public void SaveResult(string pathDir)
{
string path = pathDir;
DirUtils.CreateDir(path);
//this.FileName = this.FileName.Replace(':', '_');
path = path + "\\" + DateTime.Now.ToString("yyyyMMdd HHmmss");
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.Append(this.Barcode + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.Depart + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.ComputerInfo + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.MachineInfo + "\r\n");
stringBuilder.Append(this.GetBarcodePart(this.Barcode) + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.ProductLineInfo + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.OwkInfo + "\r\n");
stringBuilder.Append(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.UserInfo + "\r\n");
stringBuilder.Append(this.GetProgramRunTime() + "\r\n");
stringBuilder.Append(this.GetProgramEndTime() + "\r\n");
stringBuilder.Append("No Width MaxValue MinValue Height MaxValue MinValue" + "\r\n");
for (int i = 0; i < this.Results.Count; i++)
{
string s = "";
s += (1 + i).ToString() + " ";
s += this.Results[i][0] + " ";
s += this.Results[i][1] + " ";
s += this.Results[i][2] + " ";
s += this.Results[i][3] + " ";
s += this.Results[i][4] + " ";
s += this.Results[i][5];
stringBuilder.Append(s + "\r\n");
}
CsvUtil.WriteLine(path, stringBuilder.ToString());
}
private void button3_Click(object sender, EventArgs e)
{
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.需要更新绘图程序, FluidProgram.CurrentOrDefault());
DrawProgram.Instance.SetGraphics(this.g, 1);
//DrawProgram.Instance.Drawing();
}
private void Init()
{
this.valveControl1.Setup(2);
for (int i = 0; i < 10; i++)
{
this.cbxDotStyle.Items.Add("Type " + (i + 1));
}
this.cbxDotStyle.SelectedIndex = 0;
this.dotStyle = DotStyle.TYPE_1;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(this.dotStyle);
if (DataSetting.Default.selectDispenseMode)
{
this.rdoDispenseMode.Checked = true;
}
else
{
this.rdoPlasticineMode.Checked = true;
}
switch (DataSetting.Default.selectCorrectionAxis)
{
case CorrectionAxis.A轴校正:
this.rdoAxisA.Checked = true;
break;
case CorrectionAxis.B轴校正:
this.rdoAxisB.Checked = true;
break;
case CorrectionAxis.A轴和B轴同时校正:
this.rdoAxisAandB.Checked = true;
break;
}
}
private void button2_Click(object sender, EventArgs e)
{
FluidProgram.Create("xiaoxu", 0, 0);
DotCmdLine dot = new DotCmdLine();
dot.Position.X = 100;
dot.Position.Y = 100;
FluidProgram.CurrentOrDefault().Workpiece.AddCmdLine(dot);
DoCmdLine doPattern = new DoCmdLine("1", 300, 300);
FluidProgram.CurrentOrDefault().Workpiece.AddCmdLine(doPattern);
Pattern pattern = new Pattern(FluidProgram.CurrentOrDefault(), "1", 200, 200);
DotCmdLine dot1 = new DotCmdLine();
dot1.Position.X = 200;
dot1.Position.Y = 200;
pattern.AddCmdLine(dot1);
FluidProgram.CurrentOrDefault().AddPattern(pattern);
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.需要更新绘图程序, FluidProgram.CurrentOrDefault());
DrawProgram.Instance.SetGraphics(this.g, 1);
DrawProgram.Instance.Drawing();
}
public CalculateTheNeedleXYOffset(int valveNo)
{
this.valveNo = valveNo;
InitializeComponent();
this.valveControl1.Setup(valveNo);
if (this.valveNo == 1)
{
this.picDiagram.Image = Properties.Resources.CalculateTheNeedleXYOffset;
}
else
{
this.picDiagram.Image = Properties.Resources.CalculateTheNeedle2XYOffset;
}
UpdateByFlag();
for (int i = 0; i < 10; i++)
{
cbxDotStyle.Items.Add("Type " + (i + 1));
}
cbxDotStyle.SelectedIndex = 9;
dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.ReadLanguageResources();
this.FormClosed += CalculateTheNeedleXYOffset_FormClosed;
}
private void EditCmdLine(int index)
{
bool inWorkpiece;
int patternNo = 0;
if (commandsModule is FluidProgram)
{
return;
}
else if (commandsModule is Workpiece)
{
inWorkpiece = true;
}
else
{
inWorkpiece = false;
Pattern pattern = commandsModule as Pattern;
for (int i = 0; i < FluidProgram.CurrentOrDefault().Patterns.Count; i++)
{
if (FluidProgram.CurrentOrDefault().Patterns[i].Name == pattern.Name)
{
patternNo = i;
}
}
}
int[] cmdLiensIndex = new int[1];
cmdLiensIndex[0] = index;
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.点击了一个绘图命令, inWorkpiece, patternNo, cmdLiensIndex);
}
public void Setup(object[] objs)
{
dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.tileType = (TiltType)objs[0];
this.valveAngle = (double)objs[1];
this.valveCameraOffset = (PointD)objs[2];
this.standardZ = (double)objs[3];
}
private void btnTeach_Click(object sender, EventArgs e)
{
FluidProgram.CurrentOrDefault().ConveyorWidth = double.Parse(this.txtLiveLocation.Text);
string msg = string.Format("ConveyorWidth:{0}->{1}", ConveyorWidthBackUp, double.Parse(this.txtLiveLocation.Text));
Logger.DEFAULT.Info(LogCategory.MANUAL | LogCategory.SETTING, this.GetType().Name, msg);
this.ConveyorWidthBackUp = FluidProgram.CurrentOrDefault().ConveyorWidth;
}
private void OnLoadProgram(string programPath)
{
if (FluidProgram.Current != null && FluidProgram.CurrentFilePath == programPath)
{
AlarmServer.Instance.Fire(FluidProgram.Current, AlarmInfoFlu.WarnProgramAlreadyLoaded);
return;
}
this.ProgramCtl.Enabled = false;
FluidProgram.Load(programPath,
program =>
{
if (program == null)
{
AlarmServer.Instance.Fire(program, AlarmInfoFlu.WarnProgramNull);
return;
}
FluidProgram.CurrentFilePath = programPath;
program.HasChanged = false;
//加载程序，切换程序相关硬件参数
Log.Dprint("Loading program: writing hardware...");
program.InitHardware();
Log.Dprint("Loading program: writing hardware done!");
//语法检查
if (Executor.Instance.CurrProgramState != Executor.ProgramOuterState.IDLE &&
