protected override bool ActionGenuine(out string errorInfo)
{
string diName = GetInitParamValue("DI通道名称") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDiName(diName))
{
errorInfo = "DI通道名称:" + diName + " 在设备命名表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DI, diName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isTurnOn = false;
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetDI(ci.ChannelIndex, out isTurnOn);
if (errCode != 0)
{
errorInfo = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
SetOutputParamValue("DI状态", isTurnOn);
return(true);
}
/// <summary>
/// 软触发
/// </summary>
/// <param name="TrigChnName"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int SWPosTrig(string[] TrigChnName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (TrigChnName.Length == 0)
{
errMsg = "触发通道名称为空";
return((int)ErrorDef.InvokeFailed);
}
int[] trigChns = new int[TrigChnName.Length];
for (int i = 0; i < TrigChnName.Length; i++)
{
if (!JFCMFunction.CheckDevCellName(JFCMFunction.CmpTrig, TrigChnName[i], out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
trigChns[i] = ci.ChannelIndex;
}
IJFModule_CmprTrigger md = (dev as IJFDevice_MotionDaq).GetCompareTrigger(ci.ModuleIndex);
int errCode = md.SoftTrigge(trigChns);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 将界面上的初始化参数保存到Method中
/// </summary>
/// <returns></returns>
bool UI2InitParam()
{
if (null == _method)
{
return(true);
}
if (!(_method is IJFInitializable))
{
return(true);
}
IJFInitializable initor = _method as IJFInitializable;
string[] initName = initor.InitParamNames;
if (null == initName)
{
return(true);
}
for (int i = 0; i < initName.Length; i++)
{
object val;
if (!_lstUcParam[i].GetParamValue(out val))
{
MessageBox.Show("参数\"" + initName[i] + "\"设置失败，错误信息:\n" + _lstUcParam[i].GetParamErrorInfo());
return(false);
}
if (!initor.SetInitParamValue(initName[i], val))
{
MessageBox.Show("参数\"" + initName[i] + "\"设置失败，错误信息:\n" + initor.GetInitErrorInfo());
return(false);
}
}
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.Jog(ci.ChannelIndex, isPositive);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string doName = GetMethodInputValue("DO通道名称") as string;
bool enabled = (bool)GetMethodInputValue("DO状态");
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDoName(doName))
{
errorInfo = "参数项:\"DO通道名称\"的值:\"" + doName + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.DO, doName, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).SetDO(ci.ChannelIndex, enabled);
if (errCode != 0)
{
errorInfo = (enabled ? "打开" : "关闭") + "DO = " + doName + " 失败，" + (dev as IJFDevice_MotionDaq).GetDio(ci.ModuleIndex).GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
public int CaputreOneImage(string cmrName, string imageType, out HObject hObject, out string errMsg, int timeoutMilSwconds = -1)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
IJFImage image = null;
hObject = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
cmr.ClearBuff();
int errCode = cmr.GrabOne(out image, timeoutMilSwconds);
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
if (GenImgObject(imageType, image, out hObject, out errMsg) != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 获取Initor对象对应的ID
/// </summary>
/// <param name="initor"></param>
/// <returns></returns>
public string GetIDByInitor(IJFInitializable initor)
{
if (!dictInitors.ContainsValue(initor))
{
return(null);
}
return(dictInitors.FirstOrDefault(q => q.Value == initor).Key);
}
/// <summary>初始化设备</summary>
private void btInit_Click(object sender, EventArgs e)
{
IJFInitializable initor = JFHubCenter.Instance.InitorManager[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()];
if (!initor.Initialize())
{
MessageBox.Show("初始化失败:" + initor.GetInitErrorInfo());
}
}
/// <summary>取消编辑，将配置中的参数恢复到界面和对象中</summary>
private void btCancel_Click(object sender, EventArgs e)
{
IJFInitializable dev = JFHubCenter.Instance.InitorManager[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()];
JFXmlSortedDictionary <string, List <object> > devCfg = JFHubCenter.Instance.SystemCfg.GetItemValue(JFHubCenter.CK_InitDevParams) as JFXmlSortedDictionary <string, List <object> >;
List <object> initParams = devCfg[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()];
for (int i = 1; i < initParams.Count; i++)
