diff --git a/A020.sln b/A020.sln
index 224d38b..a2e337e 100644
--- a/A020.sln
+++ b/A020.sln
@@ -30,12 +30,10 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BRS.UI.Model.Winform", "src
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BRS.Process.A020", "src\BRS.Process.A020\BRS.Process.A020.csproj", "{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}"
EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BRS.Device.OmronPLC", "src\BRS.Device.OmronPLC\BRS.Device.OmronPLC.csproj", "{560CC80B-389B-46FC-9B8C-DA1D62A555D9}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "XKRS.Device.NbtRobot", "src\BRS.Device.NbtRobot\XKRS.Device.NbtRobot.csproj", "{8FA74161-0D03-408F-811A-A244C9027BFB}"
-EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "XKRS.Device.MelsecPLC", "src\XKRS.Device.MelsecPLC\XKRS.Device.MelsecPLC.csproj", "{887F9454-B1F3-47B8-B9F7-48BEBA47193D}"
EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "XKRS.Device.TCPSever", "src\XKRS.Device.TCPSever\XKRS.Device.TCPSever.csproj", "{91739E90-6A8E-433D-B244-5325F8848064}"
+EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@@ -47,6 +45,9 @@ Global
Release|Any CPU = Release|Any CPU
Release|x64 = Release|x64
Release|x86 = Release|x86
+ ReleaseWithDbg|Any CPU = ReleaseWithDbg|Any CPU
+ ReleaseWithDbg|x64 = ReleaseWithDbg|x64
+ ReleaseWithDbg|x86 = ReleaseWithDbg|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{987308DD-8BAA-463A-94E2-77D62E01A5BF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
@@ -67,6 +68,12 @@ Global
{987308DD-8BAA-463A-94E2-77D62E01A5BF}.Release|x64.Build.0 = Release|x64
{987308DD-8BAA-463A-94E2-77D62E01A5BF}.Release|x86.ActiveCfg = Release|Any CPU
{987308DD-8BAA-463A-94E2-77D62E01A5BF}.Release|x86.Build.0 = Release|Any CPU
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Debug|Any CPU.Build.0 = Debug|Any CPU
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Debug|x64.ActiveCfg = Debug|x64
@@ -85,6 +92,12 @@ Global
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Release|x64.Build.0 = Release|x64
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Release|x86.ActiveCfg = Release|Any CPU
{1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.Release|x86.Build.0 = Release|Any CPU
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Debug|Any CPU.Build.0 = Debug|Any CPU
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Debug|x64.ActiveCfg = Debug|x64
@@ -103,6 +116,12 @@ Global
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Release|x64.Build.0 = Release|x64
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Release|x86.ActiveCfg = Release|Any CPU
{197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.Release|x86.Build.0 = Release|Any CPU
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {197C5AA8-9609-4D1C-B1E3-5879006EAAF4}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{E6429C64-92B3-46A2-B35E-579856D47F62}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{E6429C64-92B3-46A2-B35E-579856D47F62}.Debug|Any CPU.Build.0 = Debug|Any CPU
{E6429C64-92B3-46A2-B35E-579856D47F62}.Debug|x64.ActiveCfg = Debug|x64
@@ -121,6 +140,12 @@ Global
{E6429C64-92B3-46A2-B35E-579856D47F62}.Release|x64.Build.0 = Release|x64
{E6429C64-92B3-46A2-B35E-579856D47F62}.Release|x86.ActiveCfg = Release|Any CPU
{E6429C64-92B3-46A2-B35E-579856D47F62}.Release|x86.Build.0 = Release|Any CPU
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {E6429C64-92B3-46A2-B35E-579856D47F62}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Debug|Any CPU.Build.0 = Debug|Any CPU
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Debug|x64.ActiveCfg = Debug|x64
@@ -139,6 +164,12 @@ Global
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Release|x64.Build.0 = Release|x64
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Release|x86.ActiveCfg = Release|Any CPU
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.Release|x86.Build.0 = Release|Any CPU
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {DD02C60E-560B-40C0-AD7F-523F0B4AA4FD}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Debug|Any CPU.Build.0 = Debug|Any CPU
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Debug|x64.ActiveCfg = Debug|x64
@@ -157,6 +188,12 @@ Global
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Release|x64.Build.0 = Release|x64
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Release|x86.ActiveCfg = Release|Any CPU
{741F6491-57C7-479A-B391-09BBA9FBA9DC}.Release|x86.Build.0 = Release|Any CPU
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|x64.ActiveCfg = Release|x64
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|x64.Build.0 = Release|x64
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {741F6491-57C7-479A-B391-09BBA9FBA9DC}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Debug|Any CPU.Build.0 = Debug|Any CPU
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -175,42 +212,12 @@ Global
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Release|x64.Build.0 = Release|Any CPU
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Release|x86.ActiveCfg = Release|Any CPU
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.Release|x86.Build.0 = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|x64.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|x64.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|x86.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug|x86.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|Any CPU.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|Any CPU.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|x64.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|x64.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|x86.ActiveCfg = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Debug1|x86.Build.0 = Debug|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|Any CPU.Build.0 = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|x64.ActiveCfg = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|x64.Build.0 = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|x86.ActiveCfg = Release|Any CPU
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9}.Release|x86.Build.0 = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|x64.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|x64.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|x86.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug|x86.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|Any CPU.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|Any CPU.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|x64.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|x64.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|x86.ActiveCfg = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Debug1|x86.Build.0 = Debug|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|Any CPU.Build.0 = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|x64.ActiveCfg = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|x64.Build.0 = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|x86.ActiveCfg = Release|Any CPU
- {8FA74161-0D03-408F-811A-A244C9027BFB}.Release|x86.Build.0 = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|x64.ActiveCfg = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|x64.Build.0 = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {9EB9DFC1-C78A-46C0-826A-5ED1A08232C0}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Debug|Any CPU.Build.0 = Debug|Any CPU
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -229,6 +236,36 @@ Global
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Release|x64.Build.0 = Release|Any CPU
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Release|x86.ActiveCfg = Release|Any CPU
{887F9454-B1F3-47B8-B9F7-48BEBA47193D}.Release|x86.Build.0 = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|x64.ActiveCfg = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|x64.Build.0 = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {887F9454-B1F3-47B8-B9F7-48BEBA47193D}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|x64.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|x64.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|x86.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug|x86.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|Any CPU.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|Any CPU.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|x64.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|x64.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|x86.ActiveCfg = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Debug1|x86.Build.0 = Debug|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|Any CPU.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|Any CPU.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|x64.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|x64.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|x86.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.Release|x86.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|Any CPU.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|Any CPU.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|x64.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|x64.Build.0 = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|x86.ActiveCfg = Release|Any CPU
+ {91739E90-6A8E-433D-B244-5325F8848064}.ReleaseWithDbg|x86.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
@@ -241,9 +278,8 @@ Global
{DD02C60E-560B-40C0-AD7F-523F0B4AA4FD} = {97C226B4-971C-4802-8D35-14E2980FF0C6}
{741F6491-57C7-479A-B391-09BBA9FBA9DC} = {97C226B4-971C-4802-8D35-14E2980FF0C6}
{9EB9DFC1-C78A-46C0-826A-5ED1A08232C0} = {DD1CE747-341A-4419-8398-0D482E02DE54}
- {560CC80B-389B-46FC-9B8C-DA1D62A555D9} = {5DB27B2D-14A5-441F-A861-BAFDB7BAA05B}
- {8FA74161-0D03-408F-811A-A244C9027BFB} = {5DB27B2D-14A5-441F-A861-BAFDB7BAA05B}
{887F9454-B1F3-47B8-B9F7-48BEBA47193D} = {5DB27B2D-14A5-441F-A861-BAFDB7BAA05B}
+ {91739E90-6A8E-433D-B244-5325F8848064} = {5DB27B2D-14A5-441F-A861-BAFDB7BAA05B}
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {4BF9CC66-BB0E-4400-BCF8-5BF7F5DA800A}
diff --git a/src/BRS.Common.Device/BRS.Common.Device.csproj b/src/BRS.Common.Device/BRS.Common.Device.csproj
index 22bdf4d..9bbf146 100644
--- a/src/BRS.Common.Device/BRS.Common.Device.csproj
+++ b/src/BRS.Common.Device/BRS.Common.Device.csproj
@@ -96,6 +96,15 @@
..\..\packages\Newtonsoft.Json.12.0.3\lib\net45\Newtonsoft.Json.dll
+
+ ..\..\packages\STTech.BytesIO.Core.2.9.3\lib\net45\STTech.BytesIO.Core.dll
+
+
+ ..\..\packages\STTech.BytesIO.Tcp.2.9.3\lib\net45\STTech.BytesIO.Tcp.dll
+
+
+ ..\..\packages\STTech.CodePlus.1.4.0\lib\net45\STTech.CodePlus.dll
+
..\..\packages\System.Buffers.4.5.1\lib\net461\System.Buffers.dll
@@ -147,6 +156,7 @@
+
diff --git a/src/BRS.Common.Device/DeviceBase/RobotBase.cs b/src/BRS.Common.Device/DeviceBase/RobotBase.cs
index 7e0eb10..94e4be4 100644
--- a/src/BRS.Common.Device/DeviceBase/RobotBase.cs
+++ b/src/BRS.Common.Device/DeviceBase/RobotBase.cs
@@ -135,587 +135,8 @@ namespace BRS.Common.Base
public class RobotInitialConfigBase : InitialConfigBase//, IWarningSetCollection
{
- [Category("驱动类型")]
- [Description("驱动类型")]
- [DisplayName("驱动类型")]
- //[TypeConverter(typeof(DeviceTypeConverter))]
- [TypeConverter(typeof(DeviceTypeSelectorConverter))]
- public override string DriverType { get; set; }
-
-
- #region 上料关键点位
- [Category("1.机械臂关键点位")]
- [Description("机械臂起始位置P0")]
- [DisplayName("机械臂起始位置P0")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotOriginPoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("1号机1号位抓取点位置P101")]
- [DisplayName("1号机1号位抓取点位置P101")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance1GrabPoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("1号机2号位抓取点位置P201")]
- [DisplayName("1号机2号位抓取点位置P201")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance2GrabPoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("2号机1号位抓取点位置P101")]
- [DisplayName("2号机1号位抓取点位置P101")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance1GrabPoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("1号机2号位抓取点位置P201")]
- [DisplayName("2号机2号位抓取点位置P201")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance2GrabPoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("1号机1号位放料位置P102")]
- [DisplayName("1号机1号位放料位置P102")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance1UpPlacePoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("1号机2号位放料位置P202")]
- [DisplayName("1号机2号位放料位置P202")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance2UpPlacePoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("2号机1号位放料位置P102")]
- [DisplayName("2号机1号位放料位置P102")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance1UpPlacePoint { get; set; } = new RobotPoint();
-
- [Category("2.机械臂上料关键点位")]
- [Description("2号机2号位放料位置P202")]
- [DisplayName("2号机2号位放料位置P202")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance2UpPlacePoint { get; set; } = new RobotPoint();
- #endregion
-
-
- #region 上料点组
- [Category("3.机械臂上料项目")]
- [Description("1号机1号位上料点组")]
- [DisplayName("1号机1号位上料点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine1Entrance1UpPoints { get; set; } = new List();
-
- [Category("3.机械臂上料项目")]
- [Description("1号机2号位上料点组")]
- [DisplayName("1号机2号位上料点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine1Entrance2UpPoints { get; set; } = new List();
-
- [Category("3.机械臂上料项目")]
- [Description("2号机1号位上料点组")]
- [DisplayName("2号机1号位上料点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine2Entrance1UpPoints { get; set; } = new List();
-
- [Category("3.机械臂上料项目")]
- [Description("2号机2号位上料点组")]
- [DisplayName("2号机2号位上料点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine2Entrance2UpPoints { get; set; } = new List();
- #endregion
-
-
- #region 下料关键点位
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机1号位取料(下料)点位置P107")]
- [DisplayName("1号机1号位取料(下料)点位置P107")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance1TakeTyrePoint { get; set; } = new RobotPoint();
-
- //P107点位斜向上
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机1号位取料(下料)点位置P107斜上方")]
- [DisplayName("1号机1号位取料(下料)点位置P107斜上方")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance1TakeTyreTiltUpperPoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机2号位取料(下料)点位置P207")]
- [DisplayName("1号机2号位取料(下料)点位置P207")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance2TakeTyrePoint { get; set; } = new RobotPoint();
-
- //P207斜上方
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机2号位取料(下料)点位置P207斜上方")]
- [DisplayName("1号机2号位取料(下料)点位置P207斜上方")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance2TakeTyreTiltUpperPoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("2号机1号位取料(下料)点位置P107")]
- [DisplayName("2号机1号位取料(下料)点位置P107")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance1TakeTyrePoint { get; set; } = new RobotPoint();
-
- //2号机1号位下料点斜上方
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("2号机1号位取料(下料)点位置P107斜上方")]
- [DisplayName("2号机1号位取料(下料)点位置P107斜上方")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance1TakeTyreTiltUpperPoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机2号位取料(下料)点位置P207")]
- [DisplayName("2号机2号位取料(下料)点位置P207")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance2TakeTyrePoint { get; set; } = new RobotPoint();
-
- //2号机1号位下料点斜上方
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("2号机2号位取料(下料)点位置P207斜上方")]
- [DisplayName("2号机2号位取料(下料)点位置P207斜上方")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance2TakeTyreTiltUpperPoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机1号位放置点位置P108")]
- [DisplayName("1号机1号位放置点位置P108")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance1DownPlacePoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机2号位放置点位置P208")]
- [DisplayName("1号机2号位放置点位置P208")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine1Entrance2DownPlacePoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("2号机1号位放置点位置P108")]
- [DisplayName("2号机1号位放置点位置P108")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance1DownPlacePoint { get; set; } = new RobotPoint();
-
- [Category("4.机械臂取料(下料)关键点位")]
- [Description("1号机2号位放置点位置P208")]
- [DisplayName("2号机2号位放置点位置P208")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotMachine2Entrance2DownPlacePoint { get; set; } = new RobotPoint();
-
- #endregion
-
-
- #region 下料点组
- [Category("5.机械臂取料(下料)项目")]
- [Description("1号机1号位取料(下料)点组")]
- [DisplayName("1号机1号位取料(下料)点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine1Entrance1DownPoints { get; set; } = new List();
-
- [Category("5.机械臂取料(下料)项目")]
- [Description("1号机2号位取料(下料)点组")]
- [DisplayName("1号机2号位取料(下料)点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine1Entrance2DownPoints { get; set; } = new List();
-
- [Category("5.机械臂取料(下料)项目")]
- [Description("2号机1号位取料(下料)点组")]
- [DisplayName("2号机1号位取料(下料)点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine2Entrance1DownPoints { get; set; } = new List();
-
- [Category("5.机械臂取料(下料)项目")]
- [Description("2号机2号位取料(下料)点组")]
- [DisplayName("2号机2号位取料(下料)点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotMachine2Entrance2DownPoints { get; set; } = new List();
- #endregion
-
-
- [Category("机械臂上料项目")]
- [Description("路径上料移动点组")]
- [DisplayName("路径上料移动点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotUpMovePoints { get; set; } = new List();
-
-
- [Category("机械臂上料项目")]
- [Description("路径上料返回点组")]
- [DisplayName("路径上料返回点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //[TypeConverter(typeof(SimpleCollectionConvert))]
- public List RobotUPBackPoints { get; set; } = new List();
-
-
- [Category("机械臂下料项目")]
- [Description("路径下料移动点组")]
- [DisplayName("路径下料移动点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- public List RobotDownMovePoints { get; set; } = new List();
-
-
- [Category("机械臂下料项目")]
- [Description("路径下料返回点组")]
- [DisplayName("路径下料返回点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //[TypeConverter(typeof(SimpleCollectionConvert))]
- public List RobotDownBackPoints { get; set; } = new List();
-
-
- [Category("机械臂下料项目")]
- [Description("路径下料返回f辅助点组")]
- [DisplayName("路径下料返回f辅助点组")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //[TypeConverter(typeof(SimpleCollectionConvert))]
- public List ConfigRobotDownBackPoints { get; set; } = new List();
-
-
- [Category("机械臂项目")]
- [Description("机械臂起始位置")]
- [DisplayName("机械臂起始位置")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint RobotInitPosition { get; set; } = new RobotPoint();
-
-
- [Category("机械臂项目")]
- [Description("机械臂运动点X1位")]
- [DisplayName("机械臂运动点X1位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X1Point { get; set; } = new RobotPoint();
-
- [Category("机械臂项目")]
- [Description("机械臂运动点X2位")]
- [DisplayName("机械臂运动点X2位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X2Point { get; set; } = new RobotPoint();
-
- [Category("机械臂项目")]
- [Description("轮胎半径")]
- [DisplayName("轮胎半径")]
- public string RobotTyReRadius { get; set; }
-
- [Category("机械臂项目")]
- [Description("轮胎尺寸")]
- [DisplayName("轮胎尺寸")]
- // [TypeConverter(typeof(CollectionCountConvert))]
- // [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //[TypeConverter(typeof(SimpleCollectionConvert))]
- public string SetWhoolSize { get; set; } = "17";
-
- [Category("机械臂夹爪项目")]
- [Description("夹紧点")]
- [DisplayName("夹紧点")]
- public string GripperFastenPosition { get; set; } = "75000";
-
- [Category("机械臂夹爪项目")]
- [Description("放松点")]
- [DisplayName("放松点")]
- public string GripperLoosenPosition { get; set; } = "40000";
-
- [Category("机械臂夹爪项目")]
- [Description("全松点")]
- [DisplayName("全松点")]
- public string GripperAllLoosenPosition { get; set; } = "40000";
-
-
- [Category("机械臂夹爪项目")]
- [Description("全紧点")]
- [DisplayName("全紧点")]
- public string GripperAllFastenPosition { get; set; } = "92000";
-
- #region 12寸轮胎
- [Category("机械臂项目12寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel12GripperUpFasten { get; set; } = "40000";
-
- [Category("机械臂项目12寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel12GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目12寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel12GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目12寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel12GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 13寸轮胎
- [Category("机械臂项目13寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel13GripperUpFasten { get; set; } = "40000";
-
- [Category("机械臂项目13寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel13GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目13寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel13GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目13寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel13GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 14寸轮胎
- [Category("机械臂项目14寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel14GripperUpFasten { get; set; } = "40000";
-
- [Category("机械臂项目14寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel14GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目14寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel14GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目14寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel14GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 15寸轮胎
- [Category("机械臂项目15寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel15GripperUpFasten { get; set; } = "40000";
-
- [Category("机械臂项目15寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel15GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目15寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel15GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目15寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel15GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 16寸轮胎
- [Category("机械臂项目16寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel16GripperUpFasten { get; set; } = "40000";
-
- [Category("机械臂项目16寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel16GripperUpLoosen { get; set; } = "75000";
-
-
- [Category("机械臂项目16寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel16GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目16寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel16GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 17寸轮胎
- [Category("机械臂项目17寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel17GripperUpFasten { get; set; } = "75000";
-
- [Category("机械臂项目17寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel17GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目17寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel17GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目17寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel17GripperDownLoosen { get; set; } = "2000";
- #endregion
-
- #region 18寸轮胎
- [Category("机械臂项目18寸轮胎")]
- [Description("上料夹紧点")]
- [DisplayName("上料夹紧点")]
- public string Wheel18GripperUpFasten { get; set; } = "75000";
-
- [Category("机械臂项目18寸轮胎")]
- [Description("上料放松点")]
- [DisplayName("上料放松点")]
- public string Wheel18GripperUpLoosen { get; set; } = "75000";
-
- [Category("机械臂项目18寸轮胎")]
- [Description("下料夹紧点")]
- [DisplayName("下料夹紧点")]
- public string Wheel18GripperDownFasten { get; set; } = "40000";
-
- [Category("机械臂项目18寸轮胎")]
- [Description("下料放松点")]
- [DisplayName("下料放松点")]
- public string Wheel18GripperDownLoosen { get; set; } = "2000";
- #endregion
-
-
- [Category("机械臂项目")]
- [Description("1号硫化机1号位")]
- [DisplayName("1号硫化机1号位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X1_1Point { get; set; } = new RobotPoint();
-
- [Category("机械臂项目")]
- [Description("1号硫化机2号位")]
- [DisplayName("1号硫化机2号位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X1_2Point { get; set; } = new RobotPoint();
- [Category("机械臂项目")]
- [Description("2号硫化机1号位")]
- [DisplayName("2号硫化机1号位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X2_1Point { get; set; } = new RobotPoint();
- [Category("机械臂项目")]
- [Description("2号硫化机2号位")]
- [DisplayName("2号硫化机2号位")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint X2_2Point { get; set; } = new RobotPoint();
-
- [Category("机械臂项目")]
- [Description("硫化轮胎取出位置")]
- [DisplayName("硫化轮胎取出位置")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public RobotPoint TakeOutPoint { get; set; } = new RobotPoint();
-
-
- //[Category("机械臂项目")]
- //[Description("路径移动")]
- //[DisplayName("路径移动")]
-
- //[TypeConverter(typeof(CollectionCountConvert))]
- //[Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //public List RobotMovePoints { get; set; } = new List();
-
- //[Category("机械臂项目")]
- //[Description("路径返回")]
- //[DisplayName("路径返回")]
-
- //[TypeConverter(typeof(CollectionCountConvert))]
- //[Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
- //public List RobotBackPoints { get; set; } = new List();
-
- //[Category("驱动类型")]
- //[Description("驱动类型")]
- //[DisplayName("驱动类型")]
- //[TypeConverter(typeof(DeviceTypeSelectorConverter))]
- //public override string DriverType { get; set; }
-
- //[Category("机器人设置")]
- //[Description("机器人通信IP")]
- //[DisplayName("机器人通信IP")]
- //public string RobotIP { get; set; } = "0.0.0.0";
-
- //[Category("机器人设置")]
- //[Description("机器人通信端口")]
- //[DisplayName("机器人通信端口")]
- //public int RobotPort { get; set; }
-
- //[Category("通信设置")]
- //[Description("反馈超时设置，单位ms")]
- //[DisplayName("反馈超时设置，单位ms")]
- //public int ReplyTimeout { get; set; } = 1000;
-
- //[Category("通信设置")]
- //[Description("反馈超时重试次数")]
- //[DisplayName("反馈超时重试次数")]
- //public int TimeoutRetryTimes { get; set; } = 5;
-
- //[Category("通信设置")]
- //[Description("协议文本结束字符")]
- //[DisplayName("协议文本结束字符")]
- //public string EndChar { get; set; } = "#";
-
- //[Category("通信设置")]
- //[Description("协议内容分隔字符")]
- //[DisplayName("协议内容分隔字符")]
- //public string Seperator { get; set; } = ",";
-
- //[Category("动作设置")]
- //[Description("动作超时设置，单位min")]
- //[DisplayName("动作超时设置，单位min")]
