zhengxuan.zhang
446 lines
13 KiB
C#
446 lines
13 KiB
C#
using System;
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using System.Diagnostics;
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using System.IO;
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using System.Windows.Forms;
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using ACS.SPiiPlusNET;
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using HexcalMC.Base;
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using HexcalMC.Form;
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using HexcalMC.Hexcal;
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using HexcalMC.Properties;
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using Telerik.WinControls.UI;
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namespace HexcalMC
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{
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public partial class MainFrom : RadRibbonForm
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{
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public MainFrom()
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{
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InitializeComponent();
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}
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private void MainFrom_Load(object sender, EventArgs e)
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{
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FormBorderStyle = FormBorderStyle.FixedSingle; // 设置窗体边框样式为固定大小
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MaximizeBox = false; // 禁用窗体的最大化按钮
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DebugDfn.textBox_Msg = TextBoxMsg;
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double[] dataX = { 1, 2, 3, 4, 5 };
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double[] dataY = { 1, 4, 9, 16, 25 };
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formsPlot1.Plot.AddScatter(dataX, dataY);
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formsPlot1.Refresh();
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//启动界面刷新
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timer_RefreshUI.Start();
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}
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private void MainFrom_Shown(object sender, EventArgs e)
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{
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//启动服务端,用于接收hexcal传来的指令
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StartServer();
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}
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private void MainFrom_FormClosed(object sender, FormClosedEventArgs e)
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{
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MyBase.TraceWriteLine("关闭程序");
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DebugDfn._strEndTime = DateTime.Now.ToString("yyyy.MM.dd HH-mm-ss");
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timer_RefreshUI.Stop();
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string CopyFileName = DebugDfn.StrDebugSavePath + "Debug(" + DebugDfn._strStartTime + " To " +
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DebugDfn._strEndTime + ")" + ".txt";
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if (File.Exists(DebugDfn.StrDebugSavePath))
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File.Copy(DebugDfn.StrDebugSavePath, CopyFileName);
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if (Errors.ErrorWrite != null)
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Errors.ErrorWrite.Close();
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if (Errors.OtherWrite != null)
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Errors.OtherWrite.Close();
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if (Errors.StatusWrite != null)
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Errors.StatusWrite.Close();
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}
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#region hexcal变量区
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private TcpIpServer _mTcpIpServer; //创建tcpserver，用于接收hexcal传来的指令，并解析传递平台
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private readonly bool _mBHexcalConnected = false;
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#endregion hexcal变量区
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#region 运动平台变量区
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private Api _acs;
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private const int MaxUiLimitCnt = 8;
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private const int MaxUiIoCnt = 8;
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private readonly int _mNTotalAxis = 0;
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private int _mNTotalBuffer = 0;
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private Axis[] _mArrAxisList = null;
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private readonly bool _mBConnected = false;
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// For update values
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private MotorStates _mNMotorState; //运动状态
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private ProgramStates _mNProgramState; //程序状态
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private object _mObjReadVar;
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private Array _mArrReadVector;
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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
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private int _mNValues, _mNOutputState;
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private Label[] _mLblLeftLimit; //左限位
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private Label[] _mLblRightLimit; //右限位
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#endregion 运动平台变量区
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#region hexcal软件相关
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private void StartServer()
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{
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//启动服务器，并获取数据，解析
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_mTcpIpServer = new TcpIpServer("100.0.0.1", Convert.ToString(1234));
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try
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{
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//启动监听
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if (_mTcpIpServer.StartListen())
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{
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//绑定两个事件 OnRaisedStatus 和OnRaisedMessage
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_mTcpIpServer.OnRaisedMessage += ReceiveMessage;
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_mTcpIpServer.OnRaisedStatus += ReceiveStatus;
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DebugDfn.AddLogText("TCP服务端启动成功 ");
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}
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else
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{
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MessageBox.Show("TCP服务端启动失败，请检查网络连接，重新打开软件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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catch (Exception ex)
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{
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DebugDfn.AddLogText("启动TCP服务端异常" + ex);
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}
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}
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private void ReceiveMessage(string clientIp, string msg) //接收的内容
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{
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//打印ClientIP 和 Msg
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DebugDfn.AddLogText("接收到" + clientIp + ": " + msg);
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//根据源地址的不同，执行不同处理
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//如果 ClientIP 来自L2系统的话，执行解析
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switch (clientIp)
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{
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case "172.19.153.80": //L2系统
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//解析处理数据
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ParseHexcalPacket(msg);
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break;
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case "127.0.0.1": //模拟长宽系统
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break;
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}
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}
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private void ParseHexcalPacket(string msg) //编写一个Hexcal协议解析函数
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{
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//根据不同的指令进行解析，3个层次，不合法，故障，最后是正常
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//判断Msg的长度，如果不是指定长度，直接返回
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if (msg.Length != 8) return;
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//判断是否含有故障ERROR字样
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if (msg.Contains("ERROR")) return;
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//指令解析
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string[] tokens = msg.Split(',');
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foreach (string token in tokens)
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{
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Console.WriteLine(token);
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}
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//可能涉及到 将指令提取并单独处理的问题
