private void PoseDifference_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);;
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
RefPos1 = ConfigController.INIRead("UR运动参数", "BasePos1", DefaultINIPath);
RefPos2 = ConfigController.INIRead("UR运动参数", "BasePos2", DefaultINIPath);
RefPos3 = ConfigController.INIRead("UR运动参数", "BasePos3", DefaultINIPath);
txtPose1.Text = RefPos1;
txtPose2.Text = RefPos2;
txtPose3.Text = RefPos3;
HomeVector = RefPos1;
//尝试连接，如果不能连接，则某些按钮不可用
try
{
URController.Creat_client(CurrentIP, Convert.ToInt32(Control_Port));
ifConnected = true;
}
catch
{
ifConnected = false;
MessageBox.Show("未连接UR，某些功能不可用");
}
}
private void Teach_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
string Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);;
URController.Creat_client(Target_IP, Convert.ToInt32(Control_Port));
//MessageBox.Show(Target_IP + "|" + Control_Port);
}
private void Register_Load(object sender, EventArgs e)
{
//读取配置文件的IP
FilesINI ConfigController = new FilesINI();
string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
URRegisterHandle.connectServer();
}
//加载一个INI文件，加载之后直接读取所有配置并在界面上显示
public void LoadINI(string FilePath)
{
try
{
Remote_IP.Text = ConfigController.INIRead("UR控制参数", "RemoteIP", FilePath);
Control_Port.Text = ConfigController.INIRead("UR控制参数", "RemoteControlPort", FilePath);
Basic_Speed.Text = ConfigController.INIRead("UR运动参数", "BasicSpeed", FilePath);
Basic_Acceleration.Text = ConfigController.INIRead("UR运动参数", "BasicAcceleration", FilePath);
Data_RefreshRate.Text = ConfigController.INIRead("UR运动参数", "BasicRefreshRate", FilePath);
string AutoConnection = ConfigController.INIRead("UR控制参数", "IfAutoConnect", FilePath);
if (AutoConnection == "YES")
{
AutoConnect.Checked = true;
}
else
{
AutoConnect.Checked = false;
}
}
catch (Exception LoadError)
{
MessageBox.Show("配置文件异常，请重置");
}
}
private void Register_Load(object sender, EventArgs e)
{
//读取配置文件的IP
FilesINI ConfigController = new FilesINI();
string CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
//同样只是初始化的时候执行一次，由于是传统的读写寄存器，不需要保持连接，也就不需要实时的initialServer
//URRegisterHandle.initialServer();
}
private void Dashboard_Load(object sender, EventArgs e)
{
FilesINI ConfigController = new FilesINI();
string Target_IP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
int Control_Port = 29999;
//创建Dashboard客户端
URController.Creat_client(Target_IP, Control_Port);
//一开始连接到UR之后UR会主动发过来一条信息
string Feedback = URController.No_command_WaitFeedback();
txtFeedback.Items.Add(Feedback);
//设置这个Combobox
UserRoleBox.Items.Add("程序员");
UserRoleBox.Items.Add("操作员");
UserRoleBox.Items.Add("完全锁定");
}
private void CameraCalibration_Load(object sender, EventArgs e)
{
CurrentIP = ConfigController.INIRead("UR控制参数", "RemoteIP", DefaultINIPath);
Control_Port = ConfigController.INIRead("UR控制参数", "RemoteControlPort", DefaultINIPath);
//读取拍照位置的各项参数
CurrentPosStr = ConfigController.INIRead("UR运动参数", "BaseSnapPos", DefaultINIPath);
txtCurrentSnapPos.Text = CurrentPosStr;
//读取三个基准位置
PosInt1[0] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeX_Camera", DefaultINIPath));
PosInt1[1] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeY_Camera", DefaultINIPath));
PosInt1[2] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeZ_Camera", DefaultINIPath));
PosInt1[3] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeU_Camera", DefaultINIPath));
