private void BT_Cs8c_Click(object sender, EventArgs e)
{
if (CBE_RecipeName.EditValue.ToString() == "")
{
MessageBox.Show("无产品");
return;
}
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait(CBE_RecipeName.EditValue.ToString());
frm.ShowDialog();
CBE_RecipeName_TextChanged(this, null);
}
private void BT_MatLab_Click(object sender, EventArgs e)
{
if (gv.RowCount == 0)
{
MessageBox.Show("没有路径");
return;
}
if (CBE_RecipeName.EditValue.ToString() == "" || Frame == null)
{
MessageBox.Show("请先建立产品");
return;
}
if ((FileName = PublicFunc.OpenDir_Show()) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
TxtData.PublicData.ErrorLine = 0;
OperIndex = 5;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frM = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), false);
frM.ShowDialog();
ViewPoint(GC_Cut, GV_Cut, db.GetDV_Trajpos(TrajName));
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BT_Download_Click(object sender, EventArgs e)
{
if (!TxtData.SoapData.IsHome)
{
MessageBox.Show("机械手臂请先回零!");
return;
}
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 4)
{
MessageBox.Show("请切换到远程模式!");
return;
}
if (!TxtData.SoapData.PowerOn)
{
MessageBox.Show("请先上电!");
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BT_Download_Click(object sender, EventArgs e)
{
if (!TxtData.SoapData.IsHome)
{
MessageBox.Show("机械手臂请先回零!");
return;
}
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 4)
{
MessageBox.Show("请切换到远程模式!");
return;
}
if (!TxtData.SoapData.PowerOn)
{
MessageBox.Show("请先上电!");
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
private void BT_Download_Click(object sender, EventArgs e)
{
if (!TxtData.SoapData.IsHome)
{
MessageBox.Show("机械手臂请先回零!");
return;
}
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 4)
{
MessageBox.Show("请切换到远程模式!");
return;
}
if (!TxtData.SoapData.PowerOn)
{
MessageBox.Show("请先上电!");
return;
}
if (NUD_Press.Value < 0 || NUD_Rel.Value < 0 || NUD_Rot.Value < 0 || NUD_Speed.Value < 0 || ND_Z.Value < 0)
{
MessageBox.Show("生成设置的参数不能为0!");
return;
}
if (Frame == null || Frame == new double[] { 0, 0, 0, 0, 0, 0 })
{
if (MessageBox.Show(
"产品坐标系都是零，是否继续下载?", "产品坐标系为零", MessageBoxButtons.YesNo) == DialogResult.No)
{
return;
}
}
//if (offse== null || Frame == new double[] { 0, 0, 0, 0, 0, 0 })
//{
// if (MessageBox.Show(
// "产品坐标系都是零，是否继续下载?", "产品坐标系为零", MessageBoxButtons.YesNo) == DialogResult.No)
// {
// return;
// }
//}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
private void BT_Edit_Click(object sender, EventArgs e)
{
if (MessageBox.Show("确定需要全部清空吗？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
Frm_PCAlarm_Load(this,null);
}
private void BT_Edit_Click(object sender, EventArgs e)
{
if (MessageBox.Show("确定需要全部清空吗？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
Frm_PCAlarm_Load(this, null);
}
private void BT_OutPort_Click(object sender, EventArgs e)
{
if ((FileName = PublicFunc.SfD_Show()) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollOutport));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
Frm_StaubliPreset_Load(this, null);
}
private void BT_DeleteTraj_Click(object sender, EventArgs e)
{
if (gv.GetFocusedDataSourceRowIndex() < 0 || gv.RowCount < 1)
{
MessageBox.Show("没有路径");
return;
}
//2013.11.19
//添加批处理删除路径
//Batch_DeleteTraj frmChoose = new Batch_DeleteTraj(CBE_RecipeName.EditValue.ToString(), gv.GetSelectedRows()[0]);
//frmChoose.ShowDialog();
//if (TxtData.PublicData.DeleteTrajIndex==null)
//{
// return;
//}
if (MessageBox.Show("确定需要删除路径吗？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
//Edit_Part frmE = new Edit_Part();
//frmE.ShowDialog();
//if (TxtData.PolishData.PartMatlabFile == null || TxtData.PolishData.PartRecipeName == null)
//{
// return;
//}
TxtData.PublicData.DeleteTrajIndex = new int[] { gv.GetFocusedDataSourceRowIndex() + 1 };
TxtData.PublicData.ErrorCode = 0;
