private void btUp_Click(object sender, RoutedEventArgs e)
{
Cursor = Cursors.Wait;
PLC_Tcp_CP.ChangeAdd(2);
//自动上推
//PLC.PlateMoveUpBegin();
PLC_Tcp_CP.PlateMoveUp(PLC_Tcp_AP.PlateType.Left);
PLC_Tcp_CP.PlateMoveUp(PLC_Tcp_AP.PlateType.Right);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(1000);
while (!PLC_Tcp_CP.PlateMoveUpIsOK(PLC_Tcp_AP.PlateType.Left) || !PLC_Tcp_CP.PlateMoveUpIsOK(PLC_Tcp_AP.PlateType.Right))
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Up_Plate))
{
break;
}
Thread.Sleep(200);
}
if (DateTime.Now <= timeBegin.AddSeconds(Config.Mac_C.WaitTime_Up_Plate))
{
tbNowL.Text = PLC_Tcp_CP.ReadPlatePulse(PLC_Tcp_AP.PlateType.Left).ToString();
tbNowR.Text = PLC_Tcp_CP.ReadPlatePulse(PLC_Tcp_AP.PlateType.Right).ToString();
}
else
{
csMsg.ShowWarning("推板上推失败", false);
}
Cursor = null;
}
public void Up()
{
//获取药盒厚度
double drugThickness = 10;
string sql = "select height from drug_infoannex where drugonlycode='" + plate.DrugOnlyCode + "'";
string s;
csSql.ExecuteScalar(sql, Config.Soft.ConnString, out s);
if (!string.IsNullOrEmpty(s))
{
drugThickness = double.Parse(s);
}
PLC_Tcp_CP.ChangeAdd(2);
//自动上推
//PLC.PlateMoveUpBegin();
PLC_Tcp_CP.PlateMoveUp(plate.PlateType);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(200);
//等待就位
while (!PLC_Tcp_CP.PlateMoveUpIsOK(plate.PlateType))
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Up_Plate))
{
return;
}
Thread.Sleep(200);
}
Thread.Sleep(100);
//当前脉冲
float nowPulse = PLC_Tcp_CP.ReadPlatePulse(plate.PlateType);
//获取脉冲上限
float maxPulse = 0f;
if (plate.PlateType == PLC_Tcp_AP.PlateType.Left)
{
maxPulse = float.Parse(Config.Mac_C.Pulse_Plate_Max_Left);
}
else
{
maxPulse = float.Parse(Config.Mac_C.Pulse_Plate_Max_Right);
}
//计算仓内数量
double sumHeight = Math.Round((maxPulse - nowPulse) * 1.0 / Config.Mac_C.OneMMPulse_Plate, 2);
int boxNum = (int)Math.Round((double)sumHeight / drugThickness);
plate.Num = boxNum;
if (plate.PlateType == PLC_Tcp_AP.PlateType.Left)
{
upLeftIsOK = true;
}
else
{
upRightIsOK = true;
}
}
//机械手运行到指定脉冲
private void btRunAuto_Click(object sender, RoutedEventArgs e)
{
ShowKey(false);
//csKey.Close();
Cursor = Cursors.Wait;
PLC_Tcp_CP.ChangeAdd(1);
string x = tbTargetX.Text.Trim();
string z = tbTargetZ.Text.Trim();
if (string.IsNullOrEmpty(x))
{
csMsg.ShowWarning("X轴脉冲不能为空", false);
Cursor = null;
return;
}
if (string.IsNullOrEmpty(z))
{
csMsg.ShowWarning("Z轴脉冲不能为空", false);
Cursor = null;
return;
}
float xp; float zp;
if (float.TryParse(x, out xp) && float.TryParse(z, out zp))
{
PLC_Tcp_CP.ExtramanAutoMoveToPulse(xp, zp);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(200);
while (!PLC_Tcp_CP.ExtramanAutoMoveIsOK())
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Extraman))
{
break;
}
Thread.Sleep(200);
}
if (DateTime.Now <= timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Extraman))
{
tbNowX.Text = PLC_Tcp_CP.ReadExtramanPulseX().ToString();
tbNowZ.Text = PLC_Tcp_CP.ReadExtramanPulseZ().ToString();
}
else
{
csMsg.ShowWarning("机械手未运行到指定位置", false);
}
}
else
{
csMsg.ShowWarning("脉冲值格式不正确", false);
}
Cursor = null;
}
private void Back()
{
SetErrorVisibility(Visibility.Hidden);
ShowPlate(PLC_Tcp_AP.PlateType.Left, "", 0);
ShowPlate(PLC_Tcp_AP.PlateType.Right, "", 0);
PLC_Tcp_CP.ChangeAdd(1);
