/// <summary>
/// 轴，iO安全检查
/// </summary>
/// <returns></returns>
public bool IoSafeCheck(StationModule sm)
{
try
{
int count = _Config.axisArray.Count;
int i = 0;
int CountIo = _Config.arrWorkStation.Count;
if (sm == null)
{
return(true);
}
while (i < count)
{
AxisConfig ac = _Config.axisArray[i];
if (ac.AxisNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1)
{
if (!AxisSafeManage.IoAxisIsSafe(sm, ac, 0, 0))
{
if (Global.WorkVar.tag_isFangDaiJieChu)
{
return(true);
}
return(false);
}
}
i++;
}
return(true);
}
catch
{
return(true);
}
}
public bool Save()
{
try
{
PointAggregate.strName = textBox_Name.Text;
StationModule sm = StationManage.FindStation(PointAggregate.strStationName);
int eucf = 1000;
for (int i = 0; i < PointAggregate.arrPoint.Length; i++)
{
NumericUpDown PonitSpeed = tag_list[i * 2];
NumericUpDown PonitValue = tag_list[i * 2 + 1];
if (sm != null)
{
eucf = (int)sm.arrAxis[i].Eucf;
}
else
{
eucf = (int)1000;;
}
PointAggregate.arrPoint[i].dblPonitSpeed = Convert.ToDouble(PonitSpeed.Value) * eucf;
PointAggregate.arrPoint[i].dblPonitValue = Convert.ToDouble(PonitValue.Value);
}
}
catch (System.Exception ex)
{
LogOutControl.OutLog(ex.Message, 0);
Console.Write(ex.ToString());
return(false);
}
return(true);
}
/// <summary>
/// IO dao ru
/// </summary>
/// <param name="strIo"></param>
public static void InIoImport(string strIo)
{
try
{
string[] str2 = System.Text.RegularExpressions.Regex.Split(strIo, "\r\n");
string[] title = System.Text.RegularExpressions.Regex.Split(str2[0], ",");
for (int i = 0; i < title.Length; i++)
{
StationModule stationOld = FindStation(title[i]);
for (int j = 1; j < str2.Length; j++)
{
string[] IO = System.Text.RegularExpressions.Regex.Split(str2[j], ",");
if (stationOld != null)
{
if (i < IO.Length && FindInputIo(IO[i]) == null && IO[i] != "")
{
stationOld.arrInputIo.Add(new IOParameter(IO[i]));
stationOld.intUseInputIoCount++;
}
}
}
}
}
catch (Exception ex)
{
MessageBoxLog.Show(ex.Message);
}
}
/// <summary>
/// IO dao ru
/// </summary>
/// <param name="strIo"></param>
public static void OutIoCardImport(string strIo)
{
try
{
string[] str2 = System.Text.RegularExpressions.Regex.Split(strIo, "\r\n");
string[] title = System.Text.RegularExpressions.Regex.Split(str2[0], ",");
StationModule stationOld = FindStation(title[0]);
if (stationOld == null && title[0] != "")
{
stationOld = new StationModule();
_Config.arrWorkStation.Add(stationOld);
_Config.arrWorkStation[_Config.arrWorkStation.Count - 1].strStationName = title[0];
_Config.intUseStationCount++;
}
for (int j = 1; j < str2.Length; j++)
{
string[] IO = System.Text.RegularExpressions.Regex.Split(str2[j], ",");
if (FindOutputIo(IO[0]) == null && IO[0] != "")
{
IOParameter newIo = new IOParameter(IO[0]);
newIo.CardNum = short.Parse(IO[1]);
newIo.IOBit = short.Parse(IO[2]);
stationOld.arrOutputIo.Add(newIo);
stationOld.intUseOutputIoCount++;
}
}
}
catch (Exception ex)
{
MessageBoxLog.Show(ex.Message);
}
}
/// <summary>
/// 查找轴 返回null 函数异常
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <returns></returns>
public static AxisConfig FindAxis(string stationName, string axisName)
