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增加主界面快速定位，运动界面，增加单轴JOG

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This commit is contained in:
zhengxuan.zhang
2024-03-13 10:47:20 +08:00
parent 92705068f7
commit a43ebd53fe
13 changed files with 1273 additions and 717 deletions
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HexcalMC/Hexcal/TcpIpServer.cs
+1
View File
@@ -290,6 +290,7 @@ namespace HexcalMC.Hexcal
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);
HexcalMC/HexcalMC.csproj
+2
View File
@@ -280,6 +280,8 @@
<None Include="Resources\demo_show.png" />
<None Include="Resources\demo_show_128.png" />
<None Include="Resources\mothion_64.png" />
<None Include="Resources\quick_location.png" />
<None Include="Resources\quick_location_64.png" />
<Content Include="SharpGL.ico" />
<Content Include="SharpGL.png" />
</ItemGroup>
HexcalMC/MainFrom.Designer.cs
Generated
+251 -134
View File
@@ -51,6 +51,7 @@
this.radRibbonBarButtonGroup7 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
this.rtb_demo = new Telerik.WinControls.UI.RadButtonElement();
this.radRibbonBarGroup6 = new Telerik.WinControls.UI.RadRibbonBarGroup();
this.rtb_quick_loc = 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();
@@ -83,11 +84,9 @@
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.openGLControl1 = new SharpGL.OpenGLControl();
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();
@@ -108,20 +107,31 @@
this.label19 = new System.Windows.Forms.Label();
this.label17 = new System.Windows.Forms.Label();
this.grpMst = new System.Windows.Forms.GroupBox();
this.cboAxisNo = new System.Windows.Forms.ComboBox();
this.label21 = new System.Windows.Forms.Label();
this.lblEnable2 = new System.Windows.Forms.Label();
this.label22 = new System.Windows.Forms.Label();
this.lblInPos2 = new System.Windows.Forms.Label();
this.label23 = new System.Windows.Forms.Label();
this.lblAcc2 = new System.Windows.Forms.Label();
this.lblMoving2 = new System.Windows.Forms.Label();
this.lblEnable1 = new System.Windows.Forms.Label();
this.lblInPos1 = new System.Windows.Forms.Label();
this.lblAcc1 = new System.Windows.Forms.Label();
this.lblMoving1 = new System.Windows.Forms.Label();
this.label16 = new System.Windows.Forms.Label();
this.label9 = new System.Windows.Forms.Label();
this.label15 = new System.Windows.Forms.Label();
this.label14 = new System.Windows.Forms.Label();
this.lblEnable = new System.Windows.Forms.Label();
this.lblInPos = new System.Windows.Forms.Label();
this.lblAcc = new System.Windows.Forms.Label();
this.lblMoving = new System.Windows.Forms.Label();
this.lblEnable0 = new System.Windows.Forms.Label();
this.lblInPos0 = new System.Windows.Forms.Label();
this.lblAcc0 = new System.Windows.Forms.Label();
this.lblMoving0 = new System.Windows.Forms.Label();
this.label13 = new System.Windows.Forms.Label();
this.groupBox6 = new System.Windows.Forms.GroupBox();
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();
@@ -132,8 +142,10 @@
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.lamp_hexcal = new HexcalMC.Lamp();
this.lamp_acs = new HexcalMC.Lamp();
this.radRibbonBarButtonGroup8 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
this.rtb_SetX = new Telerik.WinControls.UI.RadTextBoxElement();
this.rtb_Sety = new Telerik.WinControls.UI.RadTextBoxElement();
this.rtb_SetZ = new Telerik.WinControls.UI.RadTextBoxElement();
((System.ComponentModel.ISupportInitialize)(this.radRibbonBar1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.radRibbonBarBackstageView1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.radStatusStrip1)).BeginInit();
@@ -143,8 +155,6 @@
this.splitContainer1.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.openGLControl1)).BeginInit();
this.groupBox7.SuspendLayout();
this.groupBox1.SuspendLayout();
this.groupBox5.SuspendLayout();
@@ -325,15 +335,26 @@
//
this.rtb_demo.Image = global::HexcalMC.Properties.Resources.demo_show;
this.rtb_demo.Name = "rtb_demo";
this.rtb_demo.ShowBorder = false;
this.rtb_demo.Text = "";
this.rtb_demo.TextAlignment = System.Drawing.ContentAlignment.BottomLeft;
this.rtb_demo.Click += new System.EventHandler(this.rtb_demo_Click);
//
// radRibbonBarGroup6
//
this.radRibbonBarGroup6.Items.AddRange(new Telerik.WinControls.RadItem[] {
this.rtb_quick_loc,
this.radRibbonBarButtonGroup8});
this.radRibbonBarGroup6.Name = "radRibbonBarGroup6";
this.radRibbonBarGroup6.Text = "快速定位";
//
// rtb_quick_loc
//
this.rtb_quick_loc.Image = global::HexcalMC.Properties.Resources.quick_location_64;
this.rtb_quick_loc.Name = "rtb_quick_loc";
this.rtb_quick_loc.Text = "";
this.rtb_quick_loc.Click += new System.EventHandler(this.rtb_quick_loc_Click);
//
// ribbonTab2
//
this.ribbonTab2.AutoEllipsis = false;
@@ -403,7 +424,7 @@
//
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});
@@ -609,7 +630,7 @@
// 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
@@ -623,14 +644,13 @@
//
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;
@@ -656,44 +676,6 @@
this.formsPlot1.Size = new System.Drawing.Size(728, 336);
this.formsPlot1.TabIndex = 0;
//
// tabPage2
//
this.tabPage2.Controls.Add(this.openGLControl1);
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;
//
// openGLControl1
//
this.openGLControl1.DrawFPS = false;
this.openGLControl1.Location = new System.Drawing.Point(10, 16);
this.openGLControl1.Name = "openGLControl1";
this.openGLControl1.OpenGLVersion = SharpGL.Version.OpenGLVersion.OpenGL2_1;
this.openGLControl1.RenderContextType = SharpGL.RenderContextType.DIBSection;
this.openGLControl1.RenderTrigger = SharpGL.RenderTrigger.TimerBased;
this.openGLControl1.Size = new System.Drawing.Size(724, 314);
this.openGLControl1.TabIndex = 1;
this.openGLControl1.Visible = false;
this.openGLControl1.OpenGLInitialized += new System.EventHandler(this.openGLControl1_OpenGLInitialized);
this.openGLControl1.OpenGLDraw += new SharpGL.RenderEventHandler(this.openGLControl1_OpenGLDraw);
this.openGLControl1.GDIDraw += new SharpGL.RenderEventHandler(this.openGLControl1_GDIDraw);
this.openGLControl1.Resized += new System.EventHandler(this.openGLControl1_Resized);
//
// 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);
@@ -717,6 +699,18 @@
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);
@@ -775,9 +769,9 @@
this.grpSafety.Controls.Add(this.label20);
this.grpSafety.Controls.Add(this.label19);
this.grpSafety.Controls.Add(this.label17);
this.grpSafety.Location = new System.Drawing.Point(492, 15);
this.grpSafety.Location = new System.Drawing.Point(516, 15);
this.grpSafety.Name = "grpSafety";
this.grpSafety.Size = new System.Drawing.Size(223, 133);
this.grpSafety.Size = new System.Drawing.Size(199, 133);
this.grpSafety.TabIndex = 12;
this.grpSafety.TabStop = false;
this.grpSafety.Text = "安全限位";
@@ -869,16 +863,16 @@
this.label25.Name = "label25";
this.label25.Size = new System.Drawing.Size(13, 13);
this.label25.TabIndex = 5;