//运行到接药口
PLC_Tcp_CP.ExtramanAutoMoveToPulse(float.Parse(Config.Mac_C.Pulse_Meet_X), float.Parse(Config.Mac_C.Pulse_Meet_Z));
//推药板复位
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Left, float.Parse(Config.Mac_C.Pulse_Plate_Min_Left));
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Right, float.Parse(Config.Mac_C.Pulse_Plate_Min_Right));
}
//推药板自动运行
private void btRunR_Click(object sender, RoutedEventArgs e)
{
ShowKey(false);
//csKey.Close();
Cursor = Cursors.Wait;
PLC_Tcp_CP.ChangeAdd(1);
string p = tbTargetR.Text.Trim();
if (string.IsNullOrEmpty(p))
{
csMsg.ShowWarning("脉冲不能为空", false);
Cursor = null;
return;
}
float pp;
if (float.TryParse(p, out pp))
{
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Right, pp);
DateTime timeBegin = DateTime.Now;
Thread.Sleep(200);
while (!PLC_Tcp_CP.PlateAutoMoveToPulseIsOK(PLC_Tcp_AP.PlateType.Right))
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Plate))
{
break;
}
Thread.Sleep(200);
}
if (DateTime.Now <= timeBegin.AddSeconds(Config.Mac_C.WaitTime_Auto_Plate))
{
tbNowR.Text = PLC_Tcp_CP.ReadPlatePulse(PLC_Tcp_AP.PlateType.Right).ToString();
}
else
{
csMsg.ShowWarning("推药板未运行到指定位置", false);
}
}
else
{
csMsg.ShowWarning("脉冲格式不正确", false);
}
Cursor = null;
}
//加药
private void btAdd_Click(object sender, RoutedEventArgs e)
{
Cursor = Cursors.Wait;
upLeftIsOK = upRightIsOK = true;
//推药板上移
bool toUp = false;
foreach (Plate p in Plates)
{
if (p.Num > 0)
{
toUp = true;
break;
}
}
if (toUp)
{
IsBusy = true;
foreach (Plate p in Plates)
{
if (p.Num > 0)
{
if (p.PlateType == PLC_Tcp_AP.PlateType.Left)
{
upLeftIsOK = false;
p.Batch = tbBatchL.Text.Trim();
p.QZ = (bool)chkBatchL.IsChecked;
PlateUp clspu = new PlateUp(p);
thUpL = new Thread(clspu.Up);
thUpL.IsBackground = true;
thUpL.Start();
}
else
{
upRightIsOK = false;
p.Batch = tbBatchR.Text.Trim();
p.QZ = (bool)chkBatchR.IsChecked;
PlateUp clspu = new PlateUp(p);
thUpR = new Thread(clspu.Up);
thUpR.IsBackground = true;
thUpR.Start();
}
}
}
DateTime timeBegin = DateTime.Now;
//机械手加药
while (!upLeftIsOK || !upRightIsOK)
{
if (DateTime.Now > timeBegin.AddSeconds(Config.Mac_C.WaitTime_Up_Plate))
{
break;
}
Thread.Sleep(100);
}
if (upLeftIsOK && upRightIsOK)
{
SetNumL(plate_Left.Num);
SetNumR(plate_Right.Num);
PLC_Tcp_CP.ChangeAdd(1);
//先设定当前位置
float pulse = PLC_Tcp_CP.ReadPlatePulse(PLC_Tcp_AP.PlateType.Left);
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Left, pulse);
pulse = PLC_Tcp_CP.ReadPlatePulse(PLC_Tcp_AP.PlateType.Right);
PLC_Tcp_CP.PlateAutoMoveToPulse(PLC_Tcp_AP.PlateType.Right, pulse);
bool toAdd = false;
foreach (Plate p in Plates)
{
if (p.Num > 0)
{
toAdd = true;
break;
}
}
if (toAdd)
{
Thread thAdd = new Thread(Add);
thAdd.IsBackground = true;
thAdd.Start();
//Add();
}
else
{
IsBusy = false;
}
}
else
{
IsBusy = false;
Cursor = null;
}
if (IsBusy)
{
timer_Num.Start();
}
}
else
{
Cursor = null;
}
}
//推药板向下
private void btPlateDownR_MouseDown(object sender, MouseButtonEventArgs e)
{
PLC_Tcp_CP.ChangeAdd(0);
PLC_Tcp_CP.PlateManualMove(PLC_Tcp_AP.PlateType.Right, PLC_Tcp_AP.PlateMoveDir.Down);
}
//向右
private void btExtraman_Manual_Right_PreviewMouseDown(object sender, MouseButtonEventArgs e)
{
PLC_Tcp_CP.ChangeAdd(0);
PLC_Tcp_CP.ExtramanManualMove(PLC_Tcp_AP.ExtramanMoveDir.Right);
}