private void buttonMoveStart_Click(object sender, EventArgs e)
{
if (Platform == null)
{
return;
}
buttonStartMove.Enabled = false;
Cursor = Cursors.WaitCursor;
try
{
var pos = Platform.Positions.FirstOrDefault(p => p.Name == comboBoxPos.Text.Split('-')[1]);
if (pos != null)
{
//get obj pos
var curpos = Platform.CurPos;
var objpos = textBoxMovePos.Select(t => double.Parse(t.Text)).Take(curpos.Length).ToArray();
for (int i = 0; i < curpos.Length; i++)
{
if (!checkBoxEnable[i].Checked)
{
objpos[i] = curpos[i];
}
}
if (comboBoxMoveMode.Text == "MoveP")
{
if (MessageBox.Show($"开始 MoveP 运动 {string.Join(", ", curpos.Select(p => p.ToString("F3")))} 到 {string.Join(", ", objpos.Select(p => p.ToString("F3")))} ?",
Platform.Name, MessageBoxButtons.YesNo) != DialogResult.Yes)
{
return;
}
var ret = Platform.ExitAuto().MoveAbs(objpos, timeout: 10000, checkLimit: checkBoxCheckLimit.Checked);
if (!ret)
{
MessageBox.Show($"MoveP Error:{Platform.ShowStatus()}!", Platform.Name, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else if (comboBoxMoveMode.Text == "Jump")
{
var jh = double.Parse(comboBoxJumpHeight.Text);
if (MessageBox.Show($"开始 Jump 缩回高度 {jh:F3} 运动 {string.Join(", ", curpos.Select(p => p.ToString("F3")))} 到 {string.Join(", ", objpos.Select(p => p.ToString("F3")))} ?",
Platform.Name, MessageBoxButtons.YesNo) != DialogResult.Yes)
{
return;
}
var ret = Platform.ExitAuto().Jump(objpos, jh, timeout: 10000, checkLimit: checkBoxCheckLimit.Checked);
if (!ret)
{
MessageBox.Show($"Jump Error:{Platform.ShowStatus()}!", Platform.Name, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
else
{
MessageBox.Show($"运动模式 Error:{comboBoxMoveMode.Text}!", Platform.Name, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
catch (Exception ex)
{
MessageBox.Show($"{Platform.ShowStatus()}:{ex.Message}");
}
finally
{
buttonStartMove.Enabled = true;
Cursor = Cursors.Default;
}
}
private void buttonManual_Click(object sender, EventArgs e)
{
var btn = sender as Button;
try
{
if (btn != null)
{
btn.Enabled = false;
Cursor = Cursors.WaitCursor;
if (btn.Text.Contains("+"))
{
var i = Array.IndexOf(buttonMovePlusName, btn.Text);
if (i >= 0 && _platform.Axis[i] != null)
{
var axis = _platform.Axis[i];
var step = double.Parse(comboBox_Step[i].Text);
bool isCheckLimit = true;
if (step > 10 || axis.GetMel() || axis.GetPel())
{
if (MessageBox.Show($"{axis.Name} 开始移动 {step} mm 正限位 {axis.GetPel()} 负限位 {axis.GetMel()}?",
"警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
isCheckLimit = false;
}
var ret = _platform.ExitAuto().MoveRel(i, step, 10000, isCheckLimit);
if (!ret)
{
MessageBox.Show($"{axis.Name} 移动异常: {_platform.ShowStatus()} {axis.Error}！");
}
}
}
else if (btn.Text.Contains("-"))
{
var i = Array.IndexOf(buttonMoveMinusName, btn.Text);
if (i >= 0 && _platform.Axis[i] != null)
{
var axis = _platform.Axis[i];
var step = double.Parse(comboBox_Step[i].Text);
var isCheckLimit = true;
if (step > 10 || axis.GetMel() || axis.GetPel())
{
if (MessageBox.Show($"{axis.Name} 开始移动 -{step} mm 正限位 {axis.GetPel()} 负限位 {axis.GetMel()}?",
"警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
isCheckLimit = false;
}
var ret = _platform.ExitAuto().MoveRel(i, -step, 10000, isCheckLimit);
if (!ret)
{
MessageBox.Show($"{axis.Name} 移动异常: {_platform.ShowStatus()} {axis.Error}！");
}
}
}
}
}
catch (Exception ex)
{
Cursor = Cursors.Default;
MessageBox.Show($"Move Error:{ex.Message}");
}
finally
{
Cursor = Cursors.Default;
if (btn != null)
{
btn.Enabled = true;
}
}
}