zhengxuan.zhang
1188 lines
33 KiB
C#
1188 lines
33 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.IO;
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using System.Net;
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using System.Runtime.InteropServices;
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using System.Windows.Forms;
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using System.Windows.Threading;
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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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//定一个 回家状态枚举，包括 从未回家，正在回家，已经回家
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public enum HomeStates
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{
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None, //默认状态
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NotHome, //未回家
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Homing, //回家中
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Homed //回家完成
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}
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//定义 运动状态枚举，包括 正在运动，运动到位，Jog运动
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public enum MotionStates
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{
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None, //默认状态
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Moving, //运动中
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InPos, //运动到位
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Jogging //jog中
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}
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public partial class MainFrom : RadRibbonForm
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{
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private readonly List<Point3D> _pointCloud = new List<Point3D>(); //运动中点集合
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private bool _mBHexcalConnected;
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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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public MainFrom()
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{
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InitializeComponent();
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//处理未捕获的异常
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Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
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//处理UI线程异常
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Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
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//处理非UI线程异常
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AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
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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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//加载配置文件
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LoadConfig();
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_acs = new Api(); //初始化 ACS运动控制类
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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) //窗体显示准备好接受用户输入时发生
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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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//if (_enableAcs)
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//{
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// Btn_ACSStart_Click(null, null); //模拟连接运动平台
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//}
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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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{
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//创建文件夹 DebugDfn.StrDebugSavePath
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Directory.CreateDirectory(DebugDfn.StrDebugSavePath);
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}
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File.Copy(DebugDfn.StrDebugFile, 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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private void LoadConfig() //加载配置文件
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{
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//判断配置文件是否存在
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if (!File.Exists(StrConfigFile))
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{
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MessageBox.Show("配置文件不存在，请检查配置文件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
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return;
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}
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MotionSpeed = FileIni.ReadDouble(StrConfigFile, "MOTOR", "MOTION_SPEED"); //运动定位速度
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//正限位
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XMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
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YMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MAXSTROKESW");