Executor.Instance.CurrProgramState != Executor.ProgramOuterState.ABORTED)
{
return;
}
Log.Dprint("Loading program: grammar parsing...");
FluidProgram.Current.Parse();
Log.Dprint("Loading program: grammar parse done!");
//加载飞拍Mark校准值,只能在程序解析后赋值
if (FluidProgram.Current.RuntimeSettings.FlyOffsetIsValid)
{
bool result = FluidProgram.Current.ModuleStructure.SetAllMarkFlyOffset(FluidProgram.Current.RuntimeSettings.FlyOffsetList);
if (!result)
{
FluidProgram.Current.RuntimeSettings.FlyOffsetIsValid = false;
}
}
MsgCenter.SendMsg(MsgType.RUNINFO_PROGRAM, this, this.RunInfoCtl, program.Name);
},
(errCode, errMsg) =>
{
AlarmServer.Instance.Fire(FluidProgram.Current, AlarmInfoFlu.ErrorLoadingProgram.AppendMsg(errMsg));
});
this.ProgramCtl.Enabled = true;
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.需要更新绘图程序, FluidProgram.CurrentOrDefault());
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.进入了Workpiece界面);
}
/// <summary>
/// 计算在手动打线模式下，普通线需要的各种参数
/// </summary>
/// <param name="start"></param>
/// <param name="end"></param>
/// <param name="lineParam"></param>
/// <param name="accStartPoint"></param>
/// <param name="decelEndPoint"></param>
/// <param name="runSpeed"></param>
/// <param name="linePoints"></param>
/// <param name="fluidIntervalSec"></param>
private void GetManualNormalLineParam(PointD start, PointD end, LineParam lineParam, out PointD accStartPoint, out PointD decelEndPoint, out double runSpeed, out PointD[] linePoints, out double fluidIntervalSec)
{
double accDistance = 0, decelDistance = 0;
// 运动速度不能超过设定的最大速度
double speed = lineParam.Speed > FluidProgram.CurrentOrDefault().MotionSettings.WorkMaxVel ? FluidProgram.CurrentOrDefault().MotionSettings.WorkMaxVel : lineParam.Speed;
// 计算加速区间距离
if (lineParam.AccelDistanceValueType == LineParam.ValueType.COMPUTE)
{
accDistance = MathUtils.CalculateDistance(0, speed, Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc));
Log.Dprint("Acc Distance COMPUTE speed=" + speed + ", WeightAcc=" + FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc
+ ", distance=" + accDistance);
}
else
{
accDistance = lineParam.AccelDistance;
}
// 计算减速区间距离
if (lineParam.DecelDistanceValueType == LineParam.ValueType.COMPUTE)
{
decelDistance = MathUtils.CalculateDistance(speed, 0, -Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc));
Log.Dprint("Decel Distance COMPUTE speed=" + speed + ", WeightAcc=" + FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc
+ ", distance=" + decelDistance);
}
else
{
decelDistance = lineParam.DecelDistance;
}
// 计算加速区间起始位置和减速区间结束位置
PointD accStart = calAccStartPosition(start, end, accDistance);
PointD decelEnd = calDecelEndPosition(start, end, decelDistance);
// 计算点胶位置
double intervalSec;
PointD[] points = calNormalLinePoints(start, end, lineParam, speed, out intervalSec);
accStartPoint = accStart;
decelEndPoint = decelEnd;
runSpeed = speed;
linePoints = points;
fluidIntervalSec = intervalSec;
}
private bool ResultsIsRight()
{
if (Results.Count == 0)
{
this.SaveResult(FluidProgram.CurrentOrDefault().RuntimeSettings.CustomParam.RTVParam.DataLocalPathDir);
return(false);
}
foreach (var item in this.Results)
{
if (Convert.ToDouble(item[0]) > Convert.ToDouble(item[1]) || Convert.ToDouble(item[0]) < Convert.ToDouble(item[2]))
{
return(false);
}
if (Convert.ToDouble(item[3]) > Convert.ToDouble(item[4]) || Convert.ToDouble(item[3]) < Convert.ToDouble(item[5]))
{
return(false);
}
}
return(true);
}
private void DispensingPot()
{
this.btnPrev.Enabled = false;
this.btnNext.Enabled = false;
this.grpVavelParam.Enabled = false;
this.lblTitle.Text = this.lblTip[3];
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(this.dotStyle);
Task.Factory.StartNew(new Action(() =>
{
Machine.Instance.Robot.MoveSafeZAndReply();
Result result;
double dot1Z;//, dot2Z, dot3Z;
result = this.HeightMeasure(out dot1Z);
if (!result.IsOk)
{
this.btnPrev.Enabled = true;
return;
}
result = Machine.Instance.Valve2.DoPurgeAndPrime();
if (!result.IsOk)
{
this.btnPrev.Enabled = true;
return;
}
this.ContinueDot(dot1Z);
this.BeginInvoke(new Action(() =>
{
this.btnPrev.Enabled = true;
this.btnNext.Enabled = true;
}));
}));
}
/// <summary>
/// 根据当前commandsModule更新绘图程序内容
/// </summary>
private void UpdateDrawPanel()
{
//绘图相关逻辑
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.需要更新绘图程序, FluidProgram.CurrentOrDefault());
if (commandsModule is Workpiece)
{
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.进入了Workpiece界面);
}
else if (commandsModule is Pattern)
{
int patternNo = 0;
Pattern pattern = commandsModule as Pattern;
for (int i = 0; i < FluidProgram.CurrentOrDefault().Patterns.Count; i++)
{
if (FluidProgram.CurrentOrDefault().Patterns[i].Name == pattern.Name)
{
patternNo = i;
}
}
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.进入了Pattern界面, patternNo);
}
}
/// <summary>
/// 更改命令行背景色
/// </summary>
private void ClickCmdLine()
{
bool inWorkpiece;
int patternNo = 0;
if (commandsModule is FluidProgram)
{
return;
}
else if (commandsModule is Workpiece)
{
inWorkpiece = true;
}
else
{
inWorkpiece = false;
Pattern pattern = commandsModule as Pattern;
for (int i = 0; i < FluidProgram.CurrentOrDefault().Patterns.Count; i++)
{
if (FluidProgram.CurrentOrDefault().Patterns[i].Name == pattern.Name)
{
patternNo = i;
}
}
}
int[] cmdLiensIndex = new int[this.listView1.SelectedItems.Count];
for (int i = 0; i < this.listView1.SelectedItems.Count; i++)
{
cmdLiensIndex[i] = this.listView1.SelectedItems[i].Index;
}
this.highLightSelectedIndices();