{
UcJFParamEdit pe = gbParams.Controls[i + 4] as UcJFParamEdit;
pe.SetParamValue(initParams[i]);
pe.IsValueReadOnly = true;
dev.SetInitParamValue(dev.InitParamNames[i - 1], initParams[i]);
}
btInit.Enabled = !dev.IsInitOK;
btAdd.Enabled = true;
btRemove.Enabled = true;
//btDebug.Enabled = true;
isEditting = false;
btEditSave.Text = "编辑参数";
btCancel.Enabled = false;
dgvDevs.Enabled = true;
Type devType = dev.GetType();
if (typeof(IJFDevice_Camera).IsAssignableFrom(devType) ||
typeof(IJFDevice_LightController).IsAssignableFrom(devType) ||
typeof(IJFDevice_MotionDaq).IsAssignableFrom(devType) ||
typeof(IJFDevice_TrigController).IsAssignableFrom(devType) ||
typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType)) //提供调试界面
{
btDebug.Enabled = true;
if (typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType))
{
chkSelfUI.Enabled = true;
}
else
{
chkSelfUI.Checked = false;
chkSelfUI.Enabled = false;
}
}
else
{
btDebug.Enabled = false;
}
if (typeof(IJFConfigUIProvider).IsAssignableFrom(devType))
{
btCfg.Enabled = true;
}
else
{
btCfg.Enabled = false;
}
}
/// <summary>
/// 设置/保存 初始化参数
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void OnButtonClick_InitParamSetSave(object sender, EventArgs e)
{
if (!isInitParamEditting) //开放参数编辑
{
isInitParamEditting = true;
foreach (UcJFParamEdit pe in _lstUcParam)
{
pe.IsValueReadOnly = false;
}
btSetSaveInit.Text = "保存初始化参数";
btCancelInit.Enabled = true;
}
else //保存参数修改
{
if (UI2InitParam())
{
foreach (UcJFParamEdit pe in _lstUcParam)
{
pe.IsValueReadOnly = true;
}
btSetSaveInit.Text = "编辑初始化参数";
btCancelInit.Enabled = false;
isInitParamEditting = false;
///添加方法对象的（重新）初始化动作
IJFInitializable initor = _method as IJFInitializable;
foreach (UcJFParamEdit pe in _lstUcParam)
{
string initParamName = pe.GetParamDesribe().DisplayName;
object paramValue = null;
bool isOK = pe.GetParamValue(out paramValue);
if (!isOK)
{
MessageBox.Show("未能重新初始化方法对象\n请检查参数:\"" + initParamName + "\"");
return;
}
isOK = initor.SetInitParamValue(initParamName, paramValue);
if (!isOK)
{
MessageBox.Show("未能重新初始化方法对象\n设置参数:\"" + initParamName + "\"失败:" + initor.GetInitErrorInfo());
return;
}
isOK = initor.Initialize();
if (!isOK)
{
MessageBox.Show("重新初始化方法对象失败\n错误信息:" + initor.GetInitErrorInfo());
return;
}
}
}
}
}
/// <summary>确定创建Initor对象</summary>
private void btOK_Click(object sender, EventArgs e)
{
if (dgvTypes.SelectedRows == null || dgvTypes.SelectedRows.Count == 0)
{
MessageBox.Show("请选择需要创建的设备类型");
return;
}
if (string.IsNullOrWhiteSpace(tbID.Text))
{
MessageBox.Show("设备ID不能为空,请重新输入");
tbID.Focus();
return;
}
if (!_isFixedID && JFHubCenter.Instance.InitorManager.ContainID(tbID.Text))
{
IJFInitializable dev = JFHubCenter.Instance.InitorManager.GetInitor(tbID.Text);
string disTypeName = JFinitializerHelper.DispalyTypeName(dev.GetType());
MessageBox.Show(string.Format("Initor列表中已存在ID = \"{0}\" Type = \"{1}\"的设备\n请重新输入ID!", tbID.Text, disTypeName));
tbID.Focus();
return;
}
//IJFDevice newDev = JFHubCenter.Instance.InitorHelp.CreateInstance(dgvTypes.SelectedRows[0].Cells[0].Value.ToString()) as IJFDevice;
//for (int i = 2; i < gbParams.Controls.Count;i++)
for (int i = 0; i < panelParams.Controls.Count; i++)
{
//UcJFParamEdit pe = gbParams.Controls[i] as UcJFParamEdit;
UcJFParamEdit pe = panelParams.Controls[i] as UcJFParamEdit;
object paramVal = null;
if (!pe.GetParamValue(out paramVal))
{
MessageBox.Show("初始化参数:\"" + pe.Name + "\"获取失败!Error:" + pe.GetParamErrorInfo());
//newDev.Dispose();
pe.Focus();
return;
}
if (!initor.SetInitParamValue(initor.InitParamNames[i], paramVal))
{
MessageBox.Show(string.Format("设置初始化参数失败:Name = {0},Value = {1}", initor.InitParamNames[i], paramVal.ToString()));
//newDev.Dispose();
pe.Focus();
return;
}
}
DialogResult = DialogResult.OK;
}
private void btCfg_Click(object sender, EventArgs e)
{
if (dgvDevs.SelectedRows == null || dgvDevs.SelectedRows.Count == 0)
{
MessageBox.Show("请选择需要设置的" + InitorCaption + "对象！");
return;
}
IJFInitializable initor = JFHubCenter.Instance.InitorManager[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()];
Type devType = initor.GetType();
if (!typeof(IJFConfigUIProvider).IsAssignableFrom(devType))
{
MessageBox.Show(InitorCaption + "对象未提供参数配置界面！");
return;
}
(initor as IJFConfigUIProvider).ShowCfgDialog();
}
/// <summary>
/// 从系统中删除一个单相机视觉示教助手
