private void LdsWorkFunctionSet1()
{
int nIndex = 1;
int nCmd = 0;
const string cmdReg = "R211";
const string Angle_Join_Reg = "R213";
const string bool_Join_Reg = "R212";
const string Intensity6m_Reg = "R272";
const string bool_6m_Reg = "R268";
try
{
while (!cts.IsCancellationRequested)
{
bool bRet = false;
nCmd = PLC.ReadInt(cmdReg);
switch (nCmd)
{
case 1: //计算对接角度
bRet = GetTune2JoinAngle(nIndex, out double Angle);
PLC.WriteDint(Angle_Join_Reg, /*Convert.ToInt32(Angle * 1000)*/ 765);
PLC.WriteInt(bool_Join_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"计算LDS1的对接角度结果{bRet},{Angle}");
break;
case 5: //获取强度值
bRet = GetLaserIntensityValue(nIndex, out int intensityValue);
PLC.WriteDint(Intensity6m_Reg, /*intensityValue*/ 99);
PLC.WriteInt(bool_6m_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"读取LDS1的6.5米处水平强度值{bRet},{intensityValue}");
break;
case 100:
ReadResutFromPLC(nIndex);
PLC.WriteInt(cmdReg, nCmd + 1);
break;
default:
break;
}
Thread.Sleep(100);
}
ShowInfo($"LDS1的服务器正常退出");
}
catch (Exception ex)
{
ShowInfo($"LDS1的服务器异常终止:{ex.Message}");
}
}
private void LdsWorkFunctionSet1()
{
int nIndex = 1;
int nCmd = 0;
const string cmdReg = "R310";
int C1 = 0;
int C2 = 0;
const string bool_Calib2m = "R311";
const string bool_Calib4m = "R366";
try
{
while (!cts.IsCancellationRequested)
{
bool bRet = false;
nCmd = PLC.ReadInt(cmdReg);
switch (nCmd)
{
case 1: //读取2米强度值
bRet = GetCenterFocus(nIndex, out C1);
PLC.WriteInt(bool_Calib2m, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo("读取LDS1的2米处激光中心值");
break;
case 3: //读取4米强度值
bRet = GetCenterFocus(nIndex, out C1);
PLC.WriteInt(bool_Calib4m, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo("读取LDS1的4米处激光中心值");
break;
case 5: //计算结果给LDS
bRet = SetLDSCalidData(nIndex, C1, C2);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo("计算结果写入LDS1");
//结果写在哪
break;
case 100:
ReadResutFromPLC(nIndex);
PLC.WriteInt(cmdReg, nCmd + 1);
break;
default:
break;
}
Thread.Sleep(100);
}
ShowInfo("LDS1的服务器被用户退出");
}
catch (Exception ex)
{
ShowInfo($"LDS1的服务器异常终止:{ex.Message}");
}
}
private void LdsWorkFunctionSet1()
{
int nIndex = 1;
int nCmd = 0;
const string cmdReg = "R13";
const string boolResult_Unlock_Reg = "R15";
const string barcodeResult_Reg = "R20";
const string boolResult_Barcode_Reg = "R19";
const string boolResult_AdjustPower_Reg = "R67";
try
{
nAdjustCount[nIndex - 1] = 0;
nCmd = 5;
while (!cts.IsCancellationRequested)
{
bool bRet = false;
//nCmd = PLC.ReadInt(cmdReg);
Console.WriteLine("22222");
Thread.Sleep(100);
continue;
switch (nCmd)
{
case 1:
bRet = UnLock(nIndex);
PLC.WriteDint(boolResult_Unlock_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1解锁结果:{bRet}");
nCmd = 2;
break;
case 3:
bRet = GetBarcode(nIndex, out string barcode);
PLC.WriteString(barcodeResult_Reg, barcode);
PLC.WriteInt(boolResult_Barcode_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1读取条码结果:{bRet}");
break;
case 5:
bRet = AdjustPowerValue(nIndex);
PLC.WriteInt(boolResult_AdjustPower_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1调整激光功率结果:{bRet}");
nCmd = 6;
break;
case 100:
ReadResutFromPLC(nIndex);
PLC.WriteInt(cmdReg, nCmd + 1);
break;
default:
break;
}
Thread.Sleep(30);
}
ShowInfo($"LDS1的服务器被用户退出");
}
catch (Exception ex)
{
ShowInfo($"LDS1的服务器异常终止:{ex.Message}");
}
}
private void LdsWorkFunctionSet1()
{
int nIndex = 1;
int nCmd = 0;
const string cmdReg = "R107";
const string Angle_Join_Reg = "R109";
const string bool_Join_Reg = "R108";
const string Angle_Blob_Reg = "R164";
const string Bool_Blob_Reg = "R163";
const string Intensity2m_Reg = "R171";
const string bool_2m_Reg = "R173";
const string Intensity6m_Reg = "R171";
const string bool_6m_Reg = "R173";
try
{
while (!cts.IsCancellationRequested)
{
bool bRet = false;
nCmd = PLC.ReadInt(cmdReg);
switch (nCmd)
{
case 1: //计算对接角度
bRet = GetTune1JoinAngle(nIndex, out double Angle);
PLC.WriteDint(Angle_Join_Reg, /*Convert.ToInt32(Angle * 1000)*/ 123);
PLC.WriteInt(bool_Join_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1拍照并计算对接角度结果{bRet},{Angle}");
break;
case 3: //计算光斑角度
bRet = GetBlobAngle(nIndex, out double BlobAngle);
PLC.WriteDint(Angle_Blob_Reg, /*Convert.ToInt32(BlobAngle * 1000)*/ 11111111);
PLC.WriteInt(Bool_Blob_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1拍照并计算光板角度结果{bRet},{BlobAngle}");
break;
case 5: //获取2米水平强度值
bRet = GetLaserIntensity(nIndex, EnumTarget.T2, out int InstensityValue2m);
PLC.WriteDint(Intensity2m_Reg, /*InstensityValue2m*/ 777777);
PLC.WriteInt(bool_2m_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1获取2米处的水平强度值结果{bRet},{InstensityValue2m}");
break;
case 7: //获取6米水平强度值
bRet = GetLaserIntensity(nIndex, EnumTarget.T6, out int InstensityValue6m);
PLC.WriteDint(Intensity6m_Reg, /*InstensityValue6m*/ 76);
PLC.WriteInt(bool_6m_Reg, bRet ? 2 : 1);
PLC.WriteInt(cmdReg, nCmd + 1);
ShowInfo($"LDS1获取6.5米处的水平强度值结果{bRet},{InstensityValue6m}");
break;
case 100:
ReadResutFromPLC(nIndex);
PLC.WriteInt(cmdReg, nCmd + 1);
break;
default:
break;
}
Thread.Sleep(100);
}
ShowInfo($"LDS1的服务器正常退出");
}
catch (Exception ex)
{
ShowInfo($"LDS1的服务器异常终止:{ex.Message}");
}
}