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ZMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MAXSTROKESW");
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//负限位
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XMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MINSTROKESW");
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YMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MINSTROKESW");
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ZMinstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MINSTROKESW");
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}
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private void Plot2D(List<Point3D> pointCloud)
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{
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// 清空画布
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formsPlot1.Plot.Clear();
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//pointCloud 是否为空
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if (pointCloud.Count <= 0)
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{
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return;
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}
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List<double> dataX = new List<double>();
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List<double> dataY = new List<double>();
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foreach (Point3D point3D in pointCloud)
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{
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dataX.Add(point3D.X);
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dataY.Add(point3D.Y);
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}
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formsPlot1.Plot.AddScatter(dataX.ToArray(), dataY.ToArray());
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formsPlot1.Refresh();
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}
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#region 运动平台变量区
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public Api _acs;
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private const int MaxUiLimitCnt = 24;
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private int _mNTotalAxis;
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private int _mNTotalBuffer = 0;
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private Axis[] _mArrAxisList = null;
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public bool _mAcsConnected; //ACS通讯状态
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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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private Label[] _mlblMoving; //运动中
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private Label[] _mlblAcc; //加速中
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private Label[] _mlblInPos; //轴就位
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private Label[] _mlblEnable; //使能
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private HomeStates _homeStates; //回家状态
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private MotionStates _currentMotionState; //当前运动状态
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private MotionStates _currentMotorStateLast;
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private readonly int _motionTimeout = 50000; //定义运动超时时间
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//定义启用的轴，后面运动时会使用
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public static Axis[] UseAxis =
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{ Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
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//定义 XYZ三个轴的左右行程范围
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public string StrConfigFile = Application.StartupPath + "\\File\\config.ini";
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public static double MotionSpeed = 60;
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public static double XMaxstrokesw = 730; //正限位
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public static double YMaxstrokesw = 1000;
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public static double ZMaxstrokesw = 5;
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public static double XMinstrokesw = -30; //负限位
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public static double YMinstrokesw = -10;
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public static double ZMinstrokesw = -280;
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//定义一个3D点,存储当前平台位置
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private Point3D _mPoint3D;
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#endregion
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#region hexcal软件交互
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private void StartServer()
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{
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// 对_mTcpIpServer增加判断是否已经启动且存在设备连接
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if (_mTcpIpServer != null && _mTcpIpServer.ConnectStatus)
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{
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//弹窗提醒已经启动