/// </summary>
/// <param name="name"></param>
public void DelSVAssist(string name)
{
if (!ContainSVAssistName(name))
{
return;
}
IJFInitializable initor = JFHubCenter.Instance.InitorManager.GetInitor(name);
if (typeof(JFSingleVisionAssist) != initor.GetType())
{
throw new Exception("DelSVAssist(string name = " + name + ") failed by the initor's type is not JFSingleVisionAssist");
}
JFHubCenter.Instance.InitorManager.Remove(name); //从设备管理器中删除
JFXmlSortedDictionary <string, List <object> > devCfg = JFHubCenter.Instance.SystemCfg.GetItemValue(JFHubCenter.CK_InitDevParams) as JFXmlSortedDictionary <string, List <object> >;
devCfg.Remove(name);//从设备配置文件中删除
JFHubCenter.Instance.SystemCfg.NotifyItemChanged(JFHubCenter.CK_InitDevParams);
JFHubCenter.Instance.SystemCfg.Save();
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int err = 0;
bool IsServoOn = (bool)GetInitParamValue("轴是否励磁");
if (IsServoOn)
{
err = md.ServoOn(ci.ChannelIndex);
}
else
{
err = md.ServoOff(ci.ChannelIndex);
}
if (err != 0)
{
errorInfo = (IsServoOn ? "励磁使能ON" : "励磁使能OFF") + "失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>
/// 只是获取通道对应的设备，不做安全性检查（如通道序号是否合法/设备是否已经打开...）
/// </summary>
/// <returns></returns>
public IJFDevice Device()
{
JFDevCellInfo ci = CellInfo();
if (null == ci)
{
return(null);
}
IJFInitializable initor = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID);
switch (CellType)
{
case JFDevCellType.DI:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.DO:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.Axis:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.AI:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.AO:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.CmpTrig:
return(initor as IJFDevice_MotionDaq);
case JFDevCellType.Light:
return(initor as IJFDevice_LightController);
case JFDevCellType.Trig:
return(initor as IJFDevice_TrigController);
default:
break;
}
return(null);
}
public int ClearImageQueue(string cmrName, out string errMsg)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
errMsg = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Cmr, cmrName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFDevice_Camera cmr = (dev as IJFDevice_Camera);
int errCode = cmr.ClearBuff();
if (errCode != (int)ErrorDef.Success)
{
errMsg = cmr.GetErrorInfo(errCode);
return(errCode);
}
return((int)ErrorDef.Success);
}
/// <summary>
/// 将初始化参数加载到界面上
/// </summary>
void InitParam2UI()
{
if (null == _method)
{
return;
}
if (!(_method is IJFInitializable))
{
return;
}
IJFInitializable initor = _method as IJFInitializable;
string[] initName = initor.InitParamNames;
if (null == initName)
{
return;
}
for (int i = 0; i < initName.Length; i++)
{
_lstUcParam[i].SetParamValue(initor.GetInitParamValue(initName[i]));
}
}
protected override bool ActionGenuine(out string errorInfo)
{
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
//if(!md.IsSVO(ci.ChannelIndex)) //HTM控制卡在未上电时，调用Stop会异常退出
//{
// errorInfo = "\"轴ID\" = " + axisID + " 未励磁";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return true;
//}
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
errorInfo = md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>
/// 注册一个工站（不可删除）,
/// 在Application.Run()运行之前调用
/// </summary>
/// <param name="station"></param>
public void DeclearStation(IJFStation station)
{
if (station == null)
{
throw new ArgumentNullException("StationManager.DeclearStation(IJFStation station) failed by station = null");
}
//if (_lstDeclearStations.Contains(station))
// throw new ArgumentException("StationManager.DeclearStation(IJFStation station) failed by station is already decleared!");
string name = station.Name;
if (string.IsNullOrEmpty(name))
{
throw new ArgumentException("StationManager.DeclearStation(IJFStation station) failed by station's Name null or empty");
}
if (_initorStationNames().Contains(name))
{
IJFInitializable existedStation = JFHubCenter.Instance.InitorManager.GetInitor(name);
if (existedStation.GetType() != station.GetType())
{
throw new Exception("StationManager.DeclearStation(IJFStation station) failed by:Exist a station with same name and type unmatched: Decleared Type = " + station.GetType() + " ; Existed Type = " + existedStation.GetType());
}
(existedStation as IJFStation).Name = name;