DrawingMsgCenter.Instance.SendMsg(DrawingMessage.点击了一个绘图命令, inWorkpiece, patternNo, cmdLiensIndex);
}
private void btnEditDot_Click(object sender, EventArgs e)
{
new EditDotParamsForm(FluidProgram.CurrentOrDefault().ProgramSettings.DotParamList).ShowDialog();
}
private void UpdateByFlag()
{
switch (flag)
{
case 0:
this.pnlDisplay.Controls.Clear();
this.pnlDisplay.Controls.Add(this.picDiagram);
this.picDiagram.Show();
this.btnPrev.Enabled = false;
this.btnNext.Enabled = true;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.lblTitle.Text = this.lblTip[0];
break;
case 1:
Task.Factory.StartNew(new Action(() =>
{
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到默认平台中心点
Machine.Instance.Robot.ManualMovePosXYAndReply(DataSetting.Default.SubstrateCenter);
if (Machine.Instance.Laser.Laserable.Vendor == Laser.Vendor.Disable)
{
Machine.Instance.Robot.MovePosZAndReply(DataSetting.Default.NeedleJetZ);
MessageBox.Show("此时的Z轴高度为打胶时的参考高度");
}
}));
case2IsDone = false;
//
this.pnlDisplay.Controls.Clear();
this.pnlDisplay.Controls.Add(this.cameraControl);
this.cameraControl.Dock = DockStyle.Fill;
this.cameraControl.Show();
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.lblTitle.Text = this.lblTip[1];
break;
case 2:
if (case2IsDone == false)
{
//重新赋值平台中心点
DataSetting.Default.SubstrateCenter = new PointD(Machine.Instance.Robot.PosX, Machine.Instance.Robot.PosY);
if (Machine.Instance.Laser.Laserable.Vendor == Laser.Vendor.Disable)
{
DataSetting.Default.NeedleJetZ = Machine.Instance.Robot.PosZ;
}
}
else
{
}
this.btnPrev.Enabled = false;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.btnEditDot.Enabled = false;
this.cbxDotStyle.Enabled = false;
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
Task.Factory.StartNew(() =>
{
double z1 = 0;
double z2 = 0;
double z3 = 0;
double z4 = 0;
if (Machine.Instance.Laser.Laserable.Vendor != Laser.Vendor.Disable)
{
int rst;
//关闭光源
Machine.Instance.Light.None();
Machine.Instance.MeasureHeightBefore();
//去点1处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height1;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height1);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z1 = Machine.Instance.Robot.CalibPrm.StandardZ + (height1 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点2处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height2;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height2);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z2 = Machine.Instance.Robot.CalibPrm.StandardZ + (height2 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点3处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height3;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height3);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z3 = Machine.Instance.Robot.CalibPrm.StandardZ + (height3 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点4处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height4;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height4);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z4 = Machine.Instance.Robot.CalibPrm.StandardZ + (height4 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//打开光源
Machine.Instance.Light.ResetToLast();
Machine.Instance.MeasureHeightAfter();
}
else
{
z1 = DataSetting.Default.NeedleJetZ;
}
//去清洗位置洗喷嘴
Result result;
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
result = Machine.Instance.Valve1.DoPurgeAndPrime();
}
else
{
result = Machine.Instance.Valve2.DoPurgeAndPrime();
}
if (!result.IsOk)
{
MessageBox.Show(lblTip[13]);
return;
}
this.BeginInvoke(new Action(() =>
{
//到点胶位置1点胶
this.lblTitle.Text = this.lblTip[3];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置1
PointD p1 = (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ByNeedleCamera(ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p1);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置1
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置2点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[4];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置2
PointD p2 = (DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p2);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置2
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置3点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[5];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置3
PointD p3 = (DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p3);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置3
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置4点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[6];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置4
PointD p4 = (DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p4);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置4
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//四点点胶完成
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[7];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = true;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.btnEditDot.Enabled = true;
this.cbxDotStyle.Enabled = true;
}));
});
break;
case 3:
case2IsDone = true;
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点1附近
PointD p = (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[8];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
break;
case 4:
//计算点胶阀中心和真实点胶中心的差值
if (this.valveNo == 1)
{
Machine.Instance.Robot.CalibPrm.NeedleJet1 =
(Machine.Instance.Robot.PosXY.ToSystem() - (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ToSystem()).ToPoint();
}
else
{
Machine.Instance.Robot.CalibPrm.NeedleJet2 = new PointD(
Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X - 5),
Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y + 5));
}
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点2附近
p = (DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[9];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
break;
case 5:
//计算修正后，在点2时点胶阀中心和实际点胶中心的差值
PointD dot2Offset = new PointD();
if (this.valveNo == 1)
{
dot2Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot2Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot2Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot2TotalOffset = Math.Sqrt(Math.Pow(dot2Offset.X, 2) + Math.Pow(dot2Offset.Y, 2));
this.txtDot2Offset.Text = dot2TotalOffset.ToString();
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点3附近
p = (DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[10];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
break;
case 6:
//计算修正后，在点3时点胶阀中心和实际点胶中心的差值
PointD dot3Offset = new PointD();
if (this.valveNo == 1)
{
dot3Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot3Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot3Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot3TotalOffset = Math.Pow((Math.Pow(dot3Offset.X, 2) + Math.Pow(dot3Offset.Y, 2)), 0.5);
this.txtDot3Offset.Text = dot3TotalOffset.ToString();
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点4附近
p = (DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[11];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.rdoOK.Checked = false;
this.rdoFail.Checked = false;
this.rdoOK.Enabled = false;
this.rdoFail.Enabled = false;
break;
case 7:
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//计算修正后，在点4时点胶阀中心和实际点胶中心的差值
PointD dot4Offset = new PointD();
if (this.valveNo == 1)
{
dot4Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot4Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot4Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot4TotalOffset = Math.Pow((Math.Pow(dot4Offset.X, 2) + Math.Pow(dot4Offset.Y, 2)), 0.5);
this.txtDot4Offset.Text = dot4TotalOffset.ToString();
if (dot2TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot2Offset.BackColor = Color.DarkRed;
}
if (dot3TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot3Offset.BackColor = Color.DarkRed;
}
if (dot4TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot4Offset.BackColor = Color.DarkRed;
}
if ((dot2TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot3TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot4TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)))
{
this.rdoOK.Checked = true;
this.rdoOK.Enabled = true;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
}
this.lblTitle.Text = this.lblTip[12];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = true;
break;
}
}
private void UpdateByIndex()
{
switch (index)
{
case 0:
this.txtMsg.Text = "用相机寻找到打胶中心，按 [下一步]，将会在距离寻找到的中心半径5mm的四个方向打胶";
this.btnNext.Enabled = true;
break;
case 1:
this.dispensePos = Machine.Instance.Robot.PosXY;
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.gap = this.dotParam.DispenseGap;
Task.Factory.StartNew(new Action(() =>
{
bool b = this.MeasureHeightAndDot();
this.BeginInvoke(new Action(() =>
{
if (b)
{
this.txtMsg.Text = "点胶结束,按 [下一步]，将会移动到第一个点胶位置";
}
else
{
this.txtMsg.Text = "点胶失败";
this.btnNext.Enabled = false;
}
}));
}));
break;
case 2:
this.txtMsg.Text = "找到第一个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点1附近
PointD p1 = new PointD(this.dispensePos.X - 5, this.dispensePos.Y + 5);
Machine.Instance.Robot.ManualMovePosXY(p1);
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
break;
case 3:
//计算实际点胶中心和胶阀中心的差值
this.dotValveOffset = new PointD(Machine.Instance.Robot.PosX - (this.dispensePos.X - 5), Machine.Instance.Robot.PosY - (this.dispensePos.Y + 5));
this.txtMsg.Text = "找到第二个胶点的中心位置，按 [下一步]";
PointD p2 = new PointD(this.dispensePos.X + 5, this.dispensePos.Y + 5);
Machine.Instance.Robot.ManualMovePosXY(p2);
break;
case 4:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot2Offset = new PointD();
dot2Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X + 5 + this.dotValveOffset.X);
dot2Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y + 5 + this.dotValveOffset.Y);
this.dot2TotalOffset = Math.Sqrt(Math.Pow(dot2Offset.X, 2) + Math.Pow(dot2Offset.Y, 2));
this.txtDot2Offset.Text = dot2TotalOffset.ToString();
this.txtMsg.Text = "找到第三个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
PointD p3 = new PointD(this.dispensePos.X - 5, this.dispensePos.Y - 5);
Machine.Instance.Robot.ManualMovePosXY(p3);
break;
case 5:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot3Offset = new PointD();
dot3Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X - 5 + this.dotValveOffset.X);
dot3Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y - 5 + this.dotValveOffset.Y);
this.dot3TotalOffset = Math.Sqrt(Math.Pow(dot3Offset.X, 2) + Math.Pow(dot3Offset.Y, 2));
this.txtDot3Offset.Text = dot3TotalOffset.ToString();
this.txtMsg.Text = "找到第四个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
PointD p4 = new PointD(this.dispensePos.X + 5, this.dispensePos.Y - 5);
Machine.Instance.Robot.ManualMovePosXY(p4);
break;
case 6:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot4Offset = new PointD();
dot4Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X + 5 + this.dotValveOffset.X);
dot4Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y - 5 + this.dotValveOffset.Y);
this.dot4TotalOffset = Math.Sqrt(Math.Pow(dot4Offset.X, 2) + Math.Pow(dot4Offset.Y, 2));
