public void UpdateChannelsInfo(string devID, int moduleIndex)
{
lstTbTrigIDs.Clear();
pnTrigs.Controls.Clear();
JFDevCellNameManeger mgr = JFHubCenter.Instance.MDCellNameMgr;
IJFModule_CmprTrigger md = null;
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(devID) as IJFDevice_MotionDaq;
if (dev != null && dev.CompareTriggerCount > moduleIndex)
{
md = dev.GetCompareTrigger(moduleIndex);
}
int trigChannCount = mgr.GetCmpTrigCount(devID, moduleIndex);
for (int i = 0; i < trigChannCount; i++)
{
Label lb = new Label();
lb.Location = new Point(2, 2 + 5 + 33 * i);
lb.Text = "序号:" + i.ToString("D2") + "名称:";
pnTrigs.Controls.Add(lb);
TextBox tbID = new TextBox();
tbID.Location = new Point(lb.Right, 2 + 33 * i);
tbID.Text = mgr.GetCmpTrigName(devID, moduleIndex, i);
tbID.BackColor = SystemColors.Control;
tbID.ReadOnly = true;
tbID.Width = 200;
pnTrigs.Controls.Add(tbID);
lstTbTrigIDs.Add(tbID);
UcCmprTrgChn ucTrig = new UcCmprTrgChn();
ucTrig.Location = new Point(tbID.Right, 2 + 33 * i);
ucTrig.SetModuleChn(md, i, "", null);
pnTrigs.Controls.Add(ucTrig);
}
}
public void SetDevice(IJFDevice_MotionDaq dev, string id)
{
_dev = dev;
_id = id;
if (_isFormLoaded)
{
AdjustUI();
}
}
public void SetAxisName(string axisName)
{
_axisName = axisName;
gbAxisName.Text = axisName;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName);
if (null == ci)
{
gbAxisName.Text += " 无通道信息";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
gbAxisName.Text += " 无设备:" + ci.DeviceID;
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
if (!dev.IsDeviceOpen)
{
gbAxisName.Text += " 设备未打开";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
if (dev.McCount <= ci.ModuleIndex)
{
gbAxisName.Text += " 模块Idx = :" + ci.ModuleIndex + " 超限";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= md.AxisCount)
{
gbAxisName.Text += " 轴Idx = :" + ci.ChannelIndex + " 超限";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
ucAxisTest.SetAxis(md, ci.ChannelIndex);
cbMode.Enabled = true;
btCfg.Enabled = true;
return;
}
void DOButtonClicked(object sender, EventArgs eventArgs)
{
LampButton doBt = sender as LampButton;
string doName = doBt.Text;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDoCellInfo(doName);
if (ci == null) //名称在配置中不存在
{
ShowTips("DO操作失败:名称 \"" + doName + "\" 不存在");
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
ShowTips(string.Format("DO: \"{0}\" 操作失败:所属设备 \"{1}\" 在系统中不存在", doName, ci.DeviceID));
return;
}
if (!dev.IsDeviceOpen)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:所属设备 \"{1}\" 未打开（关闭状态）", doName, ci.DeviceID));
return;
}
if (dev.DioCount <= ci.ModuleIndex)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:所属设备 \"{1}\" 所属模块Index = {2} 超出范围0~{3}", doName, ci.DeviceID, ci.ModuleIndex, dev.DioCount == 0 ? 0 : dev.DioCount - 1));
return;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DOCount <= ci.ChannelIndex)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:通道序号:{1} 超出范围0~{2}", doName, ci.ChannelIndex, md.DOCount == 0 ? 0 : md.DOCount - 1));
return;
}
bool isON = false;
int errCode = md.GetDO(ci.ChannelIndex, out isON);
if (0 != errCode)
{
ShowTips(string.Format("DO \"{0}\" 操作失败:未能获取当前状态，信息:{1}", doName, md.GetErrorInfo(errCode)));
return;
}
errCode = md.SetDO(ci.ChannelIndex, !isON);
if (0 != errCode)
{
ShowTips(string.Format("DO \"{0}\" {1}操作失败:未能，信息:{2}", doName, isON?"关闭":"打开", md.GetErrorInfo(errCode)));
return;
}
}
/// <summary>
/// 将轴状态更新到界面
/// </summary>
public void UpdateStationUI()
{
int i = 0;
if (null != _axisNames)
{
for (i = 0; i < _axisNames.Length; i++)
{
JFDevCellInfo dcInfo = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisNames[i]);
if (dcInfo == null)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(dcInfo.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
if (dcInfo.ModuleIndex >= dev.McCount)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
IJFModule_Motion md = dev.GetMc(dcInfo.ModuleIndex);
if (dcInfo.ChannelIndex >= md.AxisCount)
{
tbCurrPoses[i].Text = "无效值";
continue;
}
double pos = 0;
int errCode = md.GetFbkPos(dcInfo.ChannelIndex, out pos);
if (0 != errCode)
{
tbCurrPoses[i].Text = "获取错误！代码:" + errCode;
}
else
{
tbCurrPoses[i].Text = pos.ToString();
}
bool isServon = md.IsSVO(i);
btServons[i].LampColor = isServon ? LampButton.LColor.Green : LampButton.LColor.Gray;
}
}
for (; i < 4; i++)
{
tbCurrPoses[i].Text = "无效值";
btServons[i].LampColor = LampButton.LColor.Gray;
}
}
public void UpdateChannelsInfo(string devID, int moduleIndex)
{
//int nBottom = 0;
pnAi.Controls.Clear();
pnAo.Controls.Clear();
JFDevCellNameManeger mgr = JFHubCenter.Instance.MDCellNameMgr;
IJFModule_AIO md = null;
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(devID) as IJFDevice_MotionDaq;
if (dev != null && dev.DioCount > moduleIndex)
{
md = dev.GetAio(moduleIndex);
}
int AiCount = mgr.GetAiChannelCount(devID, moduleIndex);
for (int i = 0; i < AiCount; i++)
{
Label lbIndex = new Label();
lbIndex.Text = i.ToString("D2");
lbIndex.Location = new Point(2, 10 + i * 33 + 2);
lbIndex.Width = 30;
pnAi.Controls.Add(lbIndex);
UcAIOChn ucAi = new UcAIOChn();
pnAi.Controls.Add(ucAi);
ucAi.Location = new Point(32, 2 + i * 33);
ucAi.Width = pnAi.Width - 34;
ucAi.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
ucAi.SetIOInfo(md, i, false, mgr.GetAiName(devID, moduleIndex, i));
//nBottom = ucAi.Bottom;
}
int aoCount = mgr.GetAoChannelCount(devID, moduleIndex);
for (int i = 0; i < aoCount; i++)
{
Label lbIndex = new Label();
lbIndex.Text = i.ToString("D2");
lbIndex.Location = new Point(2, 10 + i * 33 + 2);
lbIndex.Width = 30;
pnAo.Controls.Add(lbIndex);
UcAIOChn ucAo = new UcAIOChn();
pnAo.Controls.Add(ucAo);
ucAo.Location = new Point(32, 2 + i * 33);
ucAo.Width = pnAi.Width - 34;
ucAo.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
ucAo.SetIOInfo(md, i, true, mgr.GetAoName(devID, moduleIndex, i));
//if (nBottom < ucAo.Bottom)
// nBottom = ucAo.Bottom;
}
//rtTips.Top = nBottom + 10;
}
/// <summary>