{
if (string.IsNullOrEmpty(axisName))
{
return(null);
}
if (string.IsNullOrEmpty(axisName))
{
return(null);
}
StationModule stationM = FindStation(stationName);
if (stationM == null)
{
return(null);
}
foreach (AxisConfig axisC in stationM.arrAxis)
{
if (axisC.AxisName == axisName)
{
return(axisC);
}
}
return(null);
}
public static void StepImport(string strIo)
{
try
{
string[] str2 = System.Text.RegularExpressions.Regex.Split(strIo, "\r\n");
string[] title = System.Text.RegularExpressions.Regex.Split(str2[0], ",");
for (int i = 0; i < title.Length; i++)
{
StationModule stationOld = FindStation(title[i]);
if (stationOld == null && title[i] != "")
{
_Config.arrWorkStation.Add(new StationModule());
_Config.arrWorkStation[_Config.arrWorkStation.Count - 1].strStationName = title[i];
_Config.intUseStationCount++;
}
for (int n = 1; n < str2.Length; n++)
{
string[] IO = System.Text.RegularExpressions.Regex.Split(str2[n], ",");
if (stationOld != null)
{
if (i < IO.Length && FindPoint(stationOld, IO[i]) == null && IO[i] != "")
{
stationOld.arrPoint.Add(new PointAggregate(stationOld.strStationName, IO[i]));
stationOld.intUsePointCount++;
}
}
}
}
}
catch (Exception ex)
{
MessageBoxLog.Show(ex.Message);
}
}
/// <summary>
/// 构造初始化函数
/// </summary>
/// <param name="classname"></param>
/// <returns></returns>
public string InitCreateN3()
{
string content0 = "\tpublic short Init()\r\n\t{\r\n";
StationModule sm = StationManage.FindStation(tag_stationName);
int endStep = sm.intUsePointCount - 1;
string stepN = null;
for (int i = 0; i < endStep + 1; i++)
{
string content1 = "\t\tPointAggregate _Step" + i + " = pointMotion.FindPoint(tag_stationName, \"" + sm.arrPoint[i].strName + "\"," + i + ");\r\n";
string content2 = "\t\tif (_Step" + i + " == null)\r\n";
string content3 = "\t\t{\r\n";
string content4 = "\t\t\treturn -1;\r\n\t\t}\r\n";
string content5 = null;
if (i > 0 && i < endStep)
{
content5 = "\t\t_Step" + i + " .tag_BeginFun = Step1 ;\r\n";
}
else
{
content5 = "\t\t_Step" + i + " .tag_BeginFun = Step" + i + " ;\r\n";
}
stepN = stepN + content1 + content2 + content3 + content4 + content5;
}
string content11 = "\t\treturn 0;\r\n\t}\r\n";
return(annotateCreate("init", "初始化函数，初始化流程嵌入的代码，返回0 表示成功") + content0 + stepN + content11);
}
private void comboBox_FlowName_SelectedIndexChanged(object sender, EventArgs e)
{
// 获取节点信息
// push 到 terrview上
// Tree view 可拖拽
// 节点选中 获得参数
tag_StationModule = StationManage.FindStation(comboBox_FlowName.Text);
if (tag_StationModule != null)
{
node.Nodes.Clear();
node.Remove();
treeView_FlowStruct.Nodes.Clear();
node.Text = comboBox_FlowName.Text;
}
for (int i = 0; i < tag_StationModule.arrPoint.Count; i++)
{
// 工位名称
chlid = new TreeNode();
chlid.Text = tag_StationModule.arrPoint[i].strName;
// 绑定选中事件
node.Nodes.Add(chlid);
}
treeView_FlowStruct.Nodes.Add(node);
}
/// <summary>
/// 判断当前轴运动是否是本点的安全区 安全返回TRUE
/// </summary>
/// <returns></returns>
public static bool IoAxisIsSafe(StationModule sm, AxisConfig _ac, double offset, double pos)
{
bool ret = true;
if (sm.arrPoint.Count == 0)
{
return(true);
}
foreach (PointAggregate pa in sm.arrPoint)
{
