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17860779768 2023-04-11 13:56:50 +08:00
parent 8a92dd3eea
commit 9b6bd5321a
4 changed files with 181 additions and 113 deletions
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2
src/BRS.Common.Model/Model/DeviceOpBind.cs
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@ -81,7 +81,7 @@ namespace BRS.Common.Model
[Category("机械臂配置项")] [Category("机械臂配置项")]
[Description("拧紧轴推进距离")] [Description("拧紧轴推进距离")]
[DisplayName("拧紧轴推进距离")] [DisplayName("拧紧轴推进距离")]
public float NIJ_DisD { get; set; } = -99; public float NIJ_DisD { get; set; }
public string GetDisplayText() public string GetDisplayText()
{ {

282
src/BRS.Process.A020/A020Process_Operation.cs
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@ -20,7 +20,7 @@ namespace BRS.Process.A020
{ {
public partial class A020Process public partial class A020Process
{ {
private bool IsTesting { get; set; } = true; private bool IsTesting { get; set; } = false;
public bool IsSingleStepOperating { get; set; } = false; public bool IsSingleStepOperating { get; set; } = false;
public bool IsArrive { get; set; } = false;//判断机械臂携带拧紧轴是否到位 public bool IsArrive { get; set; } = false;//判断机械臂携带拧紧轴是否到位
@ -29,11 +29,12 @@ namespace BRS.Process.A020
private bool IsTough { get; set; } = false;//是否拧紧 private bool IsTough { get; set; } = false;//