OperIndex = 4;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), false);
frm.ShowDialog();
if (TxtData.PublicData.ErrorCode == 0 || TxtData.PublicData.ErrorCode == 40)
{
//CBE_RecipeName.Text = TxtData.PolishData.PartRecipeName;
//CBE_RecipeName_TextChanged(this, null);
CBE_RecipeName_TextChanged(this, null);
}
}
private void BT_Import_Click(object sender, EventArgs e)
{
if (CBE_PresetName.Properties.Items.Count == 0)
{
MessageBox.Show("没有工艺");
return;
}
if ((FileName = PublicFunc.OpenDir_Show()) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
}
private void BT_OutPort_Click(object sender, EventArgs e)
{
if (CBE_PresetName.Properties.Items.Count == 0)
{
MessageBox.Show("没有工艺");
return;
}
if ((FileName = PublicFunc.SfD_Show()) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollOutport));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
}
private void BT_OutPut_Click(object sender, EventArgs e)
{
if (CBE_RecipeName.EditValue.ToString() == "")
{
MessageBox.Show("无产品");
return;
}
if ((FileName = PublicFunc.SfD_Show(CBE_RecipeName.EditValue.ToString() + ".txt")) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
OperIndex = 1;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), false);
frm.ShowDialog();
}
private void BT_Delete_Click(object sender, EventArgs e)
{
if (CBE_RecipeName.EditValue.ToString() == "")
{
MessageBox.Show("无产品");
return;
}
if (MessageBox.Show("确定需要删除产品？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
OperIndex = 2;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), false);
frm.ShowDialog();
Frm_Recipe_Load(this, null);
}
private void BT_Delete_Click(object sender, EventArgs e)
{
if (CBE_PresetName.Properties.Items.Count==0)
{
MessageBox.Show("没有工艺");
return;
}
if (MessageBox.Show("确定需要删除吗？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollDelete));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
Frm_Preset_Load(this, null);
}
private void BT_Delete_Click(object sender, EventArgs e)
{
if (CBE_PresetName.Properties.Items.Count == 0)
{
MessageBox.Show("没有工艺");
return;
}
if (MessageBox.Show("确定需要删除吗？", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollDelete));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
Frm_Preset_Load(this, null);
}
private void Teach(int Flag)
{
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
TxtData.PolishData.UploadType = 1;
TxtData.PublicData.ErrorCode = RobotKit.SoapInstance.SoapRead.SetAppdata("nVirtualKey", 275) ? 40 : 12;
Frm_Wait frm = new Frm_Wait("", true);
frm.ShowDialog();
ReadHomeTcp();
}
private void BT_RecipeOffset_Click(object sender, EventArgs e)
{
if (CBE_RecipeName.EditValue.ToString() == "")
{
MessageBox.Show("无产品");
return;
}
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
if (!SoapInstance.SoapRead.SetAppdata("sProductName", CBE_RecipeName.EditValue.ToString()))
{
MessageBox.Show("设置下位机数据出错!");
return;
}
if (!SoapInstance.SoapRead.SetAppdata("nInterfaceType", 11))
{
MessageBox.Show("设置下位机数据出错!");
return;
}
//while (TxtData.SoapData.InterfaceType == 9)
//{
// System.Threading.Thread.Sleep(10);
//}
TxtData.PublicData.ErrorCode = 0;
Frm_Wait frm = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), true);
frm.ShowDialog();
RecipeInfor();
}
private void BT_Import_Click(object sender, EventArgs e)
{
if (gv.RowCount != 0)
{
MessageBox.Show("产品已存在路径");
return;
}
if (CBE_RecipeName.EditValue.ToString() == "" || Frame == null)
{
MessageBox.Show("请先建立产品");
return;
}
if ((FileName = PublicFunc.OpenDir_Show()) == null)
{
return;
}
string[] frm = new string[6];
if (!PublicFunc.IsFrame(FileName, Frame, ref frm))
{
if (MessageBox.Show(
"导入文本中的产品坐标系不一致，是否继续导入?" + "\n新建产品坐标系是:"
+ Frame[0].ToString() + "," + Frame[1].ToString() + "," + Frame[2].ToString() + "," + Frame[3].ToString() + ","
+ Frame[4].ToString() + "," + Frame[5].ToString() + "\n文本坐标系是:"
