private void waitTimer_Tick(object sender, EventArgs e)
{
form1.ReadDeweRev();
this.Invoke((EventHandler)(delegate
{
double d = form1.deweRev;
chart1.Series[0].Points.AddY(d);
lRev.Text = d.ToString("f1");
}));
TcpModbusPacket tp = form1.ReadPLC();
if (tp != null)
{
ushort D100 = BytesOP.MakeByte(tp.Data[1], tp.Data[2]);
if (!BytesOP.GetBit(D100, 0))//系统外部停机
{
MessageBox.Show("测试停止");
this.Invoke((EventHandler)(delegate
{
waitTimer.Enabled = false;
toolStripButton1.Enabled = true;
}));
}
}
}
void WaitingStart(object LockWatingThread)
{
while (true)
{
TcpModbusPacket tp = form1.ReadPLC();
if (tp != null)
{
ushort D100 = BytesOP.MakeByte(tp.Data[1], tp.Data[2]);
if (BytesOP.GetBit(D100, 0))//系统已经启动
{
form1.SetMotor(motorRev, motorTorque);
this.Invoke((EventHandler)(delegate
{
chart1.Series[0].Points.Clear();
waitTimer.Enabled = true;
}));
return;
}
}
Thread.Sleep(1000);
lock (LockWatingThread)
{
wpStart.SetProcessBarPerformStep();
if (wpStart.HasBeenCancelled())
{
return;
}
}
}
}
void checkPLC()
{
TcpModbusPacket tp = ReadPLC();
if (tp != null)
{
ushort D100 = BytesOP.MakeByte(tp.Data[1], tp.Data[2]);
if (!BytesOP.GetBit(D100, 0))//系统外部停机
{
this.Invoke((EventHandler)(delegate
{
openTimer.Enabled = false;
waitTimer.Enabled = false;
splitContainer1.Enabled = false;
toolStripButton4.Enabled = true;
listView1.BackColor = SystemColors.Window;
listView2.BackColor = SystemColors.Window;
tbTime1.Visible = false;
tbTime.Visible = false;
timer1.Enabled = false;
}));
MessageBox.Show("测试停止");
}
}
}
private void waitTimer_Tick(object sender, EventArgs e)
{
form1.ReadDeweData();
this.Invoke((EventHandler)(delegate
{
chart1.Series[0].Points.AddY(form1.deweNiuZhen);
chart2.Series[0].Points.AddY(form1.deweNiuJu);
chart2.Series[1].Points.AddY(Torque);
chart2.Series[2].Points.AddY(motorTorque);
}));
t = t + waitTimer.Interval / 1000;
motorTorque = Torque + Amplitude * Math.Sin(omega * t);
form1.SetMotor(motorRev, motorTorque);
TcpModbusPacket tp = form1.ReadPLC();
if (tp != null)
{
ushort D100 = BytesOP.MakeByte(tp.Data[1], tp.Data[2]);
if (!BytesOP.GetBit(D100, 0))//系统外部停机
{
MessageBox.Show("测试停止");
this.Invoke((EventHandler)(delegate
{
waitTimer.Enabled = false;
toolStripButton1.Enabled = true;
}));
}
}
}
void WaitingStart(object LockWatingThread)
{
while (true)
{
TcpModbusPacket tp = ReadPLC();
if (tp != null)
{
ushort D100 = BytesOP.MakeByte(tp.Data[1], tp.Data[2]);
if (BytesOP.GetBit(D100, 0)) //系统已经启动
{
if (BytesOP.GetBit(D100, 1)) //判断正反转
{
bForeward = true;
this.Invoke((EventHandler)(delegate
{
listView1.Items[6].SubItems[1].Text = "正转";
}));
}
else
{
bForeward = false;
this.Invoke((EventHandler)(delegate
{
listView1.Items[6].SubItems[1].Text = "反转";
}));
}
SetMotor(openRev, NiuJuPID.sp);
motorRev = openRev;
motorTorque = NiuJuPID.sp;
this.Invoke((EventHandler)(delegate
{
listView1.Items[6].SubItems[1].Text = openRev.ToString("F3");