DeclearedStationNames.Add(station.Name);
//station.WorkStatusChanged += StationWorkStatusChanged;
//station.CustomStatusChanged += StationCustomStatusChanged;
//if(station is JFCmdWorkBase)
// (station as JFCmdWorkBase).WorkMsg2Outter += StationTxtMsg;
return;
//throw new ArgumentException("StationManager.DeclearStation(IJFStation station) failed by station's Name = \"" + name + "\" is exsited in InitorStation-List!");
}
JFHubCenter.Instance.InitorManager.Add(station.Name, station);
DeclearedStationNames.Add(station.Name);
//station.WorkStatusChanged += StationWorkStatusChanged;
//station.CustomStatusChanged += StationCustomStatusChanged;
//if (station is JFCmdWorkBase)
// (station as JFCmdWorkBase).WorkMsg2Outter += StationTxtMsg;
}
private void FormDevMgr_Load(object sender, EventArgs e)
{
isEditting = false;
btCancel.Enabled = false;
btInit.Enabled = false;
btRemove.Enabled = false;
btDebug.Enabled = false;
btCfg.Enabled = false;
chkSelfUI.Enabled = false;
///加载现有设备到列表中
dgvDevs.Rows.Clear();
string[] devIDs = JFHubCenter.Instance.InitorManager.GetIDs(InitorType);
foreach (string devID in devIDs)
{
IJFInitializable dev = JFHubCenter.Instance.InitorManager[devID];
DataGridViewRow row = new DataGridViewRow();
DataGridViewTextBoxCell cellID = new DataGridViewTextBoxCell();
cellID.Value = devID;
row.Cells.Add(cellID);
DataGridViewTextBoxCell cellModel = new DataGridViewTextBoxCell();
cellModel.Value = JFinitializerHelper.DispalyTypeName(dev.GetType());
row.Cells.Add(cellModel);
DataGridViewTextBoxCell cellType = new DataGridViewTextBoxCell();
cellType.Value = dev.GetType().Name;
row.Cells.Add(cellType);
dgvDevs.Rows.Add(row);
if (!dev.IsInitOK)
{
row.DefaultCellStyle.ForeColor = Color.Red;
}
}
dgvDevs.ClearSelection();
RemoveAllPEs();
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFHomeParam hp = (JFHomeParam)GetInitParamValue("轴归零参数");
/*
* 归零模式 0:使用Org（原点）作为归零参考 1：使用限位信号作为归零参考 2：仅使用EZ信号作为归零参考
*/
if (hp.mode != 0 && hp.mode != 1 && hp.mode != 2 && hp.mode != -1 && hp.mode != -2)
{
errorInfo = "归零模式设置错误,mode=" + hp.mode;
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.acc <= 0)
{
errorInfo = "加速度/减速度acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vm <= 0)
{
errorInfo = "最大速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vo <= 0)
{
errorInfo = "寻找原点速度vo <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.va <= 0)
{
errorInfo = "接近速度va <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.shift < 0)
{
errorInfo = "回零偏移量sift < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.offset < 0)
{
errorInfo = "回零补偿值offset < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetHomeParam(ci.ChannelIndex, hp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
double dPos = Convert.ToDouble(GetInitParamValue("目标位置"));
bool IsAbsMove = Convert.ToBoolean(GetInitParamValue("绝对位置模式"));
if (IsAbsMove)
{
err = md.AbsMove(ci.ChannelIndex, dPos);
}
else
{
err = md.RelMove(ci.ChannelIndex, dPos);
}
if (err != 0)
{
errorInfo = (IsAbsMove?"绝对":"相对") + "位置运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
bool isEditting; ///是否处于编辑初始化参数状态
/// <summary>编辑/保存 初始化参数</summary>
private void btEditSave_Click(object sender, EventArgs e)
{
if (!isEditting)//参数未编辑状态
{
if (dgvDevs.SelectedRows == null || 0 == dgvDevs.SelectedRows.Count)
{
MessageBox.Show("请选择需要编辑参数的对象");
return;
}
if (gbParams.Controls.Count <= 5) //没有初始化参数
{
return;
}
for (int i = 5; i < gbParams.Controls.Count; i++)
{
UcJFParamEdit pe = gbParams.Controls[i] as UcJFParamEdit;
pe.IsValueReadOnly = false;
}
dgvDevs.Enabled = false;
btEditSave.Text = "保存";
btCancel.Enabled = true;
btInit.Enabled = false;
btAdd.Enabled = false;
btRemove.Enabled = false;
btDebug.Enabled = false;
isEditting = true;
}
else //编辑完成，需要存储编辑后的参数
{
IJFInitializable dev = JFHubCenter.Instance.InitorManager[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()];
List <object> initParams = new List <object>();
initParams.Add(dev.GetType().AssemblyQualifiedName);//DevType
for (int i = 5; i < gbParams.Controls.Count; i++)
{
object paramVal = null;
UcJFParamEdit pe = gbParams.Controls[i] as UcJFParamEdit;
if (!pe.GetParamValue(out paramVal))
{
pe.Focus();
MessageBox.Show("参数\"" + dev.InitParamNames[i - 5] + "\"格式错误：" + pe.GetParamErrorInfo());
return;
}
if (!dev.SetInitParamValue(dev.InitParamNames[i - 5], paramVal))