+ frm[0].ToString() + "," + frm[1].ToString() + "," + frm[2].ToString() + "," + frm[3].ToString() + ","
+ frm[4].ToString() + "," + frm[5].ToString(), "产品坐标系不一致", MessageBoxButtons.YesNo) == DialogResult.No)
{
return;
}
}
TxtData.PublicData.ErrorCode = 0;
TxtData.PublicData.ErrorLine = 0;
OperIndex = 3;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frM = new Frm_Wait(CBE_RecipeName.EditValue.ToString(), false);
frM.ShowDialog();
CBE_RecipeName_TextChanged(this, null);
}
private void BT_Teach_Click(object sender, EventArgs e)
{
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait(true);
frm.ShowDialog();
Frm_StaubliPreset_Load(this, null);
}
private void BT_Apply_Click(object sender, EventArgs e)
{
if (CBE_id.SelectedIndex > CBE_idend.SelectedIndex)
{
MessageBox.Show("开始序号不能超过结束序号");
return;
}
bool Flag = false;
////for (int i = 0; i < Clb_Check.ItemCount; i++)
////{
//// PointType[i] =Clb_Check.GetItemChecked(i);
//// Flag = PointType[i] ? true : Flag;
////}
//if (!Flag)
//{
// MessageBox.Show("请进行点位选择");
// return;
//}
// Flag = false;
for (int i = 0; i <CBK_Para.ItemCount; i++)
{
ParaType[i] = CBK_Para.GetItemChecked(i);
Flag = ParaType[i] || Flag;
}
if (!Flag)
{
MessageBox.Show("请进行参数选择");
return;
}
//2015.02.04
if (CBK_Para.GetItemChecked(3))
{
if (MessageBox.Show("确定需要修改RZ吗？\n 修改RZ可能导致机械手臂姿态异常！", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
}
double[] data=new double[10];
double.TryParse(TE_A1.Text,out data[0]);
double.TryParse(TE_A2.Text, out data[1]);
double.TryParse(TE_A3.Text, out data[2]);
double.TryParse(TE_A4.Text, out data[3]);
double.TryParse(TE_A5.Text, out data[4]);
double.TryParse(TE_A6.Text, out data[5]);
double.TryParse(TE_A7.Text, out data[6]);
double.TryParse(TE_A8.Text, out data[7]);
//data[6] = (int)SE1.Value;
//data[7] = (int)SE2.Value;
//data[8] = (int)SE3.Value;
//data[9] = (int)SE4.Value;
if (data[0]<=0||data[2]<=0||data[4]<0||data[5]<0)
{MessageBox.Show("速度与加速度,延时不能小于0");
return;
}
if (bthread)
{
return;
}
// string Mess = db.BatchCut(Trajname,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
// MessageBox.Show(Mess);
Buffdata = data;
//string Mess = db.BatchSpeed(RecipeName,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,PointType,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
//MessageBox.Show(Mess);
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
private void Teach(int Flag)
{
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
TxtData.PolishData.UploadType = 1;
TxtData.PublicData.ErrorCode = RobotKit.SoapInstance.SoapRead.SetAppdata("nVirtualKey", 275) ? 40 : 12;
Frm_Wait frm = new Frm_Wait("",true);
frm.ShowDialog();
ReadHomeTcp();
}
private void BT_Teach_Click(object sender, EventArgs e)
{
if (TxtData.SoapData.InterfaceType != 9)
{
MessageBox.Show("下位机请切换到主界面!");
return;
}
if (TxtData.SoapData.ToolMode != 1)
{
MessageBox.Show("请切换到手动模式!");
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait(true);
frm.ShowDialog();
Frm_StaubliPreset_Load(this, null);
}
private void BT_Apply_Click(object sender, EventArgs e)
{
if (CBE_id.SelectedIndex > CBE_idend.SelectedIndex)
{
MessageBox.Show("开始序号不能超过结束序号");
return;
}
bool Flag = false;
for (int i = 0; i < Clb_Check.ItemCount; i++)
{
PointType[i] = Clb_Check.GetItemChecked(i);
Flag = PointType[i] ? true : Flag;
}
if (!Flag)
{
MessageBox.Show("请进行点位选择");
return;
}
Flag = false;
for (int i = 0; i < CBK_Para.ItemCount; i++)
{
ParaType[i] = CBK_Para.GetItemChecked(i);
Flag = ParaType[i] ? true : Flag;
}
if (!Flag)
{
MessageBox.Show("请进行参数选择");
return;
}
double[] data = new double[10];
double.TryParse(TE_A1.Text, out data[0]);
double.TryParse(TE_A2.Text, out data[1]);
double.TryParse(TE_A3.Text, out data[2]);
double.TryParse(TE_A4.Text, out data[3]);
double.TryParse(TE_A5.Text, out data[4]);
double.TryParse(TE_A6.Text, out data[5]);
//data[6] = (int)SE1.Value;
//data[7] = (int)SE2.Value;