- //public float OperationTimeout { get; set; } = 1;
-
-
- //[Category("警报配置")]
- //[Description("警报配置列表")]
- //[DisplayName("警报配置")]
- //[TypeConverter(typeof(CollectionCountConvert))]
- //[Editor(typeof(WarningSetsEditor), typeof(UITypeEditor))]
- //public List WarningSetCollection { get; set; } = new List();
+
+
}
diff --git a/src/BRS.Common.Device/DeviceBase/TCPSeverBase.cs b/src/BRS.Common.Device/DeviceBase/TCPSeverBase.cs
new file mode 100644
index 0000000..5672523
--- /dev/null
+++ b/src/BRS.Common.Device/DeviceBase/TCPSeverBase.cs
@@ -0,0 +1,126 @@
+using BRS.Common.Base;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using STTech.BytesIO.Tcp;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BRS.Common.Base
+{
+ public class TCPSeverInitialConfigBase : InitialConfigBase
+ {
+ [Category("连接配置")]
+ [Description("远程IP地址")]
+ [DisplayName("远程IP")]
+ public string RemoteIP { get; set; }
+
+ [Category("连接配置")]
+ [Description("远程端口")]
+ [DisplayName("远程端口")]
+ public int RemotePort { get; set; }
+ }
+ public abstract class TCPSeverBase : DeviceBase
+ {
+ public TCPSeverInitialConfigBase IConfig
+ {
+ get => InitialConfig as TCPSeverInitialConfigBase;
+ }
+
+
+ ///
+ /// 创建临时变量
+ ///
+ public string KawasakiRobotResponse;
+
+ public TcpServer server;
+ public event Action OnTcpDataReceived;
+ public event Action OnTirggeredConnectClose;
+ public event Action OnTirggeredConnectOpen;
+ protected override void Init()
+ {
+ server = new TcpServer();
+ server.Host = IConfig.RemoteIP;
+ server.Port = IConfig.RemotePort;
+
+ }
+
+ protected override void Start()
+ {
+
+ server.StartAsync();
+
+ server.Started += Server_Started;
+
+ server.ClientConnected += Server_ClientConnected;
+ server.ClientDisconnected += Server_ClientDisconnected;
+ server.Closed += Server_Closed;
+ }
+
+ protected override void Stop()
+ {
+ server.CloseAsync();
+
+ }
+
+ private void Server_ClientDisconnected(object sender, STTech.BytesIO.Tcp.Entity.ClientDisconnectedEventArgs e)
+ {
+ Print($"客户端[{e.Client.Host}:{e.Client.Port}]断开连接");
+ OnTirggeredConnectClose?.Invoke();
+ }
+
+ private void Server_ClientConnected(object sender, STTech.BytesIO.Tcp.Entity.ClientConnectedEventArgs e)
+ {
+ Print($"客户端[{e.Client.Host}:{e.Client.Port}]连接成功");
+ OnTirggeredConnectOpen?.Invoke();
+ e.Client.OnDataReceived += Client_OnDataReceived;
+ // e.Client.UseHeartbeatTimeout(3000);
+ }
+
+ private void Client_OnDataReceived(object sender, STTech.BytesIO.Core.Entity.DataReceivedEventArgs e)
+ {
+ TcpClient tcpClient = (TcpClient)sender;
+ //Print($"来自客户端[{tcpClient.RemoteEndPoint}]的消息: {e.Data.EncodeToString("GBK")}");
+ OnTcpDataReceived?.Invoke(e.Data);
+ //foreach (TcpClient client in server.Clients)
+ //{
+ // if (client != tcpClient)
+ // {
+ // client.SendAsync(e.Data);
+ // }
+ //}
+ }
+
+
+
+ private void Server_Closed(object sender, EventArgs e)
+ {
+ // TcpClient tcpClient = (TcpClient)sender;
+
+ // Print("停止监听");
+ }
+
+ private void Server_Started(object sender, EventArgs e)
+ {
+ TcpClient tcpClient = (TcpClient)sender;
+ // tcpClient.Connect();
+ //Print("开始监听");
+ }
+
+
+ private void Print(string msg)
+ {
+ //tbLog.AppendText($"[{DateTime.Now}] {msg}\r\n");
+ }
+ public void SendMessage(string msg)
+ {
+ foreach (TcpClient client in server.Clients)
+ {
+ byte[] sendBuff = System.Text.Encoding.ASCII.GetBytes(msg);
+ client.SendAsync(sendBuff);
+ }
+ }
+
+ }
+}
diff --git a/src/BRS.Common.Device/app.config b/src/BRS.Common.Device/app.config
index 4cd8ed8..e26e9d3 100644
--- a/src/BRS.Common.Device/app.config
+++ b/src/BRS.Common.Device/app.config
@@ -1,19 +1,19 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
diff --git a/src/BRS.Common.Device/packages.config b/src/BRS.Common.Device/packages.config
index 2d58c8d..12d9610 100644
--- a/src/BRS.Common.Device/packages.config
+++ b/src/BRS.Common.Device/packages.config
@@ -4,6 +4,9 @@
+
+
+
diff --git a/src/BRS.Common.Model/BRS.Common.Model.csproj b/src/BRS.Common.Model/BRS.Common.Model.csproj
index d14bdd5..29d83bc 100644
--- a/src/BRS.Common.Model/BRS.Common.Model.csproj
+++ b/src/BRS.Common.Model/BRS.Common.Model.csproj
@@ -1,6 +1,6 @@
-
+
Debug
@@ -95,7 +95,7 @@
..\..\packages\OpenCvSharp4.4.6.0.20220608\lib\netstandard2.0\OpenCvSharp.dll
- ..\..\packages\OpenCvSharp4.Extensions.4.6.0.20220608\lib\netstandard2.0\OpenCvSharp.Extensions.dll
+ ..\..\packages\OpenCvSharp4.Extensions.4.5.5.20211231\lib\netstandard2.0\OpenCvSharp.Extensions.dll
@@ -259,6 +259,6 @@
这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。
-
+
\ No newline at end of file
diff --git a/src/BRS.Common.Model/Helper/EnumHelper.cs b/src/BRS.Common.Model/Helper/EnumHelper.cs
index 55f8d05..4b669b2 100644
--- a/src/BRS.Common.Model/Helper/EnumHelper.cs
+++ b/src/BRS.Common.Model/Helper/EnumHelper.cs
@@ -519,6 +519,19 @@ namespace BRS.Common.Model.Helper
CameraRelativeMove = 12,
}
+ public enum DownCirce
+ {
+ Unknown = 0,
+ ///
+ /// 标志着机械臂正在运动的状态
+ ///
+ DownCirce,
+ ///
+ /// 标志着机械臂运动完成的状态
+ ///
+ DownCirceRuning,
+ }
+
///
/// 马达/运动板卡运行模式
///
@@ -677,7 +690,67 @@ namespace BRS.Common.Model.Helper
[Description("更新批次信息")]
RequestBatchNO,
}
+ public enum ProcessStatus
+ {
+ Unknown = 0,
+ PlcInit,
+ ///
+ /// 第七轴运动或者示教点移动
+ ///
+ Init,
+ ///
+ /// 第七轴移动到位
+ ///
+ InitPlc,
+ PMoldReady,
+ PPLCRobotInit,
+ MoveInit_Y,
+ MoveInit,
+
+ ///
+ /// 机械臂相机离目标螺丝测距30CM
+ ///
+ Measure,
+ ///
+ /// 打开光源
+ ///
+ OpenLight,
+ ///
+ /// 关闭光源
+ ///
+ ClodeLight,
+ ///
+ /// 视觉定位
+ ///
+ CVLocation,
+ ///
+ /// 拧紧轴发送启动命令
+ ///
+ StartRun,
+ StartRunDown,
+ ///
+ /// 循环拧送螺丝
+ ///
+ StartRuning,
+ Finish,
+ ///
+ /// 完成拧松螺丝并对下一螺丝做准备工作
+ ///
+ RobotFinish,
+ ///
+ /// 机器人下电 所有第七轴回归初始位置
+ ///
+ RobotPLCInit,
+ ///
+ /// 回归初始位置完成，流程结束
+ ///
+ RobotPLCInitFinish,
+ ALLFinish,
+ Warning,
+ Waiting,
+ WaitingZLS,
+ }
public enum MachineState
{
Unknown = 0,
@@ -717,56 +790,68 @@ namespace BRS.Common.Model.Helper
ClearProduct ,
}
-
+ ///
+ /// 川崎机器人的状态，运动停止或者正在进行
+ ///
+ public enum KawasakiRobotStatus
+ {
+ Unknown = 0,
+ ///
+ /// 机械臂正在运动的状态
+ ///
+ Stoped,
+ ///
+ /// 机械臂运动完成的状态
+ ///
+ Runing,
+ }
public enum RobotsStatus
{
Unknown = 0,
- Inplace ,
- Claming,
- Relasing,
- Moving ,
- Wating ,
- Pweroff,
- Reset ,
-
+ PowerOn,
+ Move,
+ ///
+ /// 机械臂运动状态
+ ///
+ Runing,
+ ///
+ /// 机械臂空闲状态
+ ///
+ Release,
+ MoveInit,
+ PowerOff,
+
}
- public enum ProcessStatus
+ public enum PLCStateWarm
{
Unknown = 0,
///
- /// 初始化点
+ /// 急停红灯
///
- Init,
-
- MesureingInit,
- MesureingInitPLC,
- Mesureing ,
- MesureingPLC,
- Claim ,
- ClaimPLC,
- Runing ,
- RunFinish,
- Loosen,
- LoosenPLC,
- TakeOffMove,
- TakeOffMovePLC,
- TakeOffMovePLC_2,
- TakeOff,///
- /// 取出轮胎
- ///
- ///
- TakeOffCaim,
- TakeOffPLC,
- TakeOffPoint,
- TakeOffPointCaim,
- TakeOffPointCaimFlag,
- TakeOffWhool,
- Resetting ,
- Closing ,
- ClearProduct ,
- }
+ ProStop,
+ ///
+ /// 程序运行绿灯
+ ///
+ Running,
+ ///
+ /// 手动模式
+ ///
+ HandModel,
+ ///
+ /// 自动模式
+ ///
+ ResetModel,
+ ///
+ /// 程序不运行
+ ///
+ Alarm,
+ XianWeiAram,
+ Robot1LeftAlarm,
+ Robot1RightAlarm,
+
+ }
public enum ResultState
{
diff --git a/src/BRS.Common.Model/Interface/IProcessConfig.cs b/src/BRS.Common.Model/Interface/IProcessConfig.cs
index 3de7d95..b3bce79 100644
--- a/src/BRS.Common.Model/Interface/IProcessConfig.cs
+++ b/src/BRS.Common.Model/Interface/IProcessConfig.cs
@@ -38,8 +38,8 @@ namespace BRS.Common.Interface
List PLCConfigCollection { get; set; }
List DeviceConfigs { get; set; }
-
- List RobotConfigCollection { get; set; }
+ List KawasakiRobotConfigCollection { get; set; }
+ //List RobotConfigCollection { get; set; }
#endregion
diff --git a/src/BRS.Common.Model/Model/CustomizedPoint.cs b/src/BRS.Common.Model/Model/CustomizedPoint.cs
index 537604d..eb0a9a5 100644
--- a/src/BRS.Common.Model/Model/CustomizedPoint.cs
+++ b/src/BRS.Common.Model/Model/CustomizedPoint.cs
@@ -7,6 +7,7 @@ using System.ComponentModel;
using System.Drawing;
using System.Threading.Tasks;
using static BRS.Common.Model.Helper.EnumHelper;
+using System.Drawing.Design;
namespace BRS.Common.Model
{
@@ -716,6 +717,157 @@ namespace BRS.Common.Model
public float B;
public float C;
}
+ public class CQRobotPoint : IComplexDisplay
+ {
+ [Category("点位信息")]
+ [Description("坐标X")]
+ public float X { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Y")]
+ public float Y { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Z")]
+ public float Z { get; set; }
+
+ [Category("点位信息")]
+ [Description("角度O")]
+ public float O { get; set; }
+
+ [Category("点位信息")]
+ [Description("角度A")]
+ public float A { get; set; }
+
+ [Category("点位信息")]
+ [Description("角度T")]
+ public float T { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"X:{X.ToString()} Y:{Y.ToString()} Z:{Z.ToString()} O:{O.ToString()} A:{A.ToString()} T:{T.ToString()}";
+ }
+
+ public double[] GetArray()
+ {
+ return new double[] { X, Y, Z, O, A, T };
+ }
+
+ public static CQRobotPoint GetRobotPointByArray(double[] array)
+ {
+ if (array.Length != 6)
+ {
+ return null;
+ }
+
+ CQRobotPoint point = new CQRobotPoint
+ {
+ X = (float)array[0],
+ Y = (float)array[1],
+ Z = (float)array[2],
+ O = (float)array[3],
+ A = (float)array[4],
+ T = (float)array[5]
+ };
+
+ return point;
+ }
+
+ public static float GetDistance(RobotPoint pointA, RobotPoint pointB)
+ {
+ return (float)Math.Sqrt(Math.Pow(pointA.X - pointB.X, 2) + Math.Pow(pointA.Y - pointB.Y, 2) + Math.Pow(pointA.Z - pointB.Z, 2));
+ }
+ }
+ public class VPVRPoint : IComplexDisplay
+ {
+
+ [Category("点位信息")]
+ [Description("坐标X")]
+ public float X { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Y")]
+ public float Y { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Z")]
+ public float Z { get; set; }
+ public string GetDisplayText()
+ {
+ return $"X:{X.ToString()} Y:{Y.ToString()} Z:{Z.ToString()}";
+ }
+ }
+ public class XYPoint : IComplexDisplay
+ {
+
+ [Category("点位信息")]
+ [Description("坐标X")]
+ public float X { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Y")]
+ public float Y { get; set; }
+
+
+ public string GetDisplayText()
+ {
+ return $"X:{X.ToString()} Y:{Y.ToString()} ";
+ }
+ }
+ public class DiffVPVRPoint : IComplexDisplay
+ {
+ [Category("标定组类型ID*")]
+ [Description("标定组类型ID")]
+ //[TypeConverter(typeof(DeviceIdSelectorConverter))]
+ [DisplayName("标定组类型ID")]
+ public int CVTypeID { get; set; }
+
+
+ [Category("点位信息")]
+ [Description("坐标X")]
+ public float X { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Y")]
+ public float Y { get; set; }
+
+ [Category("点位信息")]
+ [Description("坐标Z")]
+ public float Z { get; set; }
+
+ [Category("第七轴")]
+ [Description("第七轴")]
+ public float SevenDis { get; set; }
+
+ [Category("是否启动第七轴配置")]
+ [Description("是否启用")]
+ [DisplayName("是否启用")]
+ public bool SevenDisIsLSEnabled { get; set; } = false;
+
+ [Category("是否是两端特殊螺丝")]
+ [Description("是否启用")]
+ [DisplayName("是否启用")]
+ public bool SpecialIsLSEnabled { get; set; } = false;
+
+
+ [Category("特别螺丝配置")]
+ [Description("是否启用")]
+ [DisplayName("是否启用")]
+ public bool IsLSEnabled { get; set; } = false;
+
+ [Category("特别螺丝配置")]
+ [Description("特别螺丝配置")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ [DisplayName("特别螺丝配置")]
+ public List CVCalibrationConfig { get; set; } = new List();
+ public string GetDisplayText()
+ {
+ return $"X:{X.ToString()} Y:{Y.ToString()} Z:{Z.ToString()}";
+ }
+ }
+
+
public class RobotPoint : IComplexDisplay
{
[Category("点位信息")]
diff --git a/src/BRS.Common.Model/Model/DeviceOpBind.cs b/src/BRS.Common.Model/Model/DeviceOpBind.cs
index aa3b86e..a25c220 100644
--- a/src/BRS.Common.Model/Model/DeviceOpBind.cs
+++ b/src/BRS.Common.Model/Model/DeviceOpBind.cs
@@ -14,8 +14,79 @@ using System.Windows.Forms.Design;
namespace BRS.Common.Model
{
+ public class CVCalibrationConfig : IComplexDisplay
+ {
+
+ [Category("标定组类型ID")]
+ [Description("标定组类型ID")]
+ //[TypeConverter(typeof(DeviceIdSelectorConverter))]
+ [DisplayName("标定组类型ID")]
+ public int CVTypeID { get; set; }
+
+ [Category("相机标定设置")]
+ [Description("示教拍摄点")]
+ [DisplayName("示教拍摄点")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ //[TypeConverter(typeof(SimpleCollectionConvert))]
+ public List SHIJIao_deviation { get; set; } = new List();
+
+ [Category("相机标定设置")]
+ [Description("VP点组")]
+ [DisplayName("VP点组")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ //[TypeConverter(typeof(SimpleCollectionConvert))]
+ public List VPPoints { get; set; } = new List();
+
+
+ [Category("相机标定设置")]
+ [Description("VR点组")]
+ [DisplayName("VR点组")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ //[TypeConverter(typeof(SimpleCollectionConvert))]
+ public List VRPoints { get; set; } = new List();
+
+ public string GetDisplayText()
+ {
+ return $"标定组类型ID:{CVTypeID.ToString()}";
+ }
+ }
+
+ public class DeviceModel : IComplexDisplay
+ {
+ [Category("模具类型")]
+ [Description("模具类型")]
+ //[TypeConverter(typeof(DeviceIdSelectorConverter))]
+ [DisplayName("模具类型")]
+ public string DeviceModelType { get; set; }
+
+ [Category("视觉标定配置")]
+ [Description("视觉标定配置")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ [DisplayName("视觉标定配置")]
+ public List CVCalibrationConfig { get; set; } = new List();
+
+
+ [Category("机械臂A配置项")]
+ [Description("偏移量：标定点减去拍摄点的坐标是偏移量")]
+ [DisplayName("偏移量")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ //[TypeConverter(typeof(SimpleCollectionConvert))]
+ public List A_deviation { get; set; } = new List();
+
+ public string GetDisplayText()
+ {
+ return $"模具类型:{DeviceModelType} ";
+ }
+ }
+
public class DeviceOpBind : IComplexDisplay
{
+
[Category("设备名称")]
[Description("设备名称")]
[TypeConverter(typeof(DeviceIdSelectorConverter))]
diff --git a/src/BRS.Common.Model/app.config b/src/BRS.Common.Model/app.config
index 4cd8ed8..e26e9d3 100644
--- a/src/BRS.Common.Model/app.config
+++ b/src/BRS.Common.Model/app.config
@@ -1,19 +1,19 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
diff --git a/src/BRS.Common.Model/packages.config b/src/BRS.Common.Model/packages.config
index 3de1064..ab6c8fb 100644
--- a/src/BRS.Common.Model/packages.config
+++ b/src/BRS.Common.Model/packages.config
@@ -3,8 +3,9 @@
-
-
+
+
+
diff --git a/src/BRS.Process.A020/A020Config.cs b/src/BRS.Process.A020/A020Config.cs
index bf11f28..359c95a 100644
--- a/src/BRS.Process.A020/A020Config.cs
+++ b/src/BRS.Process.A020/A020Config.cs
@@ -22,7 +22,13 @@ namespace BRS.Process.A020
//[Description("OverdueDay：数据库保存天数，超出该值，则认为数据过期，会被清理")]
//public int OverdueDay { get; set; } = 14;
+ [Category("流程动作配置")]
+ [Description("流程开始操作配置")]
+ [DisplayName("流程开始操作配置")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(ComplexCollectionEditor), typeof(UITypeEditor))]
+ public List ProcessInitialOps { get; set; } = new List();
// [Category("触发配置")]
//[Description("检测取像相关设置")]
@@ -123,8 +129,8 @@ namespace BRS.Process.A020
//public int FullResetRequiredDuration { get; set; } = 3;
-
-
+
+
}
diff --git a/src/BRS.Process.A020/A020Process.cs b/src/BRS.Process.A020/A020Process.cs
index ed43c8e..43a24f2 100644
--- a/src/BRS.Process.A020/A020Process.cs
+++ b/src/BRS.Process.A020/A020Process.cs
@@ -7,6 +7,7 @@ using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
+using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
@@ -91,6 +92,9 @@ namespace BRS.Process.A020
#region event
public event Action OnMachineStateChanged;
+ public event Action OnPLCStateChanged;
+
+ public event Action OnBitmapChanged;
#endregion
#region ProcessControl
diff --git a/src/BRS.Process.A020/A020Process_MachineState.cs b/src/BRS.Process.A020/A020Process_MachineState.cs
index 3c00901..bf9e6e8 100644
--- a/src/BRS.Process.A020/A020Process_MachineState.cs
+++ b/src/BRS.Process.A020/A020Process_MachineState.cs
@@ -15,7 +15,10 @@ namespace BRS.Process.A020
{
object machineStateLock = new object();
//object machineStateLock_R = new object();
+ PLCStateWarm pLCStateWarm = PLCStateWarm.Unknown;
MachineState machineState = MachineState.Unknown;
+
+ DownCirce downCirce = DownCirce.Unknown;
//MachineState machineState_R = MachineState.Unknown;
public MachineState MachineState
{
@@ -134,17 +137,24 @@ namespace BRS.Process.A020
}
}
- WhoolSize whoolSize = WhoolSize.Size17;
- public WhoolSize WhoolSize
+ public PLCStateWarm PLCStateWarm
{
- get => whoolSize;
+ get => pLCStateWarm;
set
{
- whoolSize = value;
+ pLCStateWarm = value;
}
}
-
+ KawasakiRobotStatus kawasakiRobotStatus = KawasakiRobotStatus.Unknown;
+ public KawasakiRobotStatus KawasakiRobotStatus
+ {
+ get => kawasakiRobotStatus;
+ set
+ {
+ kawasakiRobotStatus = value;
+ }
+ }
MachineStateStep machineStateStep = MachineStateStep.Unknown;
@@ -344,6 +354,32 @@ namespace BRS.Process.A020
}
#endregion
+ public string MoveMoreNContinueRobot(List strPoints, ref StrRobotPoint CurrentPoint)
+ {
+ string strPointsStr = null;
+ for (int i = 0; i < strPoints.Count; i++)
+ {
+ string pointsStr = Convert.ToString(strPoints[i].X) + "," + Convert.ToString(strPoints[i].Y) + "," + Convert.ToString(strPoints[i].Z) + "," +
+ Convert.ToString(strPoints[i].A) + "," + Convert.ToString(strPoints[i].B) + "," + Convert.ToString(strPoints[i].C);
+ strPointsStr += pointsStr + "_";
+ }
+ CurrentPoint = strPoints[strPoints.Count - 1];
+ // string pointsStr2 = Convert.ToString(strPoint2.X) + "," + Convert.ToString(strPoint2.Y) + "," + Convert.ToString(strPoint2.Z) + "," +
+ //Convert.ToString(strPoint2.O) + "," + Convert.ToString(strPoint2.A) + "," + Convert.ToString(strPoint2.T);
+ string STRMove = "MoveLine_NULL_" + strPoints.Count.ToString() + "_" + strPointsStr;
+ //string PointInit1 = "MoveLine_NULL_1_462.915,1119.150,1530.227,90.043,90.003,0.040_";
+ return STRMove;
+ }
+
+
+ public DownCirce DownCirce
+ {
+ get => downCirce;
+ set
+ {
+ downCirce = value;
+ }
+ }
public override async Task RaisedAlarm(IWarningSet warningSet)
{
@@ -407,7 +443,7 @@ namespace BRS.Process.A020
warningSet.WarningCode = "急停按钮被拍下";
warningSet.WarningLvl = -1;
warningSet.WarningDescription = "急停按钮被拍下";
- RobotsStatus = RobotsStatus.Pweroff;
+ RobotsStatus = RobotsStatus.PowerOff;
MachineStateStep = MachineStateStep.Pause;
RaisedAlarm(warningSet);
}
diff --git a/src/BRS.Process.A020/A020Process_Operation.cs b/src/BRS.Process.A020/A020Process_Operation.cs
index ab73594..7d1ba30 100644
--- a/src/BRS.Process.A020/A020Process_Operation.cs
+++ b/src/BRS.Process.A020/A020Process_Operation.cs
@@ -3,7 +3,6 @@ using BRS.Common.Interface;
using BRS.Common.Model;
using BRS.Common.Model.Helper;
using BRS.Common.PubSub;
-using BRS.Device.OmronPLC;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -12,8 +11,11 @@ using Timer = System.Threading.Timer;
using static BRS.Common.Model.Helper.EnumHelper;
using System.Diagnostics;
using System.Threading;
-
-
+using HZH_Controls;
+using XKRS.Device.TCPSever;
+using OpenCvSharp;
+using System.Drawing;
+using ThridLibray;
namespace BRS.Process.A020
{
public partial class A020Process
@@ -21,853 +23,400 @@ namespace BRS.Process.A020
private bool IsTesting { get; set; } = false;
public bool IsSingleStepOperating { get; set; } = false;
- //切换硫化机手自动状态
- public void Machine1SwitchAutoManual(bool isAuto)
+ int ShiJiaoVecCountFlag1 = 0;// 相机1的示教点索引
+ float A_Distance_DisD = 0;//拧紧轴推进距离100
+
+
+ DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有）
+ private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1)
{
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- if (OmronPlc == null)
- return;
- if (isAuto)
- ProcessWriteInt(OmronPlc, "D103", "int", "1");
- else
- ProcessWriteInt(OmronPlc, "D103", "int", "0");
- }
-#if false
-
- public void Machine1Entrance1Up(int tyreSize)
- {
- // 设置设备
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
-
- GripperInit(OmronPlc);//夹爪复位
- NbtRobotInit(NbtRobot);//机械臂复位
-
- LogAsync(DateTime.Now, LogLevel.Detail, "开始进行上料过程");
-
- PlcAddress addrs = new PlcAddress();
- string addrD09 = addrs.AddrMachine1MoldOpenInPlace;//1硫化机开模到位
- string addrD101 = addrs.AddrMachine1InnerPressureLight;//硫化完成
- string addrD81 = addrs.AddrMachine1Tyre1InPlace;//1号位轮胎就位
-
- RobotPoint robotPointInitPos = NbtRobot.IConfig.RobotInitPosition;//初始位置
- StrRobotPoint initPoint = ClassChangeStruct(robotPointInitPos);
-
- RobotPoint robotPointMachine1Entrance1GrabPos = NbtRobot.IConfig.RobotMachine1Entrance1GrabPoint;//M1E1上料抓取点
- RobotPoint robotPointMachine1Entrance1UpPlacePos = NbtRobot.IConfig.RobotMachine1Entrance1UpPlacePoint;//M1E1上料放置点
-
- //判断是否硫化完成
- string machine1VulcanStateD101 = ProcessReadInt(OmronPlc, addrD101, "int");
- //1号位硫化机开模到位状态，为1时：硫化机开模到位可以进行上下料动作
- string machine1OpenReadyStateD09 = ProcessReadInt(OmronPlc, addrD09, "int");
-
- string machine1Entrance1TyreReadyStateD81 = ProcessReadInt(OmronPlc, addrD81, "int");
-
- int Machine1Entrance1TyreSize = tyreSize;
-
- Task.Run(() =>
+ if (MelsecPlc != null && MelsecPlc.InitialConfig.IsEnabled)
{
- //1号位上料，判断以下状态：D101：硫化完成、M1E1Enabled、D09：开模到位
- //if (machine1VulcanStateD101 == "0" && machine1OpenReadyStateD09 == "1")
- if (machine1VulcanStateD101 == "0")
+ //Process_A020.ProcessWriteInt(MelsecPlc, "D241", "int", "0");//开始
+ }
+ if (TcpSeverBase1 != null && TcpSeverBase1.InitialConfig.IsEnabled == true)
+ {
+ TcpSeverBase1.SendMessage("PowerOFF_");//机械臂获取状态
+ }
+ }
+#if true
+ #region 相机标定
+
+ MyPoint sswF = new MyPoint();
+ List VP = new List();
+ List VR = new List();
+ #region 相机1
+ /* 设备对象 */
+ private ThridLibray.IDevice m_dev;
+ Mat Mat_CamA = new Mat();
+ Bitmap Bit_Image = null;
+ // private ThridLibray.IDevice m_dev1;
+ // private ThridLibray.IDevice m_dev2;
+ List m_frameList = new List(); /* 图像缓存列表 */
+ Thread renderThread = null; /* 显示线程 */
+ bool m_bShowLoop = true; /* 线程控制变量 */
+ Mutex m_mutex = new Mutex(); /* 锁，保证多线程安全 */
+ // private Graphics _g = null;
+ bool m_bShowByGDI;
+
+ public void OpenCam1()
+ {
+
+ try
+ {
+ /* 设备搜索 */
+ List li = Enumerator.EnumerateDevices();
+ if (li.Count > 0)
{
- //读D81：1号上料抓取位胎坯就位，等待D81置1胎胚就位
- //while (machine1Entrance1TyreReadyStateD81 == "0")
- //{
- // Thread.Sleep(1000);
- // machine1Entrance1TyreReadyStateD81 = ProcessReadInt(OmronPlc, addrD81, "int");
- //}
+ string IP = "192.168.1.111";
+ /* 获取搜索到的第一个设备 */
+ // m_dev = Enumerator.GetDeviceByIndex(0);
+ m_dev = Enumerator.GetDeviceByGigeIP(IP);
- LogAsync(DateTime.Now, LogLevel.Detail, "1号位胎胚就位，开始上料流程。");
- #region 1号机1号位上料流程
- //去抓料
- StrRobotPoint pointMachine1Entrance1GrabPos = ClassChangeStruct(robotPointMachine1Entrance1GrabPos);
- StrRobotPoint pointMachine1Entrance1GrabPosUpper = pointMachine1Entrance1GrabPos;
- pointMachine1Entrance1GrabPosUpper.Z = pointMachine1Entrance1GrabPos.Z + 200;
- //运动到抓取点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance1GrabPosUpper, 1000);
- ////夹爪运动到全松点
- //GripperMove(OmronPlc, NbtRobot.IConfig.GripperAllLoosenPosition);
- NbtRobotMove(NbtRobot, pointMachine1Entrance1GrabPos, 1000);//移动到抓取点
- //夹爪夹紧
- string M1E1UpFastenPos = GetGripperPosByTyreSize(NbtRobot, Machine1Entrance1TyreSize, MoveState.UpFasten);//获取上料夹紧点
- if (M1E1UpFastenPos == "error")
+ /* 打开设备 */
+ if (!m_dev.Open())
{
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
- return;
- }
- else
- GripperMove(OmronPlc, M1E1UpFastenPos);//夹爪运动
-
- //抓取轮胎后，根据预设点位移动到上料口
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance1UpPoints, 1000, false);
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂移动到Machine1Entrance1上料口");
-
- //运动到放料点
- StrRobotPoint pointMachine1Entrance1UpPlace = ClassChangeStruct(robotPointMachine1Entrance1UpPlacePos);//放料点
- StrRobotPoint pointMachine1Entrance1UpPlaceUpper = pointMachine1Entrance1UpPlace;//放料点上方200
- pointMachine1Entrance1UpPlaceUpper.Z = pointMachine1Entrance1UpPlace.Z + 200;
- //运动到放料点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance1UpPlaceUpper, 1000);
- //移动到放料点同时，硫化机上环升
- //VulcanizaMachineOperateOnce(OmronPlc, "D127", 5000);//上环升，硫化机程序内设置保持5S
-
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");//上环保持上升状态
- Thread.Sleep(2000);
- NbtRobotMove(NbtRobot, pointMachine1Entrance1UpPlace, 1000);//运动到放料点
-
- //上定型5秒，其中第2秒时松夹爪、机械臂移动出
- ProcessWriteInt(OmronPlc, "D113", "int", "0");//115改为113
- Thread.Sleep(500);
- ProcessWriteInt(OmronPlc, "D113", "int", "1");
- Thread.Sleep(500);
-
- //第2秒时，松夹爪、机械臂移动
- //夹爪放松
- string M1E1UpLoosenPos = GetGripperPosByTyreSize(NbtRobot, Machine1Entrance1TyreSize, MoveState.UpLoosen);//获取上料放松点
- if (M1E1UpLoosenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
- return;
- }
- else
- GripperMove(OmronPlc, M1E1UpLoosenPos);//夹爪运动
-
-
-
- //运动到放料点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance1UpPlaceUpper, 1000);
-
- //上定型结束
- ProcessWriteInt(OmronPlc, "D113", "int", "0");
- Thread.Sleep(500);
-
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "0");//定型结束后，上环降。
-
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, "D109", 500);
- //料仓门口点
- StrRobotPoint pointM1E1SiloDoor = ClassChangeStruct(NbtRobot.IConfig.RobotMachine1Entrance1UpPoints[3]);
- //运动到料仓门口
- NbtRobotMove(NbtRobot, pointM1E1SiloDoor, 1000);
-
- //检测机械臂是否移动到料仓外
- StrRobotPoint currentP;
- if (IsTesting)
- currentP = pointM1E1SiloDoor;
- else
- currentP = NbtRobot.GetPosition();
-
- if (!IsNumApproximateEqual(currentP.X, pointM1E1SiloDoor.X, 0.5f) ||
- !IsNumApproximateEqual(currentP.Y, pointM1E1SiloDoor.Y, 0.5f) ||
- !IsNumApproximateEqual(currentP.Z, pointM1E1SiloDoor.Z, 0.5f) ||
- !IsNumApproximateEqual(currentP.A, pointM1E1SiloDoor.A, 0.5f) ||
- !IsNumApproximateEqual(currentP.B, pointM1E1SiloDoor.B, 0.5f) ||
- !IsNumApproximateEqual(currentP.C, pointM1E1SiloDoor.C, 0.5f))
- {
- LogAsync(DateTime.Now, LogLevel.Exception, "机械臂位置错误，可能未移动出料仓，当前流程停止");
- IsSingleStepOperating = false;
+ // MessageBox.Show(@"连接相机失败");
return;
}
- //硫化机进入自动状态，0为手动，1为自动
- ProcessWriteInt(OmronPlc, "D103", "int", "1");
- //硫化机合模
- VulcanizaMachineOperateOnce(OmronPlc, "D105", 500);
+ /* 打开Software Trigger */
+ m_dev.TriggerSet.Open(TriggerSourceEnum.Software);