{
pe.Focus();
MessageBox.Show("设置参数\"" + dev.InitParamNames[i - 5] + "\"失败：" + dev.GetInitErrorInfo());
return;
}
//initParams.Add(paramVal); //替换为以下代码，适应数组/基类型混编的参数列表
//paramsInCfg.Add(dev.GetInitParamValue(dev.InitParamNames[i])); 本行代码用以下代码代替，以支持有限的 简单类型 + 数组（列表）类型的组合
//暂时的解决方法：将数组类型转化为字符串存储
Type paramType = dev.GetInitParamDescribe(dev.InitParamNames[i - 5]).ParamType;
SerializableAttribute[] sas = paramType.GetCustomAttributes(typeof(SerializableAttribute), false) as SerializableAttribute[];
if (sas != null && sas.Length > 0) //如果是可序列化的类型，直接保存序列化后的文本
{
StringBuilder buffer = new StringBuilder();
XmlSerializer serializer = new XmlSerializer(paramType);
using (TextWriter writer = new StringWriter(buffer))
{
serializer.Serialize(writer, paramVal);
}
string xmlTxt = buffer.ToString();
initParams.Add(xmlTxt); // paramsInCfg.Add(xmlTxt);
}
else
{
if (paramType.IsValueType || paramType == typeof(string)) //单值对象和字符串对象直接添加
{
initParams.Add(paramVal);
}
else //目前支持Array 和 List
{
if (paramType.IsArray) //参数类型是数组
{
if (null == paramVal)
{
initParams.Add("");
}
else
{
StringBuilder sb = new StringBuilder();
string splitString = "$";
for (int j = 0; j < (paramVal as Array).Length; j++)
{
sb.Append((paramVal as Array).GetValue(j).ToString());
if (j < (paramVal as Array).Length - 1)
{
sb.Append(splitString);
}
}
initParams.Add(sb.ToString());//paramsInCfg.Add(string.Join(splitString, paramVal)); //使用ASC 响铃符作为间隔
}
}
else if (typeof(IList).IsAssignableFrom(paramType)) //除了数组之外的队列类型
{
if (null == paramVal)
{
initParams.Add("");
}
else
{
StringBuilder sb = new StringBuilder();
string splitString = "$";
for (int j = 0; j < (paramVal as IList).Count; j++)
{
sb.Append((paramVal as IList)[j].ToString());
if (j < (paramVal as IList).Count - 1)
{
sb.Append(splitString);
}
}
initParams.Add(sb.ToString());
//paramsInCfg.Add(string.Join(System.Text.Encoding.ASCII.GetString(new byte[] { 0x07 }), paramVal)); //使用ASC 响铃符作为间隔
}
}
}
}
}
for (int i = 5; i < gbParams.Controls.Count; i++)
{
UcJFParamEdit pe = gbParams.Controls[i] as UcJFParamEdit;
pe.IsValueReadOnly = true;
}
if (!dev.Initialize())
{
MessageBox.Show("用当前参数初始化设备失败:" + dev.GetInitErrorInfo());
}
JFXmlSortedDictionary <string, List <object> > devCfg = JFHubCenter.Instance.SystemCfg.GetItemValue(JFHubCenter.CK_InitDevParams) as JFXmlSortedDictionary <string, List <object> >;
devCfg[dgvDevs.SelectedRows[0].Cells[0].Value.ToString()] = initParams;
JFHubCenter.Instance.SystemCfg.NotifyItemChanged(JFHubCenter.CK_InitDevParams);
JFHubCenter.Instance.SystemCfg.Save();
btInit.Enabled = true;
btAdd.Enabled = true;
btRemove.Enabled = true;
//btDebug.Enabled = true;
isEditting = false;
btEditSave.Text = "编辑参数";
btCancel.Enabled = false;
dgvDevs.Enabled = true;
Type devType = dev.GetType();
if (typeof(IJFDevice_Camera).IsAssignableFrom(devType) ||
typeof(IJFDevice_LightController).IsAssignableFrom(devType) ||
typeof(IJFDevice_MotionDaq).IsAssignableFrom(devType) ||
typeof(IJFDevice_TrigController).IsAssignableFrom(devType) ||
typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType)) //提供调试界面
{
btDebug.Enabled = true;
if (typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType))
{
chkSelfUI.Enabled = true;
}
else
{
chkSelfUI.Checked = false;
chkSelfUI.Enabled = false;
}
}
else
{
btDebug.Enabled = false;
}
if (typeof(IJFConfigUIProvider).IsAssignableFrom(devType))
{
btCfg.Enabled = true;
}
else
{
btCfg.Enabled = false;
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
double velocity = Convert.ToDouble(GetInitParamValue("移动速度"));
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = md.VelMove(ci.ChannelIndex, velocity, isPositive);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>选择设备</summary>
private void dgvDevs_CellClick(object sender, DataGridViewCellEventArgs e)
{
if (dgvDevs.SelectedRows.Count == 0)
{
return;
}
btRemove.Enabled = true;
RemoveAllPEs();
DataGridViewRow row = dgvDevs.SelectedRows[0];
IJFInitializable dev = JFHubCenter.Instance.InitorManager[row.Cells[0].Value.ToString()];
Type devType = dev.GetType();
if (typeof(IJFDevice_Camera).IsAssignableFrom(devType) ||
typeof(IJFDevice_LightController).IsAssignableFrom(devType) ||
typeof(IJFDevice_MotionDaq).IsAssignableFrom(devType) ||
typeof(IJFDevice_TrigController).IsAssignableFrom(devType) ||
typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType)) //提供调试界面
{
btDebug.Enabled = true;
if (typeof(IJFRealtimeUIProvider).IsAssignableFrom(devType))
{
chkSelfUI.Enabled = true;
}
else
{
chkSelfUI.Checked = false;
chkSelfUI.Enabled = false;
}
}
else
{
btDebug.Enabled = false;
}
if (typeof(IJFConfigUIProvider).IsAssignableFrom(devType))
{
btCfg.Enabled = true;
}
else
{
btCfg.Enabled = false;
}
tbDevID.Text = row.Cells[0].Value.ToString();
btInit.Enabled = !dev.IsInitOK;
string[] iniParamNames = dev.InitParamNames;
if (null == iniParamNames)
{
btEditSave.Enabled = false;
return;
}
btEditSave.Enabled = true;
int locY = btInit.Location.Y + btInit.Size.Height + 5;
foreach (string ipName in iniParamNames)
{
UcJFParamEdit pe = new UcJFParamEdit();
pe.Width = gbParams.Width - 1;
pe.Location = new Point(4, locY);
pe.SetParamDesribe(dev.GetInitParamDescribe(ipName));
locY += pe.Height;
pe.SetParamValue(dev.GetInitParamValue(ipName));
pe.IsValueReadOnly = true;
gbParams.Controls.Add(pe);
}
}
/// <summary>
/// 检查设备通道是否存在并且可用
/// </summary>
/// <param name="category"></param>
/// <param name="cellName"></param>
/// <param name="initor"></param>
/// <param name="cellInfo"></param>
/// <param name="errorInfo"></param>
/// <returns></returns>
public static bool CheckDevCellName(string category, string cellName, out IJFInitializable initor, out JFDevCellInfo ci, out string errorInfo)
{
initor = null;
ci = null;
errorInfo = null;
if (string.IsNullOrEmpty(cellName))
{
errorInfo = "参数项\"cellName\"为空";
return(false);
}
JFDevCellNameManeger nameMgr = JFHubCenter.Instance.MDCellNameMgr;
JFInitorManager initorMgr = JFHubCenter.Instance.InitorManager;
JFDevCellInfo cellInfo = null;
if (category == DO) //获取数字量输出通道信息
{
cellInfo = nameMgr.GetDoCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在DO：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.DioCount)
{
errorInfo = "DO:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备DIO模块数量: " + md.DioCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetDio(cellInfo.ModuleIndex).DOCount)
{
errorInfo = "DO:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出模块DO通道数量: " + md.GetDio(cellInfo.ModuleIndex).DOCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == DI) //获取数字量输入
{
cellInfo = nameMgr.GetDiCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在DI：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.DioCount)
{
errorInfo = "DI:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备DIO模块数量: " + md.DioCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetDio(cellInfo.ModuleIndex).DICount)
{
errorInfo = "DI:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出模块DI通道数量: " + md.GetDio(cellInfo.ModuleIndex).DOCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == AI)
{
}
else if (category == AO)
{
}
else if (category == Axis)
{
cellInfo = nameMgr.GetAxisCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在Axis：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.McCount)
{
errorInfo = "Axis:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备轴模块数量: " + md.McCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetMc(cellInfo.ModuleIndex).AxisCount)
{
errorInfo = "Axis:\"" + cellName + "\" Channel = :" + cellInfo.ModuleIndex + "超出模块轴通道数量: " + md.GetMc(cellInfo.ModuleIndex).AxisCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == CmpTrig)
{
cellInfo = nameMgr.GetCmpTrigCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在CmpTrig：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.CompareTriggerCount)
{
errorInfo = "CmpTrig:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备比较触发模块数量: " + md.CompareTriggerCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetCompareTrigger(cellInfo.ModuleIndex).EncoderChannels)
{
errorInfo = "CmpTrig:\"" + cellName + "\" Channel = :" + cellInfo.ModuleIndex + "超出模块比较触发通道数量: " + md.GetCompareTrigger(cellInfo.ModuleIndex).EncoderChannels;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == LightCtrl)
{
cellInfo = nameMgr.GetLightCtrlChannelInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在LightCtrl：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_LightController).IsAssignableFrom(dev.GetType()))
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是IJFDevice_LightController ";
return(false);
}
IJFDevice_LightController md = dev as IJFDevice_LightController;