this.txtDot4Offset.Text = dot4TotalOffset.ToString();
if (this.dot2TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot2Offset.BackColor = Color.DarkRed;
}
if (dot3TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot3Offset.BackColor = Color.DarkRed;
}
if (dot4TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot4Offset.BackColor = Color.DarkRed;
}
if ((dot2TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot3TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot4TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)))
{
this.rdoOK.Checked = true;
this.rdoOK.Enabled = true;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
}
this.txtMsg.Text = "四点校正完成";
break;
}
}
/// <summary>
/// 解析指令
/// 注意： 传递的实际原点坐标值，是引用当前模块的指令（DO, DO MULTIPASS)里面的坐标值；如果当前模块是FluidProgram，则原点值为(0, 0)
/// </summary>
/// <param name="origin">当前模块实际原点坐标</param>
/// <param name="parent">包含当前模块的外层模块, 一个模块解析后对应的是RunnableModule类型，所以parent类型是RunnableModule</param>
/// <param name="level">当前模块所处的层级，Program为0,Workpiece为1，以此类推</param>
/// <returns>解析结果. 如果解析成功，携带对应的RunnableModule；如果解析失败，携带出错行CmdLine、出错描述信息</returns>
private Result parse(CommandsModule commandsModule, PointD origin, RunnableModule parent, int level, int boardNo)
{
Pattern currPattern = commandsModule as Pattern;
RunnableModule runnableModule = new RunnableModule(commandsModule, origin);
runnableModule.BoardNo = boardNo;
// workpiece下面所有拼版根据因引用的Do指令或DoMultiPass指令的Valve设定拼版
if (level == 2)
{
runnableModule.Valve = (commandsModule as Pattern).Valve;
if (runnableModule.Valve == Drive.ValveSystem.ValveType.Valve1)
{
runnableModule.Mode = ModuleMode.AssignMode1;
runnableModule.SaveMode = ModuleMode.AssignMode1;
}
else if (runnableModule.Valve == Drive.ValveSystem.ValveType.Valve2)
{
runnableModule.Mode = ModuleMode.AssignMode2;
runnableModule.SaveMode = ModuleMode.AssignMode2;
}
else if (runnableModule.Valve == Drive.ValveSystem.ValveType.Both)
{
runnableModule.Mode = ModuleMode.DualFallow;
runnableModule.SaveMode = ModuleMode.DualFallow;
}
}
if (level > 2)
{
runnableModule.Valve = parent.Valve;
runnableModule.Mode = parent.Mode;
runnableModule.SaveMode = parent.SaveMode;
}
program.ModuleStructure.AddModule(runnableModule, parent, level);
// 是否已经遇到END:
bool ended = false;
// 记录当前处在什么类型的子句中，例如：loop block, pass block
BlockState blockState = new BlockState();
// 开始解析：
List <CmdLine> cmdLineList;
cmdLineList = new List <CmdLine>(commandsModule.CmdLineList);
CmdLine cmdLine = null;
bool hasPassBlock = false;
int lastPassblockIndex = -1;
MeasureHeightCmd curMeasureHeightCmd = null;
//增加螺杆阀的速度、重量键值对
Dictionary <int, double> svValvespeedDic = new Dictionary <int, double>();
//TODO 将5换为阀参数设置的默认值,10换为默认值
svValvespeedDic.Add(5, 10);
for (int i = 0; i < cmdLineList.Count; i++)
{
cmdLine = cmdLineList[i];
// 忽略被禁用的命令
if (!cmdLine.Enabled)
{
continue;
}
// END: 后面不允许添加任何命令
if (ended)
{
return(new Result(false, cmdLine, "No commands is allowed to be added after END"));
}
if (cmdLine is SetHeightSenseModeCmdLine)
{
runnableModule.AddCommand(new SetHeightSenseModeCmd(runnableModule, cmdLine as SetHeightSenseModeCmdLine));
}
else if (cmdLine is MarkCmdLine)
{
// Mark点命令必须处在最前面
if (i > 0)
{
// 寻找Mark点前面的Enable==true且不是注释的命令
CmdLine lastestCmdLine = getLastestEnabledCmdLine(cmdLineList, i - 1);
if (lastestCmdLine != null && !(lastestCmdLine is MarkCmdLine))
{
return(new Result(false, cmdLine, "MARK must be added before the other command types."));
}
}
if (findMarkCmdLineIndex(cmdLineList, cmdLine as MarkCmdLine) > 1)
{
return(new Result(false, cmdLine, "MARK number can not be more than 2."));
}
MarkCmd markCmd = new MarkCmd(runnableModule, cmdLine as MarkCmdLine);
runnableModule.AddCommand(markCmd);
program.ModuleStructure.RecordMarkPoint(runnableModule, markCmd);
}
else if (cmdLine is BadMarkCmdLine)
{
//// 屏蔽原因 : BadMark模式由每个拼版只有一个 改为 测高指令那种模式
//// BadMark点命令必须处在非Mark命令的前面
//if (i > 0)
//{
// // 寻找Bad Mark点前面的Enable==true且不是注释的命令
// CmdLine lastestCmdLine = getLastestEnabledCmdLine(cmdLineList, i - 1);
// if (lastestCmdLine != null && !(lastestCmdLine is MarkCmdLine))
// {
// // 当前指令前面有非Mark指令，判断是否是BadMark，每个pattern只能添加一个BadMark
// if (lastestCmdLine is BadMarkCmdLine)
// {
// return new Result(false, cmdLine, "Only one BADMARK command can be added per pattern");
// }
// else
// {
// return new Result(false, cmdLine, "BADMARK must be added before the non-mark command types.");
// }
// }
//}
BadMarkCmd badMarkCmd = new BadMarkCmd(runnableModule, cmdLine as BadMarkCmdLine);
runnableModule.AddCommand(badMarkCmd);
program.ModuleStructure.RecordBadMarkPoint(runnableModule, badMarkCmd);
}
else if (cmdLine is MeasureCmdLine)
{
MeasureCmd measureCmd = new MeasureCmd(runnableModule, cmdLine as MeasureCmdLine);
runnableModule.AddCommand(measureCmd);
//记录检测指令里的测高
program.ModuleStructure.RecordMeasureGlueHTCmds(runnableModule, measureCmd);
}
else if (cmdLine is BlobsCmdLine)
{
BlobsCmd blobsCmd = new BlobsCmd(runnableModule, cmdLine as BlobsCmdLine);
runnableModule.AddCommand(blobsCmd);
program.ModuleStructure.RecordBlobsCmds(runnableModule, blobsCmd);
}
else if (cmdLine is BarcodeCmdLine)
{
BarcodeCmd barcodeCmd = new BarcodeCmd(runnableModule, cmdLine as BarcodeCmdLine);
runnableModule.AddCommand(barcodeCmd);
program.ModuleStructure.RecordBarcodeCmds(runnableModule, barcodeCmd);
}
else if (cmdLine is ConveyorBarcodeCmdLine)
{
ConveyorBarcodeCmd conveyorBarcodeCmd = new ConveyorBarcodeCmd(runnableModule, cmdLine as ConveyorBarcodeCmdLine);
runnableModule.AddCommand(conveyorBarcodeCmd);
}
else if (cmdLine is MeasureHeightCmdLine)
