From 8a92dd3eea30f9cea10bbe6fdba6266c65d55ac8 Mon Sep 17 00:00:00 2001 From: 17860779768 <3219079380@qq.com> Date: Thu, 6 Apr 2023 12:06:25 +0800 Subject: [PATCH] 20230406Change1 --- src/BRS.Process.A020/A020Process_Operation.cs | 57 ++-- .../UI/ContorlShaft.Designer.cs | 272 +++++++++--------- src/BRS.Process.A020/UI/ContorlShaft.cs | 5 +- 3 files changed, 167 insertions(+), 167 deletions(-) diff --git a/src/BRS.Process.A020/A020Process_Operation.cs b/src/BRS.Process.A020/A020Process_Operation.cs index 95079eb..7956fae 100644 --- a/src/BRS.Process.A020/A020Process_Operation.cs +++ b/src/BRS.Process.A020/A020Process_Operation.cs @@ -31,7 +31,7 @@ namespace BRS.Process.A020 int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引 float 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) @@ -274,11 +274,11 @@ namespace BRS.Process.A020 /// /// /// - public void GetScrew(Mat image, List ResultPoint) + public void GetScrew(Mat image, List ResultPoint) { Mat SrcImage = image.Clone(); // 固定路径的模板图像 - Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); + Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\20230330\1.png"); Mat TempleteImage = Image.Clone(); // Point[][] contours1 = new Point[][] { }; @@ -313,7 +313,7 @@ namespace BRS.Process.A020 ResultPoint.Add(Mypoints); } } - + } void genCalibratePts1() { @@ -466,29 +466,30 @@ namespace BRS.Process.A020 Stopwatch stopWatch = new Stopwatch(); stopWatch.Restart(); - Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); + #if true genCalibratePts1(); stopWatch2.Stop(); Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "==========================="); //MyPoint ssw = new MyPoint(); - + Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); List resultPoint = new List(); - + Mat _mat = dd.Clone(); - string ss = "D:\\QT1\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg"; + string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg"; Cv2.ImWrite(ss, _mat); GetScrew(Image, resultPoint); MyPoint ssw3 = resultPoint[0]; - Mat _mat2 = AloghitomMat(_mat, ref ssw3);//根据拍摄的白纸定标图片确定二维到三维转换的关系 + + //Mat _mat2 = AloghitomMat(_mat, ref ssw3);//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, ssw3, true);//实际坐标值 string ss2 = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg"; - Cv2.ImWrite(ss2, _mat2); + //Cv2.ImWrite(ss2, _mat2); stopWatch.Stop(); Console.WriteLine(DateTime.Now + "==========标定算法=================" + stopWatch.ElapsedMilliseconds + "==========================="); @@ -527,7 +528,7 @@ namespace BRS.Process.A020 return new ProcessResponse(false); } LogAsync(DateTime.Now, LogLevel.Information, "流程启动中,请稍候..."); - + PrepareBatchNO(); ProcessStatus = ProcessStatus.Unknown; var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; @@ -574,14 +575,14 @@ namespace BRS.Process.A020 //等待光电触发来电信号 foreach (var sgepin in A020Config.ProcessInitialOps) { - // foreach (var sp in sgepin.ShePinConfig) + // foreach (var sp in sgepin.ShePinConfig) { - // if (sp.ShePinConfig == ALLShePinChar) - // { + // if (sp.ShePinConfig == ALLShePinChar) + // { - AModeTypeRun = sgepin;//模型型号匹配 - - // } + AModeTypeRun = sgepin;//模型型号匹配 + + // } } } if (RobotsStatus.Release == RobotsStatus)//机器人复位,初始状态 @@ -726,7 +727,7 @@ namespace BRS.Process.A020 ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1,0.5s后置0 Thread.Sleep(20); } - + } else { @@ -764,7 +765,7 @@ namespace BRS.Process.A020 LogAsync(DateTime.Now, LogLevel.Detail, "设备已启动,请勿其他操作!!"); IsShaftOpen = true; RobotsStatus = RobotsStatus.Runing; - // DownCirce = DownCirce.DownCirce; + // DownCirce = DownCirce.DownCirce; } //while (true) //{ @@ -851,7 +852,7 @@ namespace BRS.Process.A020 { LogAsync(DateTime.Now, LogLevel.Information, "已完成"); //ProcessWriteInt(MelsecPLC, "D171", "int", "0"); - + if (MinAngleValue <= resValue2 && resValue2 <= MaxAngleValue) { @@ -885,13 +886,15 @@ namespace BRS.Process.A020 while (true) { if ("0" == ProcessReadInt(MelsecPLC, "D65", "int")) + { + ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1,0.5s后置0 + ProcessWriteInt(MelsecPLC, "D171", "int", "200"); + ProcessWriteInt(MelsecPLC, "D167", "int", "50000"); break; + } else