if (!md.IsInitOK)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ChannelIndex >= md.LightChannelCount)
{
errorInfo = "LightCtrl:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出设备光源通道数量: " + md.LightChannelCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == LightTrig)
{
cellInfo = nameMgr.GetTrigCtrlChannelInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在LightTrig：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_TrigController).IsAssignableFrom(dev.GetType()))
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是IJFDevice_TrigController ";
return(false);
}
IJFDevice_TrigController md = dev as IJFDevice_TrigController;
if (!md.IsInitOK)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ChannelIndex >= md.TrigChannelCount)
{
errorInfo = "LightTrig:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出设备触发通道数量: " + md.TrigChannelCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == Cmr)
{
IJFInitializable dev = initorMgr.GetInitor(cellName);
if (null == dev)
{
errorInfo = "Camera:\"" + cellName + "\" 在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_Camera).IsAssignableFrom(dev.GetType()))
{
errorInfo = "Camera:\"" + cellName + "\" 设备类型不是IJFDevice_Camera ";
return(false);
}
initor = dev;
errorInfo = "Success";
return(true);
}
else
{
errorInfo = "不支持的参数项\"category\" = " + category;
}
return(false);
}
protected override bool ActionGenuine(out string errorInfo)
{
string[] axisIDList = GetInitParamValue("轴ID列表") as string[];
double[] dPosList = GetMethodInputValue("目标位置列表") as double[];
bool IsAbsMove = (bool)GetMethodInputValue("绝对位置模式");
if (axisIDList == null || dPosList == null)
{
errorInfo = "轴ID列表长度或者目标位置列表长度为空";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int[] iaxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (dPosList.Length <= 0)
{
errorInfo = "目标位置列表<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (axisIDList.Length != dPosList.Length)
{
errorInfo = "轴ID列表长度为" + axisIDList.ToString() + "与目标列表长度" + dPosList.Length.ToString() + "不一致。";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
IJFInitializable devbuff = null;
JFDevCellInfo ci = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
for (int m = 0; m < axisIDList.Length; m++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[m]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[m] + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisIDList[m], out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
iaxisIDList[m] = ci.ChannelIndex;
if (devbuff != null)
{
if (devbuff != dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
}
devbuff = dev;
if (cibuffList.Contains(ci))
{
errorInfo = "轴ID列表中存在重复的轴名称";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
cibuffList.Add(ci);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (IsAbsMove)
{
err = md.AbsLine(iaxisIDList, dPosList);
}
else
{
err = md.RelLine(iaxisIDList, dPosList);
}
if (err != 0)
{
errorInfo = (IsAbsMove ? "绝对" : "相对") + "直线插补运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
void AdjustView()
{
timerFlush.Enabled = false;
tpRealtime.Controls.Clear();
tpInitCfg.Controls.Clear();
_lstUcParam.Clear();
if (null == _method)
{
Label lb1 = new Label();
lb1.Text = "方法对象未设置";
tpRealtime.Controls.Add(lb1);
Label lb2 = new Label();
lb2.Text = "方法对象未设置";
tpInitCfg.Controls.Add(lb1);
return;
}
if (_method is IJFRealtimeUIProvider)
{
JFRealtimeUI ui = (_method as IJFRealtimeUIProvider).GetRealtimeUI();
if (null != ui)
{
ui.Dock = DockStyle.Fill;
tpRealtime.Controls.Add(ui);
timerFlush.Enabled = true;
}
}
else
{
UcCommonMethodRtUi ui = new UcCommonMethodRtUi();
ui.Dock = DockStyle.Fill;
ui.SetMethod(_method);
tpRealtime.Controls.Add(ui);
timerFlush.Enabled = true;
}
int locX = 3, locY = 3;
if (_method is IJFConfigUIProvider)//提供参数配置界面
{
Button btShowCfg = new Button();
btShowCfg.Text = "参数配置";
btShowCfg.Location = new Point(locX, locY);
tpInitCfg.Controls.Add(btShowCfg);
btShowCfg.Click += OnButtonClick_ShowCfgUI;
locY = btShowCfg.Bottom + 2;
}
if (_method is IJFInitializable)//初始参数可序列化对象
{
IJFInitializable initor = _method as IJFInitializable;
string[] initNames = initor.InitParamNames;
if (null != initNames && initNames.Length > 0)
{
isInitParamEditting = false;
btSetSaveInit = new Button();
btSetSaveInit.Text = "编辑初始化参数";