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance1UpPoints, 1000, true);//从料仓门口回原点
- GripperInit(OmronPlc);//夹爪复位
- LogAsync(DateTime.Now, LogLevel.Detail, "夹爪复位");
- //二号位不可用时，只硫化一号位
- NbtRobotMove(NbtRobot, initPoint, 1000);//回原点
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂回原点，夹爪回原点。");
+ /* 设置图像格式 */
+ using (IEnumParameter p = m_dev.ParameterCollection[ParametrizeNameSet.ImagePixelFormat])
+ {
+ p.SetValue("BayerRG8");
+ }
+
+ /* 设置曝光 */
+ using (IFloatParameter p = m_dev.ParameterCollection[ParametrizeNameSet.ExposureTime])
+ {
+ p.SetValue(1000);
+ }
+
+ /* 设置增益 */
+ using (IFloatParameter p = m_dev.ParameterCollection[ParametrizeNameSet.GainRaw])
+ {
+ p.SetValue(1.0);
+ }
+
+ /* 设置缓存个数为8（默认值为16） */
+ m_dev.StreamGrabber.SetBufferCount(1);
+
+ /* 注册码流回调事件 */
+ m_dev.StreamGrabber.ImageGrabbed += OnImageGrabbed;
+
+ /* 开启码流 */
+ if (!m_dev.GrabUsingGrabLoopThread())
+ {
+ // MessageBox.Show(@"开启码流失败");
+ return;
+ }
+ }
+ }
+ catch (Exception exception)
+ {
+ Catcher.Show(exception);
+ }
+ }
+
+ public void SoftTrigger1()
+ {
+ try
+ {
+ m_dev.ExecuteSoftwareTrigger();
+ LogAsync(DateTime.Now, LogLevel.Action, $"SoftTrigger1——111111111111");
+ }
+ catch (Exception exception)
+ {
+ Catcher.Show(exception);
+ }
+ }
+ bool CamA = false;
+ private void OnImageGrabbed(Object sender, GrabbedEventArgs e)
+ {
+ Mat_CamA = null;
+ m_mutex.WaitOne();
+ m_frameList.Add(e.GrabResult.Clone());
+ m_mutex.ReleaseMutex();
+
+
+ IGrabbedRawData frame = m_frameList.ElementAt(m_frameList.Count - 1);
+ var bitmap = frame.ToBitmap(false);
+ Bit_Image = bitmap;
+ Mat mat = OpenCvSharp.Extensions.BitmapConverter.ToMat(bitmap);//用bitmap转换为mat
+ Mat_CamA = mat.Clone();
+ LogAsync(DateTime.Now, LogLevel.Action, $"OnImageGrabbed Cam——222222222222");
+ CamA = true;
+
+ // Mat ss = Mat_CamA.Clone();
+ // Cv2.ImWrite("D",ss);
+
+ }
#endregion
- LogAsync(DateTime.Now, LogLevel.Detail, "1号位上料完成。");
- }
- else
- {
- LogAsync(DateTime.Now, LogLevel.Error, "硫化未完成或硫化机未开模到位。");
- IsSingleStepOperating = false;
- return;
- }
- IsSingleStepOperating = false;
- });
- }
- public void Machine1Entrance1Down(int tyreSize)
+
+ public Mat AloghitomMat(Mat mat, ref MyPoint myPoint)
{
- // 设置设备
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- GripperInit(OmronPlc);//夹爪复位
- NbtRobotInit(NbtRobot);//机械臂复位
+ Mat src = mat.Clone();
+ // Mat src = Cv2.ImRead("D:\\163033934.jpg");
+ Mat[] channels;
+ Mat bChannel, gChannel, rChannel;
- LogAsync(DateTime.Now, LogLevel.Detail, "开始进行下料过程");
-
- PlcAddress addrs = new PlcAddress();
- string addrD101 = addrs.AddrMachine1InnerPressureLight;//硫化完成指示灯
- string addrD103 = addrs.AddrMachine1AutoManual;//切换手自动
- string addrD107 = addrs.AddrMachine1OpenMold;//开模
- string addrD109 = addrs.AddrMachine1Stop;//停止
- string addrD113 = addrs.AddrMachine1UpperStereotypes;//上定型
- string addrD117 = addrs.AddrMachine1AllStereotypes;//总定型
- string addrD125 = addrs.AddrMachine1Vacuumize;//抽真空
- string addrD127 = addrs.AddrMachine1UpperRingRise;//上环升
-
- RobotPoint robotPointInitPos = NbtRobot.IConfig.RobotInitPosition;//初始位置
- StrRobotPoint initPoint = ClassChangeStruct(robotPointInitPos);
-
- RobotPoint robotPointMachine1Entrance1TakeTyrePos = NbtRobot.IConfig.RobotMachine1Entrance1TakeTyrePoint;//M1E1取料点
- RobotPoint robotPointMachine1Entrance1DownPlacePos = NbtRobot.IConfig.RobotMachine1Entrance1DownPlacePoint;//M1E1取料放置点
- RobotPoint robotPointMachine1Entrance1TakeTyreTiltUpperPos = NbtRobot.IConfig.RobotMachine1Entrance1TakeTyreTiltUpperPoint;//M1E1P107斜向上移动
+ //float rr= src.At(1430, 888).Item0;
+ //float gg = src.At(1430, 888).Item1;
+ //float bb = src.At(1430, 888).Item2;
+ Cv2.Split(src, out channels);
+ bChannel = channels[0];
+ gChannel = channels[1];
+ rChannel = channels[2];
+ Mat mDst = bChannel.Clone();
- //判断是否硫化完成
- string machine1VulcanStateD101 = ProcessReadInt(OmronPlc, addrD101, "int");
-
- Task.Run(() =>
+ for (int i = 0; i < bChannel.Height; i++)//遍历所有像素点
{
- //开模，从界面操作，默认已处于开模状态，不再进行开模
- //VulcanizaMachineOperateOnce(OmronPlc, addrD107, 500);
- //延时10秒
- //Thread.Sleep(10000);
- //硫化机自动切换为手动，0为手动，1为自动
- ProcessWriteInt(OmronPlc, addrD103, "int", "0");
- //硫化机进行总定型动作，总定型3s
- VulcanizaMachineOperateOnce(OmronPlc, addrD117, 3000);
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, addrD109, 500);
- //硫化机进行抽真空动作，抽真空4s
- VulcanizaMachineOperateOnce(OmronPlc, addrD125, 7000);
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, addrD109, 500);
-
- //移动到初始点
- NbtRobotMove(NbtRobot, initPoint, 1000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "开始1号位下料流程。");
-
- //机械臂 从初始点移动到1号位料仓门口
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance1DownPoints, 1000, false);
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂移动到Machine1Entrance1料仓门口");
-
- //移动到取料点上方220
- StrRobotPoint strM1E1TakePoint = ClassChangeStruct(robotPointMachine1Entrance1TakeTyrePos);//取料点
- StrRobotPoint strM1E1TakePointUpper = strM1E1TakePoint;//取料点上方
- strM1E1TakePointUpper.Z = strM1E1TakePoint.Z + 350;
- NbtRobotMove(NbtRobot, strM1E1TakePointUpper, 1000);//移动到取料点上方220
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"当前轮胎尺寸:{tyreSize}");
-
- //夹爪运动到下料夹紧点，夹爪(D31,D33)夹紧
- string M1E1DownFastenPos = GetGripperPosByTyreSize(NbtRobot, tyreSize, MoveState.DownFasten);
- if (M1E1DownFastenPos == "error")
+ for (int j = 0; j < bChannel.Width; j++)
{
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
+ Vec3b RGBColor = src.Get(i, j);
+ byte colorB = RGBColor.Item0;
+ byte colorR = RGBColor.Item2;
+ float iDif = colorB - colorR;
+ if (iDif > 100)
+ mDst.Set(i, j, 255);
+ else
+ mDst.Set(i, j, 0);
}
- else
- GripperMove(OmronPlc, M1E1DownFastenPos);//夹爪运动
+ }
- //移动到取料点
- NbtRobotMove(NbtRobot, strM1E1TakePoint, 500);
+ //Cv2.Threshold(bChannel, mDst, 150, 255, 0);//todo
- //夹爪运动到下料放松点，夹爪(D31,D33)扩张
- //同时开始上定型
- string M1E1DownLoosenPos = GetGripperPosByTyreSize(NbtRobot, tyreSize, MoveState.DownLoosen);
- if (M1E1DownLoosenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
+ OpenCvSharp.Point point = new OpenCvSharp.Point(-1, -1);
- return;
- }
- else
- GripperMove(OmronPlc, M1E1DownLoosenPos);//夹爪运动
+ OpenCvSharp.Size size = new OpenCvSharp.Size(5, 5);
+ Mat element = Cv2.GetStructuringElement(MorphShapes.Rect, size, point);
+ //getStructuringElement(cv::MORPH_RECT, cv::Size(5, 5), cv::Point(-1, -1));
+ Cv2.Dilate(mDst, mDst, element);
+ // cv::dilate(mDst, mDst, element);
+ Cv2.Erode(mDst, mDst, element);
+ Vec4i[] hierarchy;
- //先移动到夹爪水平或上挑的点
- StrRobotPoint strM1E1TakeTiltUpperPoint = ClassChangeStruct(robotPointMachine1Entrance1TakeTyreTiltUpperPos);
- NbtRobotMove(NbtRobot, strM1E1TakeTiltUpperPoint, 500);
+ //获得轮廓
+ OpenCvSharp.Point[][] contours = null;
+ HierarchyIndex[] hierarchly;
+ Cv2.FindContours(mDst, out contours, out hierarchly, RetrievalModes.Tree, ContourApproximationModes.ApproxSimple, new OpenCvSharp.Point(0, 0));
+ // public static HierarchyIndex FromVec4i(Vec4i vec);
+ // Cv2.FindContours(mDst, out contours,out HierarchyIndex(hierarchy), 0, 1);
+ // std::vector approx;
+ // 检测所找到的轮廓
+ OpenCvSharp.Point2f center; float radius;
+ Array.Sort(contours, (x, y) => x.Length.CompareTo(y.Length));
- //硫化机进行上定型动作，上定型2s
- VulcanizaMachineOperateOnce(OmronPlc, addrD113, 2000);
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, addrD109, 500);
- //硫化机上环升，硫化机程序内设置保持5S
- //VulcanizaMachineOperateOnce(OmronPlc, addrD127, 5000);
- //硫化机上环升,并保持状态。
- VulcanizaMachineOperateKeep(OmronPlc, addrD127, "1");
+ Cv2.MinEnclosingCircle(contours[contours.Length - 1], out center, out radius);
- //水平放置点上方350
- StrRobotPoint strM1E1DownPlaceLevelPointUpper = strM1E1TakeTiltUpperPoint;
- strM1E1DownPlaceLevelPointUpper.Z = strM1E1TakeTiltUpperPoint.Z + 350;//水平放置点上方
- //从取料点移出
- NbtRobotMove(NbtRobot, strM1E1DownPlaceLevelPointUpper, 1000);
- // 降上环
- VulcanizaMachineOperateKeep(OmronPlc, addrD127, "0");
+ // InputOutputArray data = src.;
+ InputOutputArray ss;
+ Scalar color = new Scalar(255, 255, 255);
- //移动到放置点，反用DownPoints
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance1DownPoints, 1000, true);
+ OpenCvSharp.Point point1 = new OpenCvSharp.Point(center.X, center.Y);
+ // Cv2.Circle(src, (100, 60), 3, (0, 0, 213), -1);
+ Cv2.Circle(src, (int)center.X, (int)center.Y, (int)radius, color, 2, (LineTypes)8, 0);
+ Cv2.Circle(src, (int)center.X, (int)center.Y, (int)radius, color, 2, (LineTypes)8, 0);
+ myPoint.dX = center.X;
+ myPoint.dY = center.Y;
- //移动到取料点上方220
- StrRobotPoint strM1E1DownPlacePoint = ClassChangeStruct(robotPointMachine1Entrance1DownPlacePos);//放置点
- StrRobotPoint strM1E1DownPlacePointUpper = strM1E1DownPlacePoint;//放置点上方
- strM1E1DownPlacePointUpper.Z = strM1E1DownPlacePoint.Z + 220;
+ return src;
-
-
- //移动到放置点上方
- NbtRobotMove(NbtRobot, strM1E1DownPlacePointUpper, 1000);
- LogAsync(DateTime.Now, LogLevel.Error, "是否在-<放置点>-加传感器，判断放置点是否已置空？？");
- //移动到放置点
- NbtRobotMove(NbtRobot, strM1E1DownPlacePoint, 1000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂从Machine1Entrance1料仓门口移动到放置点");
-
- //开始放料
- //夹爪运动到下料夹紧点，夹爪(D31,D33)夹紧
- if (M1E1DownFastenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
- else
- GripperMove(OmronPlc, M1E1DownFastenPos);//夹爪运动
- Thread.Sleep(1000);
-
- //放料完，移走机械臂
- //移动到放置点上方
- NbtRobotMove(NbtRobot, strM1E1DownPlacePointUpper, 1000);
- //夹爪运动到放松点
- GripperMove(OmronPlc, NbtRobot.IConfig.GripperLoosenPosition);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "1号位下料完成。");
-
- NbtRobotMove(NbtRobot, initPoint, 1000);//回原点
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂回原点，夹爪回原点。");
-
- IsSingleStepOperating = false;
- });
}
- public void Machine1Entrance2Up(int tyreSize)
+ void genCalibratePts1()
{
- // 设置设备
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
-
- GripperInit(OmronPlc);//夹爪复位
- NbtRobotInit(NbtRobot);//机械臂复位
-
- LogAsync(DateTime.Now, LogLevel.Detail, "开始进行上料过程");
-
- PlcAddress addrs = new PlcAddress();
- string addrD09 = addrs.AddrMachine1MoldOpenInPlace;//1硫化机开模到位
- string addrD101 = addrs.AddrMachine1InnerPressureLight;//硫化完成
- string addrD83 = addrs.AddrMachine1Tyre2InPlace;//2号位轮胎就位
-
- RobotPoint robotPointInitPos = NbtRobot.IConfig.RobotInitPosition;//初始位置
- StrRobotPoint initPoint = ClassChangeStruct(robotPointInitPos);
-
- RobotPoint robotPointMachine1Entrance2GrabPos = NbtRobot.IConfig.RobotMachine1Entrance2GrabPoint;//M1E2上料抓取点
- RobotPoint robotPointMachine1Entrance2UpPlacePos = NbtRobot.IConfig.RobotMachine1Entrance2UpPlacePoint;//M1E2上料放置点
-
- //判断是否硫化完成
- string machine1VulcanStateD101 = ProcessReadInt(OmronPlc, addrD101, "int");
- //1号位硫化机开模到位状态，为1时：硫化机开模到位可以进行上下料动作
- string machine1OpenReadyStateD09 = ProcessReadInt(OmronPlc, addrD09, "int");
- //胎胚就位状态
- string machine1Entrance2TyreReadyStateD83 = ProcessReadInt(OmronPlc, addrD83, "int");
-
- int Machine1Entrance2TyreSize = tyreSize;
-
- Task.Run(() =>
+ try
{
- //if (machine1VulcanStateD101 == "0" && machine1OpenReadyStateD09 == "1")
- if (machine1VulcanStateD101 == "0")
+ CVCalibrationConfig AcVCalibrationConfig = new CVCalibrationConfig(); //每一组的标定配置务必要有
+ DiffVPVRPoint A_ShiJIaoPoint = AModeTypeRun.A_deviation[ShiJiaoVecCountFlag1];
+ //CVCalibrationConfig cVCalibrationConfig = ModeTypeRun.CVCalibrationConfig;
+ foreach (var CalNum in AModeTypeRun.CVCalibrationConfig)
{
- //读D83：1号上料抓取位胎坯就位，等待D83置1胎胚就位
- //while (machine1Entrance2TyreReadyStateD83 == "0")
- //{
- // Thread.Sleep(1000);
- // machine1Entrance2TyreReadyStateD83 = ProcessReadInt(OmronPlc, addrD83, "int");
- //}
- LogAsync(DateTime.Now, LogLevel.Detail, "2号位胎胚就位，开始上料流程。");
- #region 1号机2号位上料流程
-
- //去抓料
- StrRobotPoint pointMachine1Entrance2GrabPos = ClassChangeStruct(robotPointMachine1Entrance2GrabPos);
- StrRobotPoint pointMachine1Entrance2GrabPosUpper = pointMachine1Entrance2GrabPos;
- pointMachine1Entrance2GrabPosUpper.Z = pointMachine1Entrance2GrabPos.Z + 200;
- //机械臂移动到抓取点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance2GrabPosUpper, 1000);
- ////夹爪运动到全松点
- //GripperMove(OmronPlc, NbtRobot.IConfig.GripperAllLoosenPosition);
- //机械臂移动到抓取点
- NbtRobotMove(NbtRobot, pointMachine1Entrance2GrabPos, 1000);
-
- //夹爪夹紧
- string M1E2UpFastenPos = GetGripperPosByTyreSize(NbtRobot, Machine1Entrance2TyreSize, MoveState.UpFasten);//获取上料夹紧点
- if (M1E2UpFastenPos == "error")
+ if (CalNum.CVTypeID == A_ShiJIaoPoint.CVTypeID)//若这个螺丝的标定ID存在标定组 则使用标定组的各种信息
{
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
+ AcVCalibrationConfig = CalNum;
}
- else
- GripperMove(OmronPlc, M1E2UpFastenPos);//夹爪运动
-
- //抓取轮胎后，根据预设点位移动到上料口
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance2UpPoints, 1000, false);
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂移动到Machine1Entrance2上料口");
-
- //运动到放料点
- StrRobotPoint pointMachine1Entrance2UpPlace = ClassChangeStruct(robotPointMachine1Entrance2UpPlacePos);//放料点
- StrRobotPoint pointMachine1Entrance2UpPlaceUpper = pointMachine1Entrance2UpPlace;//放料点上方200
- pointMachine1Entrance2UpPlaceUpper.Z = pointMachine1Entrance2UpPlace.Z + 200;
- //运动到放料点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance2UpPlaceUpper, 1000);
- //移动到放料点同时，硫化机上环升
- //VulcanizaMachineOperateOnce(OmronPlc, "D127 ", 5000);//上环升，硫化机程序内设置保持5S
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");//上环保持上升状态
- Thread.Sleep(2000);
-
- NbtRobotMove(NbtRobot, pointMachine1Entrance2UpPlace, 1000);//运动到放料点
-
- //下定型5秒，其中第2秒时松夹爪、机械臂移动出
- ProcessWriteInt(OmronPlc, "D115", "int", "0");
- Thread.Sleep(500);
- ProcessWriteInt(OmronPlc, "D115", "int", "1");
- Thread.Sleep(500);
-
- //第2秒时，松夹爪、机械臂移动
- //夹爪放松
- string M1E2UpLoosenPos = GetGripperPosByTyreSize(NbtRobot, Machine1Entrance2TyreSize, MoveState.UpLoosen);//获取上料放松点
- if (M1E2UpLoosenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
- else
- GripperMove(OmronPlc, M1E2UpLoosenPos);
- //运动到放料点上方200
- NbtRobotMove(NbtRobot, pointMachine1Entrance2UpPlaceUpper, 1000);
-
- //下定型结束
- ProcessWriteInt(OmronPlc, "D115", "int", "0");
- Thread.Sleep(500);
-
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "0");//定型结束后，上环降
-
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, "D109", 500);
-
- //料仓门口点
- StrRobotPoint pointM1E2SiloDoor = ClassChangeStruct(NbtRobot.IConfig.RobotMachine1Entrance2UpPoints[3]);
- NbtRobotMove(NbtRobot, pointM1E2SiloDoor, 1000);//运动到料仓门口
-
- //检测机械臂是否移动到料仓外
- StrRobotPoint currentP;
- if (IsTesting)
- currentP = pointM1E2SiloDoor;
- else
- currentP = NbtRobot.GetPosition();
-
- if (!IsNumApproximateEqual(currentP.X, pointM1E2SiloDoor.X, 0.5f) ||
- !IsNumApproximateEqual(currentP.Y, pointM1E2SiloDoor.Y, 0.5f) ||
- !IsNumApproximateEqual(currentP.Z, pointM1E2SiloDoor.Z, 0.5f) ||
- !IsNumApproximateEqual(currentP.A, pointM1E2SiloDoor.A, 0.5f) ||
- !IsNumApproximateEqual(currentP.B, pointM1E2SiloDoor.B, 0.5f) ||
- !IsNumApproximateEqual(currentP.C, pointM1E2SiloDoor.C, 0.5f))
- {
- LogAsync(DateTime.Now, LogLevel.Exception, "机械臂位置错误，可能未移动出料仓，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
-
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance2UpPoints, 1000, true);//从料仓门口回原点
-
- GripperInit(OmronPlc);//夹爪复位
- LogAsync(DateTime.Now, LogLevel.Detail, "夹爪复位");
-
- //硫化机进入自动状态，0为手动，1为自动
- ProcessWriteInt(OmronPlc, "D103", "int", "1");
- //硫化机合模
- VulcanizaMachineOperateOnce(OmronPlc, "D105", 500);
-
- //机械臂回原点
- NbtRobotMove(NbtRobot, initPoint, 1000);//回原点
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂回原点，夹爪回原点。");
-
- #endregion
- LogAsync(DateTime.Now, LogLevel.Detail, "2号位上料完成。");
}
- else
- {
- LogAsync(DateTime.Now, LogLevel.Error, "硫化未完成或硫化机未开模到位。");
- IsSingleStepOperating = false;
+ List VPList = AcVCalibrationConfig.VPPoints;
+ List VRList = AcVCalibrationConfig.VRPoints;
+ VPVRPoint current_P = new VPVRPoint();
+ current_P.X = A_ShiJIaoPoint.X;
+ current_P.Y = A_ShiJIaoPoint.Y;
+ current_P.Z = A_ShiJIaoPoint.Z;
+ float PYliangx = current_P.X;
+ float PYliangy = current_P.Z;
- return;
- }
- IsSingleStepOperating = false;
+ VP.Clear();
+ VR.Clear();
+ /*************生成像素数据*********************/
+ MyPoint tp;
+ tp.dX = VPList[0].X;//2054;
+ tp.dY = VPList[0].Y;// 1831;
+ VP.Add(tp);
- });
+ tp.dX = VPList[1].X;// 2033;
+ tp.dY = VPList[1].Y; //986;
+ VP.Add(tp);
+
+ tp.dX = VPList[2].X;//2013;
+ tp.dY = VPList[2].Y;//168;
+ VP.Add(tp);
+
+ tp.dX = VPList[3].X;// 1369;
+ tp.dY = VPList[3].Y; //235;
+ VP.Add(tp);
+
+
+ ////5-8
+ tp.dX = VPList[4].X;// 1369;
+ tp.dY = VPList[4].Y; //235;
+ // tp.dX = 1403;
+ //tp.dY = 985;
+ VP.Add(tp);
+
+ tp.dX = VPList[5].X;// 1327;
+ tp.dY = VPList[5].Y;// 1756;
+ VP.Add(tp);
+
+ tp.dX = VPList[6].X;// 717;
+ tp.dY = VPList[6].Y;// 1701;
+ VP.Add(tp);
+
+ tp.dX = VPList[7].X;// 879;
+ tp.dY = VPList[7].Y;// 947;
+ VP.Add(tp);
+ ////
+
+ tp.dX = VPList[8].X;// 774;
+ tp.dY = VPList[8].Y;// 236;
+ VP.Add(tp);
+
+ tp.dX = VPList[9].X;// 257;
+ tp.dY = VPList[9].Y;// ;
+ VP.Add(tp);
+
+ tp.dX = VPList[10].X;// 307;
+ tp.dY = VPList[10].Y;// 994;
+ VP.Add(tp);
+
+ tp.dX = VPList[11].X;// 303;
+ tp.dY = VPList[11].Y;// 1727;
+ VP.Add(tp);
+
+
+
+ /*************生成三维数据*********************/
+
+ MyPoint tr;
+ tr.dX = VRList[0].X + PYliangx;
+ tr.dY = VRList[0].Y + PYliangy;
+ VR.Add(tr);
+
+
+ tr.dX = VRList[1].X + PYliangx;
+ tr.dY = VRList[1].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[2].X + PYliangx;
+ tr.dY = VRList[2].Y + PYliangy;
+ VR.Add(tr);
+
+ //////////////
+
+ tr.dX = VRList[3].X + PYliangx;
+ tr.dY = VRList[3].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[4].X + PYliangx;
+ tr.dY = VRList[4].Y + PYliangy;
+ VR.Add(tr);
+
+
+ tr.dX = VRList[5].X + PYliangx;
+ tr.dY = VRList[5].Y + PYliangy;
+ VR.Add(tr);
+
+
+ //////////////7
+ tr.dX = VRList[6].X + PYliangx;
+ tr.dY = VRList[6].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[7].X + PYliangx;
+ tr.dY = VRList[7].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[8].X + PYliangx;
+ tr.dY = VRList[8].Y + PYliangy;
+ VR.Add(tr);
+
+ //////////////
+
+ tr.dX = VRList[9].X + PYliangx;
+ tr.dY = VRList[9].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[10].X + PYliangx;
+ tr.dY = VRList[10].Y + PYliangy;
+ VR.Add(tr);
+
+ tr.dX = VRList[11].X + PYliangx;
+ tr.dY = VRList[11].Y + PYliangy;
+ VR.Add(tr);
+ }
+ catch (Exception e)
+ {
+
+ }
}
- public void Machine1Entrance2Down(int tyreSize)
+ private void OnCameraImageOutput(ref MyPoint ssw1, ref Mat dd, int Pro1)
{
- // 设置设备
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
+ Stopwatch stopWatch2 = new Stopwatch();
+ stopWatch2.Restart();
- GripperInit(OmronPlc);//夹爪复位
- NbtRobotInit(NbtRobot);//机械臂复位
+ Stopwatch stopWatch = new Stopwatch();
+ stopWatch.Restart();
- LogAsync(DateTime.Now, LogLevel.Detail, "开始进行下料过程");
+#if true
+ genCalibratePts1();
+ stopWatch2.Stop();
+ Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "===========================");
- PlcAddress addrs = new PlcAddress();
- string addrD101 = addrs.AddrMachine1InnerPressureLight;//硫化完成指示灯
- string addrD103 = addrs.AddrMachine1AutoManual;//切换手自动
- string addrD107 = addrs.AddrMachine1OpenMold;//开模
- string addrD109 = addrs.AddrMachine1Stop;//停止
- string addrD115 = addrs.AddrMachine1LowerStereotypes;//下定型
- string addrD117 = addrs.AddrMachine1AllStereotypes;//总定型
- string addrD125 = addrs.AddrMachine1Vacuumize;//抽真空
- string addrD129 = addrs.AddrMachine1LowerRingRise;//下环升
+ MyPoint ssw = new MyPoint();
- RobotPoint robotPointInitPos = NbtRobot.IConfig.RobotInitPosition;//初始位置
- StrRobotPoint initPoint = ClassChangeStruct(robotPointInitPos);
+ Mat _mat = dd.Clone();
+ string ss = "D:\\QT1\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
+ Cv2.ImWrite(ss, _mat);
+ Mat _mat2 = AloghitomMat(_mat, ref ssw);//根据拍摄的白纸定标图片确定二维到三维转换的关系
+ ssw1 = Interpolation(VP, VR, ssw, true);//实际坐标值
- RobotPoint robotPointMachine1Entrance2TakeTyrePos = NbtRobot.IConfig.RobotMachine1Entrance2TakeTyrePoint;//M1E2取料点
- RobotPoint robotPointMachine1Entrance2DownPlacePos = NbtRobot.IConfig.RobotMachine1Entrance2DownPlacePoint;//M1E2取料放置点
- RobotPoint robotPointMachine1Entrance2TakeTyreTiltUpperPos = NbtRobot.IConfig.RobotMachine1Entrance2TakeTyreTiltUpperPoint;//M1E2P207斜向上移动
+ string ss2 = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
+ Cv2.ImWrite(ss2, _mat2);
+ stopWatch.Stop();
+ Console.WriteLine(DateTime.Now + "==========标定算法=================" + stopWatch.ElapsedMilliseconds + "===========================");
-
- //判断是否硫化完成
- string machine1VulcanStateD101 = ProcessReadInt(OmronPlc, addrD101, "int");
-
- Task.Run(() =>
+ if (Pro1 == 1)
{
- //开模
- VulcanizaMachineOperateOnce(OmronPlc, addrD107, 500);
- //延时10秒
- Thread.Sleep(10000);
- //硫化机自动切换为手动，0为手动，1为自动
- ProcessWriteInt(OmronPlc, addrD103, "int", "0");
- //硫化机进行总定型动作，总定型3s
- VulcanizaMachineOperateOnce(OmronPlc, addrD117, 3000);
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, addrD109, 500);
- //硫化机进行抽真空动作，抽真空4s
- VulcanizaMachineOperateOnce(OmronPlc, addrD125, 4000);
- //硫化机停止
- VulcanizaMachineOperateOnce(OmronPlc, addrD109, 500);
-
- //移动到初始点
- NbtRobotMove(NbtRobot, initPoint, 1000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "开始2号位下料流程。");
-
- //机械臂移动到二号位料仓门口
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance2DownPoints, 1000, false);
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂移动到Machine1Entrance2料仓门口");
-
- //移动到取料点上方220
- StrRobotPoint strM1E2TakePoint = ClassChangeStruct(robotPointMachine1Entrance2TakeTyrePos);//取料点
- StrRobotPoint strM1E2TakePointUpper = strM1E2TakePoint;//取料点上方
- strM1E2TakePointUpper.Z = strM1E2TakePoint.Z + 220;
- NbtRobotMove(NbtRobot, strM1E2TakePointUpper, 1000);//移动到取料点上方220
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"当前轮胎尺寸:{tyreSize}");
-
- //本台硫化机总定型1s,防止上环升不起来
- VulcanizaMachineOperateOnce(OmronPlc, "D117", 1000);
- VulcanizaMachineOperateOnce(OmronPlc, "D123", 2000);
-
- //上环升保持
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");
- Thread.Sleep(3000);//保持5s
-
- ////硫化机进行抽真空动作，抽真空2s,使轮胎落下，防止夹爪按压轮胎
- //VulcanizaMachineOperateOnce(OmronPlc, addrD125, 2000);
-
- //放料点上方65
- strM1E2TakePointUpper.Z = strM1E2TakePoint.Z + 65;
- //移动到取料点上方65
- NbtRobotMove(NbtRobot, strM1E2TakePointUpper, 1000);
-
- //上环升保持
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");
-
- //硫化机进行抽真空动作，抽真空3s
- VulcanizaMachineOperateOnce(OmronPlc, addrD125, 3000);
-
- //夹爪运动到下料夹紧点，夹爪(D31,D33)夹紧
- string M1E2DownFastenPos = GetGripperPosByTyreSize(NbtRobot, tyreSize, MoveState.DownFasten);
- if (M1E2DownFastenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
- else
- GripperMove(OmronPlc, M1E2DownFastenPos);//夹爪运动
- //上环升保持
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");
- //移动到取料点
- NbtRobotMove(NbtRobot, strM1E2TakePoint, 1000);
-
- //夹爪运动到下料放松点，夹爪(D31,D33)扩张
- //同时开始上定型
- string M1E2DownLoosenPos = GetGripperPosByTyreSize(NbtRobot, tyreSize, MoveState.DownLoosen);
- if (M1E2DownLoosenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
- else
- GripperMove(OmronPlc, M1E2DownLoosenPos);//夹爪运动
-
-
- //先移动到夹爪水平或上挑的点 robotPointMachine1Entrance2TakeTyreTiltUpperPos
- StrRobotPoint strM1E2TakeTiltUpperPoint = ClassChangeStruct(robotPointMachine1Entrance2TakeTyreTiltUpperPos);
- NbtRobotMove(NbtRobot, strM1E2TakeTiltUpperPoint, 500);
-
-
- ////上环升保持
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "1");
- Thread.Sleep(3000);//保持3s
-
- //取出轮胎之前先抽真空硫化机进行抽真空动作，抽真空2s
- VulcanizaMachineOperateOnce(OmronPlc, addrD125, 3000);
-
- //从水平点移动到
- StrRobotPoint strM1E2DownPlaceLevelPointUpper = strM1E2TakeTiltUpperPoint;
- strM1E2DownPlaceLevelPointUpper.Z = strM1E2TakeTiltUpperPoint.Z + 350;
-
- //从水平点移出
- NbtRobotMove(NbtRobot, strM1E2DownPlaceLevelPointUpper, 1000);
- //降上环
- VulcanizaMachineOperateKeep(OmronPlc, "D127", "0");
-
-
- ////上方220再斜向上移动一点
- //StrRobotPoint strM1E2TakeTiltUpperPoint = ClassChangeStruct(robotPointMachine1Entrance2TakeTyreTiltUpperPos);
- //NbtRobotMove(NbtRobot, strM1E2TakeTiltUpperPoint, 1000);
-
- //移动到放置点，反用DownPoints
- NbtRobotMoves(NbtRobot, NbtRobot.IConfig.RobotMachine1Entrance2DownPoints, 1000, true);
-
- //移动到取料点上方220
- StrRobotPoint strM1E2DownPlacePoint = ClassChangeStruct(robotPointMachine1Entrance2DownPlacePos);//放置点
- StrRobotPoint strM1E2DownPlacePointUpper = strM1E2DownPlacePoint;//放置点上方
- strM1E2DownPlacePointUpper.Z = strM1E2DownPlacePoint.Z + 220;
- //移动到放置点上方
- NbtRobotMove(NbtRobot, strM1E2DownPlacePointUpper, 1000);
- LogAsync(DateTime.Now, LogLevel.Error, "是否在-<放置点>-加传感器，判断放置点是否已置空？？");
- //移动到放置点
- NbtRobotMove(NbtRobot, strM1E2DownPlacePoint, 1000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂从Machine1Entrance2料仓门口移动到放置点");
-
- //开始放料
- //夹爪运动到下料夹紧点，夹爪(D31,D33)夹紧
- if (M1E2DownFastenPos == "error")
- {
- LogAsync(DateTime.Now, LogLevel.Error, "夹爪位置错误，当前流程停止");
- IsSingleStepOperating = false;
-
- return;
- }
- else
- GripperMove(OmronPlc, M1E2DownFastenPos);//夹爪运动
- Thread.Sleep(1000);
-
- //放料完，移走机械臂
- //移动到放置点上方
- NbtRobotMove(NbtRobot, strM1E2DownPlacePointUpper, 1000);
- //夹爪运动到放松点
- GripperMove(OmronPlc, NbtRobot.IConfig.GripperLoosenPosition);
-
- LogAsync(DateTime.Now, LogLevel.Detail, "2号位下料完成。");
-
- NbtRobotMove(NbtRobot, initPoint, 1000);//回原点
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂回原点，夹爪回原点。");
-
- IsSingleStepOperating = false;
- });
- }
+ // SnapshotState = SnapshotState.Finish;
+ ProcessStatus = ProcessStatus.ClodeLight;
+ }
#endif
- //PLC地址
- public class PlcAddress
- {
- //硫化机 开模到位
- public string AddrMachine1MoldOpenInPlace { get; } = "D09";
- public string AddrMachine2MoldOpenInPlace { get; } = "D11";
-
- //上料 胎胚就位
- public string AddrMachine1Tyre1InPlace { get; } = "D81";
- public string AddrMachine1Tyre2InPlace { get; } = "D83";
-
- //硫化机 内压指示灯
- public string AddrMachine1InnerPressureLight { get; } = "D101";
- public string AddrMachine2InnerPressureLight { get; } = "D201";
-
- //硫化机 手动or自动
- public string AddrMachine1AutoManual { get; } = "D103";
- public string AddrMachine2AutoManual { get; } = "D203";
-
- //硫化机 合模
- public string AddrMachine1CloseMold { get; } = "D105";