Thread.Sleep(10); } - ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1,0.5s后置0 - ProcessWriteInt(MelsecPLC, "D171", "int", "200"); - ProcessWriteInt(MelsecPLC, "D167", "int", "50000"); Thread.Sleep(1000); @@ -931,7 +934,6 @@ namespace BRS.Process.A020 } Thread.Sleep(3000); ProcessStatus = ProcessStatus.Init; - } break; case ProcessStatus.Warning: @@ -944,11 +946,8 @@ namespace BRS.Process.A020 Thread.Sleep(20); } }); - - Task.Run(() => - { - - }); + + LogAsync(DateTime.Now, LogLevel.Action, "流程启动完成!"); PubSubCenter.GetInstance().Publish(PubSubCenterMessageType.IsProcessOpened.ToString(), true, null); return new ProcessResponse(true); diff --git a/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs b/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs index 6cec8f3..a9c9a1e 100644 --- a/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs +++ b/src/BRS.Process.A020/UI/ContorlShaft.Designer.cs @@ -71,14 +71,24 @@ namespace BRS.Process.A020.UI this.label8 = new System.Windows.Forms.Label(); this.LightSeries = new Sunny.UI.UIPanel(); this.label15 = new System.Windows.Forms.Label(); + this.RobotAStatus = new BRS.Process.A020.UI.CircleButton(); 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.AutoLoosenBtn = new Sunny.UI.UIButton(); this.AutoToughBtn = new Sunny.UI.UIButton(); @@ -88,16 +98,6 @@ 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.RobotAStatus = new BRS.Process.A020.UI.CircleButton(); - 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.uiPanel3.SuspendLayout(); @@ -236,6 +236,7 @@ namespace BRS.Process.A020.UI // this.uiPanel1.Controls.Add(this.uiPanel3); this.uiPanel1.Controls.Add(this.BtnSeries); + this.uiPanel1.Controls.Add(this.ESBtn); this.uiPanel1.Controls.Add(this.ParameterSetting); this.uiPanel1.Controls.Add(this.LightSeries); this.uiPanel1.Controls.Add(this.uiPanel2); @@ -306,11 +307,11 @@ 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(352, 152); + this.BtnSeries.Location = new System.Drawing.Point(526, 180); 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(367, 394); + this.BtnSeries.Size = new System.Drawing.Size(363, 366); this.BtnSeries.TabIndex = 40; this.BtnSeries.Text = null; this.BtnSeries.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter; @@ -323,7 +324,7 @@ namespace BRS.Process.A020.UI this.label13.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label13.Location = new System.Drawing.Point(0, 0); this.label13.Name = "label13"; - this.label13.Size = new System.Drawing.Size(367, 47); + this.label13.Size = new System.Drawing.Size(363, 47); this.label13.TabIndex = 37; this.label13.Text = "操作按钮"; this.label13.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -347,7 +348,7 @@ namespace BRS.Process.A020.UI // this.AutoToughBtn1.Cursor = System.Windows.Forms.Cursors.Hand; this.AutoToughBtn1.Font = new System.Drawing.Font("微软雅黑", 18F); - this.AutoToughBtn1.Location = new System.Drawing.Point(192, 85); + this.AutoToughBtn1.Location = new System.Drawing.Point(183, 85); this.AutoToughBtn1.MinimumSize = new System.Drawing.Size(1, 1); this.AutoToughBtn1.Name = "AutoToughBtn1"; this.AutoToughBtn1.Size = new System.Drawing.Size(170, 110); @@ -361,7 +362,7 @@ namespace BRS.Process.A020.UI // this.AutoLoosenBtn1.Cursor = System.Windows.Forms.Cursors.Hand; this.AutoLoosenBtn1.Font = new System.Drawing.Font("微软雅黑", 18F); - this.AutoLoosenBtn1.Location = new System.Drawing.Point(192, 223); + this.AutoLoosenBtn1.Location = new System.Drawing.Point(183, 223); this.AutoLoosenBtn1.MinimumSize = new System.Drawing.Size(1, 1); this.AutoLoosenBtn1.Name = "AutoLoosenBtn1"; this.AutoLoosenBtn1.Size = new System.Drawing.Size(170, 110); @@ -402,11 +403,11 @@ 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, 152); + this.ParameterSetting.Location = new System.Drawing.Point(227, 180); 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(338, 394); + this.ParameterSetting.Size = new System.Drawing.Size(292, 366); this.ParameterSetting.TabIndex = 39; this.ParameterSetting.Text = null; this.ParameterSetting.