btSetSaveInit.Location = new Point(locX, locY);
btSetSaveInit.Click += OnButtonClick_InitParamSetSave;
tpInitCfg.Controls.Add(btSetSaveInit);
btCancelInit = new Button();
btCancelInit.Text = "取消";
btCancelInit.Location = new Point(btSetSaveInit.Right + 2, locY);
btCancelInit.Click += OnButtonClick_InitParamCancel;
tpInitCfg.Controls.Add(btCancelInit);
btCancelInit.Enabled = false;
locY = btCancelInit.Bottom + 2;
for (int i = 0; i < initNames.Length; i++)
{
string initName = initNames[i];
JFParamDescribe pd = initor.GetInitParamDescribe(initName);
UcJFParamEdit ucParam = new UcJFParamEdit();
ucParam.Width = tpInitCfg.Width - 100;
ucParam.Location = new Point(locX, locY);
ucParam.SetParamDesribe(pd);
ucParam.SetParamValue(initor.GetInitParamValue(initName));
ucParam.IsValueReadOnly = true;
_lstUcParam.Add(ucParam);
tpInitCfg.Controls.Add(ucParam);
ucParam.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
locY = ucParam.Bottom + 2;
}
InitParam2UI();
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFMotionParam mp = (JFMotionParam)GetInitParamValue("运动参数");
/*
* public double vs { get; set; }
* /// <summary>最大速度</summary>
* public double vm { get; set; }
* /// <summary>结束速度</summary>
* public double ve { get; set; }
* /// <summary>加速度</summary>
* public double acc { get; set; }
* /// <summary>减速度</summary>
* public double dec { get; set; }
* /// <summary>s曲线因子(0~1.0)</summary>
* public double curve { get; set; }
* /// <summary>加加速</summary>
* public double jerk { get; set; }
*/
if (mp.vs < 0)
{
errorInfo = "起始速度参数vs < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.vm <= 0)
{
errorInfo = "运行速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.ve < 0)
{
errorInfo = "终点速度参数ve < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.acc <= 0)
{
errorInfo = "加速度参数acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.dec <= 0)
{
errorInfo = "减速度参数dec <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.curve < 0 || mp.curve > 1)
{
errorInfo = "加速度曲线段系数不在允许范围0~1";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetMotionParam(ci.ChannelIndex, mp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string chnID = GetMethodInputValue("光源通道ID") as string;
int intensity = (int)GetMethodInputValue("光照强度");
if (string.IsNullOrEmpty(chnID))
{
errorInfo = "输入参数项:\"光源通道ID\" 为空字串";
return(false);
}
if (!JFHubCenter.Instance.MDCellNameMgr.ContainLightChannelName(chnID))
{
errorInfo = "输入参数项:\"光源通道ID\" = " + chnID + " 在设备名称表中不存在";
return(false);
}
if (intensity < 0)
{
errorInfo = "输入参数项:\"光照强度\" = " + intensity + " 为无效值（参数值必须>=0）";
return(false);
}
bool isAutoSwitchMode = (bool)GetInitParamValue("自动切换到开关模式");
bool isAutoEnable = (bool)GetInitParamValue("自动使能");
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string errInfo = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.LightCtrl, chnID, out dev, out ci, out errInfo))
{
errorInfo = errInfo;
return(false);
}
int errCode = 0;
IJFDevice_LightController devLight = dev as IJFDevice_LightController;
if (typeof(IJFDevice_LightControllerWithTrig).IsAssignableFrom(devLight.GetType())) //如果当前设备带有触发功能
{
IJFDevice_LightControllerWithTrig devLT = devLight as IJFDevice_LightControllerWithTrig;
JFLightWithTrigWorkMode wm;
errCode = devLT.GetWorkMode(out wm);
if (errCode != 0)
{
errorInfo = "获取光源控制器工作模式失败:" + devLT.GetErrorInfo(errCode);
return(false);
}
if (wm == JFLightWithTrigWorkMode.Trigger) //当前处于触发模式
{
if (!isAutoSwitchMode)
{
errorInfo = "控制器当前为触发模式";
return(false);
}
errCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.TurnOnOff);
if (errCode != 0)
{
errorInfo = "控制器切换工作模式失败:" + devLT.GetErrorInfo(errCode);
return(false);
}
}
}
bool isLightChnEnabled = false;
errCode = devLight.GetLightChannelEnable(ci.ChannelIndex, out isLightChnEnabled);
if (0 != errCode)
{
errorInfo = "获取通道使能状态失败:" + devLight.GetErrorInfo(errCode);
return(false);
}
if (!isLightChnEnabled)
{
if (!isAutoEnable)
{
errorInfo = "光源通道未使能";
return(false);
}
errCode = devLight.SetLightChannelEnable(ci.ChannelIndex, true);
if (errCode != 0)
{
errorInfo = "光源通道使能失败：" + devLight.GetErrorInfo(errCode);
return(false);
}
}
errCode = devLight.SetLightIntensity(ci.ChannelIndex, intensity);
if (errCode != 0)
{
errorInfo = "设置光照强度失败：" + devLight.GetErrorInfo(errCode);
return(false);
}
errorInfo = "Success";
return(true);
}
