private void btn_move_Click(object sender, EventArgs e)
{
bool flag = false;
if (xSpeed.Text == "" || xDistance.Text == "" || ySpeed.Text == "" || yDistance.Text == "" ||
zSpeed.Text == "" || zDistance.Text == "")
{
MessageShow.show("Warning:Inputting is null, please input!",
"警告：输入为空，请重新输入!");
return;
}
int axis1 = 1;
double speed1 = Convert.ToDouble(xSpeed.Value);
double range1 = Convert.ToDouble(xDistance.Value);
int axis2 = 2;
double speed2 = Convert.ToDouble(ySpeed.Value);
double range2 = Convert.ToDouble(yDistance.Value);
int axis3 = 3;
double speed3 = Convert.ToDouble(zSpeed.Value);
double range3 = Convert.ToDouble(zDistance.Value);
flag = NMC.HardwareBGo(axis1, range1, speed1);
flag |= NMC.HardwareBGo(axis2, range2, speed2);
flag |= NMC.HardwareBGo(axis3, range3, speed3);
if (!flag)
{
MessageShow.show("Move failed, pls check!", "运动失败，请检查!");
}
}
private void btn_continue_Click(object sender, EventArgs e)
{
bool err, error;
err = NMC.HardwareContinue();
error = err;
}
static void Main(string[] args)
{
//printfi();
Console.Title = "Tank_Main_Server";
string hostName = Dns.GetHostName(); //获取本机名
IPHostEntry localhost = Dns.GetHostByName(hostName); //方法已过期，可以获取IPv4的地址
IPAddress localaddr = localhost.AddressList[0];
string ipAddress = localaddr.ToString();
Console.WriteLine(ipAddress);
UDP uDP = new UDP();
uDP.Start();
DataMgr dataMgr = new DataMgr(); //连接数据库
NMC _NMC = new NMC(); //网络连接管理
_NMC.Start(ipAddress, 1234);
_NMC.Proto = new ProtocolBytes();
TeamMC teamMC = new TeamMC(); //组队管理
RoomMC roomMC = new RoomMC(); //队伍管理
FriendMC FMC = new FriendMC(); //好友管理
ServerMC SMC = new ServerMC(); //服务器管理
//SynTest Syt = new SynTest();/////////
SMC.Start(ipAddress, 2012);
//Core.Room room = new Core.Room();
//Scene scene = new Scene();
//RoomMgr roomMgr = new RoomMgr();
World world = new World();
Con = new Thread(COC);
while (true)
{
string str = Console.ReadLine();
switch (str)
{
case "quit":
_NMC.Close();
return;
case "print":
_NMC.Print();
break;
case "check":
Check();
break;
case "teamlist":
TeamMC.A.PrintTeamList();
break;
case "getserver":
SMC.printinfo();
break;
case "OnlineList": FriendMC.PrintOnlinelist(); break;
}
}
}
private void xforward_MouseDown(object sender, MouseEventArgs e)
{
bool flag = false;
int axis = 1;
int speed = 10;
int range = 100;
flag = NMC.HardwareBGo(axis, range, speed);
}
private void reset_Click(object sender, EventArgs e)
{
int axis1 = 1;
int axis2 = 2;
int axis3 = 3;
int axis4 = 4;
NMC.HardwareReset(axis1, axis2, axis3, axis4);
}
//未连线，连线后单独进行测试
//由于内置编码器，因此归零可另外设置
private void btn_zero_Click(object sender, EventArgs e)
{
bool flag = false;
flag = NMC.HardwareGoZero();
if (!flag)
{
MessageShow.show("Go zero failed, pls check!", "回零失败，请检查!");
}
}
private void ReadPos_tick(object sender, System.Timers.ElapsedEventArgs e)
{
double xPos = 0;
double yPos = 0;
double zPos = 0;
double rPos = 0;
NMC.HardwareGetCurPos((int)Axis.X, ref xPos);
NMC.HardwareGetCurPos((int)Axis.Y, ref yPos);