/// 打开所有轴设备
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btOpenAllDev_Click(object sender, EventArgs e)
{
if (null == _station)
{
return;
}
string[] axisNames = _station.AxisNames;
if (null == axisNames || 0 == axisNames.Length)
{
ShowTips("工站 未提供轴/电机！");
return;
}
bool isOK = true;
foreach (string axisName in axisNames)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName);
if (null == ci)
{
isOK = false;
ShowTips("未发现轴 = \"" + axisName + "\"所属 通道信息！");
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
isOK = false;
ShowTips("未发现轴 = \"" + axisName + "\"所属 设备ID = \"" + ci.DeviceID + "\"!");
continue;
}
if (!dev.IsDeviceOpen)
{
int errCode = dev.OpenDevice();
if (0 != errCode)
{
isOK = false;
ShowTips(string.Format("打开轴 = \"{0}\"所属设备=\"{1}\"失败，错误信息:{2}", axisName, ci.DeviceID, dev.GetErrorInfo(errCode)));
continue;
}
ShowTips(string.Format("轴 = \"{0}\"所属设备=\"{1}\"已打开 ", axisName, ci.DeviceID));
}
}
if (isOK)
{
ShowTips("所有轴设备已打开");
}
LayoutStation();
}
public void SetAxisName(string axisName)
{
//_isAxisEnabled = false;
_axisName = axisName;
gbAxisName.Text = _axisName;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisName);
if (ci == null)
{
gbAxisName.Text += " 轴名无效";
ucAxisStatus1.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
gbAxisName.Text += " 设备无效";
ucAxisStatus1.Enabled = false;
return;
}
if (!dev.IsDeviceOpen)
{
gbAxisName.Text += " 设备未打开";
ucAxisStatus1.Enabled = false;
return;
}
if (ci.ModuleIndex >= dev.McCount)
{
gbAxisName.Text += " 模块号无效";
ucAxisStatus1.Enabled = false;
return;
}
IJFModule_Motion mm = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= mm.AxisCount)
{
gbAxisName.Text += " 轴序号无效";
ucAxisStatus1.Enabled = false;
return;
}
ucAxisStatus1.Enabled = true;
ucAxisStatus1.SetAxis(mm, ci.ChannelIndex);
//_isAxisEnabled = true;
}
private void btCfgR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 未能显示参数配置窗口，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
FormAxisTest fm = new FormAxisTest();
fm.SetAxisInfo(md, ci.ChannelIndex, _axisNames[3]);
fm.ShowDialog();
}
void CheckAxis(int index)
{
if (string.IsNullOrEmpty(_axisNames[index]))
{
ShowTips(_AxisAlias[index] + " 未设置/已禁用");
AxisEnabled(index, false);
return;
}
JFDevCellInfo dcInfo = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisNames[index]);
if (null == dcInfo)
{
ShowTips(_AxisAlias[index] + "对应轴名称：\"" + _axisNames[index] + "\"在设备命名表中不存在!");
AxisEnabled(index, false);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(dcInfo.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
ShowTips(string.Format("{0}对应轴：\"{1}\"所属设备\"{2}\"不存在!", _AxisAlias[index], _axisNames[index], dcInfo.DeviceID));
AxisEnabled(index, false);
return;
}
if (!dev.IsDeviceOpen)
{
ShowTips(string.Format("{0}对应轴：\"{1}\"所属设备\"{2}\"未打开!", _AxisAlias[index], _axisNames[index], dcInfo.DeviceID));
AxisEnabled(index, false);
return;
}
if (dcInfo.ModuleIndex >= dev.McCount)
{
ShowTips(string.Format("{0} 对应轴名称：\"{1}\"所属模块序号{2}超限 (0~{3}) !", _AxisAlias[index], _axisNames[index], dcInfo.ModuleIndex, dev.McCount - 1));
AxisEnabled(index, false);
return;
}
IJFModule_Motion md = dev.GetMc(dcInfo.ModuleIndex);
if (dcInfo.ChannelIndex >= md.AxisCount)
{
ShowTips(string.Format("{0} 对应轴名称：\"{1}\"所属轴序号{2}超限 (0~{3}) !", _AxisAlias[index], _axisNames[index], dcInfo.ChannelIndex, md.AxisCount - 1));
AxisEnabled(index, false);
return;
}
AxisEnabled(index, true);
}
public void UpdateChannelsInfo(string devID, int moduleIndex)
{
pnDi.Controls.Clear();
pnDo.Controls.Clear();
JFDevCellNameManeger mgr = JFHubCenter.Instance.MDCellNameMgr;
IJFModule_DIO md = null;
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(devID) as IJFDevice_MotionDaq;
if (dev != null && dev.DioCount > moduleIndex)
{
md = dev.GetDio(moduleIndex);
}
int diCount = mgr.GetDiChannelCount(devID, moduleIndex);
for (int i = 0; i < diCount; i++)
{
Label lbIndex = new Label();
lbIndex.Text = i.ToString("D2");
lbIndex.Location = new Point(2, 10 + i * 33 + 2);
lbIndex.Width = 30;
pnDi.Controls.Add(lbIndex);
UcDioChn ucDi = new UcDioChn();
pnDi.Controls.Add(ucDi);
ucDi.Location = new Point(32, 2 + i * 33);
ucDi.Width = pnDi.Width - 34;
ucDi.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
ucDi.SetDioInfo(md, i, false, mgr.GetDiName(devID, moduleIndex, i));
}
int doCount = mgr.GetDoChannelCount(devID, moduleIndex);
for (int i = 0; i < doCount; i++)
{
Label lbIndex = new Label();
lbIndex.Text = i.ToString("D2");
lbIndex.Location = new Point(2, 10 + i * 33 + 2);
lbIndex.Width = 30;
pnDo.Controls.Add(lbIndex);
UcDioChn ucDo = new UcDioChn();
pnDo.Controls.Add(ucDo);
ucDo.Location = new Point(32, 2 + i * 33);
ucDo.Width = pnDi.Width - 34;
ucDo.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
ucDo.SetDioInfo(md, i, true, mgr.GetDoName(devID, moduleIndex, i));
}
}
public void UpdateChannelsInfo(string devID, int moduleIndex)
{
lstTbAxisIDs.Clear();
pnAxes.Controls.Clear();
JFDevCellNameManeger mgr = JFHubCenter.Instance.MDCellNameMgr;
IJFModule_Motion md = null;
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(devID) as IJFDevice_MotionDaq;
if (dev != null && dev.DioCount > moduleIndex)
{
md = dev.GetMc(moduleIndex);
}
int axisCount = mgr.GetAxisCount(devID, moduleIndex);
for (int i = 0; i < axisCount; i++)
{
Label lbIndex = new Label();
lbIndex.Text = "轴序号:" + i.ToString("D2") + " 轴ID:";
lbIndex.Location = new Point(2, 5 + i * 70 + 2);
pnAxes.Controls.Add(lbIndex);
TextBox tbAxisID = new TextBox();
tbAxisID.Location = new Point(lbIndex.Right, i * 70 + 2);
string axisID = mgr.GetAxisName(devID, moduleIndex, i);
tbAxisID.Text = axisID;
tbAxisID.Enabled = false;
tbAxisID.BackColor = SystemColors.Control;
pnAxes.Controls.Add(tbAxisID);
lstTbAxisIDs.Add(tbAxisID);
UcAxisStatus ucas = new UcAxisStatus();
tbAxisID.Width = ucas.Width - 5 - lbIndex.Width;
pnAxes.Controls.Add(ucas);
ucas.Location = new Point(2, lbIndex.Bottom - 3);
//ucas.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