- public string AddrMachine2CloseMold { get; } = "D205";
-
- //硫化机 开模
- public string AddrMachine1OpenMold { get; } = "D107";
- public string AddrMachine2OpenMold { get; } = "D207";
-
- //硫化机 停止
- public string AddrMachine1Stop { get; } = "D109";
- public string AddrMachine2Stop { get; } = "D209";
-
- //硫化机 上定型
- public string AddrMachine1UpperStereotypes { get; } = "D113";
- public string AddrMachine2UpperStereotypes { get; } = "D213";
-
- //硫化机 下定型
- public string AddrMachine1LowerStereotypes { get; } = "D115";
- public string AddrMachine2LowerStereotypes { get; } = "D215";
-
- //硫化机 总定型
- public string AddrMachine1AllStereotypes { get; } = "D117";
- public string AddrMachine2AllStereotypes { get; } = "D217";
-
- //硫化机 上排气
- public string AddrMachine1UpperExhaust { get; } = "D119";
- public string AddrMachine2UpperExhaust { get; } = "D219";
-
- //硫化机 下排气
- public string AddrMachine1LowerExhaust { get; } = "D121";
- public string AddrMachine2LowerExhaust { get; } = "D221";
-
- //硫化机 总排气
- public string AddrMachine1AllExhaust { get; } = "D123";
- public string AddrMachine2AllExhaust { get; } = "D223";
-
- //硫化机 抽真空
- public string AddrMachine1Vacuumize { get; } = "D125";
- public string AddrMachine2Vacuumize { get; } = "D225";
-
- //硫化机 上环升
- public string AddrMachine1UpperRingRise { get; } = "D127";
- public string AddrMachine2UpperRingRise { get; } = "D227";
-
- //硫化机 下环升
- public string AddrMachine1LowerRingRise { get; } = "D129";
- public string AddrMachine2LowerRingRise { get; } = "D229";
-
-
-
-
-
-
-
}
- public class DistanceRobot
- {
- public double testDs { get; set; }
- public double x { get; set; }
- public double y { get; set; }
+ #endregion
+#endif
- public DistanceRobot(double _testDs, double _x, double _y)
- {
- this.testDs = _testDs;
- this.x = _x;
- this.y = _y;
- }
- }
- public double MoniToRealJS(double moni)
- {
- //cout << moni << endl;
- moni = (moni - 819.0) * (16.0 / (4095.0 - 819.0)) + 4;
- //cout << moni;
- moni = (moni - 4) * ((5000.0 - 60.0) / 16.0) + 60;
- //cout << moni;
- return moni;
- }
- ///
- ///
- ///
- /// 设备PLC
- /// PLC写入的地址
- /// 地址初始值
- /// 地址结束值
- public void PcToPlcWrite(PLCBase PLCB, string adress, string original, string end)
- {
- string readinitrobot = ProcessReadInt(PLCB, adress, "int");
- if (readinitrobot == original)
- {
- ProcessWriteInt(PLCB, adress, "int", end);
- }
- }
- public StrRobotPoint ComputeClampoint(StrRobotPoint x1, StrRobotPoint x2, List DistanceTyre, double time)
- {
- // 算出抓取点
- List keyValuePairs = new List();
- double x1d = x1.X;
- double y1d = x1.Y;
-
- double x2d = x2.X;
- double y2d = x2.Y;
-
- // double k = (y2d - y1d) / (x2d - x1d);
- //double distancepow= Math.Pow((y2d - y1d), 2) + Math.Pow((x2d - x1d), 2);
- // double distance = Math.Pow(distancepow, 1.0 / 2);
- // time = sw.ElapsedMilliseconds;
- double dV1 = (x2d - x1d) / time;
- double dT1 = time / DistanceTyre.Count();
- double dV2 = (y2d - y1d) / time;
- double dT2 = time / DistanceTyre.Count();
-
- for (int i = 0; i < DistanceTyre.Count(); i++)
- {
- double dxTmp = x1d + dV1 * (dT1 * i);
- double dyTmp = y1d + dV2 * (dT2 * i);
- double dtestDs = DistanceTyre[i];
- //DistanceRobot distanceRobot = ;
- //distanceRobot.testDs = DistanceTyre[i];
- //distanceRobot.x = dxTmp;
- //distanceRobot.y = dyTmp;
- keyValuePairs.Add(new DistanceRobot(dtestDs, dxTmp, dyTmp));
- Debug.WriteLine(i);
- }
- List dic1Ascsort = keyValuePairs.OrderBy(a => a.testDs).ToList();
- StrRobotPoint clamPoint = x1;
- clamPoint.Z = x1.Z; ;// x1.Z;
- clamPoint.A = x1.A;
- clamPoint.B = x1.B;
- clamPoint.C = x1.C;
- clamPoint.X = (float)dic1Ascsort[0].x;
- clamPoint.Y = (float)dic1Ascsort[0].y - (float)dic1Ascsort[0].testDs + 125;
- return clamPoint;
- }
#region 流程操作
[BRS.Common.Model.Helper.ProcessMethod("", "StartProcess", "主流程启动", InvokeType.TestInvoke)]
@@ -883,786 +432,198 @@ namespace BRS.Process.A020
return strRobotPoint;
}
- //private void Pause()
- //{
- // while (MachineState == MachineState.Pause)
- // {
- // Thread.Sleep(50);
- // continue;
- // }
- //}
- private bool isMachineRobotRunning()
+ public ProcessResponse StartProcess(IOperationConfig config, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
- //if(MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff)
- // LogAsync(DateTime.Now, LogLevel.Action, "硫化机、机械臂正常运行中。。。");
- //else
- // LogAsync(DateTime.Now, LogLevel.Error, "硫化机或机械臂停止运行！！！");
- if (MachineState != MachineState.Running || RobotsStatus == RobotsStatus.Pweroff)
- LogAsync(DateTime.Now, LogLevel.Error, "硫化机或机械臂停止运行！！！");
- return MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff;
- }
-
- ///
- /// 两数是否约等于，在tolerance的容许范围内
- ///
- ///
- ///
- /// 数值比较所容许的范围
- private bool IsNumApproximateEqual(float num1, float num2, float tolerance)
- {
- float differ = num1 - num2;
- if (Math.Abs(differ) <= Math.Abs(tolerance))
- return true;
- else
- return false;
- }
-
- public ProcessResponse StartProcess(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
- {
- LogAsync(DateTime.Now, LogLevel.Action, "流程启动完成！");
- PubSubCenter.GetInstance().Publish(PubSubCenterMessageType.IsProcessOpened.ToString(), true, null);
- return new ProcessResponse(true);
-
- //if (MachineState != MachineState.Ready)
- //{
- // LogAsync(DateTime.Now, LogLevel.Error, "机台不在就绪状态，无法启动");
- // return new ProcessResponse(false);
- //}
+ if (MachineState != MachineState.Ready)
+ {
+ LogAsync(DateTime.Now, LogLevel.Error, "机台不在就绪状态，无法启动");
+ return new ProcessResponse(false);
+ }
LogAsync(DateTime.Now, LogLevel.Information, "流程启动中，请稍候...");
-
-
PrepareBatchNO();
+ var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
+ var KawasakiRobot = DeviceCollection.Find(d => d is KawasakiTCPSeverRobotDriver) as KawasakiTCPSeverRobotDriver;
+ StrRobotPoint strPointInitA;
+ strPointInitA.X = 847.462F;
+ strPointInitA.Y = 891.623F;
+ strPointInitA.Z = 803.067F;
+ strPointInitA.A = 90F;
+ strPointInitA.B = 180F;
+ strPointInitA.C = 90F;
- _productQueue = new List();
+
+ RobotPoint robotInitPoint = KawasakiRobot.IIConfig.RobotInitPosition;//机械臂初始点位
- // 触发配置
- //var temp = new List();
- //temp.AddRange(A020Config.TriggerConfigCollection);
- //temp.AddRange(A020Config.DetectionTriggerConfigCollection);
- //_triggerList = new List();
- //_triggerList.AddRange(temp.OrderBy(t => t.TriggerSort));
- //var firstDetection = _triggerList.FirstOrDefault(t => t.TriggerType == TriggerType.DetectionResultTrigger && t.IsEnableTrigger) as DetectionTrigger;
- //var lastDetection = _triggerList.LastOrDefault(t => t.TriggerType == TriggerType.DetectionResultTrigger && t.IsEnableTrigger) as DetectionTrigger;
- //_firstCameraId = firstDetection?.CameraId;
- //_lastCameraId = lastDetection?.CameraId;
+ #region 驱动委托
+ if (KawasakiRobot != null)
+ {
+ KawasakiRobot.OnTcpDataReceived -= TCPseverDriver_OnDataReceived;
+ KawasakiRobot.OnTcpDataReceived += TCPseverDriver_OnDataReceived;
+ }
+ #endregion
-
- // PrepareMLEngine();
- int TyrePos = 0;
- var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- RobotPoint x1 = NbtRobot.IConfig.RobotInitPosition; //NbtRobot.IConfig.X1Point;
- RobotPoint x2 = NbtRobot.IConfig.X2Point;
- RobotPoint robotPoint = NbtRobot.IConfig.RobotInitPosition;//初始点
-
- RobotPoint robotPointTyrePos1 = NbtRobot.IConfig.X1_1Point; //1号硫化机1号位
- RobotPoint robotPointTyrePos2 = NbtRobot.IConfig.X1_2Point; //1号硫化机2号位
- RobotPoint robotPointTyrePos3 = NbtRobot.IConfig.X2_1Point; //2号硫化机1号位
- RobotPoint robotPointTyrePos4 = NbtRobot.IConfig.X2_2Point; //2号硫化机2号位
-
- RobotPoint RelaserobotPointTyrePos = NbtRobot.IConfig.TakeOutPoint; ;//1号硫化机1号位取出放置位置
- //RobotPoint RelaserobotPointTyrePos2 = null;//1号硫化机2号位取出放置位置
- //RobotPoint RelaserobotPointTyrePos3 = null;//2号硫化机1号位取出放置位置
- // RobotPoint RelaserobotPointTyrePos4 = null;//2号硫化机2号位取出放置位置
- string wheelspeed = NbtRobot.IConfig.GripperFastenPosition;// "75000";//机械臂运动速度 3600 r/s
- string Lossenwheelspeed = NbtRobot.IConfig.GripperLoosenPosition;// "40000";//机械臂运动速度 3600 r/s
- string allLossenwheelspeed = NbtRobot.IConfig.GripperAllFastenPosition;
-
- //17寸轮胎下料配置
- string wheel17speed = NbtRobot.IConfig.Wheel17GripperUpFasten;// "75000";//机械臂运动速度 3600 r/s
- string Lossenwheel17speed = NbtRobot.IConfig.Wheel17GripperDownFasten;// "40000";//机械臂运动速度 3600 r/s
- string allLossenwheel17speed = NbtRobot.IConfig.Wheel17GripperDownLoosen;
-
- //16寸轮胎下料配置
- string wheel16speed = NbtRobot.IConfig.Wheel16GripperUpFasten;// "75000";//机械臂运动速度 3600 r/s
- string Lossenwheel16speed = NbtRobot.IConfig.Wheel16GripperDownFasten;// "40000";//机械臂运动速度 3600 r/s
- string allLossenwheel16speed = NbtRobot.IConfig.Wheel16GripperDownLoosen;
-
- //18寸轮胎下料配置
- string wheel18speed = NbtRobot.IConfig.Wheel18GripperUpLoosen;// "75000";//机械臂运动速度 3600 r/s
- string Lossenwheel18speed = NbtRobot.IConfig.Wheel18GripperDownFasten;// "40000";//机械臂运动速度 3600 r/s
- string allLossenwheel18speed = NbtRobot.IConfig.Wheel18GripperDownLoosen;
-
- string takeIN = wheel17speed;
- string Hooking = Lossenwheel17speed;
- string takeLoose = allLossenwheel17speed;
-
- StrRobotPoint initPoint = ClassChangeStruct(robotPoint);
- StrRobotPoint clamPoint = initPoint;
- StrRobotPoint initx2Point = ClassChangeStruct(x2);
- StrRobotPoint RelaserobotPointTyrePos1 = ClassChangeStruct(RelaserobotPointTyrePos);
- // 初始化 oee
- InitialOEEStatistic();
- WhoolSize = WhoolSize.Size17;
+ var sw = A020Config.ProcessInitialOps[0];
MachineState = MachineState.Running;
- RobotsStatus = RobotsStatus.Relasing;
- MachineStateStep = MachineStateStep.Ready;
- ProcessStatus = ProcessStatus.Init;
- string robotInitPoint = "D05";//
- string SetSizeWhool = NbtRobot.IConfig.SetWhoolSize;
- if (SetSizeWhool == "17")
- WhoolSize = WhoolSize.Size17;
- else if (SetSizeWhool == "16")
- WhoolSize = WhoolSize.Size16;
- else if (SetSizeWhool == "18")
- WhoolSize = WhoolSize.Size18;
+ ProcessStatus = ProcessStatus.ALLFinish;
+
+ //OpenCam1();
+
Task.Run(() =>
{
- while (MachineState == MachineState.Running &&
- RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause)
+ while (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.PowerOff && MachineStateStep != MachineStateStep.Pause)
{
- int speed = 1000;//机械臂运动速度 m/s
- string readint = ProcessReadInt(OmronPlc, robotInitPoint, "int");
-
-#if true
- #region 机械臂初始化
- ProcessStatus = ProcessStatus.Init;
- //流程初始化
- if (ProcessStatus == ProcessStatus.Init &&
- readint == "1" &&
- RobotsStatus != RobotsStatus.Claming &&
- RobotsStatus != RobotsStatus.Moving)
+ switch (ProcessStatus)
{
- //机械手回到初始点
- NbtRobot.Move(initPoint, speed, true);
- if (IsTesting)
- RobotsStatus = RobotsStatus.Wating;
- else
- {
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)
+ case ProcessStatus.Init:
{
- Thread.Sleep(1000);
- if (NbtRobot.get_status() == 0)
- RobotsStatus = RobotsStatus.Wating;
- }
- }
-
- if (MachineState == MachineState.Running &&
- RobotsStatus != RobotsStatus.Pweroff &&
- MachineStateStep != MachineStateStep.Pause)
- {
-
- }
- else { break; }
-
- //2.D11 1-0 PC→PLC //机械手复位回到初始点完成
- // 3.D21 0 - 1 PC → PLC //夹具打开回到初始位置
- PcToPlcWrite(OmronPlc, "D11", "1", "0");
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
- Thread.Sleep(1000);
- PcToPlcWrite(OmronPlc, "D11", "0", "1");
- PcToPlcWrite(OmronPlc, "D21", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
- //Thread.Sleep(15000);
- ProcessStatus = ProcessStatus.MesureingInitPLC;
-
- }
- StrRobotPoint currentP;
- if (IsTesting)
- currentP = initPoint;
- else
- currentP = NbtRobot.GetPosition();
- string ClamInitPLC = ProcessReadInt(OmronPlc, "D23", "int");//夹具初始化成功
-
- if (currentP.A == initPoint.A && currentP.B == initPoint.B && currentP.C == initPoint.C &&
- currentP.X == initPoint.X && currentP.Y == initPoint.Y && currentP.Z == initPoint.Z)
- {
- if (ClamInitPLC == "1" && ProcessStatus == ProcessStatus.MesureingInitPLC)
- ProcessStatus = ProcessStatus.MesureingInit;
- }
- else if (ProcessStatus == ProcessStatus.MesureingInitPLC)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos}已在初始点");
- Thread.Sleep(15000);
- ProcessStatus = ProcessStatus.MesureingInit;
- }
- else
- {
-
- }
- #endregion
- #region 测距+抓取+放进硫化机+夹爪和机械臂回到原位
- {
- #region 接收放轮胎位置指令
- if (ProcessStatus == ProcessStatus.MesureingInit)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos}接收放轮胎位置指令");
- //4.D23 0 - 1 PLC → PC //夹具回到初始位置完成+接收放轮胎位置指令
- string ClamInit = ProcessReadInt(OmronPlc, "D61", "int");
- //5.D25 0 - 1 PLC → PC //接收放轮胚指令 目前只放一个 上料信号触发使得流程变成测距
- // string ClamReady = ProcessReadInt(OmronPlc, "D25", "int");
-
- if (ClamInit == "1")
- ProcessStatus = ProcessStatus.Mesureing;
- Thread.Sleep(20);
- }
- #endregion
- #region 测距
- if (ProcessStatus == ProcessStatus.Mesureing &&
- RobotsStatus != RobotsStatus.Claming &&
- RobotsStatus != RobotsStatus.Moving)
- {
- ProcessWriteInt(OmronPlc, "D61", "int", "0");
- RobotsStatus = RobotsStatus.Relasing;//初始点位
-
- List DistanceTyre = new List(); //测距点
- List DistanceList_List = new List();//程序查看测距点String
-
- if (NbtRobot.get_status() == 0)
- {
- Stopwatch sw = new Stopwatch();
- NbtRobot.Move(initx2Point, 100, true);
- RobotsStatus = RobotsStatus.Moving;
- sw.Start();
- while (RobotsStatus == RobotsStatus.Moving)
+ if (RobotsStatus.Release == RobotsStatus)//机器人复位，初始状态
{
- //6.D31 xxxx PLC → PC //一边移动机械手一边读取测距信号
- string DistanceList = ProcessReadInt(OmronPlc, "D29", "int");//读出寄存器距离
- DistanceList_List.Add(DistanceList);
- DistanceTyre.Add(Convert.ToDouble(DistanceList) / 10);
- if (DistanceTyre.Count() > 1000 && NbtRobot.get_status() == 0)
+ //========移动到示教点(初始点)==========
+ int ShiJiaoVecCount = AModeTypeRun.A_deviation.Count;//相机1的偏移点组
+ if (ShiJiaoVecCountFlag1 < ShiJiaoVecCount)
{
- RobotsStatus = RobotsStatus.Wating;
- }
- }
- sw.Stop();
-
-
- if (MachineState == MachineState.Running &&
- RobotsStatus != RobotsStatus.Pweroff &&
- MachineStateStep != MachineStateStep.Pause)
- {
-
- }
- else { break; }
-
- //算出抓取点
- clamPoint = ComputeClampoint(initPoint, initx2Point, DistanceTyre, sw.ElapsedMilliseconds);
- LogAsync(DateTime.Now, LogLevel.Detail, $"算出抓取点{clamPoint}");
- LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂移动时间：{sw.ElapsedMilliseconds}");
- StrRobotPoint x2Up = initx2Point;
- x2Up.Y = x2.Y;
- x2Up.A = x2.A;
- x2Up.B = x2.B;
- x2Up.C = x2.C;
- x2Up.X = x2.X;
- x2Up.Z = x2.Z + 280;
- if (RobotsStatus == RobotsStatus.Wating)
- NbtRobot.Move(x2Up, speed, true);
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- Thread.Sleep(2000);
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
-
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
-
- StrRobotPoint clamPointUp = clamPoint;
- clamPointUp.Y = clamPoint.Y;
- clamPointUp.A = clamPoint.A;
- clamPointUp.B = clamPoint.B;
- clamPointUp.C = clamPoint.C;
- clamPointUp.X = clamPoint.X;
- clamPointUp.Z = clamPointUp.Z + 280;
- Thread.Sleep(1000);
- NbtRobot.Move(clamPointUp, speed, true);//移动到抓取点上面
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)
- {
- Thread.Sleep(2000);
-
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
-
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
-
- if (RobotsStatus == RobotsStatus.Wating)
- NbtRobot.Move(clamPoint, speed, true);//移动到抓取点
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- Thread.Sleep(2000);
-
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
-
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
- Thread.Sleep(1000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"机械手到达机械位置 控制夹具夹紧");
- //机械手到达机械位置 控制夹具夹紧
- //7.D33 xxxxxxxx &D31 0-1 PC → PLC //机械手到达轮胎位置后控制夹具夹紧
- // StrRobotPoint currentP = NbtRobot.GetPosition();
- ProcessWriteInt(OmronPlc, "D31", "int", "0");//转圈标识
- ProcessWriteInt(OmronPlc, "D33", "int", "0");//转圈
- ProcessWriteInt(OmronPlc, "D33", "int", wheelspeed);//转圈
- PcToPlcWrite(OmronPlc, "D31", "0", "1");
- Thread.Sleep(1000);
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
- LogAsync(DateTime.Now, LogLevel.Detail, $"{wheelspeed}机械手到达机械位置 控制夹具夹紧");
- Thread.Sleep(1000);
- string DistanceList2 = ProcessReadInt(OmronPlc, "D29", "int");
- //ProcessWriteInt(OmronPlc, "D201", "int", DistanceList2);
- TyrePos = 1;
- if (Convert.ToDouble(DistanceList2) < 2000)
- {
- // ProcessStatus = ProcessStatus.Claim;
- TyrePos = 1;
- }
- ProcessStatus = ProcessStatus.MesureingPLC;
-
- }
-
- }
- #endregion
- #region 放进硫化机+抓取
- string ClamInit8 = ProcessReadInt(OmronPlc, "D37", "int");
- if (ClamInit8 == "1" && ProcessStatus == ProcessStatus.MesureingPLC)
- ProcessStatus = ProcessStatus.Claim;
- if (ProcessStatus == ProcessStatus.Claim && TyrePos != 0)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos}放进硫化池");
-
- //放进第几个硫化池中
- switch (TyrePos)
- {
- case 1:
- {
- LogAsync(DateTime.Now, LogLevel.Action, $"{TyrePos}移动电组 机械手将轮胚放进硫化机");
- Thread.Sleep(5000);
- //通过移动电组移动到指定位置1
- StrRobotPoint clamPoint2 = clamPoint;
- clamPoint2.Z += 200;
- NbtRobot.Move(clamPoint2, speed, true);
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手升高");
-
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
+ CQRobotPoint cQRobotPoint = new CQRobotPoint();//示教拍摄点
+
+ DiffVPVRPoint A_ShiJIaoPoint = AModeTypeRun.A_deviation[ShiJiaoVecCountFlag1];
+ //CVCalibrationConfig cVCalibrationConfig = ModeTypeRun.CVCalibrationConfig;
+ foreach (var CalNum in AModeTypeRun.CVCalibrationConfig)
{
-
- Thread.Sleep(2000);
- if (NbtRobot.get_status() == 0)
+ if (CalNum.CVTypeID == A_ShiJIaoPoint.CVTypeID)//若这个螺丝的标定ID存在标定组 则使用标定组的各种信息
{
- RobotsStatus = RobotsStatus.Wating;
+ cQRobotPoint = CalNum.SHIJIao_deviation[0];
}
}
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
+ VPVRPoint current_P = new VPVRPoint();
+ current_P.X = A_ShiJIaoPoint.X;
+ current_P.Y = A_ShiJIaoPoint.Y;
+ current_P.Z = A_ShiJIaoPoint.Z;
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手上料移动组点移动");
+ StrRobotPoint CurrentPointInit = CQRobotPointChangeStrRobotPoint(cQRobotPoint, current_P);
+ strPointInitA.X = CurrentPointInit.X;
+ strPointInitA.Y = CurrentPointInit.Y;
+ strPointInitA.Z = CurrentPointInit.Z;
+ strPointInitA.A = CurrentPointInit.A;
+ strPointInitA.B = CurrentPointInit.B;
+ strPointInitA.C = CurrentPointInit.C;
+ //string PointInitMove = KawasakiRobotMove(KawasakiRobot, strPointInitA);
+ //KawasakiRobot.SendMessage(PointInitMove);
+ //LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动到示教点");
+ //RobotsStatus = RobotsStatus.Runing;
+ //DownCirce = DownCirce.DownCirce;
+ //while (true)
+ //{
+ // if (DownCirce == DownCirce.DownCirceRuning)
+ // break;
+ // else
+ // Thread.Sleep(10);
+ //}
+ KawasakiRobotInit(KawasakiRobot);
+ }
+ }
+ }
+ break;
+ case ProcessStatus.OpenLight:
+ {
+ Stopwatch stopWatch = new Stopwatch();
+ stopWatch.Restart();
+ LogAsync(DateTime.Now, LogLevel.Assist, $"打开光源，拍摄图片，视觉定位");
+ //打开光源
+ //JYDAMDriver1.WriteStrs(SerialOpenLight);
+ #region 拍摄图片 取图进行视觉定位
+ SoftTrigger1();
+ Thread.Sleep(200);
+ while (CamA == true)
+ {
+ //拍照视觉定位
+ OnBitmapChanged?.Invoke(1, Bit_Image);
+ OnCameraImageOutput(ref sswF, ref Mat_CamA, 1);
+ stopWatch.Stop();
+ Console.WriteLine(DateTime.Now + "=========拍照==================" + stopWatch.ElapsedMilliseconds + "===========================");
+ CamA = false;
+ }
+ #endregion
+ }
+ break;
+ case ProcessStatus.ClodeLight:
+ {
+ //关闭光源
+ // JYDAMDriver1.WriteStrs(SerialCloseLight);
+ LogAsync(DateTime.Now, LogLevel.Assist, $"关闭光源");
+ Thread.Sleep(10);
+ ProcessStatus = ProcessStatus.CVLocation;
+ }
+ break;
+ case ProcessStatus.CVLocation:
+ {
+ if (RobotsStatus.Release == RobotsStatus)
+ {
+ #region 机械臂移动视觉定位点
- NbtRobot.IConfig.RobotUpMovePoints.ForEach(points =>
- {
+ strPointInitA.X = (float)sswF.dX;
+ strPointInitA.Z = (float)sswF.dY;
+ if (Math.Abs((float)strPointInitA.X) <= 100 || Math.Abs((float)strPointInitA.Z) <= 0)
+ {
+ StopMachineClosing(MelsecPLC, KawasakiRobot);
- StrRobotPoint strRobotPoint = ClassChangeStruct(points);
- NbtRobot.Move(strRobotPoint, speed, true);
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
+ MachineState = MachineState.Closing;
- Thread.Sleep(2000);
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
- });
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
- if (NbtRobot.IConfig.RobotUpMovePoints.Count() == 0)
- break;
- // 9.D37 0 - 1 PC → PLC //放置轮胎完成
- //10.D33 xxxxxxxx &D31 0-1 PC → PLC //夹具松动以便机械手归位
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 夹具松动以便机械手归位");
- ProcessWriteInt(OmronPlc, "D31", "int", "0");//标识
- ProcessWriteInt(OmronPlc, "D33", "int", "0");//转圈
- ProcessWriteInt(OmronPlc, "D33", "int", Lossenwheelspeed);//转圈胎// 11.D49 0 - 1 PLC → PC //夹具松动完成
- PcToPlcWrite(OmronPlc, "D31", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
- Thread.Sleep(8000);
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos}夹具松松完成");
- ProcessStatus = ProcessStatus.ClaimPLC;
-
-
- //再在硫化中
+ LogAsync(DateTime.Now, LogLevel.Assist, $"计算定位失败");
break;
+
}
- }
- }
- #endregion
- }
- #endregion
- #region 夹爪和机械臂回到原位
- string ClamInit11 = ProcessReadInt(OmronPlc, "D37", "int");
- if (ClamInit11 == "1" && ProcessStatus == ProcessStatus.ClaimPLC)
- {
+ //
+ //==========平滑移动
+ List _strRobotPointAs = new List();
+ StrRobotPoint strPointInitA1 = new StrRobotPoint();
+ strPointInitA1 = strPointInitA;
+ StrRobotPoint strPointInitA2 = new StrRobotPoint();
+ strPointInitA2 = strPointInitA;
+ strPointInitA2.Y += A_Distance_DisD;
+ _strRobotPointAs.Add(strPointInitA1);
+ _strRobotPointAs.Add(strPointInitA2);
+ //KawasakiRobotMoves(KawasakiRobot, _strRobotPointAs, false);
+ string TestPoint = MoveMoreNContinueRobot(_strRobotPointAs, ref strPointInitA);
- ProcessStatus = ProcessStatus.Loosen;
- }
- if (ProcessStatus == ProcessStatus.Loosen)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos}移动电组 机械手复位回到初始点");
-
- //12.D51 0 - 1 PC → PLC //机械手回归初始位置
- //13.D11 1 - 0 PC→PLC //机械手复位回到初始点完成
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手上料返回组点移动");
- NbtRobot.IConfig.RobotUPBackPoints.ForEach(points =>
- {
-
- StrRobotPoint strRobotPoint2 = ClassChangeStruct(points);
-
- NbtRobot.Move(strRobotPoint2, speed, true);
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- //Task.Delay(200);//线程阻塞
- Thread.Sleep(2000);
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
+ DownCirce = DownCirce.DownCirce;
+ KawasakiRobot.SendMessage(TestPoint);//机械臂移动视觉定位点
+ LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动视觉定位点完成");
- });
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
- if (NbtRobot.IConfig.RobotUPBackPoints.Count() == 0)
- return;
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"回到起始位置");
-
- NbtRobot.Move(initPoint, speed, true);//回到起始位置
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- Thread.Sleep(1000);//线程阻塞
-
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
- }
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
- // PcToPlcWrite(OmronPlc, "D51", "0", "1");
- //PcToPlcWrite(OmronPlc, "D11", "1", "0");
- //14.D21 0 - 1 PC → PLC //夹具打开回到初始位置
- //PcToPlcWrite(OmronPlc, "D21", "0", "1");
-
- PcToPlcWrite(OmronPlc, "D11", "1", "0");
- ProcessWriteInt(OmronPlc, "D21", "int", "0");
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
- Thread.Sleep(1000);
- PcToPlcWrite(OmronPlc, "D11", "0", "1");
- PcToPlcWrite(OmronPlc, "D21", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
-
- Thread.Sleep(5000);//松动时间
-
- //15.D23 0 - 1 PLC → PC //夹具回到初始位置完成
- RobotsStatus = RobotsStatus.Inplace;
- ProcessStatus = ProcessStatus.LoosenPLC;
-
- }
- if (RobotsStatus == RobotsStatus.Inplace && ProcessStatus == ProcessStatus.LoosenPLC)
- {
- string ClamInit = ProcessReadInt(OmronPlc, "D23", "int");//夹具初始化成功
- if (ClamInit == "1")
- {
- ProcessWriteInt(OmronPlc, "D63", "int", "0");
- Thread.Sleep(200);
- ProcessWriteInt(OmronPlc, "D63", "int", "1");
- Thread.Sleep(200);
- ProcessWriteInt(OmronPlc, "D63", "int", "0");
- //TyrePos = 0;
- // ProcessStatus = ProcessStatus.TakeOffMove;
- ProcessStatus = ProcessStatus.RunFinish;
- RobotsStatus = RobotsStatus.Inplace;
- MachineStateStep = MachineStateStep.Running;
- }
-
- }
-
- #endregion
-#endif
- //并且夹具处于放松状态 机械手在初始位置
- //循环检测是否硫化成功
- //MachineStateStep = MachineStateStep.Running;
- #region 判读硫化池下料
-
- if (MachineStateStep == MachineStateStep.Running)
- {
-
- if (WhoolSize == WhoolSize.Size17)
- {
- takeIN = wheel17speed;
- Hooking = Lossenwheel17speed;
- takeLoose = allLossenwheel17speed;
- }
- else if (WhoolSize == WhoolSize.Size16)
- {
- takeIN = wheel16speed;
- Hooking = Lossenwheel16speed;
- takeLoose = allLossenwheel16speed;
- }
- else if (WhoolSize == WhoolSize.Size18)
- {
- takeIN = wheel18speed;
- Hooking = Lossenwheel18speed;
- takeLoose = allLossenwheel18speed;
- }
- // 16.D61 0 - 1 PLC → PC //接收取出轮胎1指令并控制机械手到达轮胎位置+机械手在初始点
- #region 接收取出轮胎1指令并控制机械手到达轮胎位置
- String SucessPos = ProcessReadInt(OmronPlc, "D65", "int");
- if (SucessPos == "1")// && ProcessStatus == ProcessStatus.Finish)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"接受下料信号中");
- ProcessStatus = ProcessStatus.TakeOffMove;
-
- ProcessWriteInt(OmronPlc, "D65", "int", "0");//标识
- }
- #endregion
- #region 下料从硫化机抓料
- if (ProcessStatus == ProcessStatus.TakeOffMove)
- {
- ProcessWriteInt(OmronPlc, "D31", "int", "0");//标识
- ProcessWriteInt(OmronPlc, "D33", "int", "0");//转圈
- //ProcessWriteInt(OmronPlc, "D33", "int", "94000");//转圈
- //string TextLossenwheelspeed = "20000";
- ProcessWriteInt(OmronPlc, "D33", "int", takeIN);//转圈抓轮披测试
- PcToPlcWrite(OmronPlc, "D31", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
- ProcessStatus = ProcessStatus.TakeOffMovePLC;
- // Thread.Sleep(5000);//转圈所需时间
-
- }
-
- string ClamInit1Down = ProcessReadInt(OmronPlc, "D37", "int");
- if (ClamInit1Down == "1" && ProcessStatus == ProcessStatus.TakeOffMovePLC)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"伺服移动到位，开始下料移动");
- ProcessStatus = ProcessStatus.TakeOffMovePLC_2;
- }
-
-
- if (ProcessStatus == ProcessStatus.TakeOffMovePLC_2)
- {
- //通过移动电组移动到下料指定位置1