this.label25.Text = "8";
this.label25.Text = "Z";
//
// label24
//
this.label24.AutoSize = true;
this.label24.Location = new System.Drawing.Point(102, 21);
this.label24.Name = "label24";
this.label24.Size = new System.Drawing.Size(13, 13);
this.label24.Size = new System.Drawing.Size(12, 13);
this.label24.TabIndex = 5;
this.label24.Text = "1";
this.label24.Text = "Y";
//
// label20
//
@@ -887,7 +881,7 @@
this.label20.Name = "label20";
this.label20.Size = new System.Drawing.Size(13, 13);
this.label20.TabIndex = 5;
this.label20.Text = "0";
this.label20.Text = "X";
//
// label19
//
@@ -909,35 +903,123 @@
//
// grpMst
//
this.grpMst.Controls.Add(this.cboAxisNo);
this.grpMst.Controls.Add(this.label21);
this.grpMst.Controls.Add(this.lblEnable2);
this.grpMst.Controls.Add(this.label22);
this.grpMst.Controls.Add(this.lblInPos2);
this.grpMst.Controls.Add(this.label23);
this.grpMst.Controls.Add(this.lblAcc2);
this.grpMst.Controls.Add(this.lblMoving2);
this.grpMst.Controls.Add(this.lblEnable1);
this.grpMst.Controls.Add(this.lblInPos1);
this.grpMst.Controls.Add(this.lblAcc1);
this.grpMst.Controls.Add(this.lblMoving1);
this.grpMst.Controls.Add(this.label16);
this.grpMst.Controls.Add(this.label9);
this.grpMst.Controls.Add(this.label15);
this.grpMst.Controls.Add(this.label14);
this.grpMst.Controls.Add(this.lblEnable);
this.grpMst.Controls.Add(this.lblInPos);
this.grpMst.Controls.Add(this.lblAcc);
this.grpMst.Controls.Add(this.lblMoving);
this.grpMst.Controls.Add(this.lblEnable0);
this.grpMst.Controls.Add(this.lblInPos0);
this.grpMst.Controls.Add(this.lblAcc0);
this.grpMst.Controls.Add(this.lblMoving0);
this.grpMst.Controls.Add(this.label13);
this.grpMst.Location = new System.Drawing.Point(332, 15);
this.grpMst.Name = "grpMst";
this.grpMst.Size = new System.Drawing.Size(154, 133);
this.grpMst.Size = new System.Drawing.Size(178, 133);
this.grpMst.TabIndex = 11;
this.grpMst.TabStop = false;
this.grpMst.Text = "电机状态 (MST)";
//
// cboAxisNo
// label21
//
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(88, 17);
this.cboAxisNo.Name = "cboAxisNo";
this.cboAxisNo.Size = new System.Drawing.Size(60, 20);
this.cboAxisNo.TabIndex = 6;
this.label21.AutoSize = true;
this.label21.Location = new System.Drawing.Point(139, 21);
this.label21.Name = "label21";
this.label21.Size = new System.Drawing.Size(13, 13);
this.label21.TabIndex = 6;
this.label21.Text = "Z";
//
// lblEnable2
//
this.lblEnable2.Image = ((System.Drawing.Image)(resources.GetObject("lblEnable2.Image")));
this.lblEnable2.Location = new System.Drawing.Point(139, 106);
this.lblEnable2.Name = "lblEnable2";
this.lblEnable2.Size = new System.Drawing.Size(19, 17);
this.lblEnable2.TabIndex = 12;
//
// label22
//
this.label22.AutoSize = true;
this.label22.Location = new System.Drawing.Point(117, 21);
this.label22.Name = "label22";
this.label22.Size = new System.Drawing.Size(12, 13);
this.label22.TabIndex = 7;
this.label22.Text = "Y";
//
// lblInPos2
//
this.lblInPos2.Image = ((System.Drawing.Image)(resources.GetObject("lblInPos2.Image")));
this.lblInPos2.Location = new System.Drawing.Point(139, 85);
this.lblInPos2.Name = "lblInPos2";
this.lblInPos2.Size = new System.Drawing.Size(19, 17);
this.lblInPos2.TabIndex = 13;
//
// label23
//
this.label23.AutoSize = true;
this.label23.Location = new System.Drawing.Point(95, 21);
this.label23.Name = "label23";
this.label23.Size = new System.Drawing.Size(13, 13);
this.label23.TabIndex = 8;
this.label23.Text = "X";
//
// lblAcc2
//
this.lblAcc2.Image = ((System.Drawing.Image)(resources.GetObject("lblAcc2.Image")));
this.lblAcc2.Location = new System.Drawing.Point(139, 64);
this.lblAcc2.Name = "lblAcc2";
this.lblAcc2.Size = new System.Drawing.Size(19, 17);
this.lblAcc2.TabIndex = 14;
//
// lblMoving2
//
this.lblMoving2.Image = ((System.Drawing.Image)(resources.GetObject("lblMoving2.Image")));
this.lblMoving2.Location = new System.Drawing.Point(139, 43);
this.lblMoving2.Name = "lblMoving2";
this.lblMoving2.Size = new System.Drawing.Size(19, 17);
this.lblMoving2.TabIndex = 15;
//
// lblEnable1
//
this.lblEnable1.Image = ((System.Drawing.Image)(resources.GetObject("lblEnable1.Image")));
this.lblEnable1.Location = new System.Drawing.Point(114, 106);
this.lblEnable1.Name = "lblEnable1";
this.lblEnable1.Size = new System.Drawing.Size(19, 17);
this.lblEnable1.TabIndex = 8;
//
// lblInPos1
//
this.lblInPos1.Image = ((System.Drawing.Image)(resources.GetObject("lblInPos1.Image")));
this.lblInPos1.Location = new System.Drawing.Point(114, 85);
this.lblInPos1.Name = "lblInPos1";
this.lblInPos1.Size = new System.Drawing.Size(19, 17);
this.lblInPos1.TabIndex = 9;
//
// lblAcc1
//
this.lblAcc1.Image = ((System.Drawing.Image)(resources.GetObject("lblAcc1.Image")));
this.lblAcc1.Location = new System.Drawing.Point(114, 64);
this.lblAcc1.Name = "lblAcc1";
this.lblAcc1.Size = new System.Drawing.Size(19, 17);
this.lblAcc1.TabIndex = 10;
//
// lblMoving1
//
this.lblMoving1.Image = ((System.Drawing.Image)(resources.GetObject("lblMoving1.Image")));
this.lblMoving1.Location = new System.Drawing.Point(114, 43);
this.lblMoving1.Name = "lblMoving1";
this.lblMoving1.Size = new System.Drawing.Size(19, 17);
this.lblMoving1.TabIndex = 11;
//
// label16
//
@@ -975,37 +1057,37 @@
this.label14.TabIndex = 5;
this.label14.Text = "加速中";
//
// lblEnable
// lblEnable0
//
this.lblEnable.Image = ((System.Drawing.Image)(resources.GetObject("lblEnable.Image")));
this.lblEnable.Location = new System.Drawing.Point(120, 107);
this.lblEnable.Name = "lblEnable";
this.lblEnable.Size = new System.Drawing.Size(19, 17);
this.lblEnable.TabIndex = 5;
this.lblEnable0.Image = ((System.Drawing.Image)(resources.GetObject("lblEnable0.Image")));
this.lblEnable0.Location = new System.Drawing.Point(89, 107);
this.lblEnable0.Name = "lblEnable0";
this.lblEnable0.Size = new System.Drawing.Size(19, 17);
this.lblEnable0.TabIndex = 5;
//
// lblInPos
// lblInPos0
//
this.lblInPos.Image = ((System.Drawing.Image)(resources.GetObject("lblInPos.Image")));
this.lblInPos.Location = new System.Drawing.Point(120, 86);
this.lblInPos.Name = "lblInPos";
this.lblInPos.Size = new System.Drawing.Size(19, 17);
this.lblInPos.TabIndex = 5;
this.lblInPos0.Image = ((System.Drawing.Image)(resources.GetObject("lblInPos0.Image")));
this.lblInPos0.Location = new System.Drawing.Point(89, 86);
this.lblInPos0.Name = "lblInPos0";
this.lblInPos0.Size = new System.Drawing.Size(19, 17);
this.lblInPos0.TabIndex = 5;
//
// lblAcc
// lblAcc0
//
this.lblAcc.Image = ((System.Drawing.Image)(resources.GetObject("lblAcc.Image")));
this.lblAcc.Location = new System.Drawing.Point(120, 65);
this.lblAcc.Name = "lblAcc";
this.lblAcc.Size = new System.Drawing.Size(19, 17);
this.lblAcc.TabIndex = 5;
this.lblAcc0.Image = ((System.Drawing.Image)(resources.GetObject("lblAcc0.Image")));
this.lblAcc0.Location = new System.Drawing.Point(89, 65);
this.lblAcc0.Name = "lblAcc0";
this.lblAcc0.Size = new System.Drawing.Size(19, 17);