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MyBase.TraceWriteLine("TCP服务端已经启动，请勿重复启动");
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MessageBox.Show("TCP服务端已经启动，请勿重复启动", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
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return;
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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(IPAddress.Any.ToString(), Convert.ToString(1234));
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_mTcpIpServer.UseMode = 1; //设置通讯返回数据流格式
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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; //接收消息回调
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_mTcpIpServer.OnRaisedStatus += ReceiveStatus; //连接状态
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_mTcpIpServer.DataReceived += ReceiveByte;
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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 ReceiveByte(object sender, byte[] e)
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{
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DebugDfn.AddLogText("接收到" + BitConverter.ToString(e));
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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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string sourceIp = clientIp.Split(':')[0];
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switch (sourceIp)
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{
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case "100.0.0.1":
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ParseHexcalMsg(msg);
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break;
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case "100.0.0.2":
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ParseHexcalMsg(msg);
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break;
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default:
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DebugDfn.AddLogText("未知来源，没有应答");
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break;
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}
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}
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public static string ConstructString(string variableName, double[] values)
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{
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string result = variableName + " ";
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for (int i = 0; i < values.Length; i++)
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{
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result += values[i].ToString("F6");
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if (i < values.Length - 1)
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{
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result += ", ";
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}
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}
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return result;
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}
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public static string ConstructPosString(Point3D point)
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{
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double[] values = { point.X, point.Y, point.Z, 0.0, 0.0, 0.0, 0.0 };
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return ConstructString("POS", values);
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}
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public static Point3D ParsePoint3DFromCommand(string input)
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{
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string[] parts = input.Split(' ')[1].Split(',');
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if (parts.Length >= 3)
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{
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double x = double.Parse(parts[0]);
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double y = double.Parse(parts[1]);
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double z = double.Parse(parts[2]);
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return new Point3D(x, y, z);
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}
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throw new ArgumentException("输入字符串格式不正确。");
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}
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private void CheckPlatformStatus()
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{
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//检查平台状态，如果运动中，返回BUSY，否则返回READY
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if (_currentMotionState == MotionStates.None || _currentMotionState == MotionStates.InPos) //默认或到位
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{
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SendMsgToHexcal("READY");
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}
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else
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{
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SendMsgToHexcal("BUSY");