ucas.DisplayMode = UcAxisStatus.JFDisplayMode.simple;
//ucDi.SetDioInfo(md, moduleIndex, false, mgr.GetDiName(devID, moduleIndex, i));
ucas.SetAxis(md, i);
UcAxisTest ucat = new UcAxisTest();
ucat.DisplayMode = UcAxisTest.JFDisplayMode.simplest_vel;
ucat.Location = new Point(ucas.Right, tbAxisID.Top);
pnAxes.Controls.Add(ucat);
ucat.SetAxis(md, i);
}
}
/// <summary>
/// 显示轴配置/调试窗口
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btCfg_Click(object sender, EventArgs e)
{
FormAxisTest fm = new FormAxisTest();
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(_axisName);
if (null == ci)
{
gbAxisName.Text += " 无通道信息";
ucAxisTest.SetAxis(null, 0);
cbMode.Enabled = false;
btCfg.Enabled = false;
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
//if(null == dev)
//{
// gbAxisName.Text += " 无设备:" + ci.DeviceID;
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
//if(!dev.IsDeviceOpen)
//{
// gbAxisName.Text += " 设备未打开" ;
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
//if(dev.McCount <= ci.ModuleIndex)
//{
// gbAxisName.Text += " 模块Idx = :" + ci.ModuleIndex + " 超限";
// ucAxisTest.SetAxis(null, 0);
// cbMode.Enabled = false;
// btCfg.Enabled = false;
// return;
//}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
fm.SetAxisInfo(md, ci.ChannelIndex, _axisName);
fm.ShowDialog();
}
private void btHomeR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" Home操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
int errCode = md.Home(ci.ChannelIndex);
if (0 != errCode)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" Home操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴:\"" + _axisNames[3] + "\" Home运动开始");
}
void OnServonButtonClicked(object sender, EventArgs e)
{
int i = 0;
for (i = 0; i < btServons.Length; i++)
{
if (sender == btServons[i])
{
break;
}
}
string axisName = _axisNames[i];
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(axisName, out errInfo);
if (null == ci)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
bool isCurrSerOn = md.IsSVO(ci.ChannelIndex);
int errCode = 0;
if (isCurrSerOn)
{
errCode = md.ServoOff(ci.ChannelIndex);
}
else
{
errCode = md.ServoOn(ci.ChannelIndex);
}
if (errCode != 0)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("轴" + _axisNames[i] + "伺服" + (isCurrSerOn?"去使能":"使能") + "成功");
}
private void btAbsMoveR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
double tgtPos = Convert.ToDouble(numAbsCmdR.Value);
int errCode = md.AbsMove(ci.ChannelIndex, tgtPos);
if (errCode != 0)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴:\"" + _axisNames[3] + "\" 开始移动到 ：" + tgtPos);
}
JFDevCellInfo CheckAxisDevInfo(string axisName, out string errorInfo)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName); //在命名表中的通道信息
if (null == ci)
{
errorInfo = "未找到轴:\"" + axisName + "\"设备信息";
return(null);
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
errorInfo = "未找到轴:\"" + axisName + "\"所属设备:\"" + ci.DeviceID + "\"";
return(null);
}
if (!dev.IsDeviceOpen)
{
errorInfo = "轴:\"" + axisName + "\"所属设备:\"" + ci.DeviceID + "\"未打开";
return(null);
}
if (ci.ModuleIndex >= dev.McCount)
{
errorInfo = "轴:\"" + axisName + "\"模块序号:\"" + ci.ModuleIndex + "\"超出限制!";
return(null);
}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= md.AxisCount)
{
errorInfo = "轴:\"" + axisName + "\"通道序号:\"" + ci.ChannelIndex + "\"超出限制!";
return(null);
}
errorInfo = "";
return(ci);
}
JFDevCellInfo CheckTrigDevInfo(string trigName, out string errorInfo)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetCmpTrigCellInfo(trigName); //在命名表中的通道信息
if (null == ci)
{
errorInfo = "未找到设备信息";
return(null);
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
errorInfo = "未找到所属设备:\"" + ci.DeviceID + "\"";
return(null);
}
if (!dev.IsDeviceOpen)
{
errorInfo = "所属设备:\"" + ci.DeviceID + "\"未打开";
return(null);
}
if (ci.ModuleIndex >= dev.McCount)
{
errorInfo = "模块序号:\"" + ci.ModuleIndex + "\"超出限制!";
return(null);
}
IJFModule_CmprTrigger md = dev.GetCompareTrigger(ci.ModuleIndex);
if (ci.ChannelIndex >= md.EncoderChannels)
{
errorInfo = "通道序号:\"" + ci.ChannelIndex + "\"超出限制!";
return(null);
}
errorInfo = "";
return(ci);
}
/// <summary>
/// 检查设备通道是否存在并且可用
/// </summary>
/// <param name="category"></param>
/// <param name="cellName"></param>
/// <param name="initor"></param>
/// <param name="cellInfo"></param>
/// <param name="errorInfo"></param>
/// <returns></returns>
public static bool CheckDevCellName(string category, string cellName, out IJFInitializable initor, out JFDevCellInfo ci, out string errorInfo)
{
initor = null;
ci = null;
errorInfo = null;
if (string.IsNullOrEmpty(cellName))
{
errorInfo = "参数项\"cellName\"为空";
return(false);
}
JFDevCellNameManeger nameMgr = JFHubCenter.Instance.MDCellNameMgr;
JFInitorManager initorMgr = JFHubCenter.Instance.InitorManager;
JFDevCellInfo cellInfo = null;
if (category == DO) //获取数字量输出通道信息
{
cellInfo = nameMgr.GetDoCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在DO：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "DO:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.DioCount)
{
errorInfo = "DO:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备DIO模块数量: " + md.DioCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetDio(cellInfo.ModuleIndex).DOCount)
{
errorInfo = "DO:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出模块DO通道数量: " + md.GetDio(cellInfo.ModuleIndex).DOCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == DI) //获取数字量输入
{
cellInfo = nameMgr.GetDiCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在DI：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "DI:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.DioCount)
{
errorInfo = "DI:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备DIO模块数量: " + md.DioCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetDio(cellInfo.ModuleIndex).DICount)
{
errorInfo = "DI:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出模块DI通道数量: " + md.GetDio(cellInfo.ModuleIndex).DOCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == AI)