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手下料移动进硫化机 抓住轮胎组点移动");
- NbtRobot.IConfig.RobotDownMovePoints.ForEach(points =>
- {
-
- StrRobotPoint strRobotPoint3 = ClassChangeStruct(points);
-
- NbtRobot.Move(strRobotPoint3, speed, true);
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- Thread.Sleep(2000);//线程阻塞
-
- if (NbtRobot.get_status() == 0)
+ RobotsStatus = RobotsStatus.Runing;
+ while (true)
{
- RobotsStatus = RobotsStatus.Wating;
+ if (DownCirce == DownCirce.DownCirceRuning)
+ break;
+ else
+ Thread.Sleep(10);
}
+ #endregion
}
-
- });
- if (NbtRobot.IConfig.RobotDownMovePoints.Count() == 0)
- ProcessStatus = ProcessStatus.Resetting;
- if (MachineState == MachineState.Running && RobotsStatus != RobotsStatus.Pweroff && MachineStateStep != MachineStateStep.Pause) { }
- else { break; }
-
- //机械手到达机械位置 控制夹具夹紧
- //17.D33 xxxxxxxx &D31 0-1 PC → PLC //控制夹具夹紧
- // 18.D35 0 - 1 PLC → PC //夹具夹紧完成
- //19.D33 xxxxxxxx & D31 0 - 1 PC → PLC //控制夹具夹紧
- //20.D35 0 - 1 PLC → PC //夹具夹紧完成
- ProcessStatus = ProcessStatus.TakeOff;
- }
- if (ProcessStatus == ProcessStatus.TakeOff)
- {
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 夹具勾紧状态以便机械手进入硫化机");
- ProcessWriteInt(OmronPlc, "D31", "int", "0");//标识
- ProcessWriteInt(OmronPlc, "D33", "int", "0");//转圈
-
- //ProcessWriteInt(OmronPlc, "D33", "int", "88000");
- ProcessWriteInt(OmronPlc, "D33", "int", Hooking);//夹紧转圈测试
- //todo 松开轮胎// 11.D49 0 - 1 PLC → PC //夹具松动完成
- PcToPlcWrite(OmronPlc, "D31", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
-
-
- // Thread.Sleep(2000);
- ProcessStatus = ProcessStatus.TakeOffCaim;
-
-
-
-
- }
- #endregion
-
-
- #region 下料放到固定位置
-
- String TyplcTakeup = ProcessReadInt(OmronPlc, "D37", "int");
-
- if (TyplcTakeup == "1" && ProcessStatus == ProcessStatus.TakeOffCaim)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"伺服移动到位，开始下料返回指定位置");
- ProcessStatus = ProcessStatus.TakeOffPLC;
- }
-
- if (ProcessStatus == ProcessStatus.TakeOffPLC)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手下料返回组点移动");
- //通过移动电组移动到指定位置1
- //21.D41 0 - 1 PLC → PC //机械臂取出轮胎
- NbtRobot.IConfig.RobotDownBackPoints.ForEach(points =>
- {
-
- Thread.Sleep(200);//线程阻塞
- StrRobotPoint strRobotPoint3 = ClassChangeStruct(points);
-
- NbtRobot.Move(strRobotPoint3, speed, true);
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
+ else
{
- Thread.Sleep(1000);//线程阻塞
-
- if (NbtRobot.get_status() == 0)
- {
- RobotsStatus = RobotsStatus.Wating;
- }
+ Thread.Sleep(10);
}
-
-
- // table[camera.Id] = points.X;
- });
- //没有下料返回移动点组
- if (NbtRobot.IConfig.RobotDownBackPoints.Count() == 0)
- ProcessStatus = ProcessStatus.Resetting;
- //放置硫化好的轮胎位置 todo
- //NbtRobot.Move(initPoint, speed, true);
-
- //RabotsStatus = RabotsStatus.Moving;
- //while (RabotsStatus == RabotsStatus.Moving)//NbtRobot.get_status() !=0)
- //{
- // Thread.Sleep(1000);//线程阻塞
-
- // if (NbtRobot.get_status() == 0)
- // {
- // RabotsStatus = RabotsStatus.Wating;
- // }
- //}
- ProcessStatus = ProcessStatus.TakeOffPoint;
- }
-
- if (ProcessStatus == ProcessStatus.TakeOffPoint)
- {
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 夹具抓紧以便机械手进入硫化机");
- ProcessWriteInt(OmronPlc, "D31", "int", "0");//标识
- ProcessWriteInt(OmronPlc, "D33", "int", "0");//转圈
-
- //ProcessWriteInt(OmronPlc, "D33", "int", "94000");
- // string TextLossenwheelspeed = "20000";
- ProcessWriteInt(OmronPlc, "D33", "int", takeLoose);//夹紧转圈测试
- //todo 松开轮胎// 11.D49 0 - 1 PLC → PC //夹具松动完成
- PcToPlcWrite(OmronPlc, "D31", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D31", "1", "0");//重置转圈PLC标识
-
-
- // Thread.Sleep(2000);
- ProcessStatus = ProcessStatus.TakeOffPointCaim;
-
-
-
- }
-
- String TyplcTakeup2 = ProcessReadInt(OmronPlc, "D37", "int");
-
- if (TyplcTakeup2 == "1" && ProcessStatus == ProcessStatus.TakeOffPointCaim)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"伺服移动到位，开始下料返回指定位置");
- ProcessStatus = ProcessStatus.TakeOffPointCaimFlag;
- }
- if (ProcessStatus == ProcessStatus.TakeOffPointCaimFlag)
- {
- LogAsync(DateTime.Now, LogLevel.Detail, $"{TyrePos} 机械手初始化");
- //22.D43 0 - 1 PC → PLC //取出轮胎完成
- //23.D21 0 - 1 PC → PLC //夹具打开放下轮胎
- //24.D23 0 - 1 PLC → PC //夹具打开放下轮胎完成
- //25.D11 0 - 1 PC → PLC //机械手回归初始位置……
- ProcessWriteInt(OmronPlc, "D67", "int", "0");
- ProcessWriteInt(OmronPlc, "D21", "int", "0");
-
- PcToPlcWrite(OmronPlc, "D67", "0", "1");
- PcToPlcWrite(OmronPlc, "D21", "0", "1");
- Thread.Sleep(200);//线程阻塞
- ProcessWriteInt(OmronPlc, "D67", "int", "0");
- ProcessWriteInt(OmronPlc, "D21", "int", "0");
- ProcessStatus = ProcessStatus.TakeOffWhool;
- }
- String TyplcScuessing = ProcessReadInt(OmronPlc, "D23", "int");
- if (TyplcScuessing == "1" && ProcessStatus == ProcessStatus.TakeOffWhool)
- {
- ProcessStatus = ProcessStatus.Init;
- MachineStateStep = MachineStateStep.Ready;//跳出循环
- Thread.Sleep(2000);//线程阻塞
- }
-
- //17.Dxx 0 - 1 PC → PLC //机械手回归初始位置且夹具打开回到初始位置（= 第二步）下一次循环
-
- #endregion
+ }
+ break;
}
-
- #endregion
-
-
-
- };
-
- Thread.Sleep(200);
+ }
});
- //LogAsync(DateTime.Now, LogLevel.Information, $"产品{p.Id}获取结果：{p.ProductResult} {(p.IsA2B ? "产品IsA2B" : "")}");
+
LogAsync(DateTime.Now, LogLevel.Action, "流程启动完成！");
PubSubCenter.GetInstance().Publish(PubSubCenterMessageType.IsProcessOpened.ToString(), true, null);
return new ProcessResponse(true);
}
+
+
#region 手动操作流程
///
/// 手动拧紧鼠标按下
@@ -1711,7 +672,7 @@ namespace BRS.Process.A020
else
{
ProcessWriteInt(MelsecPLC, addD3, "int", "0");//D3置0
-
+
ProcessWriteInt(MelsecPLC, addD171, "int", "3000");//最大扭矩3000
ProcessWriteInt(MelsecPLC, addD51, "int", "1");//手动拧紧螺丝D51置1
@@ -1806,7 +767,7 @@ namespace BRS.Process.A020
{
ShaftOperateOnce(MelsecPLC, addD1, 500);//D1置1延时500后置0
-
+
});
@@ -1859,7 +820,7 @@ namespace BRS.Process.A020
else
{
ProcessWriteInt(MelsecPLC, addD3, "int", "1");//D3置0
-
+
ProcessWriteInt(MelsecPLC, addD51, "int", "0");//手动拧紧螺丝D51置1
machineState = MachineState.Pause;//设备暂停
LogAsync(DateTime.Now, LogLevel.Detail, "设备已关闭");
@@ -1967,7 +928,7 @@ namespace BRS.Process.A020
machineState = MachineState.Running;
ProcessStatus = ProcessStatus.Init;
MachineStateStep = MachineStateStep.Ready;
- Task.Run(()=>
+ Task.Run(() =>
{
while (machineState == MachineState.Running && MachineStateStep != MachineStateStep.Pause)
{
@@ -2082,7 +1043,6 @@ namespace BRS.Process.A020
}
#endregion
-
///
/// 进入自动化控制进程，完成系列动作
///
@@ -2097,6 +1057,7 @@ namespace BRS.Process.A020
LogAsync(DateTime.Now, LogLevel.Information, "流程启动中，请稍候...");
var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
+ var TcpSeverBase1 = DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "ListenerA") as TCPSeverBase;
string addD201 = "D201";//通讯故障检查地址
string addD19 = "D19";//急停状态检查地址
@@ -2150,6 +1111,172 @@ namespace BRS.Process.A020
return new ProcessResponse(true);
}
+
+
+ ///
+ /// 使机器人回到初始位置
+ ///
+ ///
+ ///
+ public void KawasakiRobotInit(KawasakiTCPSeverRobotDriver kawasakiRobot)
+ {
+ RobotPoint robotInitPoint = kawasakiRobot.IIConfig.RobotInitPosition;//机器人初始点
+ StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint);
+ StrRobotPoint currentP;
+ if (IsTesting)
+ currentP = initPoint;
+ else
+ currentP = KawasakiRobotGetPose(kawasakiRobot);//获取机械臂当前位置
+
+ if (currentP.A != initPoint.A || currentP.B != initPoint.B || currentP.C != initPoint.C ||
+ currentP.X != initPoint.X || currentP.Y != initPoint.Y || currentP.Z != initPoint.Z)
+ KawasakiRobotMove(kawasakiRobot, initPoint);
+
+ LogAsync(DateTime.Now, LogLevel.Detail, "机械臂已在初始点");
+ }
+ ///
+ /// 川崎机械臂按照单点位移动
+ ///
+ /// 机械臂实例
+ /// 需要移动到的点
+ public void KawasakiRobotMove(TCPSeverBase kawasakiRobot, StrRobotPoint strPoint)
+ {
+ string strMovePoints = MoveRobotCommandLine(strPoint);
+ kawasakiRobot.SendMessage(strMovePoints);
+ LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂运动到{strMovePoints}位置");
+ KawasakiRobotStatus = KawasakiRobotStatus.Runing;
+ while (true)
+ {
+ if (KawasakiRobotStatus == KawasakiRobotStatus.Stoped)
+ break;
+ else
+ Thread.Sleep(10);
+ }
+ LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂运动到{strMovePoints}位置完成！！！！");
+ }
+ ///
+ /// 川崎机械臂按照规划的路径多点运动
+ ///
+ /// 机械臂实例
+ /// 移动的路径点
+ /// 当前点
+ public void KawasakiRobotMoves(TCPSeverBase kawasakiRobot, List points, bool isReturn)
+ {
+ //string points = MoveRobotCommandLine(strPoint);
+ if (isReturn) //机械手根据原路径返回,重新排列list点位
+ points.Reverse(); //反序
+ List strPoints = new List();
+ points.ForEach(point =>
+ {
+ strPoints.Add(ClassChangeStruct(point));
+ //StrRobotPoint strRobotPoint = ClassChangeStruct(point);
+ //KawasakiRobotMove(kawasakiRobot, strRobotPoint);
+ });
+ StrRobotPoint currentP = KawasakiRobotGetPose(kawasakiRobot);
+ string strMovePoints = MoveMoreNContinueRobotCommandLine(strPoints, ref currentP);
+ kawasakiRobot.SendMessage(strMovePoints);
+ LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂连续运动到{strMovePoints}位置");
+ KawasakiRobotStatus = KawasakiRobotStatus.Runing;
+ while (true)
+ {
+ if (KawasakiRobotStatus == KawasakiRobotStatus.Stoped)
+ break;
+ else
+ Thread.Sleep(10);
+ }
+ LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂运动到{strMovePoints}位置完成！！！！");
+ if (isReturn) //机械手根据原路径返回,重新排列list点位
+ points.Reverse(); //反序
+ }
+ ///
+ /// 合成川崎机器人移动路径命令
+ ///
+ /// 需要移动的点列表
+ /// 合成好的字符串命令
+ public string MoveRobotCommandLine(StrRobotPoint strPoint)
+ {
+ string pointsStr = Convert.ToString(strPoint.X) + "," + Convert.ToString(strPoint.Y) + "," + Convert.ToString(strPoint.Z) + "," +
+ Convert.ToString(strPoint.A) + "," + Convert.ToString(strPoint.B) + "," + Convert.ToString(strPoint.C);
+ string STRMove = "MoveLine_NULL_1_" + pointsStr + "_";
+ //string PointInit1 = "MoveLine_NULL_1_462.915,1119.150,1530.227,90.043,90.003,0.040_";
+ return STRMove;
+ }
+ ///
+ /// 获取当前位置，返回在回调函数中
+ ///
+ ///
+ public StrRobotPoint KawasakiRobotGetPose(TCPSeverBase kawasakiRobot)
+ {
+ //string points = MoveRobotCommandLine(strPoint);
+ StrRobotPoint strRobotPoint = new StrRobotPoint();
+ kawasakiRobot.SendMessage("GetPose_");
+ //LogAsync(DateTime.Now, LogLevel.Detail, $"获取机械臂当前位置");
+ while (kawasakiRobot.KawasakiRobotResponse.IsEmpty() || kawasakiRobot.KawasakiRobotResponse.Equals("wanbi"))
+ {
+ LogAsync(DateTime.Now, LogLevel.Detail, $"获取机械臂当前位置");
+ Thread.Sleep(500);
+ }
+ //while (kawasakiRobot.KawasakiRobotResponse.Equals("wanbi"))
+ //{
+ // LogAsync(DateTime.Now, LogLevel.Detail, $"获取机械臂当前位置");
+ // Thread.Sleep(500);
+ //}
+ if (!kawasakiRobot.KawasakiRobotResponse.IsEmpty())
+ {
+ string[] sArray = kawasakiRobot.KawasakiRobotResponse.Split('_');
+ if (sArray[0].Equals("Pose"))
+ {
+ sArray = sArray[1].Split(',');
+
+ strRobotPoint.A = float.Parse(sArray[0]);
+ strRobotPoint.B = float.Parse(sArray[1]);
+ strRobotPoint.C = float.Parse(sArray[2]);
+ strRobotPoint.X = float.Parse(sArray[3]);
+ strRobotPoint.Y = float.Parse(sArray[4]);
+ strRobotPoint.Z = float.Parse(sArray[5]);
+ LogAsync(DateTime.Now, LogLevel.Detail, $"获取到机械臂当前位置");
+ //return strRobotPoint;
+ }
+ else
+ {
+ LogAsync(DateTime.Now, LogLevel.Detail, $"未获取到机械臂当前位置");
+ LogAsync(DateTime.Now, LogLevel.Detail, $"获取到的信息为{kawasakiRobot.KawasakiRobotResponse}");
+ //return strRobotPoint;
+ }
+ }
+
+ else
+ {
+ LogAsync(DateTime.Now, LogLevel.Detail, $"没有返回值");
+
+ }
+ return strRobotPoint;
+
+ }
+ ///
+ /// 合成川崎机器人持续运动命令
+ ///
+ /// 需要移动的点列表
+ /// 当前位置
+ /// 合成好的字符串命令
+ public string MoveMoreNContinueRobotCommandLine(List strPoints, ref StrRobotPoint CurrentPoint)
+ {
+ string strPointsStr = null;
+ for (int i = 0; i < strPoints.Count; i++)
+ {
+ string pointsStr = Convert.ToString(strPoints[i].X) + "," + Convert.ToString(strPoints[i].Y) + "," + Convert.ToString(strPoints[i].Z) + "," +
+ Convert.ToString(strPoints[i].A) + "," + Convert.ToString(strPoints[i].B) + "," + Convert.ToString(strPoints[i].C);
+ strPointsStr += pointsStr + "_";
+ }
+ //CurrentPoint = strPoints[strPoints.Count - 1];
+ CurrentPoint = strPoints.Last();
+ // string pointsStr2 = Convert.ToString(strPoint2.X) + "," + Convert.ToString(strPoint2.Y) + "," + Convert.ToString(strPoint2.Z) + "," +
+ //Convert.ToString(strPoint2.O) + "," + Convert.ToString(strPoint2.A) + "," + Convert.ToString(strPoint2.T);
+ string STRMove = "MoveLine_NULL_" + strPoints.Count.ToString() + "_" + strPointsStr;
+ //string PointInit1 = "MoveLine_NULL_1_462.915,1119.150,1530.227,90.043,90.003,0.040_";
+ return STRMove;
+ }
+
///
/// 根据PLC地址操作一次扭矩轴
///
@@ -2181,52 +1308,6 @@ namespace BRS.Process.A020
ProcessWriteInt(PLC, Address, "int", status);
}
-
- ///
- /// 初始化夹爪，夹爪松开到原始位置
- ///
- ///
- private void GripperInit(PLCBase PLC)
- {
- ProcessWriteInt(PLC, "D21", "int", "0");
- ProcessWriteInt(PLC, "D21", "int", "1");
- Thread.Sleep(1000);
- ProcessWriteInt(PLC, "D21", "int", "0");
-
- string addr23 = ProcessReadInt(PLC, "D23", "int");
- //D23 0→1 说明夹爪初始化完成
- while (addr23 == "0")
- {
- Thread.Sleep(100);
- addr23 = ProcessReadInt(PLC, "D23", "int");
- }
- }
-
- ///
- /// 移动夹爪
- ///
- /// PLC驱动
- /// 运动距离
- private void GripperMove(PLCBase PLC, string distence)
- {
- PcToPlcWrite(PLC, "D31", "1", "0");//夹爪置0
- ProcessWriteInt(PLC, "D33", "int", distence);//设置夹爪运动距离
- ProcessWriteInt(PLC, "D31", "int", "1");//夹爪开始运动
- Thread.Sleep(2000);
-
- string addr37 = ProcessReadInt(PLC, "D37", "int");
- //D37 0→1 说明夹爪运动完成
- while (addr37 == "0")
- {
- Thread.Sleep(10);
- //addr37 = ProcessReadInt(PLC, "D23", "int");
- addr37 = ProcessReadInt(PLC, "D37", "int");
- }
-
- LogAsync(DateTime.Now, LogLevel.Detail, $"夹爪运动到{distence}位置");
- PcToPlcWrite(PLC, "D31", "1", "0");//夹爪置0
- }
-
enum MoveState
{
UpFasten = 0,
@@ -2235,179 +1316,12 @@ namespace BRS.Process.A020
DownLoosen,
}
- ///
- /// 根据轮胎尺寸、要移动的位置，获取夹爪移动绝对位置
- ///
- /// robot驱动
- /// 轮胎尺寸
- /// 要移动的位置，0为上料夹紧点，1为上料放松点，2为下料夹紧点，3为下料放松点
- private string GetGripperPosByTyreSize(RobotBase robot, int tyreSize, MoveState state)
- {
- string position = "error";
- switch (tyreSize)
- {
- case 12:
- List listPositionWheel12 = new List();
- listPositionWheel12.Add(robot.IConfig.Wheel12GripperUpFasten);
- listPositionWheel12.Add(robot.IConfig.Wheel12GripperUpLoosen);
- listPositionWheel12.Add(robot.IConfig.Wheel12GripperDownFasten);
- listPositionWheel12.Add(robot.IConfig.Wheel12GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel12);
- break;
- case 13:
- List listPositionWheel13 = new List();
- listPositionWheel13.Add(robot.IConfig.Wheel13GripperUpFasten);
- listPositionWheel13.Add(robot.IConfig.Wheel13GripperUpLoosen);
- listPositionWheel13.Add(robot.IConfig.Wheel13GripperDownFasten);
- listPositionWheel13.Add(robot.IConfig.Wheel13GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel13);
- break;
- case 14:
- List listPositionWheel14 = new List();
- listPositionWheel14.Add(robot.IConfig.Wheel14GripperUpFasten);
- listPositionWheel14.Add(robot.IConfig.Wheel14GripperUpLoosen);
- listPositionWheel14.Add(robot.IConfig.Wheel14GripperDownFasten);
- listPositionWheel14.Add(robot.IConfig.Wheel14GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel14);
- break;
- case 15:
- List listPositionWheel15 = new List();
- listPositionWheel15.Add(robot.IConfig.Wheel15GripperUpFasten);
- listPositionWheel15.Add(robot.IConfig.Wheel15GripperUpLoosen);
- listPositionWheel15.Add(robot.IConfig.Wheel15GripperDownFasten);
- listPositionWheel15.Add(robot.IConfig.Wheel15GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel15);
- break;
- case 16:
- List listPositionWheel16 = new List();
- listPositionWheel16.Add(robot.IConfig.Wheel16GripperUpFasten);
- listPositionWheel16.Add(robot.IConfig.Wheel16GripperUpLoosen);
- listPositionWheel16.Add(robot.IConfig.Wheel16GripperDownFasten);
- listPositionWheel16.Add(robot.IConfig.Wheel16GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel16);
- break;
- case 17:
- List listPositionWheel17 = new List();
- listPositionWheel17.Add(robot.IConfig.Wheel17GripperUpFasten);
- listPositionWheel17.Add(robot.IConfig.Wheel17GripperUpLoosen);
- listPositionWheel17.Add(robot.IConfig.Wheel17GripperDownFasten);
- listPositionWheel17.Add(robot.IConfig.Wheel17GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel17);
- break;
- case 18:
- List listPositionWheel18 = new List();
- listPositionWheel18.Add(robot.IConfig.Wheel18GripperUpFasten);
- listPositionWheel18.Add(robot.IConfig.Wheel18GripperUpLoosen);
- listPositionWheel18.Add(robot.IConfig.Wheel18GripperDownFasten);
- listPositionWheel18.Add(robot.IConfig.Wheel18GripperDownLoosen);
- position = GetGripperPosByMoveState(robot, state, listPositionWheel18);
- break;
- default:
- break;
- }
- return position;
- }
-
- private string GetGripperPosByMoveState(RobotBase robot, MoveState state, List listPosition)
- {
- string position = "error";
- switch (state)
- {
- case MoveState.UpFasten:
- position = listPosition[0];
- break;
- case MoveState.UpLoosen:
- position = listPosition[1];
- break;
- case MoveState.DownFasten:
- position = listPosition[2];
- break;
- case MoveState.DownLoosen:
- position = listPosition[3];
- break;
- default:
- break;
- }
-
- return position;
- }
- ///
- /// 机器人移动至单点
- ///
- /// 机器人实例
- /// 需要移动到的点位
- /// 移动速度
- private void NbtRobotMove(RobotBase robot, StrRobotPoint point, int speed)
- {
- if (RobotsStatus != RobotsStatus.Pweroff)
- robot.Move(point, speed, true);
- LogAsync(DateTime.Now, LogLevel.Detail, $"机械臂运动到X:{point.X}, Y:{point.Y}, Z:{point.Z}位置");
- RobotsStatus = RobotsStatus.Moving;
- while (RobotsStatus == RobotsStatus.Moving)//NbtRobot.get_status() !=0)
- {
- Thread.Sleep(2000);
-
- if (IsTesting)
- RobotsStatus = RobotsStatus.Wating;
- else if (robot.get_status() == 0)
- RobotsStatus = RobotsStatus.Wating;
- }
- }
-
- ///
- /// 机器人按照设置中的移动路径多点运动
- ///
- /// 机器人实例
- /// List 配置中定义的路径点
- /// 移动速度
- private void NbtRobotMoves(RobotBase robot, List points, int speed, bool isReturn)
- {
- if (isReturn) //机械手根据原路径返回,重新排列list点位
- {
- points.Reverse(); //反序
- }
- points.ForEach(point =>
- {
- StrRobotPoint strRobotPoint = ClassChangeStruct(point);
- NbtRobotMove(robot, strRobotPoint, speed);
- });
- if (isReturn) //机械手根据原路径返回,重新排列list点位
- {
- points.Reverse(); //反序
- }
- }
-
- ///
- /// 机器人初始化，回到原位置
- ///
- ///
- private void NbtRobotInit(RobotBase robot)
- {
- int speed = 1000;
- RobotPoint robotInitPoint = robot.IConfig.RobotInitPosition;//机器人初始点
- StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint);
- StrRobotPoint currentP;
- if (IsTesting)
- currentP = initPoint;
- else
- currentP = robot.GetPosition();//获取机械臂当前位置
-
- if (currentP.A != initPoint.A || currentP.B != initPoint.B || currentP.C != initPoint.C ||
- currentP.X != initPoint.X || currentP.Y != initPoint.Y || currentP.Z != initPoint.Z)
- NbtRobotMove(robot, initPoint, speed);
- LogAsync(DateTime.Now, LogLevel.Detail, "机械臂已在初始点");
- }
-
-
-
enum DataType
{
INT = 0,
STRING,
FLOAT,
-
}
-
private string ProcessReadInt(PLCBase PLC, string address, string type, ushort length = 10)
{
Stopwatch sw = new Stopwatch();
@@ -2469,30 +1383,9 @@ namespace BRS.Process.A020
// lblElapsed.Text = sw.ElapsedMilliseconds.ToString();
}
- private void ProcessStartTimer(object state)
- {
- //isMidFeedingProductFlag = true;
- //UpdateTriggerCount(DateTime.Now, "中转推料上料触发");
- //LogAsync(DateTime.Now, LogLevel.Information, $"中转推料上料触发");
- //if (state is MidFeedingProductOpConfig midFeedingConfig)
- //{
- // Stopwatch stopWatch = new Stopwatch();
- // stopWatch.Start();
- // MotionCardOperationConfigBase operationConfig = new MotionCardOperationConfigBase();
- // midFeedingConfig.FeedingProductMotionCardOperationSet.DelayAfter = midFeedingConfig.FeedingInterval;
- // operationConfig.OperationCollection.Add(midFeedingConfig.FeedingProductMotionCardOperationSet);
- // operationConfig.OperationCollection.Add(midFeedingConfig.MoveBackMotionCardOperationSet);
- // _mainMotion.Run(operationConfig);
- // stopWatch.Stop();
- // LogAsync(DateTime.Now, LogLevel.Information, $"中转推料上料耗时{stopWatch.ElapsedMilliseconds}ms");
- //}
-
- //isMidFeedingProductFlag = false;
- }
-
[ProcessMethod("", "ResetProcess", "主流程复位", InvokeType.TestInvoke)]
- public ProcessResponse ResetProcess(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
+ public ProcessResponse ResetProcess(IOperationConfig config, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
if (MachineState == MachineState.Running)
{
@@ -2530,69 +1423,23 @@ namespace BRS.Process.A020
LogAsync(DateTime.Now, LogLevel.Warning, $"警告：当前状态，无法大复位");
return;
}
-
MachineState = MachineState.Resetting;
WarningRemains.Clear();
-
-
//清除报警
ResetAlarm(true);
//清料流程
ClearProduct(null, null, null);
-
////流程 关闭 操作配置
//A020Config.ProcessCloseOps.FindAll(u => u.IsEnabled).ForEach(bind =>
//{
// var device = DeviceCollection.FirstOrDefault(u => u.Id == bind.Device);
// device.RunWrap(bind.OpConfig);
//});
-
MachineState = MachineState.Ready;
}
- private void PrepareMLEngine()
- {
- //_cameraRelatedVisionEngine = new Dictionary();
- //_cameraRelatedDetectionDict = new Dictionary();
- //// List detectionList=new List();
- //DeviceCollection.Where(d => d is VisionEngineBase && d.InitialConfig.IsEnabled)
- // .ForEach(d =>
- //{
- // var _visionEngine = d as VisionEngineBase;// DeviceCollection.FirstOrDefault(u => u is VisionEngineBase) as VisionEngineBase;
-
- // _visionEngine.BatchNO = BatchNO;
-
- // // 将配置中的检测配置与相机配置关联为字典
- // List detectionList = _visionEngine.IConfig.DetectionConfigs.Where(u => u.IsEnabled).ToList();
- // if (0 == detectionList.Count)
- // {
- // throw new Exception(" 没有启用的检测配置");
- // }
-
- // detectionList.ForEach(detectConf =>
- // {
- // string camId = detectConf.CameraSourceId;
- // // 相机与VisionEngine关联字典
- // if (!_cameraRelatedVisionEngine.Keys.Contains(camId))
- // {
- // _cameraRelatedVisionEngine.Add(detectConf.CameraSourceId, _visionEngine);
- // }
- // // 相机与检测配置关联字典
- // if (!_cameraRelatedDetectionDict.Keys.Contains(camId))
- // {
- // _cameraRelatedDetectionDict.Add(detectConf.CameraSourceId, detectConf.Id);
- // }
- // });
-
-
- //});
-
- }
-
-
-
private void PrepareMotion()
{
ResetTimer = new System.Threading.Timer(FullResetProcessExcute, null, -1, -1);
@@ -2600,26 +1447,9 @@ namespace BRS.Process.A020
// this.OnUpdateResult += UpdateResult;
}
-
-
[ProcessMethod("", "CloseProcess", "主流程停止", InvokeType.TestInvoke)]
- public BRS.Common.Model.ProcessResponse CloseProcess(IOperationConfig config, IDevice invokeDevice, IDevice sourceDevice)
+ public BRS.Common.Model.ProcessResponse CloseProcess(IOperationConfig config, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
- var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- if (!IsTesting)
- NbtRobot.power_off();
-
- MachineState = MachineState.Ready;
- MachineStateStep = MachineStateStep.Pause;
-
- RobotsStatus = RobotsStatus.Pweroff;//初始点位
- ProcessStatus = ProcessStatus.Resetting;
-
- PubSubCenter.GetInstance().Publish(PubSubCenterMessageType.IsProcessOpened.ToString(), false, null);
- return new ProcessResponse(true);
-
-
-
if (_productQueue.Count > 0)
{
//var res = UIMessageDialog.ShowMessageDialog("警告：当前产品队列个数大于0，产品还未检测完成，或触发计数不一致，确定停止流程？", UILocalize.ErrorTitle, false, UIStyle.Red, true, false);
@@ -2628,20 +1458,32 @@ namespace BRS.Process.A020
// return new ProcessResponse(true);
//}
}
- //ProcessState = DeviceState.DSClose;
+ //关闭相机
+ //try
+ //{
+ // if (m_dev == null)
+ // {
+ // throw new InvalidOperationException("Device is invalid");
+ // }
+
+ // m_dev.StreamGrabber.ImageGrabbed -= OnImageGrabbed; /* 反注册回调 */
+ // m_dev.ShutdownGrab(); /* 停止码流 */
+ // m_dev.Close(); /* 关闭相机 */
+ //}
+ //catch (Exception exception)
+ //{
+
+ //}
+
+ PLCStateWarm = PLCStateWarm.ProStop;
+ OnPLCStateChanged?.Invoke(PLCStateWarm);
MachineState = MachineState.Closing;
- MachineStateStep = MachineStateStep.Pause;
- RobotsStatus = RobotsStatus.Pweroff;//初始点位
- ProcessStatus = ProcessStatus.Resetting;
+
LogAsync(DateTime.Now, LogLevel.Information, "流程停止，清料中...");
-
-
//保存 生产数据
CloseStatisticTimers();
- //var OmronPlc = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- //var NbtRobot = DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- NbtRobot.power_off();
+
//SaveProductionStatisticsAsync();
if (_productQueue.Count > 0)
{
@@ -2652,11 +1494,8 @@ namespace BRS.Process.A020
return new ProcessResponse(true);
}
#endregion
-
-
-
[ProcessMethod("", "ClearProduct", "设备清料", InvokeType.TestInvoke)]
- public ProcessResponse ClearProduct(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
+ public ProcessResponse ClearProduct(IOperationConfig opConfig, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
if (MachineState != MachineState.Ready && MachineState != MachineState.Resetting)
{
@@ -2670,7 +1509,7 @@ namespace BRS.Process.A020
}
[ProcessMethod("", "PrintLog", "打印日志", InvokeType.TestInvoke)]
- public ProcessResponse PrintLog(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
+ public ProcessResponse PrintLog(IOperationConfig opConfig, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
LogAsync(DateTime.Now, LogLevel.Warning, $"打印日志志0000");
if (MachineState != MachineState.Ready && MachineState != MachineState.Resetting)
@@ -2685,7 +1524,7 @@ namespace BRS.Process.A020
}
[ProcessMethod("", "PrintLog2", "打印日志2", InvokeType.TestInvoke)]
- public ProcessResponse PrintLog2(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
+ public ProcessResponse PrintLog2(IOperationConfig opConfig, Common.Interface.IDevice invokeDevice, Common.Interface.IDevice sourceDevice)
{
LogAsync(DateTime.Now, LogLevel.Warning, $"打印日志志000022222222222222");
if (MachineState != MachineState.Ready && MachineState != MachineState.Resetting)
diff --git a/src/BRS.Process.A020/A020Process_VisionProcessor.cs b/src/BRS.Process.A020/A020Process_VisionProcessor.cs
index f15a140..994414f 100644
--- a/src/BRS.Process.A020/A020Process_VisionProcessor.cs
+++ b/src/BRS.Process.A020/A020Process_VisionProcessor.cs
@@ -7,6 +7,7 @@ using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
+using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static BRS.Common.Model.Helper.EnumHelper;