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}
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}
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private void ParseHexcalMsg(string msg) //编写一个Hexcal协议解析函数
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{
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//DebugDfn.AddLogText("正在解析 " + msg);
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//去除Msg中\r\n
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msg = msg.Replace("\r\n", "");
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//判断是否含有故障ERROR字样
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if (msg.Contains("ERROR"))
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{
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//弹窗提醒
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MessageBox.Show("CMM错误", msg, MessageBoxButtons.OK, MessageBoxIcon.Error);
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return;
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}
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if (msg.Contains("\x02") || msg.Contains("\u0002"))
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{
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//DebugDfn.AddLogText("接收到STX，开始解析");
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CheckPlatformStatus();
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}
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else if (msg.Contains("\x03") || msg.Contains("\u0003"))
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{
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CheckPlatformStatus();
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}
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//else if (msg.Contains("^B")) //查询状态, READY或BUSY
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//{
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// checkPlatformStatus();
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//}
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else if (msg.Contains("CMMTYP")) //测量机类型
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{
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SendMsgToHexcal("CMMTYP MA 19617, FDC V15.00, 10 8 3 , 0");
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}
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else if (msg.Contains("VERSION")) //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 (msg.Contains("SHOW MAXSTROKESW")) //最大行程,根据实际情况填写
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{
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//MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000
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double[] values = { XMaxstrokesw, YMaxstrokesw, ZMaxstrokesw, 0.0, 0.0, 0.0, 0.0 };
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string resultString = ConstructString("MAXSTROKESW", values);
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SendMsgToHexcal(resultString);
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}
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else if (msg.Contains("SHOW MINSTROKESW")) //最小行程,根据实际情况填写
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{
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//MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000
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double[] values = { XMinstrokesw, YMinstrokesw, ZMinstrokesw, 0.0, 0.0, 0.0, 0.0 };
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string resultString = ConstructString("MINSTROKESW", values);
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SendMsgToHexcal(resultString);
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}
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else if (msg.Contains("SHOW MAXVEL")) //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 (msg.Contains("SHOW MAXACC")) //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 (msg.Contains("SHOW SENSWKP"))
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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 (msg.Contains("SHOW X_SENSAXIS"))
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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 (msg.Contains("SHOW Y_SENSAXIS")) //查询Y轴
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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 (msg.Contains("SHOW Z_SENSAXIS")) //查询Z轴
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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 (msg.Contains("SHOW TEMPCOMPTYPE")) //温度补偿，温度补偿 >1 表示支持温度补偿，此处不支持
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{
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SendMsgToHexcal("TEMPCOMPTYPE 0");
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}
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else if (msg.Contains("READTP"))
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{
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SendMsgToHexcal("READTP 0.000000");
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}
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else if (msg.Contains("SHOW ESTOP")) //查询急停状态，根据真是情况调整
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{