{
}
else if (category == AO)
{
}
else if (category == Axis)
{
cellInfo = nameMgr.GetAxisCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在Axis：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "Axis:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.McCount)
{
errorInfo = "Axis:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备轴模块数量: " + md.McCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetMc(cellInfo.ModuleIndex).AxisCount)
{
errorInfo = "Axis:\"" + cellName + "\" Channel = :" + cellInfo.ModuleIndex + "超出模块轴通道数量: " + md.GetMc(cellInfo.ModuleIndex).AxisCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == CmpTrig)
{
cellInfo = nameMgr.GetCmpTrigCellInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在CmpTrig：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_MotionDaq).IsAssignableFrom(dev.GetType()))
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是Device_MotionDaq ";
return(false);
}
IJFDevice_MotionDaq md = dev as IJFDevice_MotionDaq;
if (!md.IsInitOK)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "CmpTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ModuleIndex >= md.CompareTriggerCount)
{
errorInfo = "CmpTrig:\"" + cellName + "\" ModuleIndex = :" + cellInfo.ModuleIndex + "超出设备比较触发模块数量: " + md.CompareTriggerCount;
return(false);
}
if (cellInfo.ChannelIndex >= md.GetCompareTrigger(cellInfo.ModuleIndex).EncoderChannels)
{
errorInfo = "CmpTrig:\"" + cellName + "\" Channel = :" + cellInfo.ModuleIndex + "超出模块比较触发通道数量: " + md.GetCompareTrigger(cellInfo.ModuleIndex).EncoderChannels;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == LightCtrl)
{
cellInfo = nameMgr.GetLightCtrlChannelInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在LightCtrl：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_LightController).IsAssignableFrom(dev.GetType()))
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是IJFDevice_LightController ";
return(false);
}
IJFDevice_LightController md = dev as IJFDevice_LightController;
if (!md.IsInitOK)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "LightCtrl:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ChannelIndex >= md.LightChannelCount)
{
errorInfo = "LightCtrl:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出设备光源通道数量: " + md.LightChannelCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == LightTrig)
{
cellInfo = nameMgr.GetTrigCtrlChannelInfo(cellName);
if (null == cellInfo)
{
errorInfo = "设备命名表中不存在LightTrig：" + cellName;
return(false);
}
IJFInitializable dev = initorMgr.GetInitor(cellInfo.DeviceID);
if (null == dev)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_TrigController).IsAssignableFrom(dev.GetType()))
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"类型不是IJFDevice_TrigController ";
return(false);
}
IJFDevice_TrigController md = dev as IJFDevice_TrigController;
if (!md.IsInitOK)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未完成初始化动作 ";
return(false);
}
if (!md.IsDeviceOpen)
{
errorInfo = "LightTrig:\"" + cellName + "\" 所属设备:\"" + cellInfo.DeviceID + "\"未打开 ";
return(false);
}
if (cellInfo.ChannelIndex >= md.TrigChannelCount)
{
errorInfo = "LightTrig:\"" + cellName + "\" Channel = :" + cellInfo.ChannelIndex + "超出设备触发通道数量: " + md.TrigChannelCount;
return(false);
}
initor = dev;
ci = cellInfo;
errorInfo = "Success";
return(true);
}
else if (category == Cmr)
{
IJFInitializable dev = initorMgr.GetInitor(cellName);
if (null == dev)
{
errorInfo = "Camera:\"" + cellName + "\" 在设备列表中不存在";
return(false);
}
if (!typeof(IJFDevice_Camera).IsAssignableFrom(dev.GetType()))
{
errorInfo = "Camera:\"" + cellName + "\" 设备类型不是IJFDevice_Camera ";
return(false);
}
initor = dev;
errorInfo = "Success";
return(true);
}
else
{
errorInfo = "不支持的参数项\"category\" = " + category;
}
return(false);
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string axisID = GetMethodInputValue(PN_AxisID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);;
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisID);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_md.MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到轴:\" " + axisID + "\"归零完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double tgtPos = 0;
int errCode = _md.GetCmdPos(_ci.ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复运行时获取目标位置失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errCode = _md.AbsMove(_ci.ChannelIndex, tgtPos);
if (0 != errCode)
{
errorInfo = "恢复轴P2P运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
/// <summary>
/// 根据工站的DIO确定控件数量
/// </summary>
public void AdjustStationUI()
{
//rchTips.Text = "";
if (_station == null)
{
diNamesInView.Clear();
doNamesInView.Clear();
panelDIs.Controls.Clear();
panelDOs.Controls.Clear();
ShowTips("工站未设置");
btOpenAllDev.Enabled = false;
return;
}
btOpenAllDev.Enabled = true;
string[] doNamesInStation = _station.DONames; //当前
string[] diNamesInStation = _station.DINames;
bool isNeedReAdjustDo = false; // 需要重新规划控件（IO数量/名称/排列发生变化）
do
{
if (doNamesInStation == null || 0 == doNamesInStation.Length)
{
if (doNamesInView.Count != 0)
{
isNeedReAdjustDo = true;
break;
}
}
else
{
if (doNamesInView.Count != doNamesInStation.Length)
{
isNeedReAdjustDo = true;
break;
}
for (int i = 0; i < doNamesInView.Count; i++)
{
if (doNamesInView[i] != doNamesInStation[i])
{
isNeedReAdjustDo = true;
break;
}
}
}
} while (false);
if (isNeedReAdjustDo)
{
doNamesInView.Clear();
panelDOs.Controls.Clear();
if (null != doNamesInStation)
{
doNamesInView.AddRange(doNamesInStation);
}
for (int i = 0; i < doNamesInView.Count; i++)
{
LampButton lampDo = new LampButton();
lampDo.Size = new Size(_ioButtonWidth, _ioButtonHeight);
lampDo.Text = doNamesInView[i];
lampDo.Click += new EventHandler(DOButtonClicked);
panelDOs.Controls.Add(lampDo);
}
}
bool isNeedReAdjustDi = false;
do
{
if (diNamesInStation == null || 0 == diNamesInStation.Length)
{
if (diNamesInView.Count != 0)
{
isNeedReAdjustDi = true;
break;
}
}
else
{