//data[8] = (int)SE3.Value;
//data[9] = (int)SE4.Value;
if (data[0] <= 0 || data[2] <= 0 || data[4] < 0)
{
MessageBox.Show("速度与加速度不能小于0");
return;
}
if (Bthread)
{
return;
}
Buffdata = data;
//string Mess = db.BatchSpeed(RecipeName,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,PointType,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
//MessageBox.Show(Mess);
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
private void BT_Import_Click(object sender, EventArgs e)
{
if ((FileName = PublicFunc.OpenDir_Show()) == null)
{
return;
}
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(PollImport));
Frm_Wait frm = new Frm_Wait("", false);
frm.ShowDialog();
Frm_StaubliPreset_Load(this, null);
}
private void BT_Apply_Click(object sender, EventArgs e)
{
if (CBE_id.SelectedIndex > CBE_idend.SelectedIndex)
{
MessageBox.Show("开始序号不能超过结束序号");
return;
}
bool Flag = false;
for (int i = 0; i < Clb_Check.ItemCount; i++)
{
PointType[i] =Clb_Check.GetItemChecked(i);
Flag = PointType[i] ? true : Flag;
}
if (!Flag)
{
MessageBox.Show("请进行点位选择");
return;
}
Flag = false;
for (int i = 0; i <CBK_Para.ItemCount; i++)
{
ParaType[i] = CBK_Para.GetItemChecked(i);
Flag = ParaType[i] ? true : Flag;
}
if (!Flag)
{
MessageBox.Show("请进行参数选择");
return;
}
double[] data=new double[10];
double.TryParse(TE_A1.Text,out data[0]);
double.TryParse(TE_A2.Text, out data[1]);
double.TryParse(TE_A3.Text, out data[2]);
double.TryParse(TE_A4.Text, out data[3]);
double.TryParse(TE_A5.Text, out data[4]);
double.TryParse(TE_A6.Text, out data[5]);
//data[6] = (int)SE1.Value;
//data[7] = (int)SE2.Value;
//data[8] = (int)SE3.Value;
//data[9] = (int)SE4.Value;
if (data[0]<=0||data[2]<=0||data[4]<0)
{
MessageBox.Show("速度与加速度不能小于0");
return;
}
if (Bthread)
{
return;
}
Buffdata = data;
//string Mess = db.BatchSpeed(RecipeName,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,PointType,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
//MessageBox.Show(Mess);
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
private void BT_Apply_Click(object sender, EventArgs e)
{
if (CBE_id.SelectedIndex > CBE_idend.SelectedIndex)
{
MessageBox.Show("开始序号不能超过结束序号");
return;
}
bool Flag = false;
////for (int i = 0; i < Clb_Check.ItemCount; i++)
////{
//// PointType[i] =Clb_Check.GetItemChecked(i);
//// Flag = PointType[i] ? true : Flag;
////}
//if (!Flag)
//{
// MessageBox.Show("请进行点位选择");
// return;
//}
// Flag = false;
for (int i = 0; i < CBK_Para.ItemCount; i++)
{
ParaType[i] = CBK_Para.GetItemChecked(i);
Flag = ParaType[i] || Flag;
}
if (!Flag)
{
MessageBox.Show("请进行参数选择");
return;
}
//2015.02.04
if (CBK_Para.GetItemChecked(3))
{
if (MessageBox.Show("确定需要修改RZ吗？\n 修改RZ可能导致机械手臂姿态异常！", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
}
double[] data = new double[10];
double.TryParse(TE_A1.Text, out data[0]);
double.TryParse(TE_A2.Text, out data[1]);
double.TryParse(TE_A3.Text, out data[2]);
double.TryParse(TE_A4.Text, out data[3]);
double.TryParse(TE_A5.Text, out data[4]);
double.TryParse(TE_A6.Text, out data[5]);
double.TryParse(TE_A7.Text, out data[6]);
double.TryParse(TE_A8.Text, out data[7]);
//data[6] = (int)SE1.Value;
//data[7] = (int)SE2.Value;
//data[8] = (int)SE3.Value;
//data[9] = (int)SE4.Value;
if (data[0] <= 0 || data[2] <= 0 || data[4] < 0 || data[5] < 0)
{
MessageBox.Show("速度与加速度,延时不能小于0");
return;
}
if (bthread)
{
return;
}
// string Mess = db.BatchCut(Trajname,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
// MessageBox.Show(Mess);
Buffdata = data;
//string Mess = db.BatchSpeed(RecipeName,CBE_id.SelectedIndex+1,CBE_idend.SelectedIndex+1,PointType,ParaType,data,CE_Replace.Checked) ? "成功" : "操作异常";
//MessageBox.Show(Mess);
TxtData.PublicData.ErrorCode = 0;
System.Threading.ThreadPool.QueueUserWorkItem(new WaitCallback(Poll));
Frm_Wait frm = new Frm_Wait();
frm.ShowDialog();
}