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if (string.Equals("CMMTYP", msg))
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{
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SendMsgToHexcal("CMMTYP MA 19617, FDC V15.00, 6 6 2 , 0");
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}
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else if (string.Equals("VERSION", msg)) //版本号
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{
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SendMsgToHexcal("00-000-000-00000 FDC V51.04.0000 DATE: 12/21/22 TIME: 12:50:55");
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}
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else if (string.Equals("^B", msg)) //查询状态
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{
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//todo 启动指令
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}
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else if (string.Equals("SHOW MAXSTROKESW", msg)) //最大行程
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{
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SendMsgToHexcal("MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("00000003", msg)) //最小行程
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{
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SendMsgToHexcal("MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("SHOW MAXVEL", msg)) //最大速度
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{
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SendMsgToHexcal("MAXVEL 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("SHOW MAXACC", msg)) //最大加速度
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{
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SendMsgToHexcal(
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"MAXACC 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("SHOW TEMPCOMPTYPE", msg)) //温度补偿，温度补偿 >1 表示支持温度补偿
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{
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SendMsgToHexcal("TEMPCOMPTYPE 1");
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}
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else if (string.Equals("READTP", msg))
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{
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SendMsgToHexcal("READTP 0.000000");
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}
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else if (string.Equals("SHOW SENSWKP", msg))
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{
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SendMsgToHexcal("X_ SENSWKP 4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
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}
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else if (string.Equals("SHOW X_SENSAXIS", msg))
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{
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SendMsgToHexcal("X_SENSAXIS 6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
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}
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else if (string.Equals("SHOW Y_SENSAXIS", msg))
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{
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SendMsgToHexcal("Y_SENSAXIS 2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
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}
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else if (string.Equals("SHOW Z_SENSAXIS", msg))
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{
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SendMsgToHexcal("Z_SENSAXIS 7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
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}
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else if (string.Equals("SHOW MOVPAR", msg)) //获取速度
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{
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SendMsgToHexcal(
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"MOVPAR 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.00000 0,0.000000");
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}
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else if (string.Equals("MOVPAR 300.0,300.0,300.0,0.0,0.0,0.0", msg)) //设置速度 xyz 轴的速度
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{
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SendMsgToHexcal("%");
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}
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else if (string.Equals("SHOW MAXVEL", msg))
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{
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SendMsgToHexcal("MAXVEL 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("SHOW ACCEL", msg)) //获取加速
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{
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SendMsgToHexcal(
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"ACCEL 1000.000000,1000.000000,1000.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("ACCEL 1000.0,1000.0,1000.0", msg)) //设置加速度
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{
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SendMsgToHexcal("%");
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}
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else if (string.Equals(
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"PRBPIN 0.000000,0.000000,0.000000,0.000000,0.000000, 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, 0.000000",
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msg))
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{
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SendMsgToHexcal("%");
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}
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else if (string.Equals("ENABLE TEMP", msg))
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{
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SendMsgToHexcal("");
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}
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else if (string.Equals("WKPPAR 20,0.0000115,20", msg))
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{
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SendMsgToHexcal("");
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}
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else if (string.Equals("SCLTMP", msg))
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{
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SendMsgToHexcal("");
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}
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else if (string.Equals("MOVABS 167.553848,-55.400002,-208.548203,0.000000", msg)) //移动指令
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{
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SendMsgToHexcal("%");
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}
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else if (string.Equals("GETPOS", msg)) //获取位置
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{
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SendMsgToHexcal("POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000");
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}
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else if (string.Equals("SHOW ESTOP", msg))
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{
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SendMsgToHexcal("ESTOP FALSE");
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}
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else if (string.Equals("", msg))
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{
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}
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//todo 未知指令
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}
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private void ReceiveStatus(TcpIpServer.EnumTcpIpServer iType, string msg)
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{
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//记录到日志
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DebugDfn.AddLogText(iType + " : " + msg);
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}
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private void SendMsgToHexcal(string msg)
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{
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//发送数据
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_mTcpIpServer.SendMessageToAllClients(msg);
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}
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#endregion hexcal软件相关
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#region ACS平台相关
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private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
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{
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Axis[] axisList =
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{
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Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE
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}; //!!!! Important !! Must insert '-1' at the last
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_acs.EnableM(axisList);
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}
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private void BtnDisable_Click(object sender, EventArgs e) //轴取消
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{
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// Disable all of axes
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_acs.DisableAll();
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}
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private void TmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