if (isIOAxisHavePoint(_ac, pa, pos))
{
if (pa.tag_AxisSafeManage.PointIsSafe(pa))
{
if (IOIsSafe(pa))
{
ret = true;
// break;
}
else
{
ret = false;
break;
}
}
}
}
if (ret == false)
{
LogOutControl.OutLog(_ac.AxisName + "运动不安全", 0);
}
return(ret);
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
//IOinput组件加载到界面
int m = 0;
plIOmessage.Controls.Clear();
StationModule sm = StationManage.FindStation(comboBox_IO.Text);
for (int i = 0; i < sm.intUseInputIoCount && i < sm.arrInputIo.Count; i++)
{
IOInputStatusControl ioinput = new IOInputStatusControl(sm.arrInputIo[i]);
{
ioinput.Location = new Point(5, 24 + 28 * i);
plIOmessage.Controls.Add(ioinput);
}
arrInputIo = sm.arrInputIo[i];
m = i + 1;
}
int n = 0;
//IOoutput组件加载到界面
for (int i = 0; i < sm.intUseOutputIoCount && i < sm.arrOutputIo.Count; i++)
{
IOOutputStatusControl iooutput = new IOOutputStatusControl(sm.arrOutputIo[i], OutIOStationSelect);
iooutput.Location = new Point(200, 24 + 40 * i);
plIOmessage.Controls.Add(iooutput);
arrOutputIo = sm.arrOutputIo[i];
n = i + 1;
}
NewCtrlCardIO.tag_IO_refresh = 10;
}
private void checkBox2_CheckedChanged(object sender, EventArgs e)
{
tag_manual.tag_Induction = checkBox2.Checked;
StationModule sm = StationManage.FindStation(tag_workBase.tag_stationName);
sm.tag_Enable = tag_manual.tag_Induction;
}
private void 添加两个点位ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (Global.CConst.UserLevel != Global.CConst.USER_SUPERADMIN)
{
MessageBoxLog.Show("无权限");
return;
}
string strStationName = "NewStation";
if (tag_work.Config.arrWorkStation.Count > 0)
{
foreach (StationModule ms in tag_work.Config.arrWorkStation)
{
if (ms.strStationName != "" && ms.strStationName == strStationName)
{
{
MessageBoxLog.Show("已有工位配置");
return;
}
}
}
}
StationModule sm = new StationModule();
tag_work.Config.arrWorkStation.Add(sm);
tag_work.Config.arrWorkStation[tag_work.Config.arrWorkStation.Count - 1].strStationName = strStationName;
PointAggregate pa = new PointAggregate(strStationName, "工位开始");
sm.arrPoint.Add(pa);
sm.intUsePointCount++;
int pointCount = 0;
int i = 0;
try
{
pointCount = int.Parse(texB_Count.Text);
}
catch (Exception mss)
{
LogOutControl.OutLog(mss.Message, 0);
}
while (i < pointCount && i < 100)
{
i++;
pa = new PointAggregate(strStationName, "步骤" + i);
sm.intUsePointCount++;
sm.arrPoint.Add(pa);
}
pa = new PointAggregate(strStationName, "工位结束");
sm.intUsePointCount++;
sm.arrPoint.Add(pa);
tag_work.Config.intUseStationCount++;
tag_work.Config.Save();
FrmStationMange_Load(null, null);
}
private void button4_Click(object sender, EventArgs e)
{
CBStnChioce.Text = worker._Config.tag_safeStationModule.strStationName;
tag_StationModule = worker._Config.tag_safeStationModule;
if (tag_StationModule.intUsePointCount == 0)
{
tag_StationModule.intUsePointCount = 1;
}
RefreshStation();
}
//PointAggregate pagt = new PointAggregate();
public PointDebugSetUI(Work worker, StationModule station)
{
_Worker = worker;
_StationM = station;
intAxisControlCount = _StationM.arrAxis.Count;
intInputControlCount = _StationM.arrInputIo.Count;
intOutputControlCount = _StationM.arrOutputIo.Count;