if (diNamesInView.Count != diNamesInStation.Length)
{
isNeedReAdjustDi = true;
break;
}
for (int i = 0; i < diNamesInView.Count; i++)
{
if (diNamesInView[i] != diNamesInStation[i])
{
isNeedReAdjustDi = true;
break;
}
}
}
} while (false);
if (isNeedReAdjustDi)
{
diNamesInView.Clear();
panelDIs.Controls.Clear();
if (null != diNamesInStation)
{
diNamesInView.AddRange(diNamesInStation);
}
for (int i = 0; i < diNamesInView.Count; i++)
{
LampButton lampDi = new LampButton();
lampDi.Enabled = false;
lampDi.Size = new Size(_ioButtonWidth, _ioButtonHeight);
lampDi.Text = diNamesInView[i];
panelDIs.Controls.Add(lampDi);
}
}
////更新按钮提示信息
toolTips.RemoveAll();
for (int i = 0; i < doNamesInView.Count; i++)
{
LampButton lampDo = panelDOs.Controls[i] as LampButton;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDoCellInfo(doNamesInView[i]);
do
{
if (ci == null) //名称在配置中不存在
{
lampDo.LampColor = LampButton.LColor.Gray;
lampDo.ForeColor = Color.Red;
lampDo.Enabled = false;
toolTips.SetToolTip(lampDo, "名称在命名配置表中不存在");
ShowTips(string.Format("DO: \"{0}\" 在命名配置表中不存在", doNamesInView[i]));
break;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
lampDo.LampColor = LampButton.LColor.Gray;
lampDo.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
lampDo.Enabled = false;
toolTips.SetToolTip(lampDo, "未发现所属设备:" + ci.DeviceID);
ShowTips(string.Format("DO: \"{0}\" 所属设备 \"{1}\" 在系统中不存在", doNamesInView[i], ci.DeviceID));
break;
}
if (!dev.IsDeviceOpen)
{
lampDo.LampColor = LampButton.LColor.Gray;
lampDo.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
lampDo.Enabled = false;
ShowTips(string.Format("DO: \"{0}\" 所属设备 \"{1}\" 未打开（关闭状态）", doNamesInView[i], ci.DeviceID));
toolTips.SetToolTip(lampDo, "设备未打开");
break;
}
if (dev.DioCount <= ci.ModuleIndex)
{
lampDo.LampColor = LampButton.LColor.Gray;
lampDo.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
lampDo.Enabled = false;
toolTips.SetToolTip(lampDo, "所属模块序号超限");
ShowTips(string.Format("DO: \"{0}\" 所属设备 \"{1}\" 所属模块Index = {2} 超出范围0~{3}", doNamesInView[i], ci.DeviceID, ci.ModuleIndex, dev.DioCount == 0?0: dev.DioCount - 1));
break;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DOCount <= ci.ChannelIndex)
{
lampDo.LampColor = LampButton.LColor.Gray;
lampDo.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
lampDo.Enabled = false;
toolTips.SetToolTip(lampDo, "通道序号超限");
ShowTips(string.Format("DO: \"{0}\" 通道序号:{1} 超出范围0~{2}", doNamesInView[i], ci.ChannelIndex, md.DOCount == 0 ? 0 : md.DOCount - 1));
break;
}
lampDo.Enabled = true;
lampDo.ForeColor = Color.Black;
} while (false);
}
for (int i = 0; i < diNamesInView.Count; i++)
{
LampButton lampDi = panelDIs.Controls[i] as LampButton;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDiCellInfo(diNamesInView[i]);
do
{
if (ci == null) //名称在配置中不存在
{
lampDi.LampColor = LampButton.LColor.Gray;
lampDi.ForeColor = Color.Red;
toolTips.SetToolTip(lampDi, "名称在命名配置表中不存在");
ShowTips(string.Format("DI: \"{0}\" 在命名配置表中不存在", diNamesInView[i]));
break;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
lampDi.LampColor = LampButton.LColor.Gray;
lampDi.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
toolTips.SetToolTip(lampDi, "未发现所属设备:" + ci.DeviceID);
ShowTips(string.Format("DI: \"{0}\" 所属设备 \"{1}\" 在系统中不存在", diNamesInView[i], ci.DeviceID));
break;
}
if (!dev.IsDeviceOpen)
{
lampDi.LampColor = LampButton.LColor.Gray;
lampDi.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
ShowTips(string.Format("DOI: \"{0}\" 所属设备 \"{1}\" 未打开（关闭状态）", diNamesInView[i], ci.DeviceID));
toolTips.SetToolTip(lampDi, "设备未打开");
break;
}
if (dev.DioCount <= ci.ModuleIndex)
{
lampDi.LampColor = LampButton.LColor.Gray;
lampDi.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
toolTips.SetToolTip(lampDi, "所属模块序号超限");
ShowTips(string.Format("DI: \"{0}\" 所属设备 \"{1}\" 所属模块Index = {2} 超出范围0~{3}", diNamesInView[i], ci.DeviceID, ci.ModuleIndex, dev.DioCount == 0 ? 0 : dev.DioCount - 1));
break;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DICount <= ci.ChannelIndex)
{
lampDi.LampColor = LampButton.LColor.Gray;
lampDi.ForeColor = Color.Red;//ucdo.IONameTextColor = Color.Red;
toolTips.SetToolTip(lampDi, "通道序号超限");
ShowTips(string.Format("DI: \"{0}\" 通道序号:{1} 超出范围0~{2}", diNamesInView[i], ci.ChannelIndex, md.DICount == 0 ? 0 : md.DOCount - 1));
break;
}
//lampDo.Enabled = true;
lampDi.ForeColor = Color.Black;
} while (false);
}
}
private void btOpenAllDev_Click(object sender, EventArgs e)
{
if (null == _station)
{
ShowTips("打开所有DIO设备失败:工站未设置");
return;
}
string[] diNames = _station.DINames;
string[] doNames = _station.DONames;
if ((null == diNames || 0 == diNames.Length) && (null == doNames || 0 == doNames.Length))
{
ShowTips("打开所有DIO设备失败:工站未设置DI/DO");
return;
}
bool isOK = true;
if (null != diNames)
{
foreach (string diName in diNames)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDiCellInfo(diName);
if (null == ci)
{
isOK = false;
ShowTips("未发现DI = \"" + diName + "\"所属 通道信息！");
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
isOK = false;
ShowTips("未发现DI = \"" + diName + "\"所属 设备ID = \"" + ci.DeviceID + "\"!");
continue;
}
if (!dev.IsDeviceOpen)
{
int errCode = dev.OpenDevice();
if (0 != errCode)
{
isOK = false;
ShowTips(string.Format("打开DI = \"{0}\"所属设备=\"{1}\"失败，错误信息:{2}", diName, ci.DeviceID, dev.GetErrorInfo(errCode)));
continue;
}
ShowTips(string.Format("DI = \"{0}\"所属设备=\"{1}\"已打开 ", diName, ci.DeviceID));
}
}
}
if (null != doNames)
{
foreach (string doName in doNames)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDoCellInfo(doName);
if (null == ci)
{
isOK = false;
ShowTips("未发现DO = \"" + doName + "\"所属 通道信息！");
continue;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
isOK = false;
ShowTips("未发现DO = \"" + doName + "\"所属 设备ID = \"" + ci.DeviceID + "\"!");
continue;
}
if (!dev.IsDeviceOpen)
{
int errCode = dev.OpenDevice();
if (0 != errCode)
{
isOK = false;
ShowTips(string.Format("打开DO = \"{0}\"所属设备=\"{1}\"失败，错误信息:{2}", doName, ci.DeviceID, dev.GetErrorInfo(errCode)));