this.lblAcc0.TabIndex = 5;
//
// lblMoving
// lblMoving0
//
this.lblMoving.Image = ((System.Drawing.Image)(resources.GetObject("lblMoving.Image")));
this.lblMoving.Location = new System.Drawing.Point(120, 44);
this.lblMoving.Name = "lblMoving";
this.lblMoving.Size = new System.Drawing.Size(19, 17);
this.lblMoving.TabIndex = 5;
this.lblMoving0.Image = ((System.Drawing.Image)(resources.GetObject("lblMoving0.Image")));
this.lblMoving0.Location = new System.Drawing.Point(89, 44);
this.lblMoving0.Name = "lblMoving0";
this.lblMoving0.Size = new System.Drawing.Size(19, 17);
this.lblMoving0.TabIndex = 5;
//
// label13
//
@@ -1063,6 +1145,18 @@
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);
@@ -1147,29 +1241,42 @@
this.timer_RefreshUI.Interval = 1000;
this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick);
//
// lamp_hexcal
// radRibbonBarButtonGroup8
//
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;
this.radRibbonBarButtonGroup8.Items.AddRange(new Telerik.WinControls.RadItem[] {
this.rtb_SetX,
this.rtb_Sety,
this.rtb_SetZ});
this.radRibbonBarButtonGroup8.Name = "radRibbonBarButtonGroup8";
this.radRibbonBarButtonGroup8.Orientation = System.Windows.Forms.Orientation.Vertical;
this.radRibbonBarButtonGroup8.Text = "radRibbonBarButtonGroup8";
this.radRibbonBarButtonGroup8.TextOrientation = System.Windows.Forms.Orientation.Horizontal;
//
// lamp_acs
// rtb_SetX
//
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;
this.rtb_SetX.Name = "rtb_SetX";
this.rtb_SetX.Padding = new System.Windows.Forms.Padding(0, 2, 0, 1);
this.rtb_SetX.Text = "100.0";
this.rtb_SetX.TextAlign = System.Windows.Forms.HorizontalAlignment.Left;
this.rtb_SetX.UseCompatibleTextRendering = false;
//
// rtb_Sety
//
this.rtb_Sety.Name = "rtb_Sety";
this.rtb_Sety.Padding = new System.Windows.Forms.Padding(0, 2, 0, 1);
this.rtb_Sety.Text = "150.0";
this.rtb_Sety.TextAlign = System.Windows.Forms.HorizontalAlignment.Left;
this.rtb_Sety.UseCompatibleTextRendering = false;
//
// rtb_SetZ
//
this.rtb_SetZ.AutoSize = false;
this.rtb_SetZ.Bounds = new System.Drawing.Rectangle(0, 0, 80, 20);
this.rtb_SetZ.Name = "rtb_SetZ";
this.rtb_SetZ.Padding = new System.Windows.Forms.Padding(0, 2, 0, 1);
this.rtb_SetZ.Text = "-100";
this.rtb_SetZ.TextAlign = System.Windows.Forms.HorizontalAlignment.Left;
this.rtb_SetZ.UseCompatibleTextRendering = false;
//
// MainFrom
//
@@ -1201,8 +1308,6 @@
this.splitContainer1.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabPage1.ResumeLayout(false);
this.tabPage2.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.openGLControl1)).EndInit();
this.groupBox7.ResumeLayout(false);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
@@ -1286,10 +1391,10 @@
private System.Windows.Forms.Label label16;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.Label lblEnable;
private System.Windows.Forms.Label lblInPos;
private System.Windows.Forms.Label lblAcc;
private System.Windows.Forms.Label lblMoving;
private System.Windows.Forms.Label lblEnable0;
private System.Windows.Forms.Label lblInPos0;
private System.Windows.Forms.Label lblAcc0;
private System.Windows.Forms.Label lblMoving0;
private System.Windows.Forms.Label label13;
private System.Windows.Forms.GroupBox grpSafety;
private System.Windows.Forms.Label lblEMG;
@@ -1307,7 +1412,6 @@
private System.Windows.Forms.Label label19;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Timer tmrMonitor;
private System.Windows.Forms.ComboBox cboAxisNo;
private System.Windows.Forms.Label label9;
private Telerik.WinControls.UI.RadRibbonBarBackstageView radRibbonBarBackstageView1;
private Lamp lamp_hexcal;
@@ -1315,16 +1419,29 @@
private System.Windows.Forms.Timer timer_RefreshUI;
private Telerik.WinControls.UI.RadLabelElement rle_timer;
private System.Windows.Forms.RichTextBox TextBoxMsg;
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 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 System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPage1;
private ScottPlot.FormsPlot formsPlot1;
private System.Windows.Forms.Label label21;
private System.Windows.Forms.Label lblEnable2;
private System.Windows.Forms.Label label22;
private System.Windows.Forms.Label lblInPos2;
private System.Windows.Forms.Label label23;
private System.Windows.Forms.Label lblAcc2;
private System.Windows.Forms.Label lblMoving2;
private System.Windows.Forms.Label lblEnable1;
private System.Windows.Forms.Label lblInPos1;
private System.Windows.Forms.Label lblAcc1;
private System.Windows.Forms.Label lblMoving1;
private Telerik.WinControls.UI.RadRibbonBarGroup radRibbonBarGroup6;
private Telerik.WinControls.UI.RadButtonElement rtb_quick_loc;
private Telerik.WinControls.UI.RadRibbonBarButtonGroup radRibbonBarButtonGroup8;
private Telerik.WinControls.UI.RadTextBoxElement rtb_SetX;
private Telerik.WinControls.UI.RadTextBoxElement rtb_Sety;
private Telerik.WinControls.UI.RadTextBoxElement rtb_SetZ;
}
}
HexcalMC/MainFrom.cs
+252 -306
View File
@@ -1,14 +1,15 @@
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Net;
using System.Runtime.InteropServices;
using System.Windows.Forms;
using ACS.SPiiPlusNET;
using HexcalMC.Base;
using HexcalMC.Form;
using HexcalMC.Hexcal;
using HexcalMC.Properties;
using SharpGL;
using Telerik.WinControls.UI;
namespace HexcalMC
@@ -17,58 +18,32 @@ namespace HexcalMC
public enum HomeStates
{
None, //默认状态
NotHome,
Homing,
Homed
NotHome, //未回家
Homing, //回家中
Homed //回家完成
}
//定义 运动状态枚举，包括 正在运动，运动到位，Jog运动
public enum MotionStates
{
None, //默认状态
Moving,
InPos,
Jogging
Moving, //运动中
InPos, //运动到位
Jogging //jog中
}
public partial class MainFrom : RadRibbonForm
{
private readonly List<Point3D> _pointCloud = new List<Point3D>(); //运动中点集合
private bool _mBHexcalConnected;
private TcpIpServer _mTcpIpServer; //创建tcpserver，用于接收hexcal传来的指令，并解析传递平台
public MainFrom()
{
InitializeComponent();
#region 3D相关绘制，暂时取消
//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);
tabControl1.TabPages.RemoveAt(1);
#endregion
}
private void MainFrom_Load(object sender, EventArgs e)
@@ -80,13 +55,11 @@ namespace HexcalMC
//加载配置文件
LoadConfig();
_acs = new Api(); //初始化 ACS运动控制类
//启动界面刷新
timer_RefreshUI.Start();
//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
@@ -134,8 +107,6 @@ namespace HexcalMC
return;
}
//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
@@ -173,25 +144,60 @@ namespace HexcalMC
formsPlot1.Refresh();
}
private void Plot3D() //绘制3D图
{
List<Point3D> points = new List<Point3D>();
// 假设已经有了一些点的数据，将其添加到 List<Point3D> 对象中
points.Add(new Point3D(1, 2, 3));
points.Add(new Point3D(4, 5, 6));
#region 运动平台变量区
LoadPoints(points);
}
public Api _acs;
private const int MaxUiLimitCnt = 24;
private int _mNTotalAxis;
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 Label[] _mlblMoving; //运动中
private Label[] _mlblAcc; //加速中
private Label[] _mlblInPos; //轴就位
private Label[] _mlblEnable; //使能