intPointControlCount = _StationM.arrPoint.Count;
InitializeComponent();
}
/// <summary>
///
/// </summary>
/// <param name="OldStation"></param>
/// <param name="newStation"></param>
public static void StationCopy(string OldStation, string newStation)
{
StationModule stationOld = FindStation(OldStation);
StationModule stationNew = FindStation(newStation);
foreach (PointAggregate p in stationOld.arrPoint)
{
stationNew.arrPoint.Add(new PointAggregate(newStation, p.strName));
stationNew.intUsePointCount++;
}
}
public PointValueControl(PointAggregate PointSet_, Work _sWorker, int step, StationModule sm) //初始化点位参数数组
{
tag_stepName = step;
_Worker = _sWorker;
tag_stationM = sm;
InitializeComponent();
if (PointSet_ != null)
{
PointSet = PointSet_;
}
}
void OutIOStationSelect(object var)
{
if (var != null)
{
tag_StationModule = (StationModule)var;
tag_PointAggregate = null;
SetIndexPointAggregate();
RefreshStation();
tag_UserControl_ShowAllPoint.UserControl_ShowAllPoint_HeightLight(null, null);
}
}
/// <summary>
/// 线程回原
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <returns></returns>
public GoHome(string stationname, string AxisName)
{
StationModule stationM = StationManage.FindStation(tag_AxisName);
tag_stationName = stationname;
tag_AxisName = AxisName;
Thread homeThread = new Thread(new ParameterizedThreadStart(GoHomeRun));
homeThread.Start();
homeThread.IsBackground = true;
}
//Combox选中工位后自动刷新工位参数
private void StnChioceCB_SelectedIndexChanged(object sender, EventArgs e)
{
tag_StationModule = StationManage.FindStation(CBStnChioce.Text);
tag_PointAggregate = null;
SetIndexPointAggregate();
RefreshStation();
tag_UserControl_ShowAllPoint.UserControl_ShowAllPoint_HeightLight(null, null);
comboBox_IO.Focus();
comboBox_IO.Text = CBStnChioce.Text;
comboBox1_SelectedIndexChanged(sender, e);
NewCtrlCardIO.tag_IO_refresh = 10;
}
private void StationTrialRunControl_Load(object sender, EventArgs e)
{
button_LineCheck.Text = tag_titleName;
StationModule sm = StationManage.FindStation(tag_workBase.tag_stationName);
if (sm == null)
{
return;
}
tag_manual.tag_Induction = sm.tag_Enable;
checkBox2.Checked = sm.tag_Enable;
}
/// <summary>
///
/// </summary>
/// <param name="point"></param>
public AxisSafeManage(PointAggregate point)
{
tag_AxisSafeList = new List <AxisSafe>();
StationModule sm = StationManage.FindStation(point.strStationName);
if (sm == null)
{
LogOutControl.OutLog("无" + point.strStationName, 0);
return;
}
foreach (AxisConfig ac in sm.arrAxis)
{
Add((short)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum);
}
}
private void 添加CCD九宫格标定点位ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (Global.CConst.UserLevel != Global.CConst.USER_SUPERADMIN)
{
MessageBoxLog.Show("无权限");
return;
}
string strStationName = "CCD_9宫格标定";
if (tag_work.Config.arrWorkStation.Count > 0)
{
foreach (StationModule ms in tag_work.Config.arrWorkStation)
{
if (ms.strStationName != "" && ms.strStationName == strStationName)
{
{
MessageBoxLog.Show("已有工位配置");
return;
}
}
}
}
StationModule sm = new StationModule();
tag_work.Config.arrWorkStation.Add(sm);
tag_work.Config.arrWorkStation[tag_work.Config.arrWorkStation.Count - 1].strStationName = strStationName;