NMC.HardwareGetCurPos((int)Axis.Z, ref zPos);
NMC.HardwareGetCurPos((int)Axis.R, ref rPos);
NMC.HardwareChklimit();
// xPos = Math.Round(xPos, 2);
// yPos = Math.Round(yPos, 2);
// zPos = Math.Round(zPos, 2);
SetTextCallback xPosition = new SetTextCallback(SetXposText);
try
{
this.Invoke(xPosition, new object[] { Convert.ToString(xPos) });
}
catch { }
SetTextCallback yPosition = new SetTextCallback(SetYposText);
try
{
this.Invoke(yPosition, new object[] { Convert.ToString(yPos) });
}
catch { }
SetTextCallback zPosition = new SetTextCallback(SetZposText); //用于动态的更改控件text的内容
try
{
this.Invoke(zPosition, new object[] { Convert.ToString(zPos) });
}
catch { }
SetTextCallback rPosition = new SetTextCallback(SetRposText); //用于动态的更改控件text的内容
try
{
this.Invoke(rPosition, new object[] { Convert.ToString(rPos) });
}
catch { }
}
private void Cscan_btn_Click(object sender, EventArgs e)
{
int axis1;
double range1;
int axis2;
double range2;
//NMC.HardwareSigStop2Hardware();
bool flag = false;
if (nudXRange.Text == "" || nudYRange.Text == "" ||
nudSpeed.Text == "" || nudStep.Text == "")
{
MessageShow.show("Warning:Inputting is null, please input!",
"警告：输入为空，请重新输入!");
return;
}
double xRange = Convert.ToDouble(nudXRange.Value);
double yRange = Convert.ToDouble(nudYRange.Value);
double speed = Convert.ToDouble(nudSpeed.Value);
double step = Convert.ToDouble(nudStep.Value);
if (cmbScanAxis.SelectedIndex == 0) //X轴为扫描轴
{
axis1 = 1;
range1 = xRange;
axis2 = 2;
range2 = yRange;
}
else//y轴为扫描轴
{
axis1 = 2;
range1 = yRange;
axis2 = 1;
range2 = xRange;
}
NMC.HardwareSigStart2Hardware();
flag = NMC.HardwareBGoPlanar(axis1, range1, axis2, range2, speed, step);
if (!flag)
{
MessageShow.show("Bscan move failed, pls check!", "B扫运动失败，请检查!");
return;
}
//
}
private void Cscan_btn_Click(object sender, EventArgs e)
{
int axis = 0;
double range = 0;
//NMC.HardwareSigStop2Hardware();
bool flag = false;
if (nudRange.Text == "" || nudSpeed.Text == "")
{
MessageShow.show("Warning:Inputting is null, please input!",
"警告：输入为空，请重新输入!");
return;
}
double Range = Convert.ToDouble(nudRange.Value);
double speed = Convert.ToDouble(nudSpeed.Value);
if (cmbScanAxis.SelectedIndex == 0) //X轴为扫描轴
{
axis = 1;
range = Range;
}
if (cmbScanAxis.SelectedIndex == 1) //Y轴为扫描轴
{
axis = 2;
range = Range;
}
if (cmbScanAxis.SelectedIndex == 2) //Z轴为扫描轴
{
axis = 3;
range = Range;
}
if (cmbScanAxis.SelectedIndex == 3) //R轴为扫描轴
{
axis = 4;
range = Range;
}
flag = NMC.HardwareBGo(axis, range, speed);
if (!flag)
{
MessageShow.show("Bscan move failed, pls check!", "B扫运动失败，请检查!");
return;
}
}
private void xforward_MouseUp(object sender, MouseEventArgs e)
{
NMC.HardwareEStop();
}
private void btn_halt_Click(object sender, EventArgs e)
{
NMC.HardwareEHalt();
}
private void btn_stop_Click(object sender, EventArgs e)
{
NMC.HardwareEKill();
}
private void NMC_Test_Load(object sender, EventArgs e)
{
NMC.HardwareOpen();
}
private void btn_sigstop_Click(object sender, EventArgs e)
{
NMC.HardwareSigStop2Hardware();
}