{
MeasureHeightCmdLine measureHeightCmdLine = cmdLine as MeasureHeightCmdLine;
curMeasureHeightCmd = new MeasureHeightCmd(runnableModule, measureHeightCmdLine);
runnableModule.AddCommand(curMeasureHeightCmd);
program.ModuleStructure.RecordMeasureHeightPoint(runnableModule, curMeasureHeightCmd);
}
else if (cmdLine is NozzleCheckCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new NozzleCheckCmd(runnableModule, cmdLine as NozzleCheckCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is SymbolLinesCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
SymbolLinesCmdLine symbolLinesCmdLine = cmdLine as SymbolLinesCmdLine;
SymbolLinesCmd symbolLinesCmd = new SymbolLinesCmd(runnableModule, symbolLinesCmdLine);
runnableModule.AddCommand(symbolLinesCmd);
foreach (MeasureHeightCmd item in symbolLinesCmd.GetAllMeasureCmdLineList())
{
if (item == null)
{
continue;
}
program.ModuleStructure.RecordMeasureHeightPoint(runnableModule, item);
}
program.ModuleStructure.RecordSymbolLinesCmd(runnableModule, symbolLinesCmd);
}
else if (cmdLine is MultiTracesCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new MultiTracesCmd(runnableModule, cmdLine as MultiTracesCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is DotCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new DotCmd(runnableModule, cmdLine as DotCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is FinishShotCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new FinishShotCmd(runnableModule, cmdLine as FinishShotCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is LineCmdLine) // 包含了 cmdLine is SnakeLineCmdLine
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new LineCmd(runnableModule, cmdLine as LineCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is ArcCmdLine) // 包含了 CircleCmdLine
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new ArcCmd(runnableModule, cmdLine as ArcCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is CircleCmdLine)
{
if (level > 1)
{
cmdLine.Valve = runnableModule.Valve;
}
runnableModule.AddCommand(new ArcCmd(runnableModule, cmdLine as CircleCmdLine, curMeasureHeightCmd));
}
else if (cmdLine is MoveXyCmdLine)
{
runnableModule.AddCommand(new MoveXyCmd(runnableModule, cmdLine as MoveXyCmdLine));
}
else if (cmdLine is MoveAbsXyCmdLine)
{
runnableModule.AddCommand(new MoveAbsXyCmd(runnableModule, cmdLine as MoveAbsXyCmdLine));
}
else if (cmdLine is MoveAbsZCmdLine)
{
runnableModule.AddCommand(new MoveAbsZCmd(runnableModule, cmdLine as MoveAbsZCmdLine));
}
else if (cmdLine is MoveToLocationCmdLine)
{
MoveToLocationCmdLine moveToLocationCmdLine = cmdLine as MoveToLocationCmdLine;
// 检测系统预定义坐标名称是否存在
if (runnableModule.CommandsModule.program.UserPositions.Find(x => x.Name == moveToLocationCmdLine.PositionName) == null)
{
return(new Result(false, cmdLine, "\'" + moveToLocationCmdLine.PositionName + "\' is not defined in system."));
}
runnableModule.AddCommand(new MoveToLocationCmd(runnableModule, moveToLocationCmdLine));
}
else if (cmdLine is NormalTimerCmdLine)
{
// TIMER不能放在pass block里面
if (blockState.Type == BlockType.PASS_BLOCK)
{
return(new Result(false, cmdLine, "TIMER must not be added in pass block"));
}
runnableModule.AddCommand(new NormalTimerCmd(runnableModule, cmdLine as NormalTimerCmdLine));
}
else if (cmdLine is TimerCmdLine)
{
// TIMER必须在pass block里面
if (blockState.Type != BlockType.PASS_BLOCK)
{
return(new Result(false, cmdLine, "TIMER must be added in pass block"));
}
// TIMER必须是END PASS的前一个命令行，也就是说TIMER必须是分组内的最后一个命令行
if (i >= cmdLineList.Count - 1 || !(cmdLineList[i + 1] is EndPassCmdLine))
{
return(new Result(false, cmdLine, "TIMER must be added before END PASS."));
}
//// TIMER不能放在最后一个分组中，无意义
//if (i + 2 <= cmdLineList.Count - 1 && !(cmdLineList[i + 2] is StartPassCmdLine))
//{
// return new Result(false, cmdLine, "TIMER is no need to be added in the last pass block.");
//}
runnableModule.AddCommand(new TimerCmd(runnableModule, cmdLine as TimerCmdLine));
}
else if (cmdLine is StepAndRepeatCmdLine)
{
StepAndRepeatCmdLine stepAndRepeatCmdLine = cmdLine as StepAndRepeatCmdLine;
Pattern pattern = program.GetPatternByName(stepAndRepeatCmdLine.PatternName);
if (pattern == null)
{
return(new Result(false, cmdLine, "Pattern '" + stepAndRepeatCmdLine.PatternName + "' is not found."));
}
if (pattern.HasPassBlocks)
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain pass blocks."));
}
if (pattern.IsContainItself)
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself."));
}
cmdLineList.InsertRange(i + 1, (cmdLine as StepAndRepeatCmdLine).DoCmdLineList);
}
else if (cmdLine is DoCmdLine)
{
DoCmdLine doCmdLine = cmdLine as DoCmdLine;
Pattern pattern = program.GetPatternByName(doCmdLine.PatternName);
if (pattern == null)
{
return(new Result(false, cmdLine, "Pattern '" + doCmdLine.PatternName + "' is not found."));
}
//设置父级Pattern，建立Pattern的引用关系
pattern.ParentPattern = currPattern;
currPattern?.AddChild(pattern);
Logger.DEFAULT.Debug(this.GetType().Name, string.Format("{0}'s parent pattern is {1}", pattern.Name, currPattern?.Name));
if (pattern.HasPassBlocks)
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain pass blocks."));
}
if (pattern.Name == commandsModule.Name)
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself."));
}
if (checkExitInAncestorNode(pattern, runnableModule))
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself."));
}
pattern.Valve = doCmdLine.Valve;
//倒序
if (doCmdLine.Reverse)
{
pattern = pattern.ReversePattern();
}
if (level > 0)
{
if (runnableModule.BoardNo != 0)