@@ -17,8 +18,151 @@ namespace BRS.Process.A020
{
// public HTuple ModelIds;
+ double CurrentDgree = 0;//累加的角度
+ int CurrentQuanShu = 0;//当前转的圈数
+ int SpecicalLs1 = 0;//侧模特殊螺丝的数组索引
+
+ void GetCornerPoint(List VP, List VR, MyPoint Tp, ref Corner CP, ref Corner CR)
+ {
+ List vPLU = new List();
+ List vPRU = new List();
+ List vPLD = new List();
+ List vPRD = new List();
+ for (int i = 0; i < VP.Count; i++)
+ {
+ if (VP[i].dX <= Tp.dX && VP[i].dY <= Tp.dY)
+ vPLU.Add(VP[i]);
+ if (VP[i].dX > Tp.dX && VP[i].dY < Tp.dY)
+ vPRU.Add(VP[i]);
+ if (VP[i].dX < Tp.dX && VP[i].dY > Tp.dY)
+ vPLD.Add(VP[i]);
+ if (VP[i].dX > Tp.dX && VP[i].dY > Tp.dY)
+ vPRD.Add(VP[i]);
+ }
+
+ if (vPLU.Count() == 0 || vPRU.Count() == 0 || vPLD.Count() == 0 || vPRD.Count() == 0)
+ {
+ CP.LU.dX = -99999;
+ return;
+ }
+ int iIndex = 0;
+ GetNerastPoint(vPLU, Tp, ref CP.LU, ref iIndex);
+ GetNerastPoint(vPRU, Tp, ref CP.RU, ref iIndex);
+ GetNerastPoint(vPLD, Tp, ref CP.LD, ref iIndex);
+ GetNerastPoint(vPRD, Tp, ref CP.RD, ref iIndex);
+ MyPoint MP;
+ MP.dX = 0;
+ MP.dY = 0;
+ GetNerastPoint(VP, CP.LU, ref MP, ref iIndex);
+ CR.LU = VR[iIndex];
+
+ GetNerastPoint(VP, CP.RU, ref MP, ref iIndex);
+ CR.RU = VR[iIndex];
+
+ GetNerastPoint(VP, CP.LD, ref MP, ref iIndex);
+ CR.LD = VR[iIndex];
+
+ GetNerastPoint(VP, CP.RD, ref MP, ref iIndex);
+ CR.RD = VR[iIndex];
+ }
+ void GetNerastPoint(List VP, MyPoint Tp, ref MyPoint VN, ref int Index)
+ {
+ int iL = 100000000;
+ VN = VP[0];
+ Index = 0;
+ for (int i = 0; i < VP.Count(); i++)
+ {
+ int iL2 = (int)((VP[i].dX - Tp.dX) * (VP[i].dX - Tp.dX) + (VP[i].dY - Tp.dY) * (VP[i].dY - Tp.dY));
+ if (iL2 < iL)
+ {
+ iL = iL2;
+ VN = VP[i];
+ Index = i;
+ }
+ }
+ }
+ MyPoint Interpolation(List VP, List VR, MyPoint Tp, bool bTran)
+ {
+
+ Corner CP = new Corner();
+
+ Corner CR = new Corner();
+ GetCornerPoint(VP, VR, Tp, ref CP, ref CR);
+ MyPoint MR;
+ if (CP.LU.dX < -99998)
+ {
+ MR.dX = -9999999;
+ MR.dY = -9999999;
+ return MR;
+ }
+ if (bTran == true)
+ {
+ double dTm;
+ dTm = CR.LU.dX;
+ CR.LU.dX = CR.LU.dY;
+ CR.LU.dY = dTm;
+
+ dTm = CR.RU.dX;
+ CR.RU.dX = CR.RU.dY;
+ CR.RU.dY = dTm;
+
+ dTm = CR.LD.dX;
+ CR.LD.dX = CR.LD.dY;
+ CR.LD.dY = dTm;
+
+ dTm = CR.RD.dX;
+ CR.RD.dX = CR.RD.dY;
+ CR.RD.dY = dTm;
+ }
+
+ MyPoint PU;
+ PU.dX = 0; PU.dY = 0;
+ MyPoint RU;
+ RU.dX = 0; RU.dY = 0;
+ MyPoint PD;
+ PD.dX = 0; PD.dY = 0;
+ MyPoint RD;
+ RD.dX = 0; RD.dY = 0;
+ GetUpPoint(CP, CR, Tp, ref PU, ref RU);
+ GetDownPoint(CP, CR, Tp, ref PD, ref RD);
+
+ float fDU = (float)(Tp.dY - PU.dY);
+ float fDA = (float)(PD.dY - PU.dY);
+
+ float fX = (float)(RU.dX * (1 - fDU / fDA) + RD.dX * fDU / fDA);
+ float fY = (float)(RU.dY * (1 - fDU / fDA) + RD.dY * fDU / fDA); ;
+
+
+ if (bTran == true)
+ {
+ MR.dX = fY;
+ MR.dY = fX;
+ }
+ else
+ {
+ MR.dX = fX;
+ MR.dY = fY;
+ }
+ return MR;
+ }
+
+ void GetUpPoint(Corner CP, Corner CR, MyPoint Tp, ref MyPoint PU, ref MyPoint RU)
+ {
+ PU.dX = Tp.dX;
+ PU.dY = (Tp.dX - CP.LU.dX) * 1.0 / (CP.RU.dX - CP.LU.dX) * (CP.RU.dY - CP.LU.dY) + CP.LU.dY;
+ RU.dX = (PU.dX - CP.LU.dX) * 1.0 / (CP.RU.dX - CP.LU.dX) * (CR.RU.dX - CR.LU.dX) + CR.LU.dX;
+ RU.dY = (PU.dY - CP.LU.dY) * 1.0 / (CP.RU.dY - CP.LU.dY) * (CR.RU.dY - CR.LU.dY) + CR.LU.dY;
+ }
+
+ void GetDownPoint(Corner CP, Corner CR, MyPoint Tp, ref MyPoint PD, ref MyPoint RD)
+ {
+ PD.dX = Tp.dX;
+ PD.dY = (Tp.dX - CP.LD.dX) * 1.0 / (CP.RD.dX - CP.LD.dX) * (CP.RD.dY - CP.LD.dY) + CP.LD.dY;
+ RD.dX = (PD.dX - CP.LD.dX) * 1.0 / (CP.RD.dX - CP.LD.dX) * (CR.RD.dX - CR.LD.dX) + CR.LD.dX;
+ RD.dY = (PD.dY - CP.LD.dY) * 1.0 / (CP.RD.dY - CP.LD.dY) * (CR.RD.dY - CR.LD.dY) + CR.LD.dY;
+ }
///
/// 相机拍摄图片后的回调函数
///
@@ -190,8 +334,94 @@ namespace BRS.Process.A020
// });
//}
+ private void TCPseverDriver_OnDataReceived(byte[] obj)
+ {
+ bool fin = false;
+ string msg = string.Empty;
+ // LogAsync(DateTime.Now, LogLevel.Action, obj.);
+ msg = Encoding.Default.GetString(obj);
+ LogAsync(DateTime.Now, LogLevel.Action, msg);
+ if (obj.Length > 0)
+ fin = true;
+
+ Console.WriteLine(DateTime.Now + "=============================================================wanbi" + CurrentDgree.ToString() + " " + CurrentQuanShu.ToString() + " 次数" + SpecicalLs1.ToString());
+
+ #region 流程2边移动第七轴边动边机械臂移动到某个点
+ if (ProcessStatus == ProcessStatus.Init && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ ProcessStatus = ProcessStatus.InitPlc;
+ RobotsStatus = RobotsStatus.Release;
+ DownCirce = DownCirce.DownCirceRuning;
+ }
+ #endregion
+ #region 初始示教点移动
+
+ if (ProcessStatus == ProcessStatus.MoveInit && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ ProcessStatus = ProcessStatus.Measure;
+ RobotsStatus = RobotsStatus.Release;
+ DownCirce = DownCirce.DownCirceRuning;
+ }
+ #endregion
+ #region 测距信息正常则流程打开光源 若不正常继续移动机械臂直到正常
+ if (ProcessStatus == ProcessStatus.Measure && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ DownCirce = DownCirce.DownCirceRuning;
+ ProcessStatus = ProcessStatus.OpenLight;
+ RobotsStatus = RobotsStatus.Release;
+ }
+ #endregion
+ #region 视觉定位
+ if (ProcessStatus == ProcessStatus.CVLocation && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ //ProcessStatus = ProcessStatus.StartRunDown;
+ ProcessStatus = ProcessStatus.StartRun;
+ RobotsStatus = RobotsStatus.Release;
+ DownCirce = DownCirce.DownCirceRuning;
+ }
+ if (ProcessStatus == ProcessStatus.StartRunDown && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ ProcessStatus = ProcessStatus.StartRun;
+ RobotsStatus = RobotsStatus.Release;
+ DownCirce = DownCirce.DownCirceRuning;
+ }
+ if (ProcessStatus == ProcessStatus.StartRun && RobotsStatus == RobotsStatus.Runing && msg == "wanbi")
+ {
+ msg = string.Empty;
+ ProcessStatus = ProcessStatus.StartRuning;
+ RobotsStatus = RobotsStatus.Release;
+ }
+ #endregion
+
+
+ }
+ ///
+ /// 示教标定点+偏移量=拍摄螺丝点
+ ///
+ ///
+ ///
+ ///
+ public StrRobotPoint CQRobotPointChangeStrRobotPoint(CQRobotPoint cQRobotPoint, VPVRPoint vPVRPoint)
+ {
+ float X_dev = vPVRPoint.X;
+ float Y_dev = vPVRPoint.Y;
+ float Z_dev = vPVRPoint.Z;
+ StrRobotPoint strRobotPoint = new StrRobotPoint();
+ strRobotPoint.X = cQRobotPoint.X + X_dev;
+ strRobotPoint.Y = cQRobotPoint.Y + Y_dev;
+ strRobotPoint.Z = cQRobotPoint.Z + Z_dev;
+ strRobotPoint.A = cQRobotPoint.O;
+ strRobotPoint.B = cQRobotPoint.A;
+ strRobotPoint.C = cQRobotPoint.T;
+ return strRobotPoint;
+ }
private void BlowTaskExcute(int delayBlow)
{
diff --git a/src/BRS.Process.A020/BRS.Process.A020.csproj b/src/BRS.Process.A020/BRS.Process.A020.csproj
index af81fcd..2be75d3 100644
--- a/src/BRS.Process.A020/BRS.Process.A020.csproj
+++ b/src/BRS.Process.A020/BRS.Process.A020.csproj
@@ -1,5 +1,6 @@
+
Debug
@@ -13,6 +14,8 @@
512
true
+
+
true
@@ -43,6 +46,10 @@
False
..\Release\BRS.UI.Device.Winform.dll
+
+ False
+ C:\Program Files\DahuaTech\MV Viewer\Development\DOTNET DLL\DOTNET_4.0\x86\CLIDelegate.dll
+
..\..\packages\HZH_Controls.1.0.14\lib\net40\HZH_Controls.dll
@@ -56,6 +63,18 @@
..\..\packages\OpenCvSharp4.4.6.0.20220608\lib\netstandard2.0\OpenCvSharp.dll
True
+
+ ..\..\packages\OpenCvSharp4.Extensions.4.5.5.20211231\lib\netstandard2.0\OpenCvSharp.Extensions.dll
+
+
+ ..\..\packages\STTech.BytesIO.Core.2.9.3\lib\net45\STTech.BytesIO.Core.dll
+
+
+ ..\..\packages\STTech.BytesIO.Tcp.2.9.3\lib\net45\STTech.BytesIO.Tcp.dll
+
+
+ ..\..\packages\STTech.CodePlus.1.4.0\lib\net45\STTech.CodePlus.dll
+
..\..\packages\SunnyUI.3.3.1\lib\net40\SunnyUI.dll
@@ -73,6 +92,9 @@
..\..\packages\System.Diagnostics.DiagnosticSource.4.7.1\lib\net46\System.Diagnostics.DiagnosticSource.dll
+
+ ..\..\packages\System.Drawing.Common.5.0.3\lib\net461\System.Drawing.Common.dll
+
..\..\packages\System.Memory.4.5.5\lib\net461\System.Memory.dll
@@ -95,6 +117,10 @@
+
+ False
+ C:\Program Files\DahuaTech\MV Viewer\Development\DOTNET DLL\DOTNET_4.0\x86\ThridLibray.dll
+
..\..\packages\DockPanelSuite.3.1.0\lib\net40\WeifenLuo.WinFormsUI.Docking.dll
@@ -130,12 +156,6 @@
ContorlShaft.cs
-
- Form
-
-
- ControlSet.cs
-
Form
@@ -164,10 +184,6 @@
{1a3cbfe7-3f78-42c3-95c5-10360450dbea}
BRS.Common.Model
-
- {560cc80b-389b-46fc-9b8c-da1d62a555d9}
- BRS.Device.OmronPLC
-
{197c5aa8-9609-4d1c-b1e3-5879006eaaf4}
BRS.Process
@@ -176,6 +192,10 @@
{741f6491-57c7-479a-b391-09bba9fba9dc}
BRS.UI.Model.Winform
+
+ {91739e90-6a8e-433d-b244-5325f8848064}
+ XKRS.Device.TCPSever
+
@@ -196,9 +216,6 @@
ContorlShaft.cs
-
- ControlSet.cs
-
OperationFrm.cs
@@ -209,10 +226,19 @@
VisionDebugForm.cs
+
+
+
+
+
+ 这台计算机上缺少此项目引用的 NuGet 程序包。使用“NuGet 程序包还原”可下载这些程序包。有关更多信息，请参见 http://go.microsoft.com/fwlink/?LinkID=322105。缺少的文件是 {0}。
+
+
+
\ No newline at end of file
diff --git a/src/BRS.Process.A020/ContolPlc.cs b/src/BRS.Process.A020/ContolPlc.cs
index d53cdeb..6f36303 100644
--- a/src/BRS.Process.A020/ContolPlc.cs
+++ b/src/BRS.Process.A020/ContolPlc.cs
@@ -192,33 +192,7 @@ namespace BRS.Process.A020.UI
///
private void button2_2_Click(object sender, EventArgs e)
{
- var OmronPlc = Process_A020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- var NbtRobot = Process_A020.DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- RobotPoint x1 = NbtRobot.IConfig.RobotInitPosition; //NbtRobot.IConfig.X1Point;
- StrRobotPoint initPoint = ClassChangeStruct(x1);
- int speed = 1000;//机械臂运动速度 m/s
- //机械手回到初始点
- NbtRobot.Move(initPoint, speed, true);
- int stop_ss=1;
- while (stop_ss==1)
- {
- Thread.Sleep(1000);
-
- if (NbtRobot.get_status() == 0)
- {
- stop_ss = 0; ;
- }
- }
- //2.D11 1-0 PC→PLC //机械手复位回到初始点完成
- // 3.D21 0 - 1 PC → PLC //夹具打开回到初始位置
- PcToPlcWrite(OmronPlc, "D11", "1", "0");
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
- Thread.Sleep(1000);
- PcToPlcWrite(OmronPlc, "D11", "0", "1");
- PcToPlcWrite(OmronPlc, "D21", "0", "1");
- Thread.Sleep(200);
- PcToPlcWrite(OmronPlc, "D21", "1", "0");
- //Thread.Sleep(15000);
+
}
///
diff --git a/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs b/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs
index 7a79165..12af6d6 100644
--- a/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs
+++ b/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs
@@ -69,12 +69,21 @@ namespace BRS.Process.A020.UI
this.LightSeries = new Sunny.UI.UIPanel();
this.label12 = new System.Windows.Forms.Label();
this.label11 = new System.Windows.Forms.Label();
+ this.ManualLight = new BRS.Process.A020.UI.CircleButton();
+ this.AutoLight = new BRS.Process.A020.UI.CircleButton();
+ this.MoveStateLight1 = new BRS.Process.A020.UI.CircleButton();
+ this.StopStateLight1 = new BRS.Process.A020.UI.CircleButton();
+ this.ToughLight1 = new BRS.Process.A020.UI.CircleButton();
+ this.LoosenLight1 = new BRS.Process.A020.UI.CircleButton();
this.label1 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.uiPanel2 = new Sunny.UI.UIPanel();
this.label14 = new System.Windows.Forms.Label();
+ this.AutoBtn1 = new BRS.Process.A020.UI.CircleButton();
+ this.ManualBtn1 = new BRS.Process.A020.UI.CircleButton();
+ this.ESBtn = new BRS.Process.A020.UI.CircleButton();
this.TestBtn = new Sunny.UI.UIButton();
this.StopBtn2 = new Sunny.UI.UIButton();
this.StartBtn1 = new Sunny.UI.UIButton();
@@ -86,15 +95,6 @@ namespace BRS.Process.A020.UI
this.chart1 = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.uiButton1 = new Sunny.UI.UIButton();
this.timer2 = new System.Windows.Forms.Timer(this.components);
- this.ManualLight = new BRS.Process.A020.UI.CircleButton();
- this.AutoLight = new BRS.Process.A020.UI.CircleButton();
- this.MoveStateLight1 = new BRS.Process.A020.UI.CircleButton();
- this.StopStateLight1 = new BRS.Process.A020.UI.CircleButton();
- this.ToughLight1 = new BRS.Process.A020.UI.CircleButton();
- this.LoosenLight1 = new BRS.Process.A020.UI.CircleButton();
- this.AutoBtn1 = new BRS.Process.A020.UI.CircleButton();
- this.ManualBtn1 = new BRS.Process.A020.UI.CircleButton();
- this.ESBtn = new BRS.Process.A020.UI.CircleButton();
((System.ComponentModel.ISupportInitialize)(this.chart2)).BeginInit();
this.uiPanel1.SuspendLayout();
this.BtnSeries.SuspendLayout();
@@ -258,11 +258,11 @@ namespace BRS.Process.A020.UI
this.BtnSeries.Controls.Add(this.AutoLoosenBtn1);
this.BtnSeries.Controls.Add(this.ManualToughBtn);
this.BtnSeries.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.BtnSeries.Location = new System.Drawing.Point(335, 201);
+ this.BtnSeries.Location = new System.Drawing.Point(352, 155);
this.BtnSeries.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.BtnSeries.MinimumSize = new System.Drawing.Size(1, 1);
this.BtnSeries.Name = "BtnSeries";
- this.BtnSeries.Size = new System.Drawing.Size(368, 345);
+ this.BtnSeries.Size = new System.Drawing.Size(367, 391);
this.BtnSeries.TabIndex = 40;
this.BtnSeries.Text = null;
this.BtnSeries.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@@ -353,11 +353,11 @@ namespace BRS.Process.A020.UI
this.ParameterSetting.Controls.Add(this.textBox3);
this.ParameterSetting.Controls.Add(this.label8);
this.ParameterSetting.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.ParameterSetting.Location = new System.Drawing.Point(12, 201);
+ this.ParameterSetting.Location = new System.Drawing.Point(12, 152);
this.ParameterSetting.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.ParameterSetting.MinimumSize = new System.Drawing.Size(1, 1);
this.ParameterSetting.Name = "ParameterSetting";
- this.ParameterSetting.Size = new System.Drawing.Size(317, 345);
+ this.ParameterSetting.Size = new System.Drawing.Size(332, 394);
this.ParameterSetting.TabIndex = 39;
this.ParameterSetting.Text = null;
this.ParameterSetting.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@@ -522,7 +522,7 @@ namespace BRS.Process.A020.UI
this.LightSeries.Controls.Add(this.label3);
this.LightSeries.Controls.Add(this.label4);
this.LightSeries.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.LightSeries.Location = new System.Drawing.Point(189, 12);
+ this.LightSeries.Location = new System.Drawing.Point(219, 5);
this.LightSeries.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.LightSeries.MinimumSize = new System.Drawing.Size(1, 1);
this.LightSeries.Name = "LightSeries";
@@ -554,6 +554,64 @@ namespace BRS.Process.A020.UI
this.label11.Text = "自动拧紧状态\r\n指示灯";
this.label11.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
+ // ManualLight
+ //
+ this.ManualLight.BackColor = System.Drawing.Color.Gray;
+ this.ManualLight.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.ManualLight.Enabled = false;
+ this.ManualLight.Location = new System.Drawing.Point(672, 7);
+ this.ManualLight.Name = "ManualLight";
+ this.ManualLight.Size = new System.Drawing.Size(90, 90);
+ this.ManualLight.TabIndex = 25;
+ this.ManualLight.UseVisualStyleBackColor = false;
+ //
+ // AutoLight
+ //
+ this.AutoLight.BackColor = System.Drawing.Color.Gray;
+ this.AutoLight.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.AutoLight.Enabled = false;
+ this.AutoLight.Location = new System.Drawing.Point(541, 7);
+ this.AutoLight.Name = "AutoLight";
+ this.AutoLight.Size = new System.Drawing.Size(90, 90);
+ this.AutoLight.TabIndex = 24;
+ this.AutoLight.UseVisualStyleBackColor = false;
+ //
+ // MoveStateLight1
+ //
+ this.MoveStateLight1.BackColor = System.Drawing.Color.Gray;
+ this.MoveStateLight1.Location = new System.Drawing.Point(17, 7);
+ this.MoveStateLight1.Name = "MoveStateLight1";
+ this.MoveStateLight1.Size = new System.Drawing.Size(90, 90);
+ this.MoveStateLight1.TabIndex = 3;
+ this.MoveStateLight1.UseVisualStyleBackColor = false;
+ //
+ // StopStateLight1
+ //
+ this.StopStateLight1.BackColor = System.Drawing.Color.Gray;
+ this.StopStateLight1.Location = new System.Drawing.Point(148, 7);
+ this.StopStateLight1.Name = "StopStateLight1";
+ this.StopStateLight1.Size = new System.Drawing.Size(90, 90);
+ this.StopStateLight1.TabIndex = 15;
+ this.StopStateLight1.UseVisualStyleBackColor = false;
+ //
+ // ToughLight1
+ //
+ this.ToughLight1.BackColor = System.Drawing.Color.Gray;
+ this.ToughLight1.Location = new System.Drawing.Point(279, 7);
+ this.ToughLight1.Name = "ToughLight1";
+ this.ToughLight1.Size = new System.Drawing.Size(90, 90);
+ this.ToughLight1.TabIndex = 16;
+ this.ToughLight1.UseVisualStyleBackColor = false;
+ //
+ // LoosenLight1
+ //
+ this.LoosenLight1.BackColor = System.Drawing.Color.Gray;
+ this.LoosenLight1.Location = new System.Drawing.Point(410, 7);
+ this.LoosenLight1.Name = "LoosenLight1";
+ this.LoosenLight1.Size = new System.Drawing.Size(90, 90);
+ this.LoosenLight1.TabIndex = 17;
+ this.LoosenLight1.UseVisualStyleBackColor = false;
+ //
// label1
//
this.label1.AutoSize = true;
@@ -605,11 +663,11 @@ namespace BRS.Process.A020.UI
this.uiPanel2.Controls.Add(this.ManualBtn1);
this.uiPanel2.Controls.Add(this.ESBtn);
this.uiPanel2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel2.Location = new System.Drawing.Point(711, 201);
+ this.uiPanel2.Location = new System.Drawing.Point(728, 155);
this.uiPanel2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.uiPanel2.MinimumSize = new System.Drawing.Size(1, 1);
this.uiPanel2.Name = "uiPanel2";
- this.uiPanel2.Size = new System.Drawing.Size(290, 345);
+ this.uiPanel2.Size = new System.Drawing.Size(303, 391);
this.uiPanel2.TabIndex = 37;
this.uiPanel2.Text = null;
this.uiPanel2.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@@ -626,6 +684,42 @@ namespace BRS.Process.A020.UI
this.label14.Text = "操作按钮";
this.label14.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
+ // AutoBtn1
+ //
+ this.AutoBtn1.BackColor = System.Drawing.Color.Gray;
+ this.AutoBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.AutoBtn1.Location = new System.Drawing.Point(3, 73);
+ this.AutoBtn1.Name = "AutoBtn1";
+ this.AutoBtn1.Size = new System.Drawing.Size(104, 104);
+ this.AutoBtn1.TabIndex = 18;
+ this.AutoBtn1.Text = "自动按钮";
+ this.AutoBtn1.UseVisualStyleBackColor = false;
+ this.AutoBtn1.Click += new System.EventHandler(this.AutoBtn1_Click);
+ //
+ // ManualBtn1
+ //
+ this.ManualBtn1.BackColor = System.Drawing.Color.Gray;
+ this.ManualBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.ManualBtn1.Location = new System.Drawing.Point(3, 183);
+ this.ManualBtn1.Name = "ManualBtn1";
+ this.ManualBtn1.Size = new System.Drawing.Size(104, 104);
+ this.ManualBtn1.TabIndex = 19;
+ this.ManualBtn1.Text = "手动按钮";
+ this.ManualBtn1.UseVisualStyleBackColor = false;
+ this.ManualBtn1.Click += new System.EventHandler(this.ManualBtn1_Click);
+ //
+ // ESBtn
+ //
+ this.ESBtn.BackColor = System.Drawing.Color.Red;
+ this.ESBtn.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.ESBtn.Location = new System.Drawing.Point(150, 107);
+ this.ESBtn.Name = "ESBtn";
+ this.ESBtn.Size = new System.Drawing.Size(137, 137);
+ this.ESBtn.TabIndex = 0;
+ this.ESBtn.Text = "急停";
+ this.ESBtn.UseVisualStyleBackColor = false;
+ this.ESBtn.Click += new System.EventHandler(this.ESBtn_Click);
+ //
// TestBtn
//
this.TestBtn.Cursor = System.Windows.Forms.Cursors.Hand;
@@ -643,10 +737,10 @@ namespace BRS.Process.A020.UI
//
this.StopBtn2.Cursor = System.Windows.Forms.Cursors.Hand;
this.StopBtn2.Font = new System.Drawing.Font("宋体", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.StopBtn2.Location = new System.Drawing.Point(12, 105);
+ this.StopBtn2.Location = new System.Drawing.Point(116, 12);
this.StopBtn2.MinimumSize = new System.Drawing.Size(1, 1);
this.StopBtn2.Name = "StopBtn2";
- this.StopBtn2.Size = new System.Drawing.Size(96, 85);
+ this.StopBtn2.Size = new System.Drawing.Size(96, 141);
this.StopBtn2.TabIndex = 8;
this.StopBtn2.Text = "停止";
this.StopBtn2.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
@@ -660,7 +754,7 @@ namespace BRS.Process.A020.UI
this.StartBtn1.Location = new System.Drawing.Point(12, 12);
this.StartBtn1.MinimumSize = new System.Drawing.Size(1, 1);
this.StartBtn1.Name = "StartBtn1";
- this.StartBtn1.Size = new System.Drawing.Size(96, 85);
+ this.StartBtn1.Size = new System.Drawing.Size(96, 141);
this.StartBtn1.TabIndex = 7;
this.StartBtn1.Text = "开始";
this.StartBtn1.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
@@ -758,100 +852,6 @@ namespace BRS.Process.A020.UI
this.timer2.Interval = 1000;
this.timer2.Tick += new System.EventHandler(this.timer2_Tick);
//
- // ManualLight
- //
- this.ManualLight.BackColor = System.Drawing.Color.Gray;
- this.ManualLight.Cursor = System.Windows.Forms.Cursors.Hand;
- this.ManualLight.Enabled = false;
- this.ManualLight.Location = new System.Drawing.Point(672, 7);
- this.ManualLight.Name = "ManualLight";
- this.ManualLight.Size = new System.Drawing.Size(90, 90);
- this.ManualLight.TabIndex = 25;
- this.ManualLight.UseVisualStyleBackColor = false;
- //
- // AutoLight
- //
- this.AutoLight.BackColor = System.Drawing.Color.Gray;
- this.AutoLight.Cursor = System.Windows.Forms.Cursors.Hand;
- this.AutoLight.Enabled = false;
- this.AutoLight.Location = new System.Drawing.Point(541, 7);
- this.AutoLight.Name = "AutoLight";
- this.AutoLight.Size = new System.Drawing.Size(90, 90);
- this.AutoLight.TabIndex = 24;
- this.AutoLight.UseVisualStyleBackColor = false;
- //
- // MoveStateLight1
- //
- this.MoveStateLight1.BackColor = System.Drawing.Color.Gray;
- this.MoveStateLight1.Location = new System.Drawing.Point(17, 7);
- this.MoveStateLight1.Name = "MoveStateLight1";
- this.MoveStateLight1.Size = new System.Drawing.Size(90, 90);
- this.MoveStateLight1.TabIndex = 3;
- this.MoveStateLight1.UseVisualStyleBackColor = false;
- //
- // StopStateLight1
- //
- this.StopStateLight1.BackColor = System.Drawing.Color.Gray;
- this.StopStateLight1.Location = new System.Drawing.Point(148, 7);
- this.StopStateLight1.Name = "StopStateLight1";
- this.StopStateLight1.Size = new System.Drawing.Size(90, 90);
- this.StopStateLight1.TabIndex = 15;
- this.StopStateLight1.UseVisualStyleBackColor = false;
- //
- // ToughLight1
- //
- this.ToughLight1.BackColor = System.Drawing.Color.Gray;
- this.ToughLight1.Location = new System.Drawing.Point(279, 7);
- this.ToughLight1.Name = "ToughLight1";
- this.ToughLight1.Size = new System.Drawing.Size(90, 90);
- this.ToughLight1.TabIndex = 16;
- this.ToughLight1.UseVisualStyleBackColor = false;
- //
- // LoosenLight1
- //
- this.LoosenLight1.BackColor = System.Drawing.Color.Gray;
- this.LoosenLight1.Location = new System.Drawing.Point(410, 7);
- this.LoosenLight1.Name = "LoosenLight1";
- this.LoosenLight1.Size = new System.Drawing.Size(90, 90);
- this.LoosenLight1.TabIndex = 17;
- this.LoosenLight1.UseVisualStyleBackColor = false;
- //
- // AutoBtn1
- //
- this.AutoBtn1.BackColor = System.Drawing.Color.Gray;
- this.AutoBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.AutoBtn1.Location = new System.Drawing.Point(3, 73);
- this.AutoBtn1.Name = "AutoBtn1";
- this.AutoBtn1.Size = new System.Drawing.Size(104, 104);
- this.AutoBtn1.TabIndex = 18;
- this.AutoBtn1.Text = "自动按钮";
- this.AutoBtn1.UseVisualStyleBackColor = false;
- this.AutoBtn1.Click += new System.EventHandler(this.AutoBtn1_Click);
- //
- // ManualBtn1
- //
- this.ManualBtn1.BackColor = System.Drawing.Color.Gray;
- this.ManualBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.ManualBtn1.Location = new System.Drawing.Point(3, 183);
- this.ManualBtn1.Name = "ManualBtn1";
- this.ManualBtn1.Size = new System.Drawing.Size(104, 104);
- this.ManualBtn1.TabIndex = 19;
- this.ManualBtn1.Text = "手动按钮";
- this.ManualBtn1.UseVisualStyleBackColor = false;
- this.ManualBtn1.Click += new System.EventHandler(this.ManualBtn1_Click);
- //
- // ESBtn
- //
- this.ESBtn.BackColor = System.Drawing.Color.Red;
- this.ESBtn.Cursor = System.Windows.Forms.Cursors.Hand;
- this.ESBtn.Location = new System.Drawing.Point(150, 107);
- this.ESBtn.Name = "ESBtn";
- this.ESBtn.Size = new System.Drawing.Size(137, 137);
- this.ESBtn.TabIndex = 0;
- this.ESBtn.Text = "急停";
- this.ESBtn.UseVisualStyleBackColor = false;
- this.ESBtn.Click += new System.EventHandler(this.ESBtn_Click);
- //
// 扭矩轴控制
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
diff --git a/src/BRS.Process.A020/UI/ContorlShaft.cs b/src/BRS.Process.A020/UI/ContorlShaft.cs
index 65f1151..db11d28 100644
--- a/src/BRS.Process.A020/UI/ContorlShaft.cs
+++ b/src/BRS.Process.A020/UI/ContorlShaft.cs
@@ -565,6 +565,7 @@ namespace BRS.Process.A020.UI
this.StopStateLight1.BackColor = Color.Red;
this.MoveStateLight1.BackColor = Color.Gray;
+ this.AutoLight.BackColor = Color.Red;
timer1.Stop();
timer2.Stop();
isOpenAuto = false;
@@ -720,6 +721,7 @@ namespace BRS.Process.A020.UI
ProcessWriteInt(MelsecPLC, "D7", "int", "1");
AutoBtn1.BackColor = Color.GreenYellow;
ManualBtn1.BackColor = Color.Gray;
+ AutoLight.BackColor = Color.Red;
is_btn_manual = false;
}
}
@@ -795,6 +797,7 @@ namespace BRS.Process.A020.UI
isOpenAuto = true;
ProcessA020.IsSingleStepOperating = true;
ProcessA020.ShaftAutoTough(MachineState.Ready);
+ AutoLight.BackColor = Color.GreenYellow;
timer1.Start();
timer2.Start();
}
@@ -936,6 +939,7 @@ namespace BRS.Process.A020.UI
this.MoveStateLight1.BackColor = Color.Gray;
this.ToughLight1.BackColor = Color.Gray;
this.LoosenLight1.BackColor = Color.Gray;
+ this.AutoLight.BackColor = Color.Gray;
//将急停按钮变为复位按钮
ESBtn.Text = "复位";
ESBtn.BackColor = Color.GreenYellow;
@@ -1046,8 +1050,9 @@ namespace BRS.Process.A020.UI
private void 扭矩轴控制_FormClosing(object sender, FormClosingEventArgs e)
{
- var MelsecPLC = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
- ProcessWriteInt(MelsecPLC, "D7", "int", "0");
+
+ //var MelsecPLC = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
+ //ProcessWriteInt(MelsecPLC, "D7", "int", "0");
}
}
}
diff --git a/src/BRS.Process.A020/UI/ControlSet.Designer.cs b/src/BRS.Process.A020/UI/ControlSet.Designer.cs
deleted file mode 100644
index 744a258..0000000
--- a/src/BRS.Process.A020/UI/ControlSet.Designer.cs
+++ /dev/null
@@ -1,699 +0,0 @@
-
-namespace BRS.Process.A020.UI
-{
- partial class ControlSet
- {
- ///
- /// Required designer variable.