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SendMsgToHexcal("ESTOP FALSE");
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}
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else if (msg.Contains("CMHWST"))
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{
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SendMsgToHexcal("CMHWST 8257,0,1792,0");
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}
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else if (msg.Contains("SHOW MOVPAR")) //查询速度
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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 (msg.Contains("SHOW MAXVEL")) //查询最大速度
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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 (msg.Contains("SHOW ACCEL")) //查询加速度
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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 (msg.Contains("MOVPAR")) //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 (msg.Contains("ACCEL")) //设置加速度
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{
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SendMsgToHexcal("%");
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}
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else if (msg.Contains("PRBPIN")) //设置侧头偏置
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{
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SendMsgToHexcal("%");
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}
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else if (msg.Contains("ENABLE TEMP")) //设置温度补偿
|
||
{
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SendMsgToHexcal("%");
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}
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else if (msg.Contains("WKPPAR"))
|
||
{
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||
SendMsgToHexcal("%");
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}
|
||
else if (msg.Contains("SCLTMP"))
|
||
{
|
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SendMsgToHexcal("%");
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}
|
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else if (msg.Contains("DISABLE GEO"))
|
||
{
|
||
SendMsgToHexcal("%");
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}
|
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else if (msg.Contains("AUTZER")) //回家指令
|
||
{
|
||
SendMsgToHexcal("%"); //收到并执行，同时状态改为忙碌
|
||
|
||
//执行回家
|
||
IsHomed();
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}
|
||
else if (msg.Contains("MOVABS")) //移动指令，解析移动位置
|
||
{
|
||
//收到指令 ，形如 MOVABS 0.015000,127.172997,-114.897003,0.000000\r\n
|
||
SendMsgToHexcal("%");
|
||
|
||
Point3D point = ParsePoint3DFromCommand(msg);
|
||
SetPositionXyz(point); //开始移动
|
||
|
||
_pointCloud.Add(point); //添加到点集合
|
||
}
|
||
else if (msg.Contains("GETPOS")) //获取位置
|
||
{
|
||
//POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000
|
||
Point3D point3D = GetPositionXyz(); //获取当前位置
|
||
string resultString = ConstructPosString(point3D);
|
||
SendMsgToHexcal(resultString);
|
||
}
|
||
else
|
||
{
|
||
DebugDfn.AddLogText("未知命令，没有应答");
|
||
}
|
||
}
|
||
|
||
private void ReceiveStatus(TcpIpServer.EnumTcpIpServer iType, string msg)
|
||
{
|
||
//记录到日志
|
||
DebugDfn.AddLogText(iType + " : " + msg);
|
||
|
||
//根据连接状态，更新界面
|
||
switch (iType)
|
||
{
|
||
case TcpIpServer.EnumTcpIpServer.ClientConnect:
|
||
_mBHexcalConnected = true;
|
||
break;
|
||
default:
|
||
_mBHexcalConnected = false;
|
||
break;
|
||
}
|
||
}
|
||
|
||
private void SendMsgToHexcal(string msg)
|
||
{
|
||
if (_mTcpIpServer == null) return;
|
||
|
||
|
||
//发送数据
|
||
DebugDfn.AddLogText("回复 " + msg);
|
||
_mTcpIpServer.SendMessageToAllClients(msg += "\r\n"); //回复内容末尾加上\r\n，协议要求
|
||
}
|
||
|
||
private void Btn_StartServer_Click(object sender, EventArgs e)
|
||
{
|
||
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)
|
||
{
|
||
//关闭服务端
|
||
if (_mTcpIpServer != null)
|
||
{
|
||
_mTcpIpServer.StopListen();
|
||
}
|
||
|
||
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 异常抓取
|
||
|
||
//实现函数
|
||
private void DispatcherUnhandledException(object sender, DispatcherUnhandledExceptionEventArgs e)
|
||
{
|
||
MessageBox.Show($"Application_ThreadException:{e.Exception}");
|
||
e.Handled = true; // 标记为 “已处理”，避免异常进一步传递而引起崩溃
|
||
}
|
||
|
||
private static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
|
||
{
|
||
// 在这里处理未被捕获的异常
|
||
// 您可以记录异常、显示错误信息等等
|
||
|
||
// 防止程序终止
|
||
MessageBox.Show("发生了未处理的异常：" + e.Exception.Message);
|
||
}
|
||
private void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
|
||
{
|
||
MessageBox.Show($"CurrentDomain_UnhandledException: {e.ExceptionObject}");
|
||
}
|
||
|
||
|
||
//订阅报错
|
||
private void EnableFaultEvent()
|
||
{
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_COMM_CHANNEL_CLOSED);
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_EMERGENCY);
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_SYSTEM_ERROR);
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_ETHERCAT_ERROR);
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_MOTOR_FAILURE);
|
||
_acs.EnableEvent(Interrupts.ACSC_INTR_MOTION_FAILURE);
|
||
_acs.COMMCHANNELCLOSED += _acs_COMMCHANNELCLOSED;
|
||