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{
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int iAxisNo = cboAxisNo.SelectedIndex;
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if (_mBConnected)
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{
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try
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{
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// Instruction 1. Using library functions - acsc_GetFPosition,
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// acsc_GetRPosition, .... Instruction 2. Read ACS variable - Already defined
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// almost things (FPOS, RPOS, ...) Motion parameters and state is array (Max
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// length is total number of axes)
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//
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// * Library function can read only 1 axis information, so if you want to read
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// several axes, you have to call the function many times. (This may cause
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// communication delay.) Recommand (if you want to read many axes) : read/write
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// variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
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// Get Motor State ACSPL+ Variable : MST (integer)
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_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
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// Returned value is integer, you need to use bitmaks
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if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Resources.On;
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else lblMoving.Image = Resources.Off; // 运动中
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if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Resources.On;
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else lblInPos.Image = Resources.Off; // 就位
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if ((_mNMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Resources.On;
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else lblAcc.Image = Resources.Off; // 加速
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if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Resources.On;
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else lblEnable.Image = Resources.Off; // 使能
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// Reference position ACSPL+ Variable : RPOS (real)
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_mLfRPos = _acs.GetRPosition((Axis)iAxisNo); // 参考位置
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// Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
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_mLfFPos = _acs.GetFPosition((Axis)iAxisNo); //反馈位置
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// PE (Position Error) There is no function in library. We need to use
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// ReadVariable function
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_mLfPe = (double)_acs.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
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// Feedback Velocity
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_mLfFvel = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
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// txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos); //参考位置
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rtb_xPos.Text = string.Format("{0:0.0000}", _mLfFPos); //反馈位置
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// txtPE.Text =
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// String.Format("{0:0.0000}",
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// m_lfPE); //实际速度
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// txtFVEL.Text =
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// String.Format("{0:0.0000}", m_lfFVEL);//位置误差
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// Read left/right hardware limits state ACSPL+ Variable : FAULT (integer)
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_mObjReadVar =
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_acs.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, _mNTotalAxis - 1);
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if (_mObjReadVar != null)
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{
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_mArrReadVector = _mObjReadVar as Array;
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if (_mArrReadVector != null)
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{
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for (int i = 0; i < _mNTotalAxis; i++)
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{
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UpdateLimitState(i, (int)_mArrReadVector.GetValue(i));
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}
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}
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
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Debug.WriteLine(ex.Message);
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}
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}
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}
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private void Btn_ACSStart_Click(object sender, EventArgs e) //连接
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{
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btn_ACSStart.Enabled = false;
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btn_ACSStop.Enabled = true;
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// Set updating timer
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tmrMonitor.Interval = 50;
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tmrMonitor.Start();
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}
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private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
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{
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if (_mBConnected) _acs.CloseComm();
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tmrMonitor.Stop();
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btn_ACSStart.Enabled = true;
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btn_ACSStop.Enabled = false;
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}
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private void Btn_HexcalStart_Click(object sender, EventArgs e)
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{
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}
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private void UpdateLimitState(int axisNo, int fault) //刷新限位
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{
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if (axisNo < MaxUiLimitCnt)
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{
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if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0)
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_mLblLeftLimit[axisNo].Image = Resources.Error;
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else _mLblLeftLimit[axisNo].Image = Resources.Off;
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if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0)
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_mLblRightLimit[axisNo].Image = Resources.Error;
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else _mLblRightLimit[axisNo].Image = Resources.Off;
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}
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}
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#endregion ACS平台相关
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#region 菜单栏
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private void Rtb_motion_Click(object sender, EventArgs e) //ACS调试页面
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{
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Motion motion = new Motion();
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motion.Show();
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}
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private void Rtb_about_Click(object sender, EventArgs e) //关于界面
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{
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AboutBox mAboutBox = new AboutBox();
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mAboutBox.StartPosition = FormStartPosition.CenterScreen;
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mAboutBox.Show();
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}
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private void Timer_RefreshUI_Tick(object sender, EventArgs e) //UI刷新
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{
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//状态灯刷新
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lamp_acs.State = _mBConnected ? LampColor.Green : LampColor.Silver;
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lamp_hexcal.State = _mBHexcalConnected ? LampColor.Green : LampColor.Silver;
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//时间栏
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//获取当前时间，构造形如 精确到秒,例如 2023-10-08 16:01:23
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rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
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}
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#endregion 菜单栏
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}
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} |