{
doCmdLine.BoardNo = runnableModule.BoardNo;
}
program.ModuleStructure.AddBoardNo(doCmdLine.BoardNo);
}
Result result = parse(pattern, doCmdLine.Origin, runnableModule, level + 1, doCmdLine.BoardNo);
if (!result.IsOk)
{
return(result);
}
// 拼版穴位号逻辑
(result.Param as RunnableModule).BoardNo = doCmdLine.BoardNo;
runnableModule.AddCommand(new DoCmd(runnableModule, result.Param as RunnableModule, curMeasureHeightCmd));
}
else if (cmdLine is DoMultiPassCmdLine)
{
if (blockState.Type != BlockType.LOOP_BLOCK)
{
return(new Result(false, cmdLine, "DO MULTIPASS must be added in loop block."));
}
DoMultiPassCmdLine doMultiPassCmdLine = cmdLine as DoMultiPassCmdLine;
Pattern pattern = program.GetPatternByName(doMultiPassCmdLine.PatternName);
//设置父级Pattern，建立Pattern的引用关系
pattern.ParentPattern = currPattern;
if (pattern == null)
{
return(new Result(false, cmdLine, "Pattern '" + doMultiPassCmdLine.PatternName + "' is not found."));
}
currPattern?.AddChild(pattern);
Logger.DEFAULT.Debug(this.GetType().Name, string.Format("{0}'s parent pattern is {1}", pattern.Name, currPattern?.Name));
if (pattern.IsContainItself)
{
return(new Result(false, cmdLine, "Pattern '" + pattern.Name + "' can not contain itself."));
}
pattern.Valve = doMultiPassCmdLine.Valve;
if (level > 0)
{
if (runnableModule.BoardNo != 0)
{
doMultiPassCmdLine.BoardNo = runnableModule.BoardNo;
}
program.ModuleStructure.AddBoardNo(doMultiPassCmdLine.BoardNo);
}
Result result = parse(pattern, doMultiPassCmdLine.Origin, runnableModule, level + 1, doMultiPassCmdLine.BoardNo);
if (!result.IsOk)
{
return(result);
}
if (!pattern.HasPassBlocks)
{
return(new Result(false, cmdLine, "Pattern '" + doMultiPassCmdLine.PatternName + "' has no pass blocks."));
}
// 拼版穴位号逻辑
(result.Param as RunnableModule).BoardNo = doMultiPassCmdLine.BoardNo;
// 此处先暂时添加在cmdList中，在结尾处，对处于子句中的语句，集中处理。
runnableModule.AddCommand(new DoMultipassCmd(runnableModule, result.Param as RunnableModule, curMeasureHeightCmd));
}
else if (cmdLine is LoopPassCmdLine)
{
if (blockState.Type != BlockType.NONE)
{
return(new Result(false, cmdLine, blockState.NoEndDescription));
}
blockState.Type = BlockType.LOOP_BLOCK;
blockState.BlockCmdObj = new LoopBlockCmd(runnableModule, cmdLine as LoopPassCmdLine);
}
else if (cmdLine is NextLoopCmdLine)
{
if (blockState.Type != BlockType.LOOP_BLOCK)
{
return(new Result(false, cmdLine, "LOOP PASS is not found for the loop block."));
}
//不同拼版的同一个分组只需要一个计时器，不需要每个拼版都记一次时间
LoopBlockCmd loopBlockCmd = blockState.BlockCmdObj as LoopBlockCmd;
for (int doMultiPassCmdIndex = 1; doMultiPassCmdIndex < loopBlockCmd.DoMultipassCmdList.Count; doMultiPassCmdIndex++)
{
RunnableModule tempModule = loopBlockCmd.DoMultipassCmdList[doMultiPassCmdIndex].AssociatedRunnableModule;
foreach (Command item in tempModule.CmdList)
{
if (item is PassBlockCmd)
{
(item as PassBlockCmd).CmdList.RemoveAll(data => data is TimerCmd);
}
}
}
runnableModule.AddCommand(blockState.BlockCmdObj as LoopBlockCmd);
blockState.Reset();
}
else if (cmdLine is StartPassCmdLine)
{
if (blockState.Type != BlockType.NONE)
{
return(new Result(false, cmdLine, blockState.NoEndDescription));
}
// 当前pass block序号必须比上一个pass block序号大
if ((cmdLine as StartPassCmdLine).Index <= lastPassblockIndex)
{
return(new Result(false, cmdLine, "Current pass block index must be bigger than the previous."));
}
// 相邻pass block之间不允许添加指令
if (hasPassBlock && !(cmdLineList[i - 1] is EndPassCmdLine))
{
return(new Result(false, cmdLine, "No commands is allowed to be added between pass blocks."));
}
blockState.Type = BlockType.PASS_BLOCK;
blockState.BlockCmdObj = new PassBlockCmd(runnableModule, cmdLine as StartPassCmdLine);
}
else if (cmdLine is EndPassCmdLine)
{
if (blockState.Type != BlockType.PASS_BLOCK)
{
return(new Result(false, cmdLine, "START PASS is not found for the pass block"));
}
PassBlockCmd passBlockCmd = blockState.BlockCmdObj as PassBlockCmd;
runnableModule.AddCommand(passBlockCmd);
hasPassBlock = true;
lastPassblockIndex = passBlockCmd.Index;
blockState.Reset();
}
else if (cmdLine is EndCmdLine)
{
ended = true;
}
else if (cmdLine is PurgeCmdLine)
{
if (commandsModule is Pattern)
{
cmdLine.Valve = (commandsModule as Pattern).Valve;
}
runnableModule.AddCommand(new PurgeCmd(runnableModule, cmdLine as PurgeCmdLine));
}
else if (cmdLine is ChangeSpeedCmdLine)
{
ChangeSpeedCmdLine changeSpeedCmdLine = cmdLine as ChangeSpeedCmdLine;
if (svValvespeedDic.ContainsKey(changeSpeedCmdLine.Speed))
{
}
else if (this.program.RuntimeSettings.VavelSpeedDic.ContainsKey(changeSpeedCmdLine.Speed))
{
double value;
this.program.RuntimeSettings.VavelSpeedDic.TryGetValue(changeSpeedCmdLine.Speed, out value);
svValvespeedDic.Add(changeSpeedCmdLine.Speed, value);
}
else
{
//TODO 将10替换为默认参数
svValvespeedDic.Add(changeSpeedCmdLine.Speed, 10);
}
runnableModule.AddCommand(new ChangeSpeedCmd(runnableModule, changeSpeedCmdLine));
//传递程序中的速度重量键值对
SvOrGearValveSpeedWeightValve.VavelSpeedWeightDic = FluidProgram.CurrentOrDefault().RuntimeSettings.VavelSpeedDic;
}
// 处理包含在子句中的语句：
if (blockState.Type != BlockType.NONE && runnableModule.CmdList.Count > 0)
{
switch (blockState.Type)
{
case BlockType.LOOP_BLOCK:
if (!(cmdLine is LoopPassCmdLine))
{
if (!(cmdLine is DoMultiPassCmdLine))
{
return(new Result(false, cmdLine, "Only DO MULTIPASS can be added in loop block."));
}
(blockState.BlockCmdObj as LoopBlockCmd).DoMultipassCmdList.Add(runnableModule.GetCommandAtTail() as DoMultipassCmd);
runnableModule.RemoveCommandAtTail();
}
break;
case BlockType.PASS_BLOCK:
if (!(cmdLine is StartPassCmdLine))