PointAggregate pa = new PointAggregate(strStationName, "标定开始");
sm.arrPoint.Add(pa);
sm.intUsePointCount++;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
pa = new PointAggregate(strStationName, i + "_" + j + "点位");
sm.arrPoint.Add(pa);
sm.intUsePointCount++;
}
}
pa = new PointAggregate(strStationName, "标定结束");
sm.intUsePointCount++;
sm.arrPoint.Add(pa);
tag_work.Config.intUseStationCount++;
tag_work.Config.Save();
FrmStationMange_Load(null, null);
}
/// <summary>
/// 构造3步函数
/// </summary>
/// <param name="classname"></param>
/// <returns></returns>
public string StepCreateN3()
{
StationModule sm = StationManage.FindStation(tag_stationName);
if (sm != null && sm.intUsePointCount > 0 && sm.intUsePointCount >= 3)
{
int endStep = sm.intUsePointCount - 1;
string ret = null;
ret = ret + StepCreateN(0, sm.arrPoint[0].strName);
ret = ret + StepCreateN(1, sm.arrPoint[1].strName);
ret = ret + StepCreateN(endStep, sm.arrPoint[endStep].strName);
return(ret);
}
return("");
}
/// <summary>
/// 构造第N步函数
/// </summary>
/// <param name="classname"></param>
/// <returns></returns>
public string StepCreateN()
{
StationModule sm = StationManage.FindStation(tag_stationName);
if (sm != null && sm.intUsePointCount > 0)
{
int endStep = sm.intUsePointCount - 1;
string ret = null;
for (int i = 0; i < endStep + 1; i++)
{
ret = ret + StepCreateN(i, sm.arrPoint[i].strName);
}
return(ret);
}
return("");
}
private void 除所有ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (Global.CConst.UserLevel != Global.CConst.USER_SUPERADMIN)
{
MessageBoxLog.Show("无权限");
return;
}
if (MessageBoxLog.Show("是否删除?", "确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Question) != DialogResult.OK)
{
return;
}
StationModule sm = StationManage.FindStation(trVStation.SelectedNode.Text);
tag_work.Config.arrWorkStation.Clear();
tag_work.Config.intUseStationCount = 0;
tag_work.Config.Save();
FrmStationMange_Load(null, null);
}
/// <summary>
/// 查找工站输入IO 返回null 函数异常
/// </summary>
/// <param name="stationM"></param>
/// <param name="inputName"></param>
/// <returns></returns>
public static IOParameter FindInputIo(StationModule stationM, string inputName)
{
if (string.IsNullOrEmpty(inputName))
{
return(null);
}
foreach (StationModule sm in _Config.arrWorkStation)
{
foreach (IOParameter ioP in sm.arrInputIo)
{
if (ioP.StrIoName == inputName)
{
return(ioP);
}
}
}
return(null);
}
private void comboBox_Station2_SelectedIndexChanged(object sender, EventArgs e)
{
listBox2.Items.Clear();
foreach (StationModule sm in StationManage._Config.arrWorkStation)
{
int i = 0;
if (!string.IsNullOrEmpty(sm.strStationName) && (sm.strStationName == comboBox_Station2.SelectedItem.ToString()))
{
for (i = 0; i < sm.intUseOutputIoCount; i++)
{
listBox2.Items.Add(sm.arrOutputIo[i].StrIoName);
}
tag_StationModule = sm;
break;
}
}
}
/// <summary>
/// 构造初始化函数
/// </summary>
/// <param name="classname"></param>
/// <returns></returns>
public string InitCreate()
{
string content0 = "\tpublic short Init()\r\n\t{\r\n";
StationModule sm = StationManage.FindStation(tag_stationName);