continue;
}
ShowTips(string.Format("DO = \"{0}\"所属设备=\"{1}\"已打开 ", doName, ci.DeviceID));
}
}
}
if (isOK)
{
ShowTips("工站所有DIO设备已打开");
}
AdjustStationUI();
}
/// <summary>
/// 将工站IO状态更新到界面上
/// </summary>
void UpdateStationUI()
{
if (_station == null)
{
return;
}
for (int i = 0; i < doNamesInView.Count; i++)
{
string doName = doNamesInView[i];
LampButton lmpdo = panelDOs.Controls[i] as LampButton;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDoCellInfo(doName);
do
{
if (ci == null) //名称在配置中不存在
{
lmpdo.LampColor = LampButton.LColor.Gray;
break;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
lmpdo.LampColor = LampButton.LColor.Gray;
break;
}
if (!dev.IsDeviceOpen)
{
lmpdo.LampColor = LampButton.LColor.Gray;
break;
}
if (dev.DioCount <= ci.ModuleIndex)
{
lmpdo.LampColor = LampButton.LColor.Gray;
break;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DOCount <= ci.ChannelIndex)
{
lmpdo.LampColor = LampButton.LColor.Gray;
break;
}
bool isOn = false;
int errCode = md.GetDO(ci.ChannelIndex, out isOn);
if (0 == errCode)
{
lmpdo.ForeColor = Color.Black;
lmpdo.LampColor = isOn ? LampButton.LColor.Green : LampButton.LColor.Gray;
}
else
{
lmpdo.LampColor = LampButton.LColor.Gray;
lmpdo.ForeColor = Color.Orange;//ucdo.IONameTextColor = Color.Red;
}
} while (false);
}
for (int i = 0; i < diNamesInView.Count; i++)
{
string diName = diNamesInView[i];
LampButton lmpdi = panelDIs.Controls[i] as LampButton;
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetDiCellInfo(diName);
do
{
if (ci == null) //名称在配置中不存在
{
lmpdi.LampColor = LampButton.LColor.Gray;
break;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
lmpdi.LampColor = LampButton.LColor.Gray;
break;
}
if (!dev.IsDeviceOpen)
{
lmpdi.LampColor = LampButton.LColor.Gray;
break;
}
if (dev.DioCount <= ci.ModuleIndex)
{
lmpdi.LampColor = LampButton.LColor.Gray;
break;
}
IJFModule_DIO md = dev.GetDio(ci.ModuleIndex);
if (md.DICount <= ci.ChannelIndex)
{
lmpdi.LampColor = LampButton.LColor.Gray;
break;
}
bool isOn = false;
int errCode = md.GetDI(ci.ChannelIndex, out isOn);
if (0 == errCode)
{
lmpdi.ForeColor = Color.Black;
lmpdi.LampColor = isOn ? LampButton.LColor.Green : LampButton.LColor.Gray;
}
else
{
lmpdi.LampColor = LampButton.LColor.Gray;
lmpdi.ForeColor = Color.Orange;//ucdo.IONameTextColor = Color.Red;
}
} while (false);
}
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string diName = GetMethodInputValue(PN_DIID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDiName(diName))
{
errorInfo = "参数项:\"DI通道名称\" = " + diName + " 在设备名称表中不存在";
return(false);
}
bool isDIEnable = (bool)GetMethodInputValue(PN_WaitDIStatus);
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);
JFDevChannel diChn = new JFDevChannel(JFDevCellType.DI, diName);
string avalidInfo;
if (!diChn.CheckAvalid(out avalidInfo))
{
errorInfo = avalidInfo;
return(false);
}
_dev = diChn.Device() as IJFDevice_MotionDaq;
_ci = diChn.CellInfo();
_dio = _dev.GetDio(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
// DI状态检查
bool isON = false;
int errCode = _dio.GetDI(_ci.ChannelIndex, out isON);
if (errCode != 0)
{
errorInfo = "获取DI状态失败!" + _dio.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(false);
}
if (isDIEnable == isON)
{
errorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到DI:\" " + diName + "\"状态为" + isDIEnable.ToString();
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
else//指令退出
{
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
}
}
///// <summary>
///// 使通道可用（如伺服上电，光源/触发可用）
///// 建议在 打开设备->检查通道可用性 之后调用
///// </summary>
///// <param name="errorInfo"></param>
///// <returns></returns>
public bool EnabledChannel(out string errorInfo)
{
errorInfo = "Unknown-Error";
bool isOK = false;
if (!CheckAvalid(out errorInfo))
{
return(false);
}
int errorCode = 0;
IJFDevice dev = Device();
switch (CellType)
{
case JFDevCellType.DI:
isOK = true;
errorInfo = "Success";
break;
case JFDevCellType.DO:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.Axis:
{
IJFDevice_MotionDaq devMD = Device() as IJFDevice_MotionDaq;
JFDevCellInfo ci = CellInfo();
IJFModule_Motion mm = devMD.GetMc(ci.ModuleIndex);
errorCode = mm.ServoOn(ci.ChannelIndex);
if (errorCode != 0)
{
errorInfo = mm.GetErrorInfo(errorCode);
}
else
{
isOK = true;
errorInfo = "Success";
}
}
break;
case JFDevCellType.AI:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.AO:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.CmpTrig:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.Light:
dev = Device();
if (dev is IJFDevice_LightControllerWithTrig) //光源控制器
{
IJFDevice_LightControllerWithTrig devLT = dev as IJFDevice_LightControllerWithTrig;
errorCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.TurnOnOff); //切换为开关模式
if (errorCode != 0)
{
errorInfo = "切换为开关模式失败:" + devLT.GetErrorInfo(errorCode);
break;
}
}
IJFDevice_LightController devl = dev as IJFDevice_LightController;
errorCode = devl.SetLightChannelEnable(CellInfo().ChannelIndex, true);
if (errorCode != 0)
{
errorInfo = "通道使能失败:" + devl.GetErrorInfo(errorCode);
break;
}
isOK = true;
errorInfo = "Success";
break;
case JFDevCellType.Trig:
dev = Device();
if (dev is IJFDevice_LightControllerWithTrig) //光源控制器
{
IJFDevice_LightControllerWithTrig devLT = dev as IJFDevice_LightControllerWithTrig;
errorCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.Trigger); //切换为触发模式
if (errorCode != 0)
{
errorInfo = "切换为触发模式失败:" + devLT.GetErrorInfo(errorCode);
break;
}
}
IJFDevice_TrigController devt = dev as IJFDevice_TrigController;
errorCode = devt.SetTrigChannelEnable(CellInfo().ChannelIndex, true);
if (errorCode != 0)
{
errorInfo = "通道使能失败:" + devt.GetErrorInfo(errorCode);
break;
}
isOK = true;
errorInfo = "Success";
break;
default:
errorInfo = "未定义的通道类型";
break;
}
return(isOK);
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string[] axisIDList = GetInitParamValue(PN_AxisID) as string[];
if (axisIDList == null)
{
errorInfo = "轴ID列表长度为空";
return(false);