{
(blockState.BlockCmdObj as PassBlockCmd).CmdList.Add(runnableModule.GetCommandAtTail());
runnableModule.RemoveCommandAtTail();
}
break;
}
}
}
//替换Program中的SvValveDic
this.program.RuntimeSettings.VavelSpeedDic = svValvespeedDic;
var lastCmdLine = getLastestEnabledCmdLine(cmdLineList, cmdLineList.Count - 1);
// 检查子句命令是否完成
if (blockState.Type != BlockType.NONE)
{
return(new Result(false, lastCmdLine, blockState.NoEndDescription));
}
// 必须以END命令结尾
if (!ended)
{
return(new Result(false, lastCmdLine, "END is not found."));
}
return(new Result(true, runnableModule));
}
public MainForm()
{
lngResources.Add(strMachine, "Machine:");
lngResources.Add(strMotion, "Motion:");
lngResources.Add(strVision, "Vision:");
lngResources.Add(strLaser, "Laser:");
lngResources.Add(strScale, "Scale:");
lngResources.Add(strHeater, "Heater:");
lngResources.Add(strPropor1, "Propor1:");
lngResources.Add(strPropor2, "Propor2:");
//数据库存在
this.LoadConfig();
this.MainNav = new NavigateMain();
this.ProgramNav = new NavigateProgram();
this.RunNav = new NavigateRun();
this.SetupAlarm();
//数据库线程启动
this.SetupDataBase();
//setup machine
if (!Machine.Instance.SetupAll())
{
return;
}
//为了同步气压而增加的事件
Machine.Instance.Valve1.Proportioner.ChangeProgramAirEvent += FluidProgram.CurrentOrDefault().ChangeAirValue;
InitializeComponent();
Ins = this;
this.WindowState = FormWindowState.Maximized;
this.Load += FormMain_Load;
this.FormClosing += FormMain_FormClosing;
this.ProgramCtl = new ProgramControl();
this.ProgramCtl.Dock = DockStyle.Fill;
this.ProgramCtl.SetOwner(this);
//this.CameraCtl = new CameraControl();
//this.CameraCtl.Dock = DockStyle.Fill;
this.ctlCurrPos = new PositionMainControl();
this.ctlCurrPos.Dock = DockStyle.Fill;
this.RunInfoCtl = new RunInfoControl();
this.RunInfoCtl.Dock = DockStyle.Fill;
this.RunInfoCtl2 = new RunInfoControl2();
this.RunInfoCtl2.Dock = DockStyle.Fill;
this.ManualCtl = new ManualControl();
this.ManualCtl.Dock = DockStyle.Fill;
this.canvasControll = new CanvasControll();
this.canvasControll.SetControlMode(true);
this.canvasControll.Dock = DockStyle.Fill;
this.SetupPages();
this.SetupReceivers();
this.SetupDrawing();
ControlUpatingMgr.Add(this);
Machine.Instance.FSM.StateChanged += FSM_StateChanged;
Machine.Instance.LightTower.Opened += LightTower_Opened;
this.transAlarmForm.SetOwner(this);
this.createPath();
this.timer = new System.Windows.Forms.Timer();
this.timer.Interval = 100;
this.timer.Tick += Timer_Tick;
this.timer.Start();
this.ReadLanguageResources();
}
/// <summary>
/// 计算在手动打线模式下，重量线需要的各种参数
/// </summary>
/// <param name="start"></param>
/// <param name="end"></param>
/// <param name="lineParam"></param>
/// <param name="weight"></param>
/// <param name="accStartPoint"></param>
/// <param name="decelEndPoint"></param>
/// <param name="runSpeed"></param>
/// <param name="linePoints"></param>
/// <param name="fluidIntervalSec"></param>
private void GetManualWtLineParam(PointD start, PointD end, LineParam lineParam, double weight, out PointD accStartPoint, out PointD decelEndPoint, out double runSpeed, out PointD[] linePoints, out double fluidIntervalSec)
{
double accDistance = 0, decelDistance = 0;
double lineDistance = Math.Sqrt(Math.Pow(end.X - start.X, 2) + Math.Pow(end.Y - start.Y, 2));
// 计算点胶数量
int shots = (int)((decimal)weight / (decimal)FluidProgram.CurrentOrDefault().RuntimeSettings.SingleDropWeight);
// 计算时间 (需要将微秒单位转换成秒）
double totalTime = Machine.Instance.Valve1.SpraySec * shots;
// 计算速度
double wtSpeed = lineDistance / totalTime;
if (lineParam.WtCtrlSpeedValueType != LineParam.ValueType.COMPUTE)
{
wtSpeed = lineParam.WtCtrlSpeed > wtSpeed ? wtSpeed : lineParam.WtCtrlSpeed;
}
// 运动速度不能超过设定的最大速度
wtSpeed = wtSpeed > FluidProgram.CurrentOrDefault().MotionSettings.WeightMaxVel ? FluidProgram.CurrentOrDefault().MotionSettings.WeightMaxVel : wtSpeed;
Log.Dprint(string.Format("lineDistance={0}, weight={1} totalTime={2}, param.WtCtrlSpeedValueType={3}, param.WtCtrlSpeed={4}, wtSpeed={5}",
lineDistance, weight, totalTime, lineParam.WtCtrlSpeedValueType, lineParam.WtCtrlSpeed, wtSpeed));
// 计算加速区间距离
if (lineParam.AccelDistanceValueType == LineParam.ValueType.COMPUTE)
{
accDistance = MathUtils.CalculateDistance(0, wtSpeed, Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc));
Log.Dprint("Acc Distance COMPUTE wtSpeed=" + wtSpeed + ", WeightAcc=" + FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc
+ ", distance=" + accDistance);
}
else
{
accDistance = lineParam.AccelDistance;
}
// 计算减速区间距离
if (lineParam.DecelDistanceValueType == LineParam.ValueType.COMPUTE)
{
decelDistance = MathUtils.CalculateDistance(wtSpeed, 0, -Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc));
Log.Dprint("Decel Distance COMPUTE wtSpeed=" + wtSpeed + ", WeightAcc=" + FluidProgram.CurrentOrDefault().MotionSettings.WeightAcc
+ ", distance=" + decelDistance);
}
else
{
decelDistance = lineParam.DecelDistance;
}
// 计算加速区间起始位置和减速区间结束位置
PointD accStart = calAccStartPosition(start, end, accDistance);
PointD decelEnd = calDecelEndPosition(start, end, decelDistance);
// 计算点胶位置
PointD[] points = calFixedTotalOfDots(start, end, shots);
//基于时间控制
totalTime = lineDistance / wtSpeed;
double intervalSec = totalTime / (shots - 1);
double dispenseSec = Machine.Instance.Valve1.SpraySec;
if (intervalSec < dispenseSec)
{
intervalSec = dispenseSec;
points = calFixedTotalOfDots(start, end, (int)(totalTime / intervalSec) + 1);
}
accStartPoint = accStart;
decelEndPoint = decelEnd;
runSpeed = wtSpeed;
linePoints = points;
fluidIntervalSec = intervalSec;
}