int endStep = sm.intUsePointCount - 1;
string content1 = "\t\tPointAggregate startStep = pointMotion.FindPoint(tag_stationName, \"" + sm.arrPoint[0].strName + "\",0);\r\n";
string content2 = "\t\tif (startStep == null)\r\n";
string content3 = "\t\t{\r\n";
string content4 = "\t\t\treturn -1;\r\n\t\t}\r\n";
string content5 = "\t\tstartStep.tag_BeginFun = FirstStep;\r\n";
string content6 = "\t\tPointAggregate endStep = pointMotion.FindPoint(tag_stationName, \"" + sm.arrPoint[sm.intUsePointCount - 1].strName + "\");\r\n";
string content7 = "\t\tif (endStep == null)\r\n";
string content8 = "\t\t{\r\n";
string content9 = "\t\t\treturn -1;\r\n\t\t}\r\n";
string content10 = "\t\tendStep.tag_EndFun = LastStep;\r\n";
string content11 = "\t\treturn 0;\r\n\t}\r\n";
return(annotateCreate("init", "初始化函数，初始化流程嵌入的代码，返回0 表示成功") + content0 + content1 + content2 + content3 + content4 + content5 + content6 + content7 + content8 + content9 + content10 + content11);
}
/// <summary>
/// 轴绝对运动
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <returns></returns>
public static short AxisAbsoluteMove(string stationName, string axisName, string pointName, int asxisIndex)
{
StationModule stationM = StationManage.FindStation(stationName);
if (stationM == null)
{
return(shrFail);
}
AxisConfig axisC = StationManage.FindAxis(stationM, axisName);
if (axisC == null)
{
return(shrFail);
}
PointAggregate pointA = StationManage.FindPoint(stationM, pointName);
if (pointA == null)
{
return(shrFail);
}
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
short shrResult = 0;
if (pointA.tag_motionType == 0)
{
shrResult = Base_.SR_AbsoluteMove(axisC, pointA.arrPoint[asxisIndex]);
}
else
{
shrResult = Base_.SR_RelativeMove(axisC, pointA.arrPoint[asxisIndex]);
}
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 轴运动并等待停止并判断位置
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <param name="asxisIndex"></param>
/// <returns></returns>
public static short AxisAbsoluteMoveAndWaitStopVrf(string stationName, string axisName, string pointName, int asxisIndex)
{
if (AxisAbsoluteMove(stationName, axisName, pointName, asxisIndex) != 0)
{
Global.WorkVar.tag_StopState = 2;
if (MessageBoxLog.Show("工位:\r\n" + stationName + "\r\n轴名：\r\n" + axisName + "\t移动异常，请检查伺服驱动！") == DialogResult.OK)
{
}
return(shrFail);
}
StationModule stationM = StationManage.FindStation(stationName);
if (stationM == null)
{
return(shrFail);
}
PointAggregate pointA = StationManage.FindPoint(stationM, pointName);
if (pointA == null)
{
return(shrFail);
}
AxisConfig axisC = StationManage.FindAxis(stationM, axisName);
if (WaitAxisStop(axisC) != 0)
{
return(shrFail);
}
double pos_loadY = 0;
short ret = SR_GetPrfPos((int)axisC.tag_MotionCardManufacturer, axisC.CardNum, axisC.AxisNum, ref pos_loadY);
if (Global.WorkVar.tag_SuspendState == 1 || (Global.WorkVar.bSuspendState_L && axisC.AxisName == "左Y轴") || (Global.WorkVar.bSuspendState_R && axisC.AxisName == "右Y轴"))
{
}
else if (pos_loadY / axisC.Eucf < pointA.arrPoint[asxisIndex].dblPonitValue - 1 || pos_loadY / axisC.Eucf > pointA.arrPoint[asxisIndex].dblPonitValue + 1)
{
return(shrFail);
}
return(shrSuccess);
}