- ///
- private System.ComponentModel.IContainer components = null;
-
- ///
- /// Clean up any resources being used.
- ///
- /// true if managed resources should be disposed; otherwise, false.
- protected override void Dispose(bool disposing)
- {
- if (disposing && (components != null))
- {
- components.Dispose();
- }
- base.Dispose(disposing);
- }
-
- #region Windows Form Designer generated code
-
- ///
- /// Required method for Designer support - do not modify
- /// the contents of this method with the code editor.
- ///
- private void InitializeComponent()
- {
- this.splitContainer1 = new System.Windows.Forms.SplitContainer();
- this.uiTitlePanel1 = new Sunny.UI.UITitlePanel();
- this.uiPanel2 = new Sunny.UI.UIPanel();
- this.btn_down1_2 = new Sunny.UI.UIButton();
- this.btn_load1_2 = new Sunny.UI.UIButton();
- this.cmb_sizechoose1_2 = new Sunny.UI.UIComboBox();
- this.uiPanel4 = new Sunny.UI.UIPanel();
- this.uiPanel1 = new Sunny.UI.UIPanel();
- this.btn_down1_1 = new Sunny.UI.UIButton();
- this.cmb_sizechoose1_1 = new Sunny.UI.UIComboBox();
- this.btn_load1_1 = new Sunny.UI.UIButton();
- this.uiPanel3 = new Sunny.UI.UIPanel();
- this.uiTitlePanel2 = new Sunny.UI.UITitlePanel();
- this.uiPanel5 = new Sunny.UI.UIPanel();
- this.btn_down2_2 = new Sunny.UI.UIButton();
- this.btn_load2_2 = new Sunny.UI.UIButton();
- this.cmb_sizechoose2_2 = new Sunny.UI.UIComboBox();
- this.uiPanel6 = new Sunny.UI.UIPanel();
- this.uiPanel7 = new Sunny.UI.UIPanel();
- this.btn_down2_1 = new Sunny.UI.UIButton();
- this.btn_load2_1 = new Sunny.UI.UIButton();
- this.cmb_sizechoose2_1 = new Sunny.UI.UIComboBox();
- this.uiPanel8 = new Sunny.UI.UIPanel();
- this.btn_robotset = new Sunny.UI.UIButton();
- this.btn_plcset = new Sunny.UI.UIButton();
- this.btn_reset = new Sunny.UI.UIButton();
- this.btn_auto = new Sunny.UI.UIButton();
- this.btn_manual = new Sunny.UI.UIButton();
- this.btn_stop = new Sunny.UI.UIButton();
- this.btn_pause = new Sunny.UI.UIButton();
- this.btn_start = new Sunny.UI.UIButton();
- this.uiTableLayoutPanel1 = new Sunny.UI.UITableLayoutPanel();
- ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
- this.splitContainer1.Panel1.SuspendLayout();
- this.splitContainer1.Panel2.SuspendLayout();
- this.splitContainer1.SuspendLayout();
- this.uiTitlePanel1.SuspendLayout();
- this.uiPanel2.SuspendLayout();
- this.uiPanel1.SuspendLayout();
- this.uiTitlePanel2.SuspendLayout();
- this.uiPanel5.SuspendLayout();
- this.uiPanel7.SuspendLayout();
- this.uiTableLayoutPanel1.SuspendLayout();
- this.SuspendLayout();
- //
- // splitContainer1
- //
- this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill;
- this.splitContainer1.Location = new System.Drawing.Point(112, 0);
- this.splitContainer1.Name = "splitContainer1";
- //
- // splitContainer1.Panel1
- //
- this.splitContainer1.Panel1.Controls.Add(this.uiTitlePanel1);
- //
- // splitContainer1.Panel2
- //
- this.splitContainer1.Panel2.Controls.Add(this.uiTitlePanel2);
- this.splitContainer1.Size = new System.Drawing.Size(908, 545);
- this.splitContainer1.SplitterDistance = 442;
- this.splitContainer1.TabIndex = 8;
- //
- // uiTitlePanel1
- //
- this.uiTitlePanel1.Controls.Add(this.uiPanel2);
- this.uiTitlePanel1.Controls.Add(this.uiPanel1);
- this.uiTitlePanel1.Dock = System.Windows.Forms.DockStyle.Fill;
- this.uiTitlePanel1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiTitlePanel1.Location = new System.Drawing.Point(0, 0);
- this.uiTitlePanel1.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiTitlePanel1.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiTitlePanel1.Name = "uiTitlePanel1";
- this.uiTitlePanel1.Padding = new System.Windows.Forms.Padding(0, 35, 0, 0);
- this.uiTitlePanel1.Radius = 0;
- this.uiTitlePanel1.ShowText = false;
- this.uiTitlePanel1.Size = new System.Drawing.Size(442, 545);
- this.uiTitlePanel1.TabIndex = 7;
- this.uiTitlePanel1.Text = "1号硫化机";
- this.uiTitlePanel1.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiTitlePanel1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // uiPanel2
- //
- this.uiPanel2.Controls.Add(this.btn_down1_2);
- this.uiPanel2.Controls.Add(this.btn_load1_2);
- this.uiPanel2.Controls.Add(this.cmb_sizechoose1_2);
- this.uiPanel2.Controls.Add(this.uiPanel4);
- this.uiPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
- this.uiPanel2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel2.Location = new System.Drawing.Point(0, 296);
- this.uiPanel2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel2.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel2.Name = "uiPanel2";
- this.uiPanel2.Radius = 4;
- this.uiPanel2.Size = new System.Drawing.Size(442, 249);
- this.uiPanel2.TabIndex = 1;
- this.uiPanel2.Text = null;
- this.uiPanel2.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_down1_2
- //
- this.btn_down1_2.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_down1_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down1_2.Location = new System.Drawing.Point(184, 144);
- this.btn_down1_2.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_down1_2.Name = "btn_down1_2";
- this.btn_down1_2.Size = new System.Drawing.Size(100, 35);
- this.btn_down1_2.TabIndex = 3;
- this.btn_down1_2.Text = "下料";
- this.btn_down1_2.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down1_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_down1_2.Click += new System.EventHandler(this.btn_down1_2_Click);
- //
- // btn_load1_2
- //
- this.btn_load1_2.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_load1_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load1_2.Location = new System.Drawing.Point(184, 72);
- this.btn_load1_2.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_load1_2.Name = "btn_load1_2";
- this.btn_load1_2.Size = new System.Drawing.Size(100, 35);
- this.btn_load1_2.TabIndex = 2;
- this.btn_load1_2.Text = "上料";
- this.btn_load1_2.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load1_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_load1_2.Click += new System.EventHandler(this.btn_load1_2_Click);
- //
- // cmb_sizechoose1_2
- //
- this.cmb_sizechoose1_2.DataSource = null;
- this.cmb_sizechoose1_2.Dock = System.Windows.Forms.DockStyle.Top;
- this.cmb_sizechoose1_2.DropDownStyle = Sunny.UI.UIDropDownStyle.DropDownList;
- this.cmb_sizechoose1_2.FillColor = System.Drawing.Color.White;
- this.cmb_sizechoose1_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.cmb_sizechoose1_2.Items.AddRange(new object[] {
- "",
- "12",
- "13",
- "14",
- "15",
- "16",
- "17",
- "18"});
- this.cmb_sizechoose1_2.Location = new System.Drawing.Point(116, 0);
- this.cmb_sizechoose1_2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.cmb_sizechoose1_2.MinimumSize = new System.Drawing.Size(63, 0);
- this.cmb_sizechoose1_2.Name = "cmb_sizechoose1_2";
- this.cmb_sizechoose1_2.Padding = new System.Windows.Forms.Padding(0, 0, 30, 2);
- this.cmb_sizechoose1_2.Size = new System.Drawing.Size(326, 29);
- this.cmb_sizechoose1_2.TabIndex = 1;
- this.cmb_sizechoose1_2.TextAlignment = System.Drawing.ContentAlignment.MiddleLeft;
- this.cmb_sizechoose1_2.Watermark = "";
- this.cmb_sizechoose1_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.cmb_sizechoose1_2.SelectedIndexChanged += new System.EventHandler(this.cmb_sizechoose1_2_SelectedIndexChanged);
- //
- // uiPanel4
- //
- this.uiPanel4.Dock = System.Windows.Forms.DockStyle.Left;
- this.uiPanel4.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel4.Location = new System.Drawing.Point(0, 0);
- this.uiPanel4.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel4.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel4.Name = "uiPanel4";
- this.uiPanel4.Radius = 0;
- this.uiPanel4.Size = new System.Drawing.Size(116, 249);
- this.uiPanel4.TabIndex = 0;
- this.uiPanel4.Text = "2号位";
- this.uiPanel4.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel4.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // uiPanel1
- //
- this.uiPanel1.Controls.Add(this.btn_down1_1);
- this.uiPanel1.Controls.Add(this.cmb_sizechoose1_1);
- this.uiPanel1.Controls.Add(this.btn_load1_1);
- this.uiPanel1.Controls.Add(this.uiPanel3);
- this.uiPanel1.Dock = System.Windows.Forms.DockStyle.Top;
- this.uiPanel1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel1.Location = new System.Drawing.Point(0, 35);
- this.uiPanel1.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel1.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel1.Name = "uiPanel1";
- this.uiPanel1.Size = new System.Drawing.Size(442, 261);
- this.uiPanel1.TabIndex = 0;
- this.uiPanel1.Text = null;
- this.uiPanel1.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_down1_1
- //
- this.btn_down1_1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_down1_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down1_1.Location = new System.Drawing.Point(184, 148);
- this.btn_down1_1.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_down1_1.Name = "btn_down1_1";
- this.btn_down1_1.Size = new System.Drawing.Size(100, 35);
- this.btn_down1_1.TabIndex = 3;
- this.btn_down1_1.Text = "下料";
- this.btn_down1_1.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down1_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_down1_1.Click += new System.EventHandler(this.btn_down1_1_Click);
- //
- // cmb_sizechoose1_1
- //
- this.cmb_sizechoose1_1.DataSource = null;
- this.cmb_sizechoose1_1.Dock = System.Windows.Forms.DockStyle.Top;
- this.cmb_sizechoose1_1.DropDownStyle = Sunny.UI.UIDropDownStyle.DropDownList;
- this.cmb_sizechoose1_1.FillColor = System.Drawing.Color.White;
- this.cmb_sizechoose1_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.cmb_sizechoose1_1.Items.AddRange(new object[] {
- "",
- "12",
- "13",
- "14",
- "15",
- "16",
- "17",
- "18"});
- this.cmb_sizechoose1_1.Location = new System.Drawing.Point(116, 0);
- this.cmb_sizechoose1_1.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.cmb_sizechoose1_1.MinimumSize = new System.Drawing.Size(63, 0);
- this.cmb_sizechoose1_1.Name = "cmb_sizechoose1_1";
- this.cmb_sizechoose1_1.Padding = new System.Windows.Forms.Padding(0, 0, 30, 2);
- this.cmb_sizechoose1_1.Size = new System.Drawing.Size(326, 29);
- this.cmb_sizechoose1_1.TabIndex = 1;
- this.cmb_sizechoose1_1.TextAlignment = System.Drawing.ContentAlignment.MiddleLeft;
- this.cmb_sizechoose1_1.Watermark = "";
- this.cmb_sizechoose1_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.cmb_sizechoose1_1.SelectedIndexChanged += new System.EventHandler(this.cmb_sizechoose1_1_SelectedIndexChanged);
- //
- // btn_load1_1
- //
- this.btn_load1_1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_load1_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load1_1.Location = new System.Drawing.Point(184, 76);
- this.btn_load1_1.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_load1_1.Name = "btn_load1_1";
- this.btn_load1_1.Size = new System.Drawing.Size(100, 35);
- this.btn_load1_1.TabIndex = 2;
- this.btn_load1_1.Text = "上料";
- this.btn_load1_1.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load1_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_load1_1.Click += new System.EventHandler(this.btn_load1_1_Click);
- //
- // uiPanel3
- //
- this.uiPanel3.Dock = System.Windows.Forms.DockStyle.Left;
- this.uiPanel3.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel3.Location = new System.Drawing.Point(0, 0);
- this.uiPanel3.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel3.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel3.Name = "uiPanel3";
- this.uiPanel3.Size = new System.Drawing.Size(116, 261);
- this.uiPanel3.TabIndex = 0;
- this.uiPanel3.Text = "1号位";
- this.uiPanel3.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel3.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // uiTitlePanel2
- //
- this.uiTitlePanel2.Controls.Add(this.uiPanel5);
- this.uiTitlePanel2.Controls.Add(this.uiPanel7);
- this.uiTitlePanel2.Dock = System.Windows.Forms.DockStyle.Fill;
- this.uiTitlePanel2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiTitlePanel2.Location = new System.Drawing.Point(0, 0);
- this.uiTitlePanel2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiTitlePanel2.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiTitlePanel2.Name = "uiTitlePanel2";
- this.uiTitlePanel2.Padding = new System.Windows.Forms.Padding(0, 35, 0, 0);
- this.uiTitlePanel2.Radius = 0;
- this.uiTitlePanel2.ShowText = false;
- this.uiTitlePanel2.Size = new System.Drawing.Size(462, 545);
- this.uiTitlePanel2.TabIndex = 8;
- this.uiTitlePanel2.Text = "2号硫化机";
- this.uiTitlePanel2.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiTitlePanel2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // uiPanel5
- //
- this.uiPanel5.Controls.Add(this.btn_down2_2);
- this.uiPanel5.Controls.Add(this.btn_load2_2);
- this.uiPanel5.Controls.Add(this.cmb_sizechoose2_2);
- this.uiPanel5.Controls.Add(this.uiPanel6);
- this.uiPanel5.Dock = System.Windows.Forms.DockStyle.Fill;
- this.uiPanel5.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel5.Location = new System.Drawing.Point(0, 296);
- this.uiPanel5.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel5.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel5.Name = "uiPanel5";
- this.uiPanel5.Radius = 0;
- this.uiPanel5.Size = new System.Drawing.Size(462, 249);
- this.uiPanel5.TabIndex = 1;
- this.uiPanel5.Text = null;
- this.uiPanel5.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel5.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_down2_2
- //
- this.btn_down2_2.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_down2_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down2_2.Location = new System.Drawing.Point(184, 144);
- this.btn_down2_2.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_down2_2.Name = "btn_down2_2";
- this.btn_down2_2.Size = new System.Drawing.Size(100, 35);
- this.btn_down2_2.TabIndex = 3;
- this.btn_down2_2.Text = "下料";
- this.btn_down2_2.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down2_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_load2_2
- //
- this.btn_load2_2.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_load2_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load2_2.Location = new System.Drawing.Point(184, 72);
- this.btn_load2_2.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_load2_2.Name = "btn_load2_2";
- this.btn_load2_2.Size = new System.Drawing.Size(100, 35);
- this.btn_load2_2.TabIndex = 2;
- this.btn_load2_2.Text = "上料";
- this.btn_load2_2.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load2_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // cmb_sizechoose2_2
- //
- this.cmb_sizechoose2_2.DataSource = null;
- this.cmb_sizechoose2_2.Dock = System.Windows.Forms.DockStyle.Top;
- this.cmb_sizechoose2_2.DropDownStyle = Sunny.UI.UIDropDownStyle.DropDownList;
- this.cmb_sizechoose2_2.FillColor = System.Drawing.Color.White;
- this.cmb_sizechoose2_2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.cmb_sizechoose2_2.Items.AddRange(new object[] {
- "",
- "12",
- "13",
- "14",
- "15",
- "16",
- "17",
- "18"});
- this.cmb_sizechoose2_2.Location = new System.Drawing.Point(116, 0);
- this.cmb_sizechoose2_2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.cmb_sizechoose2_2.MinimumSize = new System.Drawing.Size(63, 0);
- this.cmb_sizechoose2_2.Name = "cmb_sizechoose2_2";
- this.cmb_sizechoose2_2.Padding = new System.Windows.Forms.Padding(0, 0, 30, 2);
- this.cmb_sizechoose2_2.Size = new System.Drawing.Size(346, 29);
- this.cmb_sizechoose2_2.TabIndex = 1;
- this.cmb_sizechoose2_2.TextAlignment = System.Drawing.ContentAlignment.MiddleLeft;
- this.cmb_sizechoose2_2.Watermark = "";
- this.cmb_sizechoose2_2.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.cmb_sizechoose2_2.SelectedIndexChanged += new System.EventHandler(this.cmb_sizechoose2_2_SelectedIndexChanged);
- //
- // uiPanel6
- //
- this.uiPanel6.Dock = System.Windows.Forms.DockStyle.Left;
- this.uiPanel6.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel6.Location = new System.Drawing.Point(0, 0);
- this.uiPanel6.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel6.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel6.Name = "uiPanel6";
- this.uiPanel6.Radius = 4;
- this.uiPanel6.Size = new System.Drawing.Size(116, 249);
- this.uiPanel6.TabIndex = 0;
- this.uiPanel6.Text = "2号位";
- this.uiPanel6.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel6.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // uiPanel7
- //
- this.uiPanel7.Controls.Add(this.btn_down2_1);
- this.uiPanel7.Controls.Add(this.btn_load2_1);
- this.uiPanel7.Controls.Add(this.cmb_sizechoose2_1);
- this.uiPanel7.Controls.Add(this.uiPanel8);
- this.uiPanel7.Dock = System.Windows.Forms.DockStyle.Top;
- this.uiPanel7.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel7.Location = new System.Drawing.Point(0, 35);
- this.uiPanel7.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel7.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel7.Name = "uiPanel7";
- this.uiPanel7.Size = new System.Drawing.Size(462, 261);
- this.uiPanel7.TabIndex = 0;
- this.uiPanel7.Text = null;
- this.uiPanel7.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel7.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_down2_1
- //
- this.btn_down2_1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_down2_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down2_1.Location = new System.Drawing.Point(184, 148);
- this.btn_down2_1.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_down2_1.Name = "btn_down2_1";
- this.btn_down2_1.Size = new System.Drawing.Size(100, 35);
- this.btn_down2_1.TabIndex = 3;
- this.btn_down2_1.Text = "下料";
- this.btn_down2_1.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_down2_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_load2_1
- //
- this.btn_load2_1.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_load2_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load2_1.Location = new System.Drawing.Point(184, 76);
- this.btn_load2_1.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_load2_1.Name = "btn_load2_1";
- this.btn_load2_1.Size = new System.Drawing.Size(100, 35);
- this.btn_load2_1.TabIndex = 2;
- this.btn_load2_1.Text = "上料";
- this.btn_load2_1.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_load2_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // cmb_sizechoose2_1
- //
- this.cmb_sizechoose2_1.DataSource = null;
- this.cmb_sizechoose2_1.Dock = System.Windows.Forms.DockStyle.Top;
- this.cmb_sizechoose2_1.DropDownStyle = Sunny.UI.UIDropDownStyle.DropDownList;
- this.cmb_sizechoose2_1.FillColor = System.Drawing.Color.White;
- this.cmb_sizechoose2_1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.cmb_sizechoose2_1.Items.AddRange(new object[] {
- "",
- "12",
- "13",
- "14",
- "15",
- "16",
- "17",
- "18"});
- this.cmb_sizechoose2_1.Location = new System.Drawing.Point(116, 0);
- this.cmb_sizechoose2_1.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.cmb_sizechoose2_1.MinimumSize = new System.Drawing.Size(63, 0);
- this.cmb_sizechoose2_1.Name = "cmb_sizechoose2_1";
- this.cmb_sizechoose2_1.Padding = new System.Windows.Forms.Padding(0, 0, 30, 2);
- this.cmb_sizechoose2_1.Size = new System.Drawing.Size(346, 29);
- this.cmb_sizechoose2_1.TabIndex = 1;
- this.cmb_sizechoose2_1.TextAlignment = System.Drawing.ContentAlignment.MiddleLeft;
- this.cmb_sizechoose2_1.Watermark = "";
- this.cmb_sizechoose2_1.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.cmb_sizechoose2_1.SelectedIndexChanged += new System.EventHandler(this.cmb_sizechoose2_1_SelectedIndexChanged);
- //
- // uiPanel8
- //
- this.uiPanel8.Dock = System.Windows.Forms.DockStyle.Left;
- this.uiPanel8.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.uiPanel8.Location = new System.Drawing.Point(0, 0);
- this.uiPanel8.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
- this.uiPanel8.MinimumSize = new System.Drawing.Size(1, 1);
- this.uiPanel8.Name = "uiPanel8";
- this.uiPanel8.Size = new System.Drawing.Size(116, 261);
- this.uiPanel8.TabIndex = 0;
- this.uiPanel8.Text = "1号位";
- this.uiPanel8.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
- this.uiPanel8.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_robotset
- //
- this.btn_robotset.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_robotset.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_robotset.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_robotset.Location = new System.Drawing.Point(3, 489);
- this.btn_robotset.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_robotset.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_robotset.Name = "btn_robotset";
- this.btn_robotset.Size = new System.Drawing.Size(106, 43);
- this.btn_robotset.TabIndex = 7;
- this.btn_robotset.Text = "ROBOT设置";
- this.btn_robotset.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_robotset.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_plcset
- //
- this.btn_plcset.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_plcset.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_plcset.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_plcset.Location = new System.Drawing.Point(3, 421);
- this.btn_plcset.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_plcset.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_plcset.Name = "btn_plcset";
- this.btn_plcset.Size = new System.Drawing.Size(106, 42);
- this.btn_plcset.TabIndex = 6;
- this.btn_plcset.Text = "PLC设置";
- this.btn_plcset.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_plcset.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_reset
- //
- this.btn_reset.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_reset.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_reset.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_reset.Location = new System.Drawing.Point(3, 353);
- this.btn_reset.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_reset.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_reset.Name = "btn_reset";
- this.btn_reset.Size = new System.Drawing.Size(106, 42);
- this.btn_reset.TabIndex = 5;
- this.btn_reset.Text = "复位";
- this.btn_reset.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_reset.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_auto
- //
- this.btn_auto.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_auto.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_auto.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_auto.Location = new System.Drawing.Point(3, 285);
- this.btn_auto.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_auto.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_auto.Name = "btn_auto";
- this.btn_auto.Size = new System.Drawing.Size(106, 42);
- this.btn_auto.TabIndex = 4;
- this.btn_auto.Text = "自动";
- this.btn_auto.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_auto.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_auto.Click += new System.EventHandler(this.btn_auto_Click);
- //
- // btn_manual
- //
- this.btn_manual.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_manual.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_manual.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_manual.Location = new System.Drawing.Point(3, 217);
- this.btn_manual.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_manual.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_manual.Name = "btn_manual";
- this.btn_manual.Size = new System.Drawing.Size(106, 42);
- this.btn_manual.TabIndex = 3;
- this.btn_manual.Text = "手动";
- this.btn_manual.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_manual.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_manual.Click += new System.EventHandler(this.btn_manual_Click);
- //
- // btn_stop
- //
- this.btn_stop.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_stop.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_stop.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_stop.Location = new System.Drawing.Point(3, 149);
- this.btn_stop.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_stop.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_stop.Name = "btn_stop";
- this.btn_stop.Size = new System.Drawing.Size(106, 42);
- this.btn_stop.TabIndex = 2;
- this.btn_stop.Text = "停止";
- this.btn_stop.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_stop.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_stop.Click += new System.EventHandler(this.btn_stop_Click);
- //
- // btn_pause
- //
- this.btn_pause.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_pause.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_pause.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_pause.Location = new System.Drawing.Point(3, 81);
- this.btn_pause.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_pause.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_pause.Name = "btn_pause";
- this.btn_pause.Radius = 1;
- this.btn_pause.Size = new System.Drawing.Size(106, 42);
- this.btn_pause.TabIndex = 1;
- this.btn_pause.Text = "暂停";
- this.btn_pause.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_pause.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- //
- // btn_start
- //
- this.btn_start.Cursor = System.Windows.Forms.Cursors.Hand;
- this.btn_start.Dock = System.Windows.Forms.DockStyle.Fill;
- this.btn_start.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_start.Location = new System.Drawing.Point(3, 13);
- this.btn_start.Margin = new System.Windows.Forms.Padding(3, 13, 3, 13);
- this.btn_start.MinimumSize = new System.Drawing.Size(1, 1);
- this.btn_start.Name = "btn_start";
- this.btn_start.Size = new System.Drawing.Size(106, 42);
- this.btn_start.TabIndex = 0;
- this.btn_start.Text = "启动";
- this.btn_start.TipsFont = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
- this.btn_start.ZoomScaleRect = new System.Drawing.Rectangle(0, 0, 0, 0);
- this.btn_start.Click += new System.EventHandler(this.btn_start_Click);
- this.btn_start.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_start_MouseDown);
- this.btn_start.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_start_MouseUp);
- //
- // uiTableLayoutPanel1
- //
- this.uiTableLayoutPanel1.ColumnCount = 1;
- this.uiTableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
- this.uiTableLayoutPanel1.Controls.Add(this.btn_start, 0, 0);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_pause, 0, 1);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_stop, 0, 2);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_manual, 0, 3);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_auto, 0, 4);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_reset, 0, 5);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_plcset, 0, 6);
- this.uiTableLayoutPanel1.Controls.Add(this.btn_robotset, 0, 7);
- this.uiTableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Left;
- this.uiTableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
- this.uiTableLayoutPanel1.Name = "uiTableLayoutPanel1";
- this.uiTableLayoutPanel1.RowCount = 8;
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12.5F));
- this.uiTableLayoutPanel1.Size = new System.Drawing.Size(112, 545);
- this.uiTableLayoutPanel1.TabIndex = 5;
- this.uiTableLayoutPanel1.TagString = null;
- this.uiTableLayoutPanel1.Paint += new System.Windows.Forms.PaintEventHandler(this.uiTableLayoutPanel1_Paint);
- //
- // ControlSet
- //
- this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
- this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
- this.ClientSize = new System.Drawing.Size(1020, 545);
- this.Controls.Add(this.splitContainer1);
- this.Controls.Add(this.uiTableLayoutPanel1);
- this.Name = "ControlSet";
- this.Text = "控制设置";
- this.Load += new System.EventHandler(this.ControlSet_Load);
- this.splitContainer1.Panel1.ResumeLayout(false);
- this.splitContainer1.Panel2.ResumeLayout(false);
- ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).EndInit();
- this.splitContainer1.ResumeLayout(false);
- this.uiTitlePanel1.ResumeLayout(false);
- this.uiPanel2.ResumeLayout(false);
- this.uiPanel1.ResumeLayout(false);
- this.uiTitlePanel2.ResumeLayout(false);
- this.uiPanel5.ResumeLayout(false);
- this.uiPanel7.ResumeLayout(false);
- this.uiTableLayoutPanel1.ResumeLayout(false);
- this.ResumeLayout(false);
-
- }
-
- #endregion
- private System.Windows.Forms.SplitContainer splitContainer1;
- private Sunny.UI.UIButton btn_robotset;
- private Sunny.UI.UIButton btn_plcset;