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter; @@ -419,7 +420,7 @@ namespace BRS.Process.A020.UI this.label10.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label10.Location = new System.Drawing.Point(0, 0); this.label10.Name = "label10"; - this.label10.Size = new System.Drawing.Size(338, 47); + this.label10.Size = new System.Drawing.Size(292, 47); this.label10.TabIndex = 36; this.label10.Text = "参数设置"; this.label10.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -428,7 +429,7 @@ namespace BRS.Process.A020.UI // this.OKBtn.Cursor = System.Windows.Forms.Cursors.Hand; this.OKBtn.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); - this.OKBtn.Location = new System.Drawing.Point(263, 324); + this.OKBtn.Location = new System.Drawing.Point(213, 323); this.OKBtn.MinimumSize = new System.Drawing.Size(1, 1); this.OKBtn.Name = "OKBtn"; this.OKBtn.Size = new System.Drawing.Size(70, 31); @@ -440,7 +441,7 @@ namespace BRS.Process.A020.UI // // textBox1 // - this.textBox1.Location = new System.Drawing.Point(162, 78); + this.textBox1.Location = new System.Drawing.Point(149, 78); this.textBox1.Multiline = true; this.textBox1.Name = "textBox1"; this.textBox1.Size = new System.Drawing.Size(134, 30); @@ -463,7 +464,7 @@ namespace BRS.Process.A020.UI // this.ResettingBtn.Cursor = System.Windows.Forms.Cursors.Hand; this.ResettingBtn.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); - this.ResettingBtn.Location = new System.Drawing.Point(187, 324); + this.ResettingBtn.Location = new System.Drawing.Point(137, 323); this.ResettingBtn.MinimumSize = new System.Drawing.Size(1, 1); this.ResettingBtn.Name = "ResettingBtn"; this.ResettingBtn.Size = new System.Drawing.Size(70, 31); @@ -486,7 +487,7 @@ namespace BRS.Process.A020.UI // // textBox5 // - this.textBox5.Location = new System.Drawing.Point(162, 260); + this.textBox5.Location = new System.Drawing.Point(149, 260); this.textBox5.Multiline = true; this.textBox5.Name = "textBox5"; this.textBox5.Size = new System.Drawing.Size(134, 30); @@ -496,7 +497,7 @@ namespace BRS.Process.A020.UI // // textBox2 // - this.textBox2.Location = new System.Drawing.Point(162, 127); + this.textBox2.Location = new System.Drawing.Point(149, 127); this.textBox2.Multiline = true; this.textBox2.Name = "textBox2"; this.textBox2.Size = new System.Drawing.Size(134, 30); @@ -528,7 +529,7 @@ namespace BRS.Process.A020.UI // // textBox4 // - this.textBox4.Location = new System.Drawing.Point(162, 217); + this.textBox4.Location = new System.Drawing.Point(149, 217); this.textBox4.Multiline = true; this.textBox4.Name = "textBox4"; this.textBox4.Size = new System.Drawing.Size(134, 30); @@ -538,7 +539,7 @@ namespace BRS.Process.A020.UI // // textBox3 // - this.textBox3.Location = new System.Drawing.Point(162, 172); + this.textBox3.Location = new System.Drawing.Point(149, 172); this.textBox3.Multiline = true; this.textBox3.Name = "textBox3"; this.textBox3.Size = new System.Drawing.Size(134, 30); @@ -574,11 +575,11 @@ 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(219, 0); + this.LightSeries.Location = new System.Drawing.Point(225, 0); 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"; - this.LightSeries.Size = new System.Drawing.Size(819, 153); + this.LightSeries.Size = new System.Drawing.Size(813, 153); this.LightSeries.TabIndex = 38; this.LightSeries.Text = null; this.LightSeries.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter; @@ -595,6 +596,17 @@ namespace BRS.Process.A020.UI this.label15.Text = "机械臂\r\n连接状态"; this.label15.