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
//定义启用的轴，后面运动时会使用
public static Axis[] UseAxis =
{ Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
//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;
//定义一个3D点,存储当前平台位置
private Point3D _mPoint3D;
#endregion
#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";
private void StartServer()
{
// 对_mTcpIpServer增加判断是否已经启动且存在设备连接
@@ -203,16 +209,6 @@ namespace HexcalMC
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(IPAddress.Any.ToString(), Convert.ToString(1234));
_mTcpIpServer.UseMode = 1; //设置通讯返回数据流格式
@@ -225,7 +221,6 @@ namespace HexcalMC
_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 ");
}
else
{
@@ -455,7 +450,7 @@ namespace HexcalMC
SendMsgToHexcal("%"); //收到并执行，同时状态改为忙碌
//执行回家
Ishome();
IsHomed();
}
else if (msg.Contains("MOVABS")) //移动指令，解析移动位置
{
@@ -512,6 +507,7 @@ namespace HexcalMC
Btn_StartServer.Enabled = false;
Btn_StopServer.Enabled = true;
StartServer();
DebugDfn.AddLogText("TCP服务端启动成功 ");
}
private void Btn_StopServer_Click(object sender, EventArgs e)
@@ -524,67 +520,14 @@ namespace HexcalMC
Btn_StopServer.Enabled = false;
Btn_StartServer.Enabled = true;
_mBHexcalConnected = false;
DebugDfn.AddLogText("TCP服务端已关闭");
}
#endregion
#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 MotionStates _currentMotorStateLast;
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)
@@ -635,62 +578,58 @@ namespace HexcalMC
return false;
}
private void TmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
{
int iAxisNo = cboAxisNo.SelectedIndex;
if (_mAcsConnected)
{
try
{
//获取平台当前位置
_mPoint3D = GetPositionXyz();
_mPoint3D = GetPositionXyz(); //取平台当前位置
// Get Motor State ACSPL+ Variable : MST (integer)
_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
#region 更新限位及运动状态
// Returned value is integer, you need to use bitmaks
// 运动中
if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0)
//左右限位刷新
_mObjReadVar =
_acs.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, _mNTotalAxis - 1);
if (_mObjReadVar != null)
{
_mArrReadVector = _mObjReadVar as Array;
if (_mArrReadVector != null)
{
UpdateLimitState(0, (int)_mArrReadVector.GetValue(1)); //获取X轴
UpdateLimitState(1, (int)_mArrReadVector.GetValue(0));
UpdateLimitState(2, (int)_mArrReadVector.GetValue(8));
}
}
UpdateSingleAxisStatus(); //刷新运动状态
#endregion
#region 到位判断
if (IsMotionInPose())
{
_currentMotionState = MotionStates.InPos;
//DebugDfn.AddLogText("运动到位");
}
else
{
lblMoving.Image = Resources.On;
_currentMotionState = MotionStates.Moving;
}
else
{
lblMoving.Image = Resources.Off;
DebugDfn.AddLogText("运动中");
}
// 就位
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
//增加判断 运动中到 运动到位，主动发送READY
if (_currentMotionState == MotionStates.InPos && _currentMotionState != _currentMotorStateLast)
{
lblInPos.Image = Resources.On;
//_currentMotionState = MotionStates.InPos;
}
else
{
lblInPos.Image = Resources.Off;
DebugDfn.AddLogText("运动到位");
}
// 加速
if ((_mNMotorState & MotorStates.ACSC_MST_ACC) != 0)
{
lblAcc.Image = Resources.On;
}
else
{
lblAcc.Image = Resources.Off;
}
_currentMotorStateLast = _currentMotionState;
// 使能
if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0)
{
lblEnable.Image = Resources.On;
}
else
{
lblEnable.Image = Resources.Off;
}
#endregion
}
catch (Exception ex)
{
@@ -699,29 +638,6 @@ namespace HexcalMC
Btn_ACSStop_Click(null, null);
}
}
if (IsMotionInPose())
{
_currentMotionState = MotionStates.InPos;
//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
@@ -733,24 +649,32 @@ namespace HexcalMC
{
_acs.OpenCommEthernetTCP(
txtIP.Text, // IP Address (Default : 10.0.0.100)
Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
Convert.ToInt32(txtPort.Text.Trim())); // default : 701
_mAcsConnected = true;
//运动相关初始化操作
InitMotion();
// 启动定时器
tmrMonitor.Interval = 50;
tmrMonitor.Start();
}
catch (COMException comex)
{
MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
Debug.WriteLine("Connection fail" + comex.Message);
_mAcsConnected = false;
}
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
@@ -776,12 +700,93 @@ namespace HexcalMC
}
}
private void Ishome() //读取回家状态，当未回家时执行回家指令
public int TranslateAxisNumber(Axis originalAxisNumber)
{
int newAxisNumber = -1;
switch (originalAxisNumber)
{
case Axis.ACSC_AXIS_1: //X轴
newAxisNumber = 0;
break;
case Axis.ACSC_AXIS_0:
newAxisNumber = 1; //Y轴
break;
case Axis.ACSC_AXIS_8:
newAxisNumber = 2;
break;
}
return newAxisNumber;
}
private void UpdateSingleAxisStatus()
{
Axis axis = 0;
int _axisNo = 0;
for (int i = 0; i < UseAxis.Length; i++)
{
axis = UseAxis[i];
_axisNo = TranslateAxisNumber(UseAxis[i]);
// Get Motor State ACSPL+ Variable : MST (integer)
_mNMotorState = _acs.GetMotorState(axis);
if (_axisNo == -1)
{
return;
}
// 运动中
if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0)
{
_mlblMoving[_axisNo].Image = Resources.On;
}
else
{
_mlblMoving[_axisNo].Image = Resources.Off;
}
// 就位
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
{
_mlblInPos[_axisNo].Image = Resources.On;
}
else
{
_mlblInPos[_axisNo].Image = Resources.Off;
}
// 加速
if ((_mNMotorState & MotorStates.ACSC_MST_ACC) != 0)
{
_mlblAcc[_axisNo].Image = Resources.On;
}
else
{
_mlblAcc[_axisNo].Image = Resources.Off;
}
// 使能
if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0)
{
_mlblEnable[_axisNo].Image = Resources.On;
}
else
{
_mlblEnable[_axisNo].Image = Resources.Off;
}
}
}
private void IsHomed() //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 (!_mAcsConnected)
{
DebugDfn.AddLogText("[Ishome] ACS平台未连接,请先点击连接");
DebugDfn.AddLogText("[IsHomed] 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;
}
@@ -841,6 +846,7 @@ namespace HexcalMC
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
{
string strTemp;
//运动相关变量初始化
_homeStates = HomeStates.None;
_currentMotionState = MotionStates.None;
@@ -852,12 +858,6 @@ namespace HexcalMC
return;
}
if (_acs == null)
{
DebugDfn.AddLogText("运动控制对象不存在");
return;
}
//轴启用，加电
_acs.EnableM(UseAxis);
for (int i = 0; i < UseAxis.Length; i++)
@@ -868,48 +868,47 @@ namespace HexcalMC
DebugDfn.AddLogText("电机已启用");
//回家
Ishome();
IsHomed();
SetSpeedXyz();
//设置定位速度
SetSpeedXyz(MotionSpeed);
//注册到位事件
//_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
//获取轴数量
strTemp = _acs.Transaction("?SYSINFO(13)");
_mNTotalAxis = Convert.ToInt32(strTemp.Trim());
_mLblLeftLimit = new Label[MaxUiLimitCnt]; //左限位
_mLblLeftLimit[0] = lblLL0;
_mLblLeftLimit[1] = lblLL1;
_mLblLeftLimit[2] = lblLL2;
_mLblRightLimit = new Label[MaxUiLimitCnt]; //右限位
_mLblRightLimit[0] = lblRL0;
_mLblRightLimit[1] = lblRL1;
_mLblRightLimit[2] = lblRL2;
_mlblMoving = new Label[MaxUiLimitCnt]; //运动中
_mlblMoving[0] = lblMoving0;
_mlblMoving[1] = lblMoving1;
_mlblMoving[2] = lblMoving2;
_mlblAcc = new Label[MaxUiLimitCnt]; // 加速中
_mlblAcc[0] = lblAcc0;
_mlblAcc[1] = lblAcc1;
_mlblAcc[2] = lblAcc2;
_mlblInPos = new Label[MaxUiLimitCnt]; //就位
_mlblInPos[0] = lblInPos0;
_mlblInPos[1] = lblInPos1;