}
int[] iAxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
return(false);
}
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
IJFDevice_MotionDaq _dev = null;
IJFDevice_MotionDaq _devBuff = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
_mdList = new List <IJFModule_Motion>();
_ciList = new List <JFDevCellInfo>();
//检查轴参数合法性
for (int i = 0; i < axisIDList.Length; i++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[i]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[i] + " 在设备名称表中不存在";
return(false);
}
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisIDList[1]);
if (!axisChn.CheckAvalid(out errorInfo))
{
return(false);
}
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
if (_devBuff != null)
{
if (_devBuff != _dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
return(false);
}
}
_devBuff = _dev;
foreach (JFDevCellInfo jFDevCellInfo in cibuffList)
{
if (jFDevCellInfo.ChannelIndex == _ci.ChannelIndex)
{
errorInfo = "轴ID列表中存在重复的轴名称";
return(false);
}
}
cibuffList.Add(_ci);
_ciList.Add(_ci);
_mdList.Add(_md);
iAxisIDList[i] = _ci.ChannelIndex;
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);
bool isAbs = (bool)GetMethodInputValue(PN_AbsMode);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
// 其他状态检查
bool[] axisStatus;
bool isMotionDone = true;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].GetMotionStatus(_ciList[i].ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_mdList[i].MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_mdList[i].MSID_EMG > -1 && axisStatus[_mdList[i].MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_mdList[i].MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_mdList[i].MSID_MDN])
{
isMotionDone = false;
break;
}
}
if (isMotionDone)
{
errorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到直线插补运动完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].StopAxis(_ciList[i].ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double[] dPosList = new double[_ciList.Count];
double tgtPos = 0;
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].GetCmdPos(_ciList[i].ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复直线插补运行时获取目标位置失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
dPosList[i] = tgtPos;
}
if (isAbs)
{
errCode = _mdList[0].AbsLine(iAxisIDList, dPosList);
}
else
{
errCode = _mdList[0].RelLine(iAxisIDList, dPosList);
}
if (0 != errCode)
{
errorInfo = "恢复轴" + (isAbs ? "绝对式" : "相对式") + "直线插补运动失败:" + _mdList[0].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].StopAxis(_ciList[i].ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
protected bool JFWaitDi(string diName, out string errorInfo, bool isTurnOn, int delaytime = -1)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainDiName(diName))
{
errorInfo = "参数项:\"DI通道名称\" = " + diName + " 在设备名称表中不存在";
return(false);
}
JFDevChannel diChn = new JFDevChannel(JFDevCellType.DI, diName);
string avalidInfo;
if (!diChn.CheckAvalid(out avalidInfo))
{
errorInfo = avalidInfo;
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_DIO _dio = null;
JFDevCellInfo _ci = null;
_dev = diChn.Device() as IJFDevice_MotionDaq;
_ci = diChn.CellInfo();
_dio = _dev.GetDio(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
// DI状态检查
bool isON = false;
int errCode = _dio.GetDI(_ci.ChannelIndex, out isON);
if (errCode != 0)
{
errorInfo = "获取DI状态失败!" + _dio.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
return(false);
}
if (isTurnOn == isON)
{
errorInfo = "Success";
_workCmd = 0;
_isRunning = false;
return(true);
}
if (delaytime >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= delaytime)
{
errorInfo = "超时未等到DI:\" " + diName + "\"状态为" + isTurnOn.ToString();
_workCmd = 0;
_isRunning = false;
return(false);
}
}
Thread.Sleep(10);
}
else if (1 == _workCmd)//当前为暂停状态
{
Thread.Sleep(10);
continue;
}
else//指令退出
{
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
return(false);
}
}
}
protected bool JFMotionDone(string AxisName, out string errorInfo, int delaytime)
{
errorInfo = "";
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, AxisName);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
return(false);
}
//if (!axisStatus[_md.MSID_SVO])
//{
// errorInfo = "轴伺服已断电!";
// _workCmd = 0;
// _isRunning = false;
// SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
// return false;
//}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
return(true);
}
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= delaytime)
{
errorInfo = "超时未等到轴:\" " + AxisName + "\"动作完成 ";
_workCmd = 0;
_isRunning = false;
return(false);
}
Thread.Sleep(10);
}
else if (1 == _workCmd)//当前为暂停状态
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
_isRunning = false;
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
return(false);
}
else
{
Thread.Sleep(10);
continue;
}
}
}
/// <summary>
/// 保存当前视觉配置
/// </summary>
/// <param name="filePath"></param>
public bool SaveProgram(string programName, out string errorInfo)
{
errorInfo = "UnknownError";
bool ret = false;
do
{
if (string.IsNullOrEmpty(programName))
{
errorInfo = "配置名称为空字串";
break;
}
JFVisionManager vm = JFHubCenter.Instance.VisionMgr;
JFSingleVisionCfgParam vc = null;
if (vm.ContainSingleVisionCfgByName(programName))
{
vc = vm.GetSingleVisionCfgByName(programName);
}
else
{
vc = new JFSingleVisionCfgParam();
}
string ei;
if (!OpenEnableDevices(out ei))
{
errorInfo = "设备未全部打开并使能:" + ei;
break;
}
///相机参数
double exposure = 0; //相机曝光值
double gain = 0;
bool isRevsX = false;
bool isRevsY = false;
int errCode = _cmr.GetExposure(out exposure);
if (errCode != 0)
{
errorInfo = "获取相机曝光值失败:" + _cmr.GetErrorInfo(errCode);
break;
}
errCode = _cmr.GetGain(out gain);
if (errCode != 0)
{
errorInfo = "获取相机增益值失败:" + _cmr.GetErrorInfo(errCode);
break;
}
errCode = _cmr.GetReverseX(out isRevsX);
if (errCode != 0)
{
errorInfo = "获取相机X镜像参数失败:" + _cmr.GetErrorInfo(errCode);
break;
}
errCode = _cmr.GetReverseY(out isRevsY);
if (errCode != 0)
{