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; // + // RobotAStatus + // + this.RobotAStatus.BackColor = System.Drawing.Color.Gray; + this.RobotAStatus.Cursor = System.Windows.Forms.Cursors.Hand; + this.RobotAStatus.Enabled = false; + this.RobotAStatus.Location = new System.Drawing.Point(706, 7); + this.RobotAStatus.Name = "RobotAStatus"; + this.RobotAStatus.Size = new System.Drawing.Size(90, 90); + this.RobotAStatus.TabIndex = 28; + this.RobotAStatus.UseVisualStyleBackColor = false; + // // label12 // this.label12.AutoSize = true; @@ -617,6 +629,64 @@ 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(549, 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(437, 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(117, 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(217, 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(326, 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; @@ -666,13 +736,12 @@ namespace BRS.Process.A020.UI this.uiPanel2.Controls.Add(this.label14); this.uiPanel2.Controls.Add(this.AutoBtn1); 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(721, 152); + this.uiPanel2.Location = new System.Drawing.Point(896, 180); 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(317, 394); + this.uiPanel2.Size = new System.Drawing.Size(142, 366); this.uiPanel2.TabIndex = 37; this.uiPanel2.Text = null; this.uiPanel2.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter; @@ -685,11 +754,47 @@ namespace BRS.Process.A020.UI this.label14.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label14.Location = new System.Drawing.Point(0, 0); this.label14.Name = "label14"; - this.label14.Size = new System.Drawing.Size(317, 47); + this.label14.Size = new System.Drawing.Size(142, 47); this.label14.TabIndex = 38; 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(15, 85); + this.AutoBtn1.Name = "AutoBtn1"; + this.AutoBtn1.Size = new System.Drawing.Size(112, 112); + 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(15, 223); + this.ManualBtn1.Name = "ManualBtn1"; + this.ManualBtn1.Size = new System.Drawing.Size(112, 112); + 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(3, 180); + this.ESBtn.Name = "ESBtn"; + this.ESBtn.Size = new System.Drawing.Size(219, 219); + 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; @@ -794,111 +899,6 @@ namespace BRS.Process.A020.UI this.timer2.Interval = 1000; this.timer2.Tick += new System.EventHandler(this.timer2_Tick); // - // RobotAStatus - // - this.RobotAStatus.BackColor = System.Drawing.Color.Gray; - this.RobotAStatus.Cursor = System.Windows.Forms.Cursors.Hand; - this.RobotAStatus.Enabled = false; - this.RobotAStatus.Location = new System.Drawing.Point(706, 7); - this.RobotAStatus.Name = "RobotAStatus"; - this.RobotAStatus.Size = new System.Drawing.Size(90, 90); - this.RobotAStatus.TabIndex = 28; - this.RobotAStatus.UseVisualStyleBackColor = false; - // - // 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(549, 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(437, 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(117, 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(217, 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(326, 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(5, 85); - this.AutoBtn1.Name = "AutoBtn1"; - this.AutoBtn1.Size = new System.Drawing.Size(112, 112); - 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(5, 221); - this.ManualBtn1.Name = "ManualBtn1"; - this.ManualBtn1.Size = new System.Drawing.Size(112, 112); - 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(157, 144); - 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 9e6424b..213268c 100644 --- a/src/BRS.Process.A020/UI/ContorlShaft.cs +++ b/src/BRS.Process.A020/UI/ContorlShaft.cs @@ -35,7 +35,6 @@ namespace BRS.Process.A020.UI //private bool isSingleStepOperating = false; - public 扭矩轴控制() { InitializeComponent(); @@ -66,7 +65,7 @@ namespace BRS.Process.A020.UI //ProcessA020.OnBitmapChanged -= BitMapTest; //ProcessA020.OnBitmapChanged += BitMapTest; pLCBase = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; - TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "ListenerA") as TCPSeverBase; + TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "123") as TCPSeverBase; if (TcpListerWrapBase1 != null) { TcpListerWrapBase1.OnTcpDataReceived -= NbtRobotDriver_OnDataReceived; @@ -1000,6 +999,8 @@ namespace BRS.Process.A020.UI //ProcessWriteInt(MelsecPLC, "D55", "int", "0"); ProcessWriteInt(MelsecPLC, "D171", "int", "0"); + TcpListerWrapBase1.SendMessage("PowerOFF_");//机械臂下电 + shaftState = ShaftMachineState.Emergency; this.StopStateLight1.BackColor = Color.Red;