PosInt1[4] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeV_Camera", DefaultINIPath));
PosInt1[5] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeW_Camera", DefaultINIPath));
PosInt2[0] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeX_A_Camera", DefaultINIPath));
PosInt2[1] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeY_A_Camera", DefaultINIPath));
PosInt2[2] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeZ_A_Camera", DefaultINIPath));
PosInt2[3] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeU_A_Camera", DefaultINIPath));
PosInt2[4] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeV_A_Camera", DefaultINIPath));
PosInt2[5] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeW_A_Camera", DefaultINIPath));
PosInt3[0] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeX_B_Camera", DefaultINIPath));
PosInt3[1] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeY_B_Camera", DefaultINIPath));
PosInt3[2] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeZ_B_Camera", DefaultINIPath));
PosInt3[3] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeU_B_Camera", DefaultINIPath));
PosInt3[4] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeV_B_Camera", DefaultINIPath));
PosInt3[5] = Convert.ToDouble(ConfigController.INIRead("UR运动参数", "HomeW_B_Camera", DefaultINIPath));
//计算OA和OB的长度(空间两点的距离公式)
double OALength = Math.Sqrt(Math.Pow((PosInt1[0] - PosInt2[0]), 2) + Math.Pow((PosInt1[1] - PosInt2[1]), 2) + Math.Pow((PosInt1[2] - PosInt2[2]), 2));
double OBLength = Math.Sqrt(Math.Pow((PosInt1[0] - PosInt3[0]), 2) + Math.Pow((PosInt1[1] - PosInt3[1]), 2) + Math.Pow((PosInt1[2] - PosInt3[2]), 2));
CurrentActiveOA[0] = ((PosInt2[0] - PosInt1[0]) / OALength);
CurrentActiveOA[1] = ((PosInt2[1] - PosInt1[1]) / OALength);
CurrentActiveOA[2] = ((PosInt2[2] - PosInt1[2]) / OALength);
CurrentActiveOA[3] = ((PosInt2[3] - PosInt1[3]) / OALength);
CurrentActiveOA[4] = ((PosInt2[4] - PosInt1[4]) / OALength);
CurrentActiveOA[5] = ((PosInt2[5] - PosInt1[5]) / OALength);
CurrentActiveOB[0] = ((PosInt3[0] - PosInt1[0]) / OBLength);
CurrentActiveOB[1] = ((PosInt3[1] - PosInt1[1]) / OBLength);
CurrentActiveOB[2] = ((PosInt3[2] - PosInt1[2]) / OBLength);
CurrentActiveOB[3] = ((PosInt3[3] - PosInt1[3]) / OBLength);
CurrentActiveOB[4] = ((PosInt3[4] - PosInt1[4]) / OBLength);
CurrentActiveOB[5] = ((PosInt3[5] - PosInt1[5]) / OBLength);
//读取三个特征点的像素值
txt_O_X.Text = ConfigController.INIRead("UR运动参数", "HomeX_Camera_Pixel", DefaultINIPath);
txt_O_Y.Text = ConfigController.INIRead("UR运动参数", "HomeY_Camera_Pixel", DefaultINIPath);
txt_A_X.Text = ConfigController.INIRead("UR运动参数", "HomeX_A_Camera_Pixel", DefaultINIPath);
txt_A_Y.Text = ConfigController.INIRead("UR运动参数", "HomeY_A_Camera_Pixel", DefaultINIPath);
txt_B_X.Text = ConfigController.INIRead("UR运动参数", "HomeX_B_Camera_Pixel", DefaultINIPath);
txt_B_Y.Text = ConfigController.INIRead("UR运动参数", "HomeY_B_Camera_Pixel", DefaultINIPath);
URRegisterHandle.RemoteIP = CurrentIP;
URRegisterHandle.RemotePort = 502;
URRegisterHandle.SocketTimeOut = 1000;
try
{
URController.Creat_client(CurrentIP, Convert.ToInt32(Control_Port));
ifConnected = true;
}
catch
{
ifConnected = false;
MessageBox.Show("未连接UR，某些功能不可用");
}
//注册HD的委托方法
HD.OnGetMatchPatternSuccess += new HDevelopExport.GetMatchPatternSuccess(UpdateMatchValue);
//这里要在线程中处理，否则窗体就卡死了
Thread thread = new Thread(new ThreadStart(threadMethod));
thread.Start();
}