private void ListBoxSelectionChanged(object sender, SelectionChangedEventArgs e)
{
ListBoxItem item = ListBox.SelectedItem as ListBoxItem;
Home.Background = new SolidColorBrush(Colors.Transparent);
MyFrame.BackStack.Clear();
MyFrame.Navigate(typeof(HomePage), this, new SuppressNavigationTransitionInfo());
if (Home.IsSelected)
{
HomeEvent?.Invoke();
}
else if (Today.IsSelected)
{
TodayEvent?.Invoke();
}
else if (Upcoming.IsSelected)
{
UpcomingEvent?.Invoke();
}
else if (Delayed.IsSelected)
{
DelayedEvent?.Invoke();
}
else if (AssignedToOthers.IsSelected)
{
AssignedToOthersEvent?.Invoke();
}
}
/// <summary>
/// 机器开始回零点
/// </summary>
/// <returns></returns>
public Task <short> MachineHome()
{
return(Task <short> .Factory.StartNew(() => {
#region 回零
this.MachineIO.ResetBtnLight.SetIO(true);
Thread.Sleep(1000);
HomeEvent?.Invoke(this, new HomeEventArgs(30, "机器开始回零...."));
MachineIO.TrunServoOn.SetIO(true);
HomeEvent?.Invoke(this, new HomeEventArgs(40, "Z轴开始回零"));;
short rtn = 0;
Task <short> task1 = Task <short> .Factory.StartNew(() =>
{
return this.MachineAxis.Z[0].GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.Z],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.Z], this.MachineIO.Limit[0]);
});
Task <short> task2 = Task <short> .Factory.StartNew(() =>
{
return this.MachineAxis.Z[2].GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.Z],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.Z], this.MachineIO.Limit[1]);
});
// U轴回原点
Task <short>[] tasks = new Task <short> [4];
for (int i = 0; i < 4; ++i)
{
int nz = i;
tasks[i] = Task <short> .Factory.StartNew(() =>
{
return this.MachineAxis.R[nz].GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.U],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.U], false);
});
}
task1.Wait();
task2.Wait();
HomeEvent?.Invoke(this, new HomeEventArgs(45, "Z轴回零完成,到安全高度中..."));;
Thread.Sleep(200);
this.MachineAxis.Z[0].ZeroAxis();
this.MachineAxis.Z[2].ZeroAxis();
Thread.Sleep(100);
if (task1.Result != 0)
{
MsgHelper.Instance.WriteLog(MsgLevel.Error, "Z1轴 回原点失败,请检查,Z1轴感应器");
return task1.Result;
}
else if (task2.Result != 0)
{
MsgHelper.Instance.WriteLog(MsgLevel.Error, "Z3轴 回原点失败,请检查,Z2轴感应器");
return task2.Result;
}
else
{
MsgHelper.Instance.WriteLog(MsgLevel.Info, "Z轴 回原点成功");
}
Thread.Sleep(500);
// Z轴到安全高度
rtn += this.ZGoSafeTillStop(Shceme.ManualNormal);
if (rtn != 0)
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "Z轴到安全高度失败"));
return rtn;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(40, "Z轴到安全高度成功"));
}
// X轴回原点
rtn += MachineAxis.X.GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.X],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.X]);
if (rtn != 0)
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "X轴回原点失败"));
return rtn;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(50, "X轴回原点成功"));
}
// 翻转轴回原点
rtn += MachineAxis.Trun.GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.TRUN],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.TRUN]);
if (rtn != 0)
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "翻转轴回原点失败"));
return rtn;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(60, "翻转轴回原点成功"));
}
// 翻转轴到水平位置
rtn += MachineAxis.Trun.GoPosTillStop(ConstDefine.iHomeTime, MachineConfig.TrunSuckAngle, SpeedDefine.Instance[Module][Shceme.ManualNormal, GeneralAxis.TRUN]);
if (rtn != 0)
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "翻转轴到水平位置失败"));
return rtn;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(70, "翻转轴到水平位置成功"));
}
// Y轴回原点
rtn += MachineAxis.Y.GoHome(ConstDefine.iHomeTime, SpeedDefine.Instance[Module][Shceme.GoLimit, GeneralAxis.Y],
SpeedDefine.Instance[Module][Shceme.Home, GeneralAxis.Y]);
if (rtn != 0)
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "Y轴回原点失败"));
return rtn;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(80, "Y轴到回原点成功"));
}
if (!Task.WaitAll(tasks, 2000))
{
HomeEvent?.Invoke(this, new HomeEventArgs(100, "U轴回原点失败"));
return -1;
}
else
{
HomeEvent?.Invoke(this, new HomeEventArgs(90, "U轴回原点成功"));
}
HomeEvent?.Invoke(this, new HomeEventArgs(100, "机器回零成功"));
return rtn;
#endregion
}));
}