listView2.Items[6].SubItems[1].Text = NiuJuPID.sp.ToString();
listView1.Items[1].SubItems[1].Text = "";
listView2.Items[1].SubItems[1].Text = "";
chart1.Series[0].Points.Clear();
chart1.Series[1].Points.Clear();
chart2.Series[0].Points.Clear();
chart2.Series[1].Points.Clear();
openTimes = 0;
openTimer.Enabled = true;
}));
return;
}
}
Thread.Sleep(1000);
lock (LockWatingThread)
{
wpStart.SetProcessBarPerformStep();
if (wpStart.HasBeenCancelled())
{
return;
}
}
}
}
public void SetMotor(double rev, double torque)
{
Debug.Assert(rev > 0);
Debug.Assert(torque >= 0);
if (torque > 28.6)
{
torque = 28.6;
}
int retry = 3;
while (true)
{
byte[] tx = new byte[8 + 5];
tx[0] = 0x00; //起始地址
tx[1] = 0x00;
tx[2] = 0; //长度
tx[3] = 4;
tx[4] = 8; //写入字节数
rev = rev * 360 * 1000;
if (!bForeward)
{
rev = rev * -1;
torque = torque * -1;
}
byte[] x = BitConverter.GetBytes((int)rev);
tx[5] = x[1];
tx[6] = x[0];
tx[7] = x[3];
tx[8] = x[2];
torque = torque / 7 / 28.6 * 1000;
this.Invoke((EventHandler)(delegate
{
listView2.Items[7].SubItems[1].Text = ((int)torque).ToString();
}));
x = BitConverter.GetBytes((int)torque);
tx[9] = x[1];
tx[10] = x[0];
tx[11] = x[3];
tx[12] = x[2];
TcpModbusPacket tp = ModbusWork(tx, TcpModbusPacket.FunctionCode.Write);
if (tp != null)
{
return;
}
retry--;
if (retry == 0)
{
if (MessageBox.Show("无法连接连接到PLC,是否重试!", "PLC连接失败", MessageBoxButtons.RetryCancel, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1) == DialogResult.Cancel)
{
this.Close();
return;
}
retry = 3;
}
}
}
public TcpModbusPacket ReadPLC()
{
byte[] tx = new byte[4];
tx[0] = 0x00; //起始地址
tx[1] = 100;
tx[2] = 0; //长度
tx[3] = 1;
TcpModbusPacket tp = ModbusWork(tx, TcpModbusPacket.FunctionCode.Read);
return(tp);
}
TcpModbusPacket ModbusWork(byte[] tx, TcpModbusPacket.FunctionCode type)
{
byte[] txBytes = TcpModbusPacket.MakePacket(0, 0, type, tx);
ShowText("发送数据:" + WFNetLib.StringFunc.StringsFunction.byteToHexStr(txBytes, " "));
if (!tcpPLC.SendPacket(txBytes))
{
tcpPLC.Close();
PLCConnect();
return(null);
}
object o = tcpPLC.ReceivePacket();
if (o == null)
{
ShowText("未收到需要读取的数据");
return(null);
}
TcpModbusPacket tp = (TcpModbusPacket)o;
ShowText("收到数据:" + WFNetLib.StringFunc.StringsFunction.byteToHexStr(tp.Data, " "));
return(tp);
}
void SetAllTime(int ms1, int ms2)
{
int retry = 3;
while (true)
{
byte[] tx = new byte[8 + 5];
tx[0] = 0x00; //起始地址
tx[1] = 20;
tx[2] = 0; //长度
tx[3] = 4;
tx[4] = 8; //写入字节数
byte[] x = BitConverter.GetBytes(ms1);
tx[5] = x[1];
tx[6] = x[0];
tx[7] = x[3];
tx[8] = x[2];
x = BitConverter.GetBytes(ms2);
tx[9] = x[1];
tx[10] = x[0];
tx[11] = x[3];
tx[12] = x[2];
TcpModbusPacket tp = ModbusWork(tx, TcpModbusPacket.FunctionCode.Write);
if (tp != null)
{
return;
}
retry--;
if (retry == 0)
{
if (MessageBox.Show("无法连接连接到PLC,是否重试!", "PLC连接失败", MessageBoxButtons.RetryCancel, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1) == DialogResult.Cancel)
{
this.Close();
return;
}
retry = 3;
}
}
}