_acs.MOTORFAILURE += _acs_MOTORFAILURE;
|
||
_acs.MOTIONFAILURE += _acs_MOTIONFAILURE;
|
||
_acs.SYSTEMERROR += _acs_SYSTEMERROR;
|
||
_acs.ETHERCATERROR += _acs_ETHERCATERROR;
|
||
_acs.EMERGENCY += _acs_EMERGENCY;
|
||
}
|
||
|
||
//关联函数
|
||
private void _acs_EMERGENCY(ulong param)
|
||
{
|
||
DebugDfn.AddLogText($"[EStopError] Error Message:{_acs.GetErrorString((int)param)}");
|
||
}
|
||
|
||
private void _acs_ETHERCATERROR(ulong param)
|
||
{
|
||
DebugDfn.AddLogText($"[EtherCatError] Error Message:{_acs.GetErrorString((int)param)}");
|
||
}
|
||
|
||
private void _acs_SYSTEMERROR(ulong param)
|
||
{
|
||
DebugDfn.AddLogText($"[SystemError] Error Message:{_acs.GetErrorString((int)param)}");
|
||
}
|
||
|
||
private void _acs_MOTIONFAILURE(AxisMasks axis)
|
||
{
|
||
for (int i = 0; i < _acs.GetAxesCount(); i++)
|
||
{
|
||
if (((int)axis & (int)Math.Pow(2, i)) == Math.Pow(2, i))
|
||
{
|
||
if (_acs.GetMotionError((Axis)i) != 0)
|
||
{
|
||
//Motor无法自动捕获，需要在motion报错中获取
|
||
int errorcode = _acs.GetMotionError((Axis)i);
|
||
|
||
DebugDfn.AddLogText(
|
||
$"[MotionError] Axis:{i} Error Code:{errorcode} Error Message: {_acs.GetErrorString(errorcode)}");
|
||
|
||
int errorcodes = _acs.GetMotorError((Axis)i);
|
||
|
||
DebugDfn.AddLogText(
|
||
$"[MotorError] Axis:{i} Error Code:{errorcodes} Error Message:{_acs.GetErrorString(errorcodes)}");
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
private void _acs_MOTORFAILURE(AxisMasks axis)
|
||
{
|
||
for (int i = 0; i < _acs.GetAxesCount(); i++)
|
||
{
|
||
if (((int)axis & (int)Math.Pow(2, i)) == Math.Pow(2, i))
|
||
{
|
||
int errorcode = _acs.GetMotorError((Axis)i);
|
||
|
||
DebugDfn.AddLogText(
|
||
$"[MotorError] Axis:{i} Error Code:{errorcode} Error Message:{_acs.GetErrorString(errorcode)}");
|
||
}
|
||
}
|
||
}
|
||
|
||
private void _acs_COMMCHANNELCLOSED(ulong param)
|
||
{
|
||
DebugDfn.AddLogText($"[CommError] Error Message:{_acs.GetErrorString((int)param)}");
|
||
}
|
||
|
||
|
||
#endregion
|
||
|
||
|
||
private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
|
||
{
|
||
if (_mAcsConnected)
|
||
{
|
||
//!!!! Important !! Must insert '-1' at the last
|
||
_acs.EnableM(UseAxis);
|
||
}
|
||
else
|
||
{
|
||
//弹窗提醒尚未连接
|
||
MessageBox.Show("未连接到运动平台，请先点击连接");
|
||
}
|
||
}
|
||
|
||
private void BtnDisable_Click(object sender, EventArgs e) //轴取消
|
||
{
|
||
// Disable all of axes
|
||
_acs.DisableAll();
|
||
}
|
||
|
||
private bool IsMotionInPose()
|
||
{
|
||
bool x_inpose = false, y_inpose = false, z_inpose = false;
|
||
|
||
_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_1);
|
||
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
|
||
{
|
||
x_inpose = true;
|
||
}
|
||
|
||
_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_0);
|
||
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
|
||
{
|
||
y_inpose = true;
|
||
}
|
||
|
||
_mNMotorState = _acs.GetMotorState(Axis.ACSC_AXIS_8);
|
||
if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
|
||
{
|
||
z_inpose = true;
|
||
}
|
||
|
||
if (x_inpose && y_inpose && z_inpose)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
|
||
private void TmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
|
||
{
|
||
if (_mAcsConnected)
|
||
{
|
||
try
|
||
{
|
||
_mPoint3D = GetPositionXyz(); //取平台当前位置
|
||
|
||
#region 更新限位及运动状态
|
||
|
||
//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
|
||
{
|
||
_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)
|
||
{
|
||
DebugDfn.AddLogText("运动到位");
|
||
}
|
||
|
||
_currentMotorStateLast = _currentMotionState;
|
||
|
||
#endregion
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
DebugDfn.AddLogText("ACS平台刷新异常" + ex);
|
||
MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||
Btn_ACSStop_Click(null, null);
|
||
}
|
||
}
|
||
}
|
||
|
||
private void Btn_ACSStart_Click(object sender, EventArgs e) //连接
|
||
{
|
||
btn_ACSStart.Enabled = false;
|
||
btn_ACSStop.Enabled = true;
|
||
|
||
try
|
||
{
|
||
_acs.OpenCommEthernetTCP(
|
||
txtIP.Text, // IP Address (Default : 10.0.0.100)
|
||
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);
|
||
}
|
||
}
|
||
|
||
private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
|
||
{
|
||
if (_mAcsConnected) _acs.CloseComm();
|
||
|
||
tmrMonitor.Stop();
|
||
|
||
btn_ACSStart.Enabled = true;
|
||
btn_ACSStop.Enabled = false;
|
||
}
|
||
|
||
private void UpdateLimitState(int axisNo, int fault) //刷新限位
|
||
{
|
||
if (axisNo < MaxUiLimitCnt)
|
||
{
|
||
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0)
|
||
_mLblLeftLimit[axisNo].Image = Resources.Error;
|
||
else _mLblLeftLimit[axisNo].Image = Resources.Off;
|
||
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0)
|
||
_mLblRightLimit[axisNo].Image = Resources.Error;
|
||
else _mLblRightLimit[axisNo].Image = Resources.Off;
|
||
}
|
||
}
|
||
|
||
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("[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;
|
||
}
|
||
|
||
// 2、回家状态检查是否已经回家
|
||
if (_mAcsConnected && _homeStates == HomeStates.Homed)
|
||
{
|
||
//弹窗提示
|
||
MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||
return;
|
||
}
|
||
|
||
// 3、读取回家状态
|
||
if (_acs != null && _mAcsConnected)
|
||
|
||
{
|
||
var yawHome = _acs.ReadVariable("YAW_HOME_DONE");
|
||
|
||