_mlblInPos[2] = lblInPos2;
_mlblEnable = new Label[MaxUiLimitCnt]; //轴使能
_mlblEnable[0] = lblEnable0;
_mlblEnable[1] = lblEnable1;
_mlblEnable[2] = lblEnable2;
}
private void ACS_PHYSICALMOTIONEND(AxisMasks axis)
{
//int bit = 0x01;
//int axisNo = 0;
//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])
{
// 三个轴均完成后的操作
Invoke((MethodInvoker)delegate
{
_currentMotionState = MotionStates.InPos;
//DebugDfn.AddLogText("运动到位");
});
}
}
public static bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内
public static bool IsWithinLimit(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 &&
@@ -936,7 +935,7 @@ namespace HexcalMC
//判断 point3D是否合法
if (point3D != null)
{
if (IsWithinStrokes(point3D)) //判断点是否在行程范围内
if (IsWithinLimit(point3D)) //判断点是否在行程范围内
{
double[] pointsArray =
{
@@ -947,15 +946,6 @@ namespace HexcalMC
//执行运动指令
_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++)
//{
// _acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
//}
//_currentMotionState = MotionStates.InPos;
//DebugDfn.AddLogText("运动到位");
}
else
{
@@ -1007,75 +997,31 @@ namespace HexcalMC
return point3D;
}
private void SetSpeedXyz() //获取运动参数
private void SetSpeedXyz(double speed) //获取运动参数
{
//获取实际速度
double feedbackVelocity = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, 0, 0);
DebugDfn.AddLogText("实际速度: " + feedbackVelocity);
//设置Y轴 速度参数
_acs.SetVelocity(Axis.ACSC_AXIS_0, MotionSpeed);
_acs.SetAcceleration(Axis.ACSC_AXIS_0, MotionSpeed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_0, MotionSpeed * 10);
_acs.SetVelocity(Axis.ACSC_AXIS_0, speed);
_acs.SetAcceleration(Axis.ACSC_AXIS_0, speed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_0, speed * 10);
//设置X轴速度参数
_acs.SetVelocity(Axis.ACSC_AXIS_1, MotionSpeed);
_acs.SetAcceleration(Axis.ACSC_AXIS_1, MotionSpeed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_1, MotionSpeed * 10);
_acs.SetVelocity(Axis.ACSC_AXIS_1, speed);
_acs.SetAcceleration(Axis.ACSC_AXIS_1, speed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_1, speed * 10);
//设置Z轴速度参数
_acs.SetVelocity(Axis.ACSC_AXIS_8, MotionSpeed);
_acs.SetAcceleration(Axis.ACSC_AXIS_8, MotionSpeed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_8, MotionSpeed * 10);
_acs.SetVelocity(Axis.ACSC_AXIS_8, speed);
_acs.SetAcceleration(Axis.ACSC_AXIS_8, speed * 10);
_acs.SetDeceleration(Axis.ACSC_AXIS_8, speed * 10);
}
private void openGLControl1_OpenGLDraw(object sender, RenderEventArgs args)
{
OpenGL gl = openGLControl1.OpenGL;
gl.ClearColor(0, 0, 0, 0);
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
gl.LoadIdentity();
//gl.Translate(0.0f, 0.0f, -5.0f); // 平移场景
}
private void LoadPoints(List<Point3D> points)
{
OpenGL gl = openGLControl1.OpenGL;
gl.ClearColor(0, 0, 0, 0);
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
gl.LoadIdentity();
//gl.Translate(0.0f, 0.0f, -5.0f); // 平移场景
gl.Begin(OpenGL.GL_POINTS);
foreach (Point3D point in points)
{
// 设置点的颜色
gl.Color(1.0f, 0.0f, 0.0f); // 红色
// 设置点的大小
gl.PointSize(5.0f); // 大小为5个单位
gl.Vertex(point.X, point.Y, point.Z);
}
gl.End();
gl.Flush();
}
private void openGLControl1_OpenGLInitialized(object sender, EventArgs e)
{
}
private void openGLControl1_Resized(object sender, EventArgs e)
{
}
private void openGLControl1_GDIDraw(object sender, RenderEventArgs args)
private void rtb_quick_loc_Click(object sender, EventArgs e)
{
//获取输入
}
#endregion ACS平台相关
HexcalMC/MainFrom.resx
+221 -5
View File
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@@ -422,7 +638,7 @@
<value>17, 17</value>
</metadata>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>87</value>
<value>25</value>
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<value>
HexcalMC/Motion/Motion.Designer.cs
Generated
+100 -93
View File
@@ -184,7 +184,6 @@
this.label47 = new System.Windows.Forms.Label();
this.groupBox8 = new System.Windows.Forms.GroupBox();
this.btn_movepose = new System.Windows.Forms.Button();
this.checkBox1 = new System.Windows.Forms.CheckBox();
this.textBox_y = new System.Windows.Forms.TextBox();
this.textBox_z = new System.Windows.Forms.TextBox();
this.textBox_x = new System.Windows.Forms.TextBox();
@@ -192,22 +191,23 @@
this.label45 = new System.Windows.Forms.Label();
this.label44 = new System.Windows.Forms.Label();
this.groupBox7 = new System.Windows.Forms.GroupBox();
this.btn_Z_Down = new System.Windows.Forms.Button();
this.btn_Z_Up = new System.Windows.Forms.Button();
this.btn_Y_Back = new System.Windows.Forms.Button();
this.btn_X_right = new System.Windows.Forms.Button();
this.btn_X_left = new System.Windows.Forms.Button();
this.btn_Y_Forward = new System.Windows.Forms.Button();
this.groupBox6 = new System.Windows.Forms.GroupBox();
this.btn_home = new System.Windows.Forms.Button();
this.btn_stop = 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.textBox_cycleTimes = new System.Windows.Forms.TextBox();
this.btn_halt = 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();
this.checkBox_Z = new System.Windows.Forms.CheckBox();
this.checkBox_y = new System.Windows.Forms.CheckBox();
this.checkBox_X = new System.Windows.Forms.CheckBox();
this.button1 = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.grpMotionTest.SuspendLayout();
this.grpMst.SuspendLayout();
@@ -1791,7 +1791,6 @@
// groupBox8
//
this.groupBox8.Controls.Add(this.btn_movepose);
this.groupBox8.Controls.Add(this.checkBox1);
this.groupBox8.Controls.Add(this.textBox_y);
this.groupBox8.Controls.Add(this.textBox_z);
this.groupBox8.Controls.Add(this.textBox_x);
@@ -1807,7 +1806,7 @@
//
// btn_movepose
//
this.btn_movepose.Location = new System.Drawing.Point(129, 122);
this.btn_movepose.Location = new System.Drawing.Point(157, 120);
this.btn_movepose.Name = "btn_movepose";
this.btn_movepose.Size = new System.Drawing.Size(120, 37);
this.btn_movepose.TabIndex = 7;
@@ -1815,16 +1814,6 @@
this.btn_movepose.UseVisualStyleBackColor = true;
this.btn_movepose.Click += new System.EventHandler(this.btn_movepose_Click);
//
// checkBox1
//
this.checkBox1.AutoSize = true;
this.checkBox1.Location = new System.Drawing.Point(39, 133);
this.checkBox1.Name = "checkBox1";
this.checkBox1.Size = new System.Drawing.Size(48, 16);
this.checkBox1.TabIndex = 6;
this.checkBox1.Text = "等待";
this.checkBox1.UseVisualStyleBackColor = true;
//
// textBox_y
//
this.textBox_y.Location = new System.Drawing.Point(149, 54);
@@ -1875,6 +1864,8 @@
//
// groupBox7
//
this.groupBox7.Controls.Add(this.btn_Z_Down);
this.groupBox7.Controls.Add(this.btn_Z_Up);
this.groupBox7.Controls.Add(this.btn_Y_Back);
this.groupBox7.Controls.Add(this.btn_X_right);
this.groupBox7.Controls.Add(this.btn_X_left);
@@ -1886,6 +1877,28 @@
this.groupBox7.TabStop = false;
this.groupBox7.Text = "Jog";
//
// btn_Z_Down
//
this.btn_Z_Down.Location = new System.Drawing.Point(198, 107);
this.btn_Z_Down.Name = "btn_Z_Down";
this.btn_Z_Down.Size = new System.Drawing.Size(75, 35);
this.btn_Z_Down.TabIndex = 5;
