增加主界面快速定位，运动界面，增加单轴JOG

HexcalMC/Motion/Motion.cs

@@ -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
 	}
 }