if (Convert.ToBoolean(yawHome))
|
||
{
|
||
//弹窗提示
|
||
MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||
_homeStates = HomeStates.Homed;
|
||
return;
|
||
}
|
||
// 4、执行回家指令,弹窗等待用户确认
|
||
|
||
DialogResult result = MessageBox.Show("轴未回家，即将执行回家指令", "提示", MessageBoxButtons.OK,
|
||
MessageBoxIcon.Information);
|
||
|
||
if (result == DialogResult.OK)
|
||
{
|
||
// 在这里执行接下来的操作,例如回家指令
|
||
|
||
_acs.RunBuffer(ProgramBuffer.ACSC_BUFFER_6, null); //执行回家指令，这里的buffer6是回家指令的buffer
|
||
_homeStates = HomeStates.Homing;
|
||
_currentMotionState = MotionStates.Moving;
|
||
DebugDfn.AddLogText("回家运动中");
|
||
|
||
//等待回家完成
|
||
for (int i = 0; i < UseAxis.Length; i++)
|
||
{
|
||
_acs.WaitMotionEnd(UseAxis[i], _motionTimeout); //等待回家完成
|
||
}
|
||
|
||
_homeStates = HomeStates.Homed;
|
||
_currentMotionState = MotionStates.InPos;
|
||
DebugDfn.AddLogText("回家完成");
|
||
}
|
||
else
|
||
{
|
||
//弹窗提醒
|
||
MessageBox.Show("点击了取消，未进行任何动作", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||
}
|
||
}
|
||
}
|
||
|
||
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;
|
||
_currentMotionState = MotionStates.None;
|
||
|
||
if (!_mAcsConnected)
|
||
{
|
||
MessageBox.Show("未连接运动平台，请先连接运动平台");
|
||
return;
|
||
}
|
||
|
||
//轴启用，加电
|
||
_acs.EnableM(UseAxis);
|
||
for (int i = 0; i < UseAxis.Length; i++)
|
||
{
|
||
_acs.WaitMotorEnabled(UseAxis[i], 1, _motionTimeout); //等待电机使能
|
||
}
|
||
|
||
DebugDfn.AddLogText("电机已启用");
|
||
|
||
//回家
|
||
IsHomed();
|
||
|
||
//设置定位速度
|
||
SetSpeedXyz(MotionSpeed);
|
||
|
||
//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;
|
||
|
||
EnableFaultEvent();//订阅错误事件
|
||
}
|
||
|
||
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 &&
|
||
point.Z >= ZMinstrokesw && point.Z <= ZMaxstrokesw)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
private void SetPositionXyz(Point3D point3D) //运动到指定位置
|
||
{
|
||
if (!_mAcsConnected)
|
||
{
|
||
DebugDfn.AddLogText("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;
|
||
}
|
||
|
||
if (_currentMotionState != MotionStates.Moving)
|
||
{
|
||
_currentMotionState = MotionStates.Moving; //设置当前运动状态
|
||
//判断 point3D是否合法
|
||
if (point3D != null)
|
||
{
|
||
if (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
|
||
}
|
||
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);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
DebugDfn.AddLogText("目标位置为空，请重新设置");
|
||
MessageBox.Show("目标位置为空，请重新设置", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||
}
|
||
}
|
||
}
|
||
|
||
private Point3D GetPositionXyz(int positionMode = 1) //获取当前位置
|
||
{
|
||
double xPosition = 0, yPosition = 0, zPosition = 0;
|
||
Point3D point3D = new Point3D(xPosition, yPosition, zPosition);
|
||
if (!_mAcsConnected)
|
||
{
|
||
DebugDfn.AddLogText("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 point3D;
|
||
}
|
||
|
||
//获取当前位置, 两种 GetRPosition，GetFPosition
|
||
if (positionMode == 1)
|
||
{
|
||
//获取反馈位置 Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
|
||
xPosition = _acs.GetFPosition(UseAxis[0]);
|
||
yPosition = _acs.GetFPosition(UseAxis[1]);
|
||
zPosition = _acs.GetFPosition(UseAxis[2]);
|
||
//DebugDfn.AddLogText("反馈位置: " + xPosition + " " + yPosition + " " + zPosition);
|
||
}
|
||
else
|
||
{
|
||
//获取参考位置 ACSPL+ Variable : RPOS (real)
|
||
xPosition = _acs.GetRPosition(UseAxis[0]);
|
||
yPosition = _acs.GetRPosition(UseAxis[1]);
|
||
zPosition = _acs.GetRPosition(UseAxis[2]);
|
||
DebugDfn.AddLogText("参考位置: " + xPosition + " " + yPosition + " " + zPosition);
|
||
}
|
||
|
||
|
||
//构造point3D格式
|
||
point3D = new Point3D(xPosition, yPosition, zPosition);
|
||
|
||
return point3D;
|
||
}
|
||
|
||
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, 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, 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, speed);
|
||
_acs.SetAcceleration(Axis.ACSC_AXIS_8, speed * 10);
|
||
_acs.SetDeceleration(Axis.ACSC_AXIS_8, speed * 10);
|
||
}
|
||
|
||
private void rtb_quick_loc_Click(object sender, EventArgs e)
|
||
{
|
||
//获取输入
|
||
}
|
||
|
||
#endregion ACS平台相关
|
||
|
||
#region 菜单栏
|
||
|
||
private void btn_motion_Click(object sender, EventArgs e)
|
||
{
|
||
Motion motion = new Motion(_acs);
|
||
motion.Show();
|
||
}
|
||
|
||
private void Rtb_about_Click(object sender, EventArgs e) //关于界面
|
||
{
|
||
AboutBox mAboutBox = new AboutBox();
|
||
mAboutBox.StartPosition = FormStartPosition.CenterScreen;
|
||
mAboutBox.Show();
|
||
}
|
||
|
||
private void rtb_demo_Click(object sender, EventArgs e)
|
||
{
|
||
DemoShow demoShow = new DemoShow(_acs);
|
||
demoShow.Show();
|
||
demoShow.BringToFront();
|
||
}
|
||
|
||
private void Timer_RefreshUI_Tick(object sender, EventArgs e) //UI刷新
|
||
{
|
||
//状态灯刷新
|
||
lamp_acs.State = _mAcsConnected ? LampColor.Green : LampColor.Silver;
|
||
lamp_hexcal.State = _mBHexcalConnected ? LampColor.Green : LampColor.Silver;
|
||
|
||
//时间栏
|
||
//获取当前时间，构造形如 精确到秒,例如 2023-10-08 16:01:23
|
||
rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
|
||
|
||
Plot2D(_pointCloud); //绘图
|
||
|
||
//更新位置
|
||
if (_mPoint3D != null)
|
||
{
|
||
rtb_xPos.Text = _mPoint3D.X.ToString("F3");
|
||
rtb_yPos.Text = _mPoint3D.Y.ToString("F3");
|
||
rtb_zPos.Text = _mPoint3D.Z.ToString("F3");
|
||
}
|
||
}
|
||
|
||
#endregion 菜单栏
|
||
}
|
||
} |