this.btn_Z_Down.Text = "Z下移";
this.btn_Z_Down.UseVisualStyleBackColor = true;
this.btn_Z_Down.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Z_Down_MouseDown);
this.btn_Z_Down.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// btn_Z_Up
//
this.btn_Z_Up.Location = new System.Drawing.Point(198, 13);
this.btn_Z_Up.Name = "btn_Z_Up";
this.btn_Z_Up.Size = new System.Drawing.Size(75, 35);
this.btn_Z_Up.TabIndex = 4;
this.btn_Z_Up.Text = "Z上移";
this.btn_Z_Up.UseVisualStyleBackColor = true;
this.btn_Z_Up.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Z_Up_MouseDown);
this.btn_Z_Up.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// btn_Y_Back
//
this.btn_Y_Back.Location = new System.Drawing.Point(104, 107);
@@ -1894,7 +1907,8 @@
this.btn_Y_Back.TabIndex = 3;
this.btn_Y_Back.Text = "Y后退";
this.btn_Y_Back.UseVisualStyleBackColor = true;
this.btn_Y_Back.Click += new System.EventHandler(this.btn_Y_Back_Click);
this.btn_Y_Back.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Y_Back_MouseDown);
this.btn_Y_Back.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// btn_X_right
//
@@ -1904,7 +1918,8 @@
this.btn_X_right.TabIndex = 2;
this.btn_X_right.Text = "X右移";
this.btn_X_right.UseVisualStyleBackColor = true;
this.btn_X_right.Click += new System.EventHandler(this.btn_X_right_Click);
this.btn_X_right.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_X_right_MouseDown);
this.btn_X_right.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// btn_X_left
//
@@ -1914,7 +1929,8 @@
this.btn_X_left.TabIndex = 1;
this.btn_X_left.Text = "X左移";
this.btn_X_left.UseVisualStyleBackColor = true;
this.btn_X_left.Click += new System.EventHandler(this.btn_X_left_Click);
this.btn_X_left.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_X_left_MouseDown);
this.btn_X_left.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// btn_Y_Forward
//
@@ -1924,13 +1940,13 @@
this.btn_Y_Forward.TabIndex = 0;
this.btn_Y_Forward.Text = "Y前进";
this.btn_Y_Forward.UseVisualStyleBackColor = true;
this.btn_Y_Forward.Click += new System.EventHandler(this.btn_Y_Forward_Click);
this.btn_Y_Forward.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Y_Forward_MouseDown);
this.btn_Y_Forward.MouseUp += new System.Windows.Forms.MouseEventHandler(this.BtnJog_MouseUp);
//
// groupBox6
//
this.groupBox6.Controls.Add(this.button1);
this.groupBox6.Controls.Add(this.btn_home);
this.groupBox6.Controls.Add(this.btn_stop);
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);
@@ -1940,7 +1956,7 @@
//
// btn_home
//
this.btn_home.Location = new System.Drawing.Point(198, 24);
this.btn_home.Location = new System.Drawing.Point(7, 24);
this.btn_home.Name = "btn_home";
this.btn_home.Size = new System.Drawing.Size(75, 30);
this.btn_home.TabIndex = 2;
@@ -1948,35 +1964,15 @@
this.btn_home.UseVisualStyleBackColor = true;
this.btn_home.Click += new System.EventHandler(this.btn_home_Click);
//
// btn_stop
//
this.btn_stop.Location = new System.Drawing.Point(104, 24);
this.btn_stop.Name = "btn_stop";
this.btn_stop.Size = new System.Drawing.Size(75, 30);
this.btn_stop.TabIndex = 1;
this.btn_stop.Text = "停止";
this.btn_stop.UseVisualStyleBackColor = true;
this.btn_stop.Click += new System.EventHandler(this.btn_stop_Click);
//
// btn_start
//
this.btn_start.Location = new System.Drawing.Point(10, 24);
this.btn_start.Name = "btn_start";
this.btn_start.Size = new System.Drawing.Size(75, 30);
this.btn_start.TabIndex = 0;
this.btn_start.Text = "开始";
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.textBox_cycleTimes);
this.groupBox10.Controls.Add(this.btn_halt);
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);
this.groupBox10.Controls.Add(this.checkBox_Z);
this.groupBox10.Controls.Add(this.checkBox_y);
this.groupBox10.Controls.Add(this.checkBox_X);
this.groupBox10.Location = new System.Drawing.Point(919, 610);
this.groupBox10.Name = "groupBox10";
this.groupBox10.Size = new System.Drawing.Size(295, 103);
@@ -1987,68 +1983,78 @@
// label48
//
this.label48.AutoSize = true;
this.label48.Location = new System.Drawing.Point(220, 65);
this.label48.Location = new System.Drawing.Point(244, 67);
this.label48.Name = "label48";
this.label48.Size = new System.Drawing.Size(17, 12);
this.label48.TabIndex = 7;
this.label48.Text = "次";
//
// textBox4
// textBox_cycleTimes
//
this.textBox4.Location = new System.Drawing.Point(179, 61);
this.textBox4.Name = "textBox4";
this.textBox4.Size = new System.Drawing.Size(35, 21);
this.textBox4.TabIndex = 5;
this.textBox_cycleTimes.Location = new System.Drawing.Point(203, 63);
this.textBox_cycleTimes.Name = "textBox_cycleTimes";
this.textBox_cycleTimes.Size = new System.Drawing.Size(35, 21);
this.textBox_cycleTimes.TabIndex = 5;
//
// btn_halt
//
this.btn_halt.Location = new System.Drawing.Point(94, 60);
this.btn_halt.Location = new System.Drawing.Point(99, 60);
this.btn_halt.Name = "btn_halt";
this.btn_halt.Size = new System.Drawing.Size(60, 23);
this.btn_halt.Size = new System.Drawing.Size(80, 30);
this.btn_halt.TabIndex = 4;
this.btn_halt.Text = "停止";
this.btn_halt.Text = "停止循环";
this.btn_halt.UseVisualStyleBackColor = true;
this.btn_halt.Click += new System.EventHandler(this.btn_halt_Click);
this.btn_halt.Click += new System.EventHandler(this.BtnHallAll_Click);
//
// btn_run
//
this.btn_run.Location = new System.Drawing.Point(13, 60);
this.btn_run.Name = "btn_run";
this.btn_run.Size = new System.Drawing.Size(60, 23);
this.btn_run.Size = new System.Drawing.Size(80, 30);
this.btn_run.TabIndex = 3;
this.btn_run.Text = "运行";
this.btn_run.Text = "开始循环";
this.btn_run.UseVisualStyleBackColor = true;
this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
//
// checkBox4
// checkBox_Z
//
this.checkBox4.AutoSize = true;
this.checkBox4.Location = new System.Drawing.Point(184, 21);
this.checkBox4.Name = "checkBox4";
this.checkBox4.Size = new System.Drawing.Size(30, 16);
this.checkBox4.TabIndex = 2;
this.checkBox4.Text = "Z";
this.checkBox4.UseVisualStyleBackColor = true;
this.checkBox_Z.AutoSize = true;
this.checkBox_Z.Location = new System.Drawing.Point(184, 21);
this.checkBox_Z.Name = "checkBox_Z";
this.checkBox_Z.Size = new System.Drawing.Size(30, 16);
this.checkBox_Z.TabIndex = 2;
this.checkBox_Z.Text = "Z";
this.checkBox_Z.UseVisualStyleBackColor = true;
//
// checkBox3
// checkBox_y
//
this.checkBox3.AutoSize = true;
this.checkBox3.Location = new System.Drawing.Point(100, 21);
this.checkBox3.Name = "checkBox3";
this.checkBox3.Size = new System.Drawing.Size(30, 16);
this.checkBox3.TabIndex = 1;
this.checkBox3.Text = "Y";
this.checkBox3.UseVisualStyleBackColor = true;
this.checkBox_y.AutoSize = true;
this.checkBox_y.Location = new System.Drawing.Point(100, 21);
this.checkBox_y.Name = "checkBox_y";
this.checkBox_y.Size = new System.Drawing.Size(30, 16);
this.checkBox_y.TabIndex = 1;
this.checkBox_y.Text = "Y";
this.checkBox_y.UseVisualStyleBackColor = true;
//
