public SendParameter MonitorCard()
{
SendParameter data = new SendParameter();
Random random = new Random();
ushort[] bit = new ushort[8];
data.AxisPosition = new double[5];
data.AxisStatu = new ushort[5];
data.AxisPosition = new double[5];
bool[] sing = new bool[3];
data.AxisSensorX = new bool[3];
data.AxisSensorY = new bool[3];
data.AxisSensorZ = new bool[3];
data.AxisSensorA = new bool[3];
data.AxisSensorB = new bool[3];
try
{
//输入
Global.Ccard1.InputerMethod(ref bit);
data.inputdata = bit;
//当前位置
data.AxisPosition[0] = Global.X.GetPosition();
data.AxisPosition[1] = Global.Y.GetPosition();
data.AxisPosition[2] = Global.Z.GetPosition();
data.AxisPosition[3] = Global.A.GetPosition();
data.AxisPosition[4] = Global.B.GetPosition();
//轴状态
data.AxisStatu[0] = Global.X.GetAxisStatus();
data.AxisStatu[1] = Global.Y.GetAxisStatus();
data.AxisStatu[2] = Global.Z.GetAxisStatus();
data.AxisStatu[3] = Global.A.GetAxisStatus();
data.AxisStatu[4] = Global.B.GetAxisStatus();
//卡状态
data.CardStatu = Global.Ccard1.GetErrorCode();
//马达感应器
Global.X.Getsing(ref sing);
data.AxisSensorX = sing;
Global.Y.Getsing(ref sing);
data.AxisSensorY = sing;
Global.Z.Getsing(ref sing);
data.AxisSensorZ = sing;
Global.A.Getsing(ref sing);
data.AxisSensorA = sing;
Global.B.Getsing(ref sing);
data.AxisSensorB = sing;
Thread.Sleep(100);
return(data);
}
catch (Exception ex)
{
return(null);
}
}
public void RecieveData(SendParameter sendParameter)
{
BtnBreakColor(Xp_button, sendParameter.AxisSensorX[0]);
BtnBreakColor(Xs_button, sendParameter.AxisSensorX[1]);
BtnBreakColor(Yp_button, sendParameter.AxisSensorY[0]);
BtnBreakColor(Ys_button, sendParameter.AxisSensorY[1]);
BtnBreakColor(Zp_button, sendParameter.AxisSensorZ[0]);
BtnBreakColor(Zs_button, sendParameter.AxisSensorZ[1]);
}
public void DoSomething()
{
SendParameter sen = new SendParameter();
// Write some code that does something useful here
// then raise the event. You can also raise an event
// before you execute a block of code.
sen = action();
OnRaiseCustomEvent(new CustomEventArgs(sen));
}
public void RevMess(SendParameter sendPara)
{
if (rich_Mess.InvokeRequired)
{
rich_Mess.BeginInvoke(new Action(() =>
{
rich_Mess.Text += sendPara.Mess;
}
));
}
}
public void RecieveData(SendParameter sendPara)
{
var Bit = sendPara.inputdata;
#region //位值转显示
//启动
if (Bit[0] == 1)
{
lable0.ForeColor = Color.LawnGreen;
}
else
{
lable0.ForeColor = Color.Black;
}
//复位
if (Bit[1] == 1)
{
lable1.ForeColor = Color.LawnGreen;
}
else
{
lable1.ForeColor = Color.Black;
}
//气压
if (Bit[2] == 1)
{
lable2.ForeColor = Color.LawnGreen;
}
else
{
lable2.ForeColor = Color.Black;
}
//门
if (Bit[3] == 1)
{
lable3.ForeColor = Color.LawnGreen;
}
else
{
lable3.ForeColor = Color.Black;
}
// press down
if (Bit[4] == 1)
{
lable4.ForeColor = Color.LawnGreen;
}
else
{
lable4.ForeColor = Color.Black;
}
// press up
if (Bit[5] == 1)
{
lable5.ForeColor = Color.LawnGreen;
}
else
{
lable5.ForeColor = Color.Black;
}
//Material-R
if (Bit[6] == 1)
{
lable6.ForeColor = Color.LawnGreen;
}
else
{
lable6.ForeColor = Color.Black;
}
//Material-L
if (Bit[7] == 1)
{
lable7.ForeColor = Color.LawnGreen;
}
else
{
lable7.ForeColor = Color.Black;
}
#endregion
//if (textBox1.InvokeRequired)
//{
// textBox1.BeginInvoke(new Action(() =>
// {
// textBox1.Text = sendPara.db.ToString();
// }
// ));
//}
}
public void RevCurrentPos(SendParameter sendPara)
{
#region SetPos
if (Xcur_textBox.InvokeRequired)
{
Xcur_textBox.BeginInvoke(new Action(() =>
{
Xcur_textBox.Text = sendPara.AxisPosition[0].ToString("#0.000");
SetAxisStutic(Xcur_textBox, sendPara.AxisStatu[0]);
}
));
}
if (Ycur_textBox.InvokeRequired)
{
Ycur_textBox.BeginInvoke(new Action(() =>
{
Ycur_textBox.Text = sendPara.AxisPosition[1].ToString("#0.000");
SetAxisStutic(Ycur_textBox, sendPara.AxisStatu[1]);
}
));
}
if (Zcur_textBox.InvokeRequired)
{
Zcur_textBox.BeginInvoke(new Action(() =>
{
Zcur_textBox.Text = sendPara.AxisPosition[2].ToString("#0.000");
SetAxisStutic(Zcur_textBox, sendPara.AxisStatu[2]);
}
));
}
if (Acur_textBox.InvokeRequired)
{
Acur_textBox.BeginInvoke(new Action(() =>
{
Acur_textBox.Text = sendPara.AxisPosition[3].ToString("#0.000");
SetAxisStutic(Acur_textBox, sendPara.AxisStatu[3]);
}
));
}
if (Bcur_textBox.InvokeRequired)
{
Bcur_textBox.BeginInvoke(new Action(() =>
{
Bcur_textBox.Text = sendPara.AxisPosition[4].ToString("#0.000");
SetAxisStutic(Bcur_textBox, sendPara.AxisStatu[4]);
}
));
}
#endregion
#region EtherCAT status
if (textBox4.InvokeRequired)
{
textBox4.BeginInvoke(new Action(() =>
{
if (sendPara.CardStatu == 0)
{
textBox4.Text = "EtherCAT总线正常";
textBox4.BackColor = Color.Green;
}
else
{
textBox4.Text = "EtherCAT总线出错";
textBox4.BackColor = Color.Red;
}
}
));
}
#endregion
}
public CustomEventArgs(SendParameter sendParameter)
{
SendParat = sendParameter;
}
