafety.Controls.Add(this.label19); @@ -809,24 +790,6 @@ this.lblEMG.Size = new System.Drawing.Size(19, 17); this.lblEMG.TabIndex = 5; // - // lblRL3 - // - this.lblRL3.Image = ((System.Drawing.Image)(resources.GetObject("lblRL3.Image"))); - this.lblRL3.Location = new System.Drawing.Point(142, 67); - this.lblRL3.Name = "lblRL3"; - this.lblRL3.Size = new System.Drawing.Size(19, 17); - this.lblRL3.TabIndex = 5; - this.lblRL3.Tag = "13"; - // - // lblLL3 - // - this.lblLL3.Image = ((System.Drawing.Image)(resources.GetObject("lblLL3.Image"))); - this.lblLL3.Location = new System.Drawing.Point(142, 45); - this.lblLL3.Name = "lblLL3"; - this.lblLL3.Size = new System.Drawing.Size(19, 17); - this.lblLL3.TabIndex = 5; - this.lblLL3.Tag = "3"; - // // lblRL2 // this.lblRL2.Image = ((System.Drawing.Image)(resources.GetObject("lblRL2.Image"))); @@ -854,15 +817,6 @@ this.lblRL1.TabIndex = 5; this.lblRL1.Tag = "11"; // - // lblRL4 - // - this.lblRL4.Image = ((System.Drawing.Image)(resources.GetObject("lblRL4.Image"))); - this.lblRL4.Location = new System.Drawing.Point(164, 67); - this.lblRL4.Name = "lblRL4"; - this.lblRL4.Size = new System.Drawing.Size(19, 17); - this.lblRL4.TabIndex = 5; - this.lblRL4.Tag = "14"; - // // lblLL1 // this.lblLL1.Image = ((System.Drawing.Image)(resources.GetObject("lblLL1.Image"))); @@ -872,15 +826,6 @@ this.lblLL1.TabIndex = 5; this.lblLL1.Tag = "1"; // - // lblLL4 - // - this.lblLL4.Image = ((System.Drawing.Image)(resources.GetObject("lblLL4.Image"))); - this.lblLL4.Location = new System.Drawing.Point(164, 45); - this.lblLL4.Name = "lblLL4"; - this.lblLL4.Size = new System.Drawing.Size(19, 17); - this.lblLL4.TabIndex = 5; - this.lblLL4.Tag = "4"; - // // lblRL0 // this.lblRL0.Image = ((System.Drawing.Image)(resources.GetObject("lblRL0.Image"))); @@ -917,15 +862,6 @@ this.label27.Text = "急停"; this.label27.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; // - // label26 - // - this.label26.AutoSize = true; - this.label26.Location = new System.Drawing.Point(146, 21); - this.label26.Name = "label26"; - this.label26.Size = new System.Drawing.Size(13, 13); - this.label26.TabIndex = 5; - this.label26.Text = "3"; - // // label25 // this.label25.AutoSize = true; @@ -933,16 +869,7 @@ this.label25.Name = "label25"; this.label25.Size = new System.Drawing.Size(13, 13); this.label25.TabIndex = 5; - this.label25.Text = "2"; - // - // label33 - // - this.label33.AutoSize = true; - this.label33.Location = new System.Drawing.Point(168, 21); - this.label33.Name = "label33"; - this.label33.Size = new System.Drawing.Size(13, 13); - this.label33.TabIndex = 5; - this.label33.Text = "4"; + this.label25.Text = "8"; // // label24 // @@ -1005,8 +932,8 @@ this.cboAxisNo.FormattingEnabled = true; this.cboAxisNo.Items.AddRange(new object[] { "1", - "2", - "4"}); + "0", + "8"}); this.cboAxisNo.Location = new System.Drawing.Point(88, 17); this.cboAxisNo.Name = "cboAxisNo"; this.cboAxisNo.Size = new System.Drawing.Size(60, 20); @@ -1104,7 +1031,7 @@ // this.btnEnable.Location = new System.Drawing.Point(6, 23); this.btnEnable.Name = "btnEnable"; - this.btnEnable.Size = new System.Drawing.Size(75, 23); + this.btnEnable.Size = new System.Drawing.Size(75, 30); this.btnEnable.TabIndex = 9; this.btnEnable.Text = "3轴使能"; this.btnEnable.UseVisualStyleBackColor = true; @@ -1112,9 +1039,9 @@ // // btnDisable // - this.btnDisable.Location = new System.Drawing.Point(6, 52); + this.btnDisable.Location = new System.Drawing.Point(6, 53); this.btnDisable.Name = "btnDisable"; - this.btnDisable.Size = new System.Drawing.Size(75, 23); + this.btnDisable.Size = new System.Drawing.Size(75, 30); this.btnDisable.TabIndex = 8; this.btnDisable.Text = "3轴取消"; this.btnDisable.UseVisualStyleBackColor = true; @@ -1136,18 +1063,6 @@ this.groupBox2.TabStop = false; 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 // this.txtPort.Location = new System.Drawing.Point(103, 52); @@ -1168,7 +1083,7 @@ // this.btn_ACSStop.Location = new System.Drawing.Point(113, 84); this.btn_ACSStop.Name = "btn_ACSStop"; - this.btn_ACSStop.Size = new System.Drawing.Size(81, 23); + this.btn_ACSStop.Size = new System.Drawing.Size(81, 30); this.btn_ACSStop.TabIndex = 20; this.btn_ACSStop.Text = "断开"; this.btn_ACSStop.UseVisualStyleBackColor = true; @@ -1178,7 +1093,7 @@ // this.btn_ACSStart.Location = new System.Drawing.Point(18, 84); this.btn_ACSStart.Name = "btn_ACSStart"; - this.btn_ACSStart.Size = new System.Drawing.Size(81, 23); + this.btn_ACSStart.Size = new System.Drawing.Size(81, 30); this.btn_ACSStart.TabIndex = 19; this.btn_ACSStart.Text = "连接"; this.btn_ACSStart.UseVisualStyleBackColor = true; @@ -1225,7 +1140,6 @@ // // tmrMonitor // - this.tmrMonitor.Interval = 50; this.tmrMonitor.Tick += new System.EventHandler(this.TmrMonitor_Tick); // // timer_RefreshUI @@ -1233,10 +1147,29 @@ this.timer_RefreshUI.Interval = 1000; this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick); // - // radRibbonBarGroup6 + // lamp_hexcal // - this.radRibbonBarGroup6.Name = "radRibbonBarGroup6"; - this.radRibbonBarGroup6.Text = "快速定位"; + 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; + // + // 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; // // MainFrom // @@ -1360,21 +1293,15 @@ private System.Windows.Forms.Label label13; private System.Windows.Forms.GroupBox grpSafety; private System.Windows.Forms.Label lblEMG; - private System.Windows.Forms.Label lblRL3; - private System.Windows.Forms.Label lblLL3; private System.Windows.Forms.Label lblRL2; private System.Windows.Forms.Label lblLL2; private System.Windows.Forms.Label lblRL1; - private System.Windows.Forms.Label lblRL4; private System.Windows.Forms.Label lblLL1; - private System.Windows.Forms.Label lblLL4; private System.Windows.Forms.Label lblRL0; private System.Windows.Forms.Label lblLL0; private System.Windows.Forms.Label label18; private System.Windows.Forms.Label label27; - private System.Windows.Forms.Label label26; private System.Windows.Forms.Label label25; - private System.Windows.Forms.Label label33; private System.Windows.Forms.Label label24; private System.Windows.Forms.Label label20; private System.Windows.Forms.Label label19; diff --git a/HexcalMC/MainFrom.cs b/HexcalMC/MainFrom.cs index 66c6d35..40ba803 100644 --- a/HexcalMC/MainFrom.cs +++ b/HexcalMC/MainFrom.cs @@ -1,6 +1,7 @@ using System; using System.Collections.Generic; using System.IO; +using System.Net; using System.Windows.Forms; using ACS.SPiiPlusNET; using HexcalMC.Base; @@ -187,8 +188,9 @@ namespace HexcalMC #region hexcal软件交互 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"; + //public string LISTEN_ADDRESS = "100.0.0.1"; private void StartServer() { @@ -203,16 +205,16 @@ namespace HexcalMC //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; - } + //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(LISTEN_ADDRESS, Convert.ToString(1234)); + _mTcpIpServer = new TcpIpServer(IPAddress.Any.ToString(), Convert.ToString(1234)); _mTcpIpServer.UseMode = 1; //设置通讯返回数据流格式 try { @@ -250,11 +252,11 @@ namespace HexcalMC string sourceIp = clientIp.Split(':')[0]; switch (sourceIp) { - case "100.0.0.1": //L2系统 - - //解析处理数据 + case "100.0.0.1": + ParseHexcalMsg(msg); + break; + case "100.0.0.2": ParseHexcalMsg(msg); - break; default: DebugDfn.AddLogText("未知来源，没有应答"); @@ -299,6 +301,7 @@ namespace HexcalMC private void CheckPlatformStatus() { + //检查平台状态，如果运动中，返回BUSY，否则返回READY if (_currentMotionState == MotionStates.None || _currentMotionState == MotionStates.InPos) //默认或到位 { SendMsgToHexcal("READY"); @@ -311,7 +314,7 @@ 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); + //DebugDfn.AddLogText("正在解析 " + msg); //去除Msg中\r\n msg = msg.Replace("\r\n", ""); @@ -326,20 +329,21 @@ namespace HexcalMC if (msg.Contains("\x02") || msg.Contains("\u0002")) { + //DebugDfn.AddLogText("接收到STX，开始解析"); CheckPlatformStatus(); } else if (msg.Contains("\x03") || msg.Contains("\u0003")) { CheckPlatformStatus(); } - else if (msg.Contains("^B")) //查询状态, READY或BUSY - { - CheckPlatformStatus(); - } + //else if (msg.Contains("^B")) //查询状态, READY或BUSY + //{ + // CheckPlatformStatus(); + //} else if (msg.Contains("CMMTYP")) //测量机类型 { - SendMsgToHexcal("CMMTYP MA 19617, FDC V15.00, 6 6 2 , 0"); + SendMsgToHexcal("CMMTYP MA 19617, FDC V15.00, 10 8 3 , 0"); } else if (msg.Contains("VERSION")) //版本号 { @@ -495,6 +499,9 @@ namespace HexcalMC private void SendMsgToHexcal(string msg) { + if (_mTcpIpServer == null) return; + + //发送数据 DebugDfn.AddLogText("回复 " + msg); _mTcpIpServer.SendMessageToAllClients(msg += "\r\n"); //回复内容末尾加上\r\n，协议要求 @@ -502,6 +509,8 @@ namespace HexcalMC private void Btn_StartServer_Click(object sender, EventArgs e) { + Btn_StartServer.Enabled = false; + Btn_StopServer.Enabled = true; StartServer(); } @@ -512,6 +521,9 @@ namespace HexcalMC { _mTcpIpServer.StopListen(); } + + Btn_StopServer.Enabled = false; + Btn_StartServer.Enabled = true; } #endregion @@ -545,6 +557,7 @@ namespace HexcalMC private HomeStates _homeStates; //回家状态 private MotionStates _currentMotionState; //当前运动状态 + private MotionStates _currentMotorStateLast; private readonly int _motionTimeout = 50000; //定义运动超时时间 @@ -683,19 +696,32 @@ namespace HexcalMC { DebugDfn.AddLogText("ACS平台刷新异常" + ex); MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error); + Btn_ACSStop_Click(null, null); } } if (IsMotionInPose()) { _currentMotionState = MotionStates.InPos; - DebugDfn.AddLogText("运动到位"); + //DebugDfn.AddLogText("运动到位"); } else { _currentMotionState = MotionStates.Moving; DebugDfn.AddLogText("运动中"); } + + //增加判断 运动中到 运动到位，主动发送READY + if (_currentMotionState == MotionStates.InPos && _currentMotionState != _currentMotorStateLast) + { + // //发送READY + // CheckPlatformStatus(); + // _mPoint3DLast = _mPoint3D; + // DebugDfn.AddLogText("主动发送到位"); + DebugDfn.AddLogText("运动到位"); + } + + _currentMotorStateLast = _currentMotionState; } private void Btn_ACSStart_Click(object sender, EventArgs e) //连接 @@ -883,7 +909,7 @@ namespace HexcalMC } } - private bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内 + public static bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内 { if (point.X >= XMinstrokesw && point.X <= XMaxstrokesw && point.Y >= YMinstrokesw && point.Y <= YMaxstrokesw && diff --git a/HexcalMC/MainFrom.resx b/HexcalMC/MainFrom.resx index 65140a9..c223879 100644 --- a/HexcalMC/MainFrom.resx +++ b/HexcalMC/MainFrom.resx @@ -143,60 +143,6 @@ FxcPDw8ABx8fHx8fHx8XFxcXDw8PAg8fHx8fHx8fHxcXFw8PDwIfFx8lJSUfHx8XFxcXDwcXKA8lJSUl Hx8fFxcXFw8CJigfFyUlJR8fHxcXFxcHFygoKBcXJR8fHx8XFxcHDygoKCgoHw8XHx8fFw8HHygoKCgo KCgoHw8HBwcfKCgoKCg= - 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this.groupBox8.Controls.Add(this.textBox3); - this.groupBox8.Controls.Add(this.textBox2); - this.groupBox8.Controls.Add(this.textBox1); + this.groupBox8.Controls.Add(this.textBox_y); + this.groupBox8.Controls.Add(this.textBox_z); + this.groupBox8.Controls.Add(this.textBox_x); this.groupBox8.Controls.Add(this.label46); this.groupBox8.Controls.Add(this.label45); this.groupBox8.Controls.Add(this.label44); @@ -1825,26 +1825,26 @@ this.checkBox1.Text = "等待"; this.checkBox1.UseVisualStyleBackColor = true; // - // textBox3 + // textBox_y // - this.textBox3.Location = new System.Drawing.Point(149, 54); - this.textBox3.Name = "textBox3"; - this.textBox3.Size = new System.Drawing.Size(100, 21); - this.textBox3.TabIndex = 5; + this.textBox_y.Location = new System.Drawing.Point(149, 54); + this.textBox_y.Name = "textBox_y"; + this.textBox_y.Size = new System.Drawing.Size(100, 21); + this.textBox_y.TabIndex = 5; // - // textBox2 + // textBox_z // - this.textBox2.Location = new System.Drawing.Point(149, 87); - this.textBox2.Name = "textBox2"; - this.textBox2.Size = new System.Drawing.Size(100, 21); - this.textBox2.TabIndex = 4; + this.textBox_z.Location = new System.Drawing.Point(149, 87); + this.textBox_z.Name = "textBox_z"; + this.textBox_z.Size = new System.Drawing.Size(100, 21); + this.textBox_z.TabIndex = 4; // - // textBox1 + // textBox_x // - this.textBox1.Location = new System.Drawing.Point(149, 21); - this.textBox1.Name = "textBox1"; - this.textBox1.Size = new System.Drawing.Size(100, 21); - this.textBox1.TabIndex = 3; + this.textBox_x.Location = new System.Drawing.Point(149, 21); + this.textBox_x.Name = "textBox_x"; + this.textBox_x.Size = new System.Drawing.Size(100, 21); + this.textBox_x.TabIndex = 3; // // label46 // @@ -2252,9 +2252,9 @@ private System.Windows.Forms.GroupBox groupBox8; 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; - private System.Windows.Forms.TextBox textBox1; + private System.Windows.Forms.TextBox textBox_y; + private System.Windows.Forms.TextBox textBox_z; + private System.Windows.Forms.TextBox textBox_x; private System.Windows.Forms.Label label46; private System.Windows.Forms.Label label45; private System.Windows.Forms.Label label44; diff --git a/HexcalMC/Motion/Motion.cs b/HexcalMC/Motion/Motion.cs index 4452fdf..f739b75 100644 --- a/HexcalMC/Motion/Motion.cs +++ b/HexcalMC/Motion/Motion.cs @@ -5,6 +5,7 @@ using System.Windows.Forms; using ACS.SPiiPlusNET; using HexcalMC.Base; using HexcalMC.Properties; +using Telerik.WinControls.UI; // ACS .NET Library @@ -892,6 +893,46 @@ namespace HexcalMC private void btn_movepose_Click(object sender, EventArgs e) { + //判断是否为textBox_x空 + if (string.IsNullOrWhiteSpace(textBox_x.Text) || string.IsNullOrEmpty(textBox_y.Text) || + string.IsNullOrEmpty(textBox_z.Text)) + { + MessageBox.Show("输入文本框为空，请修改", "警告"); + return; + } + + //获取 textBox_x 的值 + double x = double.Parse(textBox_x.Text); + double y = double.Parse(textBox_y.Text); + double z = double.Parse(textBox_z.Text); + Point3D _point3D = new Point3D(x, y, z); + + + if (MainFrom.IsWithinStrokes(_point3D)) //判断点是否在行程范围内 + { + double[] pointsArray = + { + _point3D.X, + _point3D.Y, + _point3D.Z + }; + //执行运动指令 + _acs.ToPointM(MotionFlags.ACSC_NONE, MainFrom.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++) + //{ + // _acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成 + //} + + //_currentMotionState = MotionStates.InPos; + //DebugDfn.AddLogText("运动到位"); + } + else + { + DebugDfn.AddLogText("目标位置超出行程范围，请重新设置"); + MessageBox.Show("目标位置超出行程范围，请重新设置", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error); + } } private void btn_start_Click(object sender, EventArgs e) diff --git a/HexcalMC/Program.cs b/HexcalMC/Program.cs index 1efdc84..ab52e09 100644 --- a/HexcalMC/Program.cs +++ b/HexcalMC/Program.cs @@ -24,7 +24,7 @@ using static Telerik.WinControls.UI.Export.ExportSettings; // // //6、点击停止报错，运动测试界面问题？ -// +//7、发现交互过程中，需要hexcal发送指令后，中间件再进行回应，主动回应，hexcal流程有问题 // // //