errorInfo = "获取相机Y镜像参数失败:" + _cmr.GetErrorInfo(errCode);
break;
}
///光源通道参数
int[] intensities = null;
if (_lightNames != null && _lightNames.Length > 0)
{
intensities = new int[_lightNames.Length];
for (int i = 0; i < _lightNames.Length; i++)
{
int nVal = 0;
IJFDevice_LightController dev = _lightChns[i].Device() as IJFDevice_LightController;
errCode = dev.GetLightIntensity(_lightChns[i].CellInfo().ChannelIndex, out nVal);
if (errCode != 0)
{
errorInfo = "获取光源:\"" + _lightNames[i] + "\"亮度值失败：" + dev.GetErrorInfo(errCode);
goto LoopExit;
}
intensities[i] = nVal;
}
}
double[] axisPos = null;
///配置轴参数
if (_cfgAxisNames != null && _cfgAxisNames.Length > 0)
{
double dVal = 0;
axisPos = new double[_cfgAxisNames.Length];
for (int i = 0; i < _cfgAxisNames.Length; i++)
{
IJFDevice_MotionDaq md = _cfgAxes[i].Device() as IJFDevice_MotionDaq;
JFDevCellInfo ci = _cfgAxes[i].CellInfo();
errCode = md.GetMc(ci.ModuleIndex).GetFbkPos(ci.ChannelIndex, out dVal);
if (errCode != 0)
{
errorInfo = "获取轴:\"" + _cfgAxisNames[i] + "\"位置失败:" + md.GetMc(ci.ModuleIndex).GetErrorInfo(errCode);
goto LoopExit;
}
axisPos[i] = dVal;
}
}
vc.CmrReverseX = isRevsX;
vc.CmrReverseY = isRevsY;
vc.CmrExposure = exposure;
vc.CmrGain = gain;
vc.LightChnNames = _lightNames == null ? new string[] { } : _lightNames;
vc.LightIntensities = intensities == null ? new int[] { } : intensities;
vc.AxisNames = _cfgAxisNames == null ? new string[] { } : _cfgAxisNames;
vc.AxisPositions = axisPos == null ? new double[] { } : axisPos;
if (!vm.ContainSingleVisionCfgByName(programName))
{
vc.Name = programName;
vc.OwnerAssist = Name;
vm.AddSingleVisionCfg(programName, vc);
}
else
{
vm.Save();
}
errorInfo = "Success";
ret = true;
} while (false);
LoopExit:
return(ret);
}
DevNodeCategory _currNodeCategory = DevNodeCategory.MotionDaqDev; //当前点击的节点类型
private void tvDevs_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Right)//判断右键
{
Point ClickPoint = new Point(e.X, e.Y);
TreeNode nodeClicked = tvDevs.GetNodeAt(ClickPoint);
if (null == nodeClicked)
{
return;
}
tvDevs.SelectedNode = nodeClicked;
DevNodeInfo nodeInfo = nodeClicked.Tag as DevNodeInfo;
if (null == nodeInfo)
{
return;
}
if (nodeInfo.Categoty == DevNodeCategory.MotionDaqDev)
{
contextMenuDev.Items["ToolStripMenuItemResetDevsModuleCount"].Text = "修改模块数量";
if (JFHubCenter.Instance.InitorManager.GetIDs(typeof(IJFDevice_MotionDaq)).Contains(nodeInfo.DevID))
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = true;
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(nodeInfo.DevID) as IJFDevice_MotionDaq;
if (dev.IsDeviceOpen)
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "关闭设备";
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "打开设备";
}
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = false;
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "无效设备";
}
}
else if (nodeInfo.Categoty == DevNodeCategory.LightCtrlTDev || nodeInfo.Categoty == DevNodeCategory.TrigCtrlDev)
{
contextMenuDev.Items["ToolStripMenuItemResetDevsModuleCount"].Text = "修改通道数量";
if (JFHubCenter.Instance.InitorManager.GetIDs(typeof(IJFDevice_TrigController)).Contains(nodeInfo.DevID))
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = true;
IJFDevice_TrigController dev = JFHubCenter.Instance.InitorManager.GetInitor(nodeInfo.DevID) as IJFDevice_TrigController;
if (dev.IsDeviceOpen)
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "关闭设备";
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "打开设备";
}
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = false;
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "无效设备";
}
}
else if (nodeInfo.Categoty == DevNodeCategory.LightCtrlTDev)
{
contextMenuDev.Items["ToolStripMenuItemResetDevsModuleCount"].Text = "修改通道数量";
if (JFHubCenter.Instance.InitorManager.GetIDs(typeof(IJFDevice_LightControllerWithTrig)).Contains(nodeInfo.DevID))
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = true;
IJFDevice_LightControllerWithTrig dev = JFHubCenter.Instance.InitorManager.GetInitor(nodeInfo.DevID) as IJFDevice_LightControllerWithTrig;
if (dev.IsDeviceOpen)
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "关闭设备";
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "打开设备";
}
}
else
{
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Enabled = false;
contextMenuDev.Items["ToolStripMenuItemOpenCloseDev"].Text = "无效设备";
}
}
}
else if (e.Button == MouseButtons.Left) //左键
{
Point ClickPoint = new Point(e.X, e.Y);
TreeNode nodeClicked = tvDevs.GetNodeAt(ClickPoint);
if (null == nodeClicked)
{
return;
}
DevNodeInfo nodeInfo = nodeClicked.Tag as DevNodeInfo;
if (null == nodeInfo)
{
return;
}
panel1.Controls.Clear();
_currNodeCategory = nodeInfo.Categoty;
switch (nodeInfo.Categoty)
{
case DevNodeCategory.MotionDaqDev:
timer1.Enabled = false;
break;
case DevNodeCategory.DioModule:
ucDioNames.UpdateChannelsInfo(nodeInfo.DevID, nodeInfo.ModuleIndex);
panel1.Controls.Add(ucDioNames);
ucDioNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
case DevNodeCategory.MotionModule:
timer1.Enabled = true;
ucAxisNames.UpdateChannelsInfo(nodeInfo.DevID, nodeInfo.ModuleIndex);
panel1.Controls.Add(ucAxisNames);
ucAxisNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
case DevNodeCategory.AioModule:
ucAioNames.UpdateChannelsInfo(nodeInfo.DevID, nodeInfo.ModuleIndex);
panel1.Controls.Add(ucAioNames);
ucAioNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
case DevNodeCategory.CmpTrigModule:
ucCmpTrigNames.UpdateChannelsInfo(nodeInfo.DevID, nodeInfo.ModuleIndex);
panel1.Controls.Add(ucCmpTrigNames);
ucCmpTrigNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
case DevNodeCategory.TrigCtrlDev:
ucTrigCtrlNames.UpdateChannelsInfo(nodeInfo.DevID);
panel1.Controls.Add(ucTrigCtrlNames);
ucTrigCtrlNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
case DevNodeCategory.LightCtrlTDev:
ucLightCtrlNames.UpdateChannelsInfo(nodeInfo.DevID);
panel1.Controls.Add(ucLightCtrlNames);
ucLightCtrlNames.Dock = DockStyle.Fill;
timer1.Enabled = true;
break;
}
}
}