- private Sunny.UI.UIButton btn_reset;
- private Sunny.UI.UIButton btn_auto;
- private Sunny.UI.UIButton btn_manual;
- private Sunny.UI.UIButton btn_stop;
- private Sunny.UI.UIButton btn_pause;
- private Sunny.UI.UIButton btn_start;
- private Sunny.UI.UITableLayoutPanel uiTableLayoutPanel1;
- private Sunny.UI.UITitlePanel uiTitlePanel1;
- private Sunny.UI.UIPanel uiPanel2;
- private Sunny.UI.UIButton btn_down1_2;
- private Sunny.UI.UIButton btn_load1_2;
- private Sunny.UI.UIComboBox cmb_sizechoose1_2;
- private Sunny.UI.UIPanel uiPanel4;
- private Sunny.UI.UIPanel uiPanel1;
- private Sunny.UI.UIButton btn_down1_1;
- private Sunny.UI.UIComboBox cmb_sizechoose1_1;
- private Sunny.UI.UIButton btn_load1_1;
- private Sunny.UI.UIPanel uiPanel3;
- private Sunny.UI.UITitlePanel uiTitlePanel2;
- private Sunny.UI.UIPanel uiPanel5;
- private Sunny.UI.UIButton btn_down2_2;
- private Sunny.UI.UIButton btn_load2_2;
- private Sunny.UI.UIComboBox cmb_sizechoose2_2;
- private Sunny.UI.UIPanel uiPanel6;
- private Sunny.UI.UIPanel uiPanel7;
- private Sunny.UI.UIButton btn_down2_1;
- private Sunny.UI.UIButton btn_load2_1;
- private Sunny.UI.UIComboBox cmb_sizechoose2_1;
- private Sunny.UI.UIPanel uiPanel8;
- }
-}
\ No newline at end of file
diff --git a/src/BRS.Process.A020/UI/ControlSet.cs b/src/BRS.Process.A020/UI/ControlSet.cs
deleted file mode 100644
index 79be09a..0000000
--- a/src/BRS.Process.A020/UI/ControlSet.cs
+++ /dev/null
@@ -1,353 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Forms;
-using BRS.Common.PubSub;
-using BRS.UI.Model.Winform;
-using System;
-using System.Collections.Concurrent;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Drawing;
-using System.Linq;
-using System.Threading;
-using static BRS.Common.Model.Helper.EnumHelper;
-using static BRS.Process.A020.A020Process;
-using BRS.Common.Base;
-
-
-namespace BRS.Process.A020.UI
-{
- [MenuNode("ControlSet", "控制菜单", 3, "View2", true)]
- //public partial class TriggerCountFrm : MenuFormBase
-
- public partial class ControlSet : MenuFormBase
- {
- private bool is_btn_manual { get; set; } = false;
- A020Process ProcessA020 => Process as A020Process;
- A020Config Config => Process?.IConfig as A020Config;
-
- private bool isSingleStepOperating = false;
-
- public ControlSet()
- {
- InitializeComponent();
- }
-
- private void btn_start_Click(object sender, EventArgs e)
- {
- //流程正转启动按钮
-
- }
-
-
- private void ControlSet_Load(object sender, EventArgs e)
- {
- //cmb_sizechoose1_1.SelectedIndex = 0;
- //cmb_sizechoose1_2.SelectedIndex = 0;
- //cmb_sizechoose2_1.SelectedIndex = 0;
- //cmb_sizechoose2_2.SelectedIndex = 0;
-
- //如果尺寸选择为空，则设置该对应设备无法进行上下料
- btn_load1_1.Enabled = false;
- btn_down1_1.Enabled = false;
-
- btn_load1_2.Enabled = false;
- btn_down1_2.Enabled = false;
-
- btn_load2_1.Enabled = false;
- btn_down2_1.Enabled = false;
-
- btn_load2_2.Enabled = false;
- btn_down2_2.Enabled = false;
-
- ////初始化字典界面设置
- //MachineInfo temp;
- //temp.isReady = false;
- //temp.location = -1;
- //temp.tireSize = -1;
- //MachineInfos.Add(0, temp); // 使用字典将顺序排好
- //MachineInfos.Add(1, temp);
- //MachineInfos.Add(2, temp);
- //MachineInfos.Add(3, temp);
-
-
- }
- public void SetMachineInfo(int num,int location)
- {
- MachineInfo temp;
- temp.isReady = false;
- temp.location = -1;
- temp.tyreSize = -1;
- //根据选择设置按钮可用性
- switch (num)
- {
- case 0: //如果选择为空，则对应区域内上下料按钮禁止使用
- temp.isReady = false;
- temp.location = location;
- temp.tyreSize = 0;
- break;
- case 12:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 12;
- break;
- case 13:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 13;
- break;
- case 14:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 14;
- break;
- case 15:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 15;
- break;
- case 16:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 16;
- break;
- case 17:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 17;
- break;
- case 18:
- temp.isReady = true;
- temp.location = location;
- temp.tyreSize = 18;
- break;
- default:
- break;
- }
-
- //bool location_exist = false;
- //for (int i = 0; i < MachineInfos.Count(); i++) //遍历查找对应的location进行修改
- //{
- // if (MachineInfos[i].location == location)
- // {
- // MachineInfos[i] = temp;
- // location_exist = true;
- // break; //找到之后停止查询
- // }
- //}
- //if (!location_exist) // 如果不存在则添加
- //{
- // MachineInfos.Add(temp);
- //}
-
- //使用字典存放界面的设置
- if (!MachineInfos.ContainsKey(location)) // 如果该位置不存在，则添加进字典
- MachineInfos.Add(location, temp);
- else
- MachineInfos[location] = temp;
- }
- private void cmb_sizechoose1_1_SelectedIndexChanged(object sender, EventArgs e)
- {
- Sunny.UI.UIComboBox comboBox = (Sunny.UI.UIComboBox)sender;
- string value = (string)comboBox.SelectedItem;
- int num;
- int.TryParse(value,out num);
- if (0 < num)
- {
- btn_load1_1.Enabled = true;
- btn_down1_1.Enabled = true;
- }
- else
- {
- btn_load1_1.Enabled = false;
- btn_down1_1.Enabled = false;
- }
- SetMachineInfo(num, 0);
- }
-
- private void cmb_sizechoose2_1_SelectedIndexChanged(object sender, EventArgs e)
- {
- Sunny.UI.UIComboBox comboBox = (Sunny.UI.UIComboBox)sender;
- string value = (string)comboBox.SelectedItem;
- int num;
- int.TryParse(value, out num);
- if (0 < num)
- {
- btn_load2_1.Enabled = true;
- btn_down2_1.Enabled = true;
- }
- else
- {
- btn_load2_1.Enabled = false;
- btn_down2_1.Enabled = false;
- }
- SetMachineInfo(num, 2);
- }
-
- private void cmb_sizechoose1_2_SelectedIndexChanged(object sender, EventArgs e)
- {
- Sunny.UI.UIComboBox comboBox = (Sunny.UI.UIComboBox)sender;
- string value = (string)comboBox.SelectedItem;
- int num;
- int.TryParse(value, out num);
- if (0 < num)
- {
- btn_load1_2.Enabled = true;
- btn_down1_2.Enabled = true;
- }
- else
- {
- btn_load1_2.Enabled = false;
- btn_down1_2.Enabled = false;
- }
- SetMachineInfo(num, 1);
-
- }
-
- private void cmb_sizechoose2_2_SelectedIndexChanged(object sender, EventArgs e)
- {
- Sunny.UI.UIComboBox comboBox = (Sunny.UI.UIComboBox)sender;
- string value = (string)comboBox.SelectedItem;
- int num;
- int.TryParse(value, out num);
- if (0 < num)
- {
- btn_load2_2.Enabled = true;
- btn_down2_2.Enabled = true;
- }
- else
- {
- btn_load2_2.Enabled = false;
- btn_down2_2.Enabled = false;
- }
- SetMachineInfo(num, 3);
- }
-
- private void btn_stop_Click(object sender, EventArgs e)
- {
- //var NbtRobot = A020Process.DeviceCollection.FirstOrDefault(u => u is RobotBase) as RobotBase;
- //NbtRobot.power_off();
- }
-
- private void btn_load1_1_Click(object sender, EventArgs e)
- {
- if(!ProcessA020.IsSingleStepOperating)
- {
- ProcessA020.IsSingleStepOperating = true;
-
- Dictionary machineInfos = MachineInfos;//拿到界面上的设置参数
- int Machine1Entrance1TyreSize = 0;
-
- foreach (var item in machineInfos)
- {
- if (item.Value.location == 0)
- Machine1Entrance1TyreSize = item.Value.tyreSize;
- }
- //ProcessA020.Machine1Entrance1Up(Machine1Entrance1TyreSize);
- }
- else
- LogAsync(DateTime.Now, LogLevel.Error, $"有未完成的操作。");
- }
-
- private void btn_down1_1_Click(object sender, EventArgs e)
- {
- if (!ProcessA020.IsSingleStepOperating)
- {
- ProcessA020.IsSingleStepOperating = true;
-
- Dictionary machineInfos = MachineInfos;//拿到界面上的设置参数
- int Machine1Entrance1TyreSize = 0;
- foreach (var item in machineInfos)
- {
- if (item.Value.location == 0)
- Machine1Entrance1TyreSize = item.Value.tyreSize;
- }
- //ProcessA020.Machine1Entrance1Down(Machine1Entrance1TyreSize);
- }
- else
- LogAsync(DateTime.Now, LogLevel.Error, $"有未完成的操作。");
- }
-
- private void btn_down1_2_Click(object sender, EventArgs e)
- {
- if (!ProcessA020.IsSingleStepOperating)
- {
- ProcessA020.IsSingleStepOperating = true;
-
- Dictionary machineInfos = MachineInfos;//拿到界面上的设置参数
- int Machine1Entrance2TyreSize = 0;
- foreach (var item in machineInfos)
- {
- if (item.Value.location == 1)
- Machine1Entrance2TyreSize = item.Value.tyreSize;
- }
- //ProcessA020.Machine1Entrance2Down(Machine1Entrance2TyreSize);
- }
- else
- LogAsync(DateTime.Now, LogLevel.Error, $"有未完成的操作。");
- }
-
- private void btn_load1_2_Click(object sender, EventArgs e)
- {
- if (!ProcessA020.IsSingleStepOperating)
- {
- ProcessA020.IsSingleStepOperating = true;
-
- Dictionary machineInfos = MachineInfos;//拿到界面上的设置参数
- int Machine1Entrance2TyreSize = 0;
-
- foreach (var item in machineInfos)
- {
- if (item.Value.location == 1)
- Machine1Entrance2TyreSize = item.Value.tyreSize;
- }
- //ProcessA020.Machine1Entrance2Up(Machine1Entrance2TyreSize);
- }
- else
- LogAsync(DateTime.Now, LogLevel.Error, $"有未完成的操作。");
- }
-
- private void btn_manual_Click(object sender, EventArgs e)
- {
- btn_manual.FillColor = Color.FromArgb(41, 255, 156);
- btn_manual.FillHoverColor = Color.FromArgb(41, 255, 156);
-
- btn_auto.FillColor = Color.FromArgb(80, 160, 255);
- btn_auto.FillHoverColor = Color.FromArgb(80, 160, 255);
-
- ProcessA020.Machine1SwitchAutoManual(false);
- }
- private void btn_auto_Click(object sender, EventArgs e)
- {
- btn_auto.FillColor = Color.FromArgb(41, 255, 156);
- btn_auto.FillHoverColor = Color.FromArgb(41, 255, 156);
-
- btn_manual.FillColor = Color.FromArgb(80, 160, 255);
- btn_manual.FillHoverColor = Color.FromArgb(80, 160, 255);
-
- ProcessA020.Machine1SwitchAutoManual(true);
- }
-
- private void uiTableLayoutPanel1_Paint(object sender, PaintEventArgs e)
- {
-
- }
-
- private void btn_start_MouseDown(object sender, MouseEventArgs e)
- {
-
- }
-
- private void btn_start_MouseUp(object sender, MouseEventArgs e)
- {
-
- }
- }
-}
-
diff --git a/src/BRS.Process.A020/packages.config b/src/BRS.Process.A020/packages.config
index d875585..2636197 100644
--- a/src/BRS.Process.A020/packages.config
+++ b/src/BRS.Process.A020/packages.config
@@ -7,10 +7,17 @@
+
+
+
+
+
+
+
diff --git a/src/BRS.Process/BRS.Process.csproj b/src/BRS.Process/BRS.Process.csproj
index 3f75b98..477d45d 100644
--- a/src/BRS.Process/BRS.Process.csproj
+++ b/src/BRS.Process/BRS.Process.csproj
@@ -167,6 +167,10 @@
{741f6491-57c7-479a-b391-09bba9fba9dc}
BRS.UI.Model.Winform
+
+ {91739E90-6A8E-433D-B244-5325F8848064}
+ XKRS.Device.TCPSever
+
diff --git a/src/BRS.Process/ProcessConfig.cs b/src/BRS.Process/ProcessConfig.cs
index 7e0bfbd..65ddd91 100644
--- a/src/BRS.Process/ProcessConfig.cs
+++ b/src/BRS.Process/ProcessConfig.cs
@@ -9,8 +9,7 @@ using System.Drawing.Design;
using System.Linq;
using System.Runtime.CompilerServices;
using static BRS.Common.Model.Helper.EnumHelper;
-
-
+using XKRS.Device.TCPSever;
namespace BRS.Process
{
@@ -40,13 +39,19 @@ namespace BRS.Process
public List PLCConfigCollection { get; set; } = new List();
- [Category("设备配置")]
- [Description("机械臂配置")]
- [DisplayName("机械臂配置")]
- [TypeConverter(typeof(CollectionCountConvert))]
- [Editor(typeof(InitialConfigCollectionEditor), typeof(UITypeEditor))]
- public List RobotConfigCollection { get; set; } = new List();
+ //[Category("设备配置")]
+ //[Description("机械臂配置")]
+ //[DisplayName("机械臂配置")]
+ //[TypeConverter(typeof(CollectionCountConvert))]
+ //[Editor(typeof(InitialConfigCollectionEditor), typeof(UITypeEditor))]
+ //public List RobotConfigCollection { get; set; } = new List();
+ [Category("设备配置")]
+ [Description("川崎机械臂配置")]
+ [DisplayName("川崎机械臂配置")]
+ [TypeConverter(typeof(CollectionCountConvert))]
+ [Editor(typeof(InitialConfigCollectionEditor), typeof(UITypeEditor))]
+ public List KawasakiRobotConfigCollection { get; set; } = new List();
@@ -233,7 +238,7 @@ namespace BRS.Process
configs.AddRange(CameraConfigCollection);
configs.AddRange(PLCConfigCollection);
configs.AddRange(DeviceConfigs);
- configs.AddRange(RobotConfigCollection);
+ //configs.AddRange(RobotConfigCollection);
return configs;
diff --git a/src/BRS.Process/app.config b/src/BRS.Process/app.config
index 4721899..f106813 100644
--- a/src/BRS.Process/app.config
+++ b/src/BRS.Process/app.config
@@ -1,31 +1,31 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
diff --git a/src/BRS.UI.Device.Winform/CtrlRobotRunBase.cs b/src/BRS.UI.Device.Winform/CtrlRobotRunBase.cs
index 7922031..c50170b 100644
--- a/src/BRS.UI.Device.Winform/CtrlRobotRunBase.cs
+++ b/src/BRS.UI.Device.Winform/CtrlRobotRunBase.cs
@@ -224,21 +224,7 @@ namespace BRS.UI.Device.Winform
private void button1_Click(object sender, EventArgs e)
{
- int d=Robot.IConfig.RobotUpMovePoints.Count();
- Robot.IConfig.RobotUpMovePoints.ForEach(points =>
- {
- //if
- StrRobotPoint strRobotPoint3;//= ClassChangeStruct(points);
- strRobotPoint3.A = points.A;
- strRobotPoint3.B = points.B;
- strRobotPoint3.C = points.C;
- strRobotPoint3.X = points.X;
- strRobotPoint3.Y = points.Y;
- strRobotPoint3.Z = points.Z;
- int speed = Decimal.ToInt32(numericUpDown1.Value);
- Robot.Move(strRobotPoint3, 100, true);
- // table[camera.Id] = points.X;
- });
+
}
}
diff --git a/src/BRS.UI.Device.Winform/app.config b/src/BRS.UI.Device.Winform/app.config
index 4cd8ed8..e26e9d3 100644
--- a/src/BRS.UI.Device.Winform/app.config
+++ b/src/BRS.UI.Device.Winform/app.config
@@ -1,19 +1,19 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
diff --git a/src/BRS.UI.Main/App.config b/src/BRS.UI.Main/App.config
index 78573e5..00cdd09 100644
--- a/src/BRS.UI.Main/App.config
+++ b/src/BRS.UI.Main/App.config
@@ -1,73 +1,73 @@
-
+
-
+
-
+
-
+
-
-
-
-
-
-
+
+
+
+
+
+
-
-
+
+
-
-
-
-
-
+
+
+
+
+
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
diff --git a/src/BRS.UI.Main/MainFrm.cs b/src/BRS.UI.Main/MainFrm.cs
index 97902ec..8cc70e2 100644
--- a/src/BRS.UI.Main/MainFrm.cs
+++ b/src/BRS.UI.Main/MainFrm.cs
@@ -14,13 +14,16 @@ using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using WeifenLuo.WinFormsUI.Docking;
+using System.Runtime.InteropServices;
namespace BRS.UI.Main
{
public partial class MainFrm : Form
{
IProcess _process = null;
-
+ System.Diagnostics.Process process = new System.Diagnostics.Process();
+ System.Diagnostics.Process processB = new System.Diagnostics.Process();
+ System.Diagnostics.Process processC = new System.Diagnostics.Process();
public MainFrm()
{
@@ -390,8 +393,10 @@ namespace BRS.UI.Main
LoadProcess();
LoadLayoutFromXML(m_deserializeDeviceRunFrm);
LoadProcess(false);
+
}
-
+
+
private List LoadProcessCode()
diff --git a/src/BRS.UI.Main/Program.cs b/src/BRS.UI.Main/Program.cs
index 18bad3f..338f96a 100644
--- a/src/BRS.UI.Main/Program.cs
+++ b/src/BRS.UI.Main/Program.cs
@@ -24,7 +24,7 @@ namespace BRS.UI.Main
///
[STAThread]
static void Main()
- {
+ {
AutoStart(true);
if (!AuthorityCheck.AuthorityCheckOperation())
{
diff --git a/src/BRS.UI.Model.Winform/app.config b/src/BRS.UI.Model.Winform/app.config
index 4cd8ed8..e26e9d3 100644
--- a/src/BRS.UI.Model.Winform/app.config
+++ b/src/BRS.UI.Model.Winform/app.config
@@ -1,19 +1,19 @@
-
+
-
-
+
+
-
-
+
+
-
-
+
+
-
+
diff --git a/src/XKRS.Device.MelsecPLC/MelsecPLCDriver.cs b/src/XKRS.Device.MelsecPLC/MelsecPLCDriver.cs
index a8c7ab7..d365a31 100644
--- a/src/XKRS.Device.MelsecPLC/MelsecPLCDriver.cs
+++ b/src/XKRS.Device.MelsecPLC/MelsecPLCDriver.cs
@@ -193,7 +193,6 @@ namespace XKRS.Device.MelsecPLC
{
try
{
-
var result = melsecMc.Write(address, writeValue);
if (result.IsSuccess)
{
diff --git a/src/XKRS.Device.TCPSever/App.config b/src/XKRS.Device.TCPSever/App.config
new file mode 100644
index 0000000..fe153fd
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/App.config
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotConfig.cs b/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotConfig.cs
new file mode 100644
index 0000000..e0b399d
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotConfig.cs
@@ -0,0 +1,30 @@
+using BRS.Common.Base;
+using BRS.Common.Model;
+using BRS.Common.Model.Helper;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing.Design;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace XKRS.Device.TCPSever
+{
+ [Device("KawasakiRobot", "川崎Robot", EnumHelper.DeviceAttributeType.OperationConfig)]
+ public class KawasakiRobotOperationConfig : OperationConfigBase
+ {
+
+ }
+
+ [Device("KawasakiRobot", "川崎Robot", EnumHelper.DeviceAttributeType.InitialConfig)]
+ public class KawasakiTCPSeverRobotConfig : TCPSeverInitialConfigBase
+ {
+ [Category("机械臂项目")]
+ [Description("机械臂起始位置")]
+ [DisplayName("机械臂起始位置")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public RobotPoint RobotInitPosition { get; set; } = new RobotPoint();
+ }
+}
diff --git a/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotDriver.cs b/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotDriver.cs
new file mode 100644
index 0000000..5ccd396
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/KawasakiTCPSeverRobotDriver.cs
@@ -0,0 +1,58 @@
+using BRS.Common.Base;
+using BRS.Common.Model.Helper;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static BRS.Common.Model.Helper.EnumHelper;
+
+namespace XKRS.Device.TCPSever
+{
+ [Device("KawasakiRobot", "川崎Robot", DeviceAttributeType.Device)]
+ public class KawasakiTCPSeverRobotDriver:TCPSeverBase
+ {
+ public KawasakiTCPSeverRobotConfig IIConfig
+ {
+
+ get => IConfig as KawasakiTCPSeverRobotConfig;
+ //return InitialConfig as KawasakiTCPSeverRobotConfig;
+
+ }
+ #region IDeviceBace
+
+ protected override void Init()
+ {
+ base.Init();
+ }
+
+
+ protected override void Start()
+ {
+ base.Start();
+ }
+
+
+ protected override void Pause()
+ {
+ // listener.Stop();
+ }
+ protected override void Stop()
+ {
+
+ base.Stop();
+
+
+ }
+
+ protected override void Resume()
+ {
+
+ }
+
+
+
+ #endregion
+ }
+
+}
diff --git a/src/XKRS.Device.TCPSever/TCPSeverForm.Designer.cs b/src/XKRS.Device.TCPSever/TCPSeverForm.Designer.cs
new file mode 100644
index 0000000..845f04d
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/TCPSeverForm.Designer.cs
@@ -0,0 +1,202 @@
+
+namespace XKRS.Device.TCPSever
+{
+ partial class TCPSeverForm
+ {
+ ///
+ /// 必需的设计器变量。
+ ///
+ private System.ComponentModel.IContainer components = null;
+
+ ///
+ /// 清理所有正在使用的资源。
+ ///
+ /// 如果应释放托管资源，为 true；否则为 false。
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region 组件设计器生成的代码
+
+ ///
+ /// 设计器支持所需的方法 - 不要修改
+ /// 使用代码编辑器修改此方法的内容。
+ ///
+ private void InitializeComponent()
+ {
+ this.panel1 = new System.Windows.Forms.Panel();
+ this.Sendbutton = new System.Windows.Forms.Button();
+ this.sendMsg = new System.Windows.Forms.RichTextBox();
+ this.richTextBox1 = new System.Windows.Forms.RichTextBox();
+ this.btn_set_run_mode = new System.Windows.Forms.Button();
+ this.btn_servo_on = new System.Windows.Forms.Button();
+ this.btn_power_off = new System.Windows.Forms.Button();
+ this.btn_connection_status = new System.Windows.Forms.Button();
+ this.btn_set_teach_mode = new System.Windows.Forms.Button();
+ this.btn_get_ID = new System.Windows.Forms.Button();
+ this.btn_get_servo_state = new System.Windows.Forms.Button();
+ this.btn_clear_servo_err = new System.Windows.Forms.Button();
+ this.btn_set_servo_state = new System.Windows.Forms.Button();
+ this.panel1.SuspendLayout();
+ this.SuspendLayout();
+ //
+ // panel1
+ //
+ this.panel1.Controls.Add(this.Sendbutton);
+ this.panel1.Controls.Add(this.sendMsg);
+ this.panel1.Controls.Add(this.richTextBox1);
+ this.panel1.Controls.Add(this.btn_set_run_mode);
+ this.panel1.Controls.Add(this.btn_servo_on);
+ this.panel1.Controls.Add(this.btn_power_off);
+ this.panel1.Controls.Add(this.btn_connection_status);
+ this.panel1.Controls.Add(this.btn_set_teach_mode);
+ this.panel1.Controls.Add(this.btn_get_ID);
+ this.panel1.Controls.Add(this.btn_get_servo_state);
+ this.panel1.Controls.Add(this.btn_clear_servo_err);
+ this.panel1.Controls.Add(this.btn_set_servo_state);
+ this.panel1.Location = new System.Drawing.Point(12, 12);
+ this.panel1.Name = "panel1";
+ this.panel1.Size = new System.Drawing.Size(836, 468);
+ this.panel1.TabIndex = 0;
+ //
+ // Sendbutton
+ //
+ this.Sendbutton.Location = new System.Drawing.Point(668, 403);
+ this.Sendbutton.Name = "Sendbutton";
+ this.Sendbutton.Size = new System.Drawing.Size(75, 40);
+ this.Sendbutton.TabIndex = 183;
+ this.Sendbutton.Text = "发送";
+ this.Sendbutton.UseVisualStyleBackColor = true;
+ this.Sendbutton.Click += new System.EventHandler(this.Sendbutton_Click);
+ //
+ // sendMsg
+ //
+ this.sendMsg.Location = new System.Drawing.Point(32, 374);
+ this.sendMsg.Name = "sendMsg";
+ this.sendMsg.Size = new System.Drawing.Size(605, 82);
+ this.sendMsg.TabIndex = 182;
+ this.sendMsg.Text = "";
+ //
+ // richTextBox1
+ //
+ this.richTextBox1.Location = new System.Drawing.Point(32, 73);
+ this.richTextBox1.Name = "richTextBox1";
+ this.richTextBox1.Size = new System.Drawing.Size(708, 280);
+ this.richTextBox1.TabIndex = 2;
+ this.richTextBox1.Text = "";
+ //
+ // btn_set_run_mode
+ //
+ this.btn_set_run_mode.Location = new System.Drawing.Point(720, 15);
+ this.btn_set_run_mode.Name = "btn_set_run_mode";
+ this.btn_set_run_mode.Size = new System.Drawing.Size(72, 40);
+ this.btn_set_run_mode.TabIndex = 8;
+ this.btn_set_run_mode.Text = "运行模式";
+ this.btn_set_run_mode.UseVisualStyleBackColor = true;
+ //
+ // btn_servo_on
+ //
+ this.btn_servo_on.Location = new System.Drawing.Point(135, 15);
+ this.btn_servo_on.Name = "btn_servo_on";
+ this.btn_servo_on.Size = new System.Drawing.Size(72, 40);
+ this.btn_servo_on.TabIndex = 7;
+ this.btn_servo_on.Text = "伺服上电";
+ this.btn_servo_on.UseVisualStyleBackColor = true;
+ //
+ // btn_power_off
+ //
+ this.btn_power_off.Location = new System.Drawing.Point(213, 15);
+ this.btn_power_off.Name = "btn_power_off";
+ this.btn_power_off.Size = new System.Drawing.Size(70, 40);
+ this.btn_power_off.TabIndex = 6;
+ this.btn_power_off.Text = "伺服下电";
+ this.btn_power_off.UseVisualStyleBackColor = true;
+ //
+ // btn_connection_status
+ //
+ this.btn_connection_status.Location = new System.Drawing.Point(289, 15);
+ this.btn_connection_status.Name = "btn_connection_status";
+ this.btn_connection_status.Size = new System.Drawing.Size(80, 40);
+ this.btn_connection_status.TabIndex = 5;
+ this.btn_connection_status.Text = "连接状态";
+ this.btn_connection_status.UseVisualStyleBackColor = true;
+ //
+ // btn_set_teach_mode
+ //
+ this.btn_set_teach_mode.Location = new System.Drawing.Point(375, 15);
+ this.btn_set_teach_mode.Name = "btn_set_teach_mode";
+ this.btn_set_teach_mode.Size = new System.Drawing.Size(62, 40);
+ this.btn_set_teach_mode.TabIndex = 4;
+ this.btn_set_teach_mode.Text = "示教模式";
+ this.btn_set_teach_mode.UseVisualStyleBackColor = true;
+ //
+ // btn_get_ID
+ //
+ this.btn_get_ID.Location = new System.Drawing.Point(443, 15);
+ this.btn_get_ID.Name = "btn_get_ID";
+ this.btn_get_ID.Size = new System.Drawing.Size(62, 40);
+ this.btn_get_ID.TabIndex = 3;
+ this.btn_get_ID.Text = "获取IO";
+ this.btn_get_ID.UseVisualStyleBackColor = true;
+ //
+ // btn_get_servo_state
+ //
+ this.btn_get_servo_state.Location = new System.Drawing.Point(511, 15);
+ this.btn_get_servo_state.Name = "btn_get_servo_state";
+ this.btn_get_servo_state.Size = new System.Drawing.Size(98, 40);
+ this.btn_get_servo_state.TabIndex = 2;
+ this.btn_get_servo_state.Text = "获取伺服状态";
+ this.btn_get_servo_state.UseVisualStyleBackColor = true;
+ //
+ // btn_clear_servo_err
+ //
+ this.btn_clear_servo_err.Location = new System.Drawing.Point(615, 15);
+ this.btn_clear_servo_err.Name = "btn_clear_servo_err";
+ this.btn_clear_servo_err.Size = new System.Drawing.Size(99, 40);
+ this.btn_clear_servo_err.TabIndex = 1;
+ this.btn_clear_servo_err.Text = "清理伺服错误";
+ this.btn_clear_servo_err.UseVisualStyleBackColor = true;
+ //
+ // btn_set_servo_state
+ //
+ this.btn_set_servo_state.Location = new System.Drawing.Point(37, 15);
+ this.btn_set_servo_state.Name = "btn_set_servo_state";
+ this.btn_set_servo_state.Size = new System.Drawing.Size(80, 40);
+ this.btn_set_servo_state.TabIndex = 0;
+ this.btn_set_servo_state.Text = "设置伺服";
+ this.btn_set_servo_state.UseVisualStyleBackColor = true;
+ //
+ // TCPSeverForm
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.Controls.Add(this.panel1);
+ this.Name = "TCPSeverForm";
+ this.Size = new System.Drawing.Size(892, 553);
+ this.panel1.ResumeLayout(false);
+ this.ResumeLayout(false);
+
+ }
+
+ #endregion
+
+ private System.Windows.Forms.Panel panel1;
+ private System.Windows.Forms.Button Sendbutton;
+ private System.Windows.Forms.RichTextBox sendMsg;
+ private System.Windows.Forms.RichTextBox richTextBox1;
+ private System.Windows.Forms.Button btn_set_run_mode;
+ private System.Windows.Forms.Button btn_servo_on;
+ private System.Windows.Forms.Button btn_power_off;
+ private System.Windows.Forms.Button btn_connection_status;
+ private System.Windows.Forms.Button btn_set_teach_mode;
+ private System.Windows.Forms.Button btn_get_ID;
+ private System.Windows.Forms.Button btn_get_servo_state;
+ private System.Windows.Forms.Button btn_clear_servo_err;
+ private System.Windows.Forms.Button btn_set_servo_state;
+ }
+}
diff --git a/src/XKRS.Device.TCPSever/TCPSeverForm.cs b/src/XKRS.Device.TCPSever/TCPSeverForm.cs
new file mode 100644
index 0000000..d45067f
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/TCPSeverForm.cs
@@ -0,0 +1,84 @@
+using BRS.Common.Interface;
+using BRS.Common.Model.Helper;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace XKRS.Device.TCPSever
+{
+ [Device("TCPSever", "TCP服务器", EnumHelper.DeviceAttributeType.RunCtrl)]
+ public partial class TCPSeverForm : UserControl, IRunCtrl
+ {
+ #region 控件大小随窗体大小等比例缩放
+ private float x;//定义当前窗体的宽度
+ private float y;//定义当前窗体的高度
+ private void Form1_Resize(object sender, EventArgs e)
+ {
+ float newx = (this.Width) / x;
+ float newy = (this.Height) / y;
+ setControls(newx, newy, this);
+ }
+ private void setTag(Control cons)
+ {
+ foreach (Control con in cons.Controls)
+ {
+ con.Tag = con.Width + ";" + con.Height + ";" + con.Left + ";" + con.Top + ";" + con.Font.Size;
+ if (con.Controls.Count > 0)
+ {
+ setTag(con);
+ }
+ }
+ }
+ private void setControls(float newx, float newy, Control cons)
+ {
+ try
+ {
+ //遍历窗体中的控件，重新设置控件的值
+ foreach (Control con in cons.Controls)
+ {
+ //获取控件的Tag属性值，并分割后存储字符串数组
+ if (con.Tag != null)
+ {
+ string[] mytag = con.Tag.ToString().Split(new char[] { ';' });
+ //根据窗体缩放的比例确定控件的值
+ con.Width = Convert.ToInt32(System.Convert.ToSingle(mytag[0]) * newx);//宽度
+ con.Height = Convert.ToInt32(System.Convert.ToSingle(mytag[1]) * newy);//高度
+ con.Left = Convert.ToInt32(System.Convert.ToSingle(mytag[2]) * newx);//左边距
+ con.Top = Convert.ToInt32(System.Convert.ToSingle(mytag[3]) * newy);//顶边距
+ Single currentSize = System.Convert.ToSingle(mytag[4]) * newy;//字体大小
+ con.Font = new Font(con.Font.Name, currentSize, con.Font.Style, con.Font.Unit);
+ if (con.Controls.Count > 0)
+ {
+ setControls(newx, newy, con);
+ }
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine(ex.Message);
+ }
+ }
+ #endregion
+ public TCPSeverForm(KawasakiTCPSeverRobotDriver kawasakiRobotDriver)
+ {
+ InitializeComponent();
+
+ }
+ public IDevice Device { get; set; }
+ public KawasakiTCPSeverRobotDriver KawasakiTCPSeverRobotDriver
+ {
+ get { return Device as KawasakiTCPSeverRobotDriver; }
+ }
+ private void Sendbutton_Click(object sender, EventArgs e)
+ {
+
+ }
+ }
+}
diff --git a/src/BRS.Process.A020/UI/ControlSet.resx b/src/XKRS.Device.TCPSever/TCPSeverForm.resx
similarity index 100%
rename from src/BRS.Process.A020/UI/ControlSet.resx
rename to src/XKRS.Device.TCPSever/TCPSeverForm.resx
diff --git a/src/XKRS.Device.TCPSever/XKRS.Device.TCPSever.csproj b/src/XKRS.Device.TCPSever/XKRS.Device.TCPSever.csproj
new file mode 100644
index 0000000..98caf3b
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/XKRS.Device.TCPSever.csproj
@@ -0,0 +1,85 @@
+
+
+
+
+ Debug
+ AnyCPU
+ {91739E90-6A8E-433D-B244-5325F8848064}
+ Library
+ XKRS.Device.TCPSever
+ XKRS.Device.TCPSever
+ v4.6.1
+ 512
+ true
+ true
+
+
+
+ AnyCPU
+ true
+ full
+ false
+ bin\Debug\
+ DEBUG;TRACE
+ prompt
+ 4
+
+
+ AnyCPU
+ pdbonly
+ true
+ ..\Release\
+ DEBUG;TRACE
+ prompt
+ 4
+
+
+
+
+
+
+
+
+
+
+
+
+ UserControl
+
+
+ TCPSeverForm.cs
+
+
+
+
+ ..\..\packages\STTech.BytesIO.Core.2.9.3\lib\net45\STTech.BytesIO.Core.dll
+
+
+ ..\..\packages\STTech.BytesIO.Tcp.2.9.3\lib\net45\STTech.BytesIO.Tcp.dll
+
+
+ ..\..\packages\STTech.CodePlus.1.4.0\lib\net45\STTech.CodePlus.dll
+
+
+
+
+
+
+
+
+
+ {987308DD-8BAA-463A-94E2-77D62E01A5BF}
+ BRS.Common.Device
+
+
+ {1A3CBFE7-3F78-42C3-95C5-10360450DBEA}
+ BRS.Common.Model
+
+
+
+
+ TCPSeverForm.cs
+
+
+
+
\ No newline at end of file
diff --git a/src/XKRS.Device.TCPSever/packages.config b/src/XKRS.Device.TCPSever/packages.config
new file mode 100644
index 0000000..97cb8fd
--- /dev/null
+++ b/src/XKRS.Device.TCPSever/packages.config
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file