// checkBox2
// checkBox_X
//
this.checkBox2.AutoSize = true;
this.checkBox2.Location = new System.Drawing.Point(16, 21);
this.checkBox2.Name = "checkBox2";
this.checkBox2.Size = new System.Drawing.Size(30, 16);
this.checkBox2.TabIndex = 0;
this.checkBox2.Text = "X";
this.checkBox2.UseVisualStyleBackColor = true;
this.checkBox_X.AutoSize = true;
this.checkBox_X.Location = new System.Drawing.Point(16, 21);
this.checkBox_X.Name = "checkBox_X";
this.checkBox_X.Size = new System.Drawing.Size(30, 16);
this.checkBox_X.TabIndex = 0;
this.checkBox_X.Text = "X";
this.checkBox_X.UseVisualStyleBackColor = true;
//
// button1
//
this.button1.Location = new System.Drawing.Point(94, 24);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(75, 30);
this.button1.TabIndex = 3;
this.button1.Text = "立即停止";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.BtnHallAll_Click);
//
// Motion
//
@@ -2067,6 +2073,7 @@
this.Name = "Motion";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "平台运动";
this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.Motion_FormClosed);
this.Load += new System.EventHandler(this.Form1_Load);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
@@ -2251,7 +2258,6 @@
private System.Windows.Forms.GroupBox groupBox9;
private System.Windows.Forms.GroupBox groupBox8;
private System.Windows.Forms.Button btn_movepose;
private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.TextBox textBox_y;
private System.Windows.Forms.TextBox textBox_z;
private System.Windows.Forms.TextBox textBox_x;
@@ -2265,16 +2271,14 @@
private System.Windows.Forms.Button btn_Y_Forward;
private System.Windows.Forms.GroupBox groupBox6;
private System.Windows.Forms.Button btn_home;
private System.Windows.Forms.Button btn_stop;
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.TextBox textBox_cycleTimes;
private System.Windows.Forms.Button btn_halt;
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;
private System.Windows.Forms.CheckBox checkBox_Z;
private System.Windows.Forms.CheckBox checkBox_y;
private System.Windows.Forms.CheckBox checkBox_X;
private System.Windows.Forms.Label label56;
private System.Windows.Forms.Label label55;
private System.Windows.Forms.Label label54;
@@ -2284,6 +2288,9 @@
private System.Windows.Forms.Label label50;
private System.Windows.Forms.Label label49;
private System.Windows.Forms.Label label47;
private System.Windows.Forms.Button btn_Z_Down;
private System.Windows.Forms.Button btn_Z_Up;
private System.Windows.Forms.Button button1;
}
}
HexcalMC/Motion/Motion.cs
+383 -154
View File
@@ -19,6 +19,11 @@ namespace HexcalMC
private const int MaxUiLimitCnt = 8;
private const int MaxUiIoCnt = 8;
private readonly Api _acs;
private readonly int _motionTimeout = 5000; //延时时间
private readonly Axis[] UseAxis = MainFrom.UseAxis; //获取激活的轴
private MotionStates _currentMotionState = MotionStates.None; //运动状态
private Axis[] _mArrAxisList;
private Array _mArrReadVector;
@@ -59,7 +64,7 @@ namespace HexcalMC
_acs.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
}
#region Move to absolute position
#region 绝对运动
private void BtnPTP_Click(object sender, EventArgs e)
{
@@ -85,7 +90,7 @@ namespace HexcalMC
#endregion
#region On and Off General Output
#region 通用IO
private void BtnSW_Click(object sender, EventArgs e)
{
@@ -128,11 +133,12 @@ namespace HexcalMC
#endregion
#region Initialize
#region 初始化
private void Form1_Load(object sender, EventArgs e)
{
btnOpen.Enabled = true;
//禁止通讯按钮
btnOpen.Enabled = false;
btnClose.Enabled = false;
_mLblLeftLimit = new Label[MaxUiLimitCnt]; //左限位
@@ -213,28 +219,80 @@ namespace HexcalMC
// secondaryForm.Show();
#endregion
#region 初始化
InitMotion();
#endregion
}
private void RdoTCP_CheckedChanged(object sender, EventArgs e)
private void Motion_FormClosed(object sender, FormClosedEventArgs e)
{
txtIP.Enabled = true;
txtPort.Enabled = true;
}
private void RdoSimu_CheckedChanged(object sender, EventArgs e)
{
txtIP.Enabled = false;
txtPort.Enabled = false;
tmrMonitor.Stop();
}
#endregion
#region Communication - Open / Close
#region 通讯建立
private void BtnOpen_Click(object sender, EventArgs e)
private void InitMotion()
{
string strTemp;
int i;
//判断通讯对象是否存在
if (_acs == null || !_acs.IsConnected)
{
DebugDfn.AddLogText("未建立通讯，请在主界面先建立通讯");
// 在合适的位置调用 MessageBox.Show() 方法
MessageBox.Show("未建立通讯，请在主界面先建立通讯", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
_mBConnected = _acs.IsConnected;
// Get Total number of axes
// Using Transaction function : return string text from controller, we need to convert to integer value
strTemp = _acs.Transaction("?SYSINFO(13)");
_mNTotalAxis = Convert.ToInt32(strTemp.Trim());
// Using Sysinfo function
//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
// 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++)
//{
// cboAxisNo.Items.Add(i.ToString());
// _mArrAxisList[i] = (Axis)i;
//}
// Insert '-1' at the last
_mArrAxisList[_mNTotalAxis] = Axis.ACSC_NONE;
cboAxisNo.SelectedIndex = 0;
// Update current motion paramter to UI.
UpdateProfile();
strTemp = _acs.Transaction("?SYSINFO(10)");
_mNTotalBuffer = Convert.ToInt32(strTemp.Trim());
for (i = 0; i < _mNTotalBuffer; i++)
{
cboBufferNo.Items.Add(i.ToString());
}
cboBufferNo.SelectedIndex = 0;
// Set updating timer
tmrMonitor.Interval = 50;
tmrMonitor.Start();
}
private void BtnOpen_Click(object sender, EventArgs e)
{
//double lfTemp = 0.0f;
try
@@ -251,47 +309,8 @@ namespace HexcalMC
Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
}
InitMotion();
_mBConnected = true;
// Get Total number of axes
// Using Transaction function : return string text from controller, we need to convert to integer value
strTemp = _acs.Transaction("?SYSINFO(13)");
_mNTotalAxis = Convert.ToInt32(strTemp.Trim());
// Using Sysinfo function
//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
// 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++)
//{
// cboAxisNo.Items.Add(i.ToString());
// _mArrAxisList[i] = (Axis)i;
//}
// Insert '-1' at the last
_mArrAxisList[_mNTotalAxis] = Axis.ACSC_NONE;
cboAxisNo.SelectedIndex = 0;
// Update current motion paramter to UI.
UpdateProfile();
strTemp = _acs.Transaction("?SYSINFO(10)");
_mNTotalBuffer = Convert.ToInt32(strTemp.Trim());
for (i = 0; i < _mNTotalBuffer; i++)
{
cboBufferNo.Items.Add(i.ToString());
}
cboBufferNo.SelectedIndex = 0;
btnOpen.Enabled = false;
btnClose.Enabled = true;
// Set updating timer
tmrMonitor.Interval = 50;
tmrMonitor.Start();
}
catch (COMException comex)
@@ -346,7 +365,7 @@ namespace HexcalMC
#endregion
#region Update UI data from Controller
#region UI 刷新
/// <summary>
/// Update Motion Profile from Controller
@@ -379,17 +398,7 @@ namespace HexcalMC
{
try
{
// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
// Motion parameters and state is array (Max length is total number of axes)
//
// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
// (This may cause communication delay.)
// Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
//
// Get Motor State
// ACSPL+ Variable : MST (integer)
_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
// Returned value is integer, you need to use bitmaks
@@ -519,7 +528,7 @@ namespace HexcalMC
#endregion
#region Motor Enable / Disable
#region 电机使能
private void BtnEnable_Click(object sender, EventArgs e)
{
@@ -549,7 +558,7 @@ namespace HexcalMC
#endregion
#region Move to relative position (from current position)
#region 相对移动
private void BtnPTP_R_Neg_Click(object sender, EventArgs e)
{
@@ -598,7 +607,7 @@ namespace HexcalMC
#endregion
#region Stop motion using deceleration (halt command)
#region 停止运动
private void BtnHalt_Click(object sender, EventArgs e)
{
@@ -633,7 +642,7 @@ namespace HexcalMC
#endregion
#region JOG Command
#region JOG 功能
// Move negative direction
private void BtnJogNeg_MouseDown(object sender, MouseEventArgs e)
@@ -695,11 +704,39 @@ namespace HexcalMC
private void BtnJog_MouseUp(object sender, MouseEventArgs e)
{
_acs.Halt((Axis)cboAxisNo.SelectedIndex);
//自定义Jog
if (sender is Button button)
{
string btn_name = button.Name;
switch (btn_name)
{
case "btn_X_left":
_acs.Halt(Axis.ACSC_AXIS_1);
break;
case "btn_X_right":
_acs.Halt(Axis.ACSC_AXIS_1);
break;
case "btn_Y_Forward":
_acs.Halt(Axis.ACSC_AXIS_0);
break;
case "btn_Y_Back":
_acs.Halt(Axis.ACSC_AXIS_0);
break;
case "btn_Z_Up":
_acs.Halt(Axis.ACSC_AXIS_8);
break;
case "btn_Z_Down":
_acs.Halt(Axis.ACSC_AXIS_8);
break;
}
}
}
#endregion
#region Run/Stop Buffer Program
#region 运行 Buffer Program
private void BtnRunBuffer_Click(object sender, EventArgs e)
{
@@ -742,7 +779,7 @@ namespace HexcalMC
#endregion
#region Change motion profile
#region 修改运动参数
private void TextBoxes_KeyPress(object sender, KeyPressEventArgs e)
{
@@ -849,7 +886,7 @@ namespace HexcalMC
#endregion
#region Event
#region 事件回调
private void BtnEventMotionEnd_Click(object sender, EventArgs e)
{
@@ -891,86 +928,6 @@ 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)
{
}
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;
@@ -998,7 +955,7 @@ namespace HexcalMC
#endregion
#region Communication Termial - Using Transaction function
#region 命令行响应
private void TxtCommand_KeyPress(object sender, KeyPressEventArgs e)
{
@@ -1042,5 +999,277 @@ namespace HexcalMC
}
#endregion
#region 按钮
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.IsWithinLimit(_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, 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_home_Click(object sender, EventArgs e) //回零
{
double[] pointsArray =
{
0,
0,
0
};
//执行运动指令
_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 < UseAxis.Length-1; i++)
{
_acs.WaitMotionEnd(UseAxis[i], _motionTimeout); //等待回家完成
}
_currentMotionState = MotionStates.InPos;
DebugDfn.AddLogText("运动到位");
}
private void btn_X_left_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_1, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_1, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("X左移异常" + exception);
}
}
private void btn_X_right_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_1, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_1, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("X左移异常" + exception);
}
}
private void btn_Y_Forward_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_0, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_0, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("Y前移异常" + exception);
}
}
private void btn_Y_Back_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_0, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_0, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("Y后移异常" + exception);
}
}
private void btn_Z_Down_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_8, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_8, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("Z向下异常" + exception);
}
}
private void btn_Z_Up_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
try
{
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * -1; // Negative direction : Using - (minus) velocity
_acs.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
Axis.ACSC_AXIS_8, // Axis number
lfVelocity // Velocity
);
}
else
{
_acs.Jog(0, Axis.ACSC_AXIS_8, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
}
}
catch (Exception exception)
{
DebugDfn.AddLogText("Z向上异常" + exception);
}
}
private void btn_run_Click(object sender, EventArgs e)
{
//运动次数
if (string.IsNullOrEmpty(textBox_cycleTimes.Text))
{
MessageBox.Show("循环次数不能为空", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
int times = Convert.ToInt32(textBox_cycleTimes.Text);
DebugDfn.AddLogText("循环次数: " + times);
do
{
//X轴
if (checkBox_X.Checked)
{
}
if (checkBox_y.Checked)
{
}
if (checkBox_Z.Checked)
{
}
//开始运动
times = times - 1;
DebugDfn.AddLogText($"当前为第{times}循环");
} while (times > 0);
DebugDfn.AddLogText("循环结束");
}
#endregion
}
}
HexcalMC/Motion/Motion.resx
+1 -1
View File
@@ -1148,7 +1148,7 @@
</value>
</data>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>77</value>
<value>25</value>
</metadata>
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
HexcalMC/Program.cs
+11 -11
View File
@@ -1,34 +1,35 @@
using HexcalMC.Base;
using System;
using System;
using System.Diagnostics;
using System.IO;
using System.Windows.Forms;
using static Telerik.WinControls.UI.Export.ExportSettings;
using HexcalMC.Base;
////////////////////////////////////////////////////////////////////////////////////////////////////
//
//
//开发说明
// V0.1 2024/03/1
// V0.1 2024/03/01
//---------------------------------------
//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
//
// V0.2 2024/03/07
//---------------------------------------
//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？
//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
//
//
//
//
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////
namespace HexcalMC
@@ -42,14 +43,13 @@ namespace HexcalMC
Application.SetCompatibleTextRenderingDefault(false);
DebugDfn._strStartTime = DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss");
System.IO.TextWriter log = new System.IO.StreamWriter(DebugDfn.StrDebugFile);
System.Diagnostics.TextWriterTraceListener logger;
logger = new System.Diagnostics.TextWriterTraceListener(log);
TextWriter log = new StreamWriter(DebugDfn.StrDebugFile);
TextWriterTraceListener logger;
logger = new TextWriterTraceListener(log);
Trace.Listeners.Add(logger);
MyBase.TraceWriteLine("--软件Main函数开始");
Application.Run(new MainFrom());
}
}
}
HexcalMC/Properties/Resources.Designer.cs
Generated
+20
View File
@@ -169,5 +169,25 @@ namespace HexcalMC.Properties {
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 quick_location {
get {
object obj = ResourceManager.GetObject("quick_location", 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 quick_location_64 {
get {
object obj = ResourceManager.GetObject("quick_location_64", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
}
}
HexcalMC/Properties/Resources.resx
+19 -13
View File
@@ -118,37 +118,43 @@
<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="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="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="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 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="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>
<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="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="quick_location" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\quick_location.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, 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="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="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 name="quick_location_64" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\quick_location_64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="demo_show" 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>
</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>
Motion/ACS Motion/MainForm.Designer.cs
Generated
+2
View File
@@ -1837,6 +1837,7 @@
this.button8.TabIndex = 7;
this.button8.Text = "移动到目标位置";
this.button8.UseVisualStyleBackColor = true;
this.button8.Click += new System.EventHandler(this.button8_Click);
//
// checkBox1
//
@@ -2033,6 +2034,7 @@
this.button9.TabIndex = 3;
this.button9.Text = "运行";
this.button9.UseVisualStyleBackColor = true;
this.button9.Click += new System.EventHandler(this.button9_Click);
//
// checkBox4
//
Motion/ACS Motion/MainForm.cs
+10
View File
@@ -812,6 +812,16 @@ namespace ACS_DotNET_Library_Advanced_Demo
lstLog.Items.Add("PROGRAM_END event enabled");
}
private void button8_Click(object sender, EventArgs e)
{
}
private void button9_Click(object sender, EventArgs e)
{
}
void _ACS_PROGRAMEND(BufferMasks buffer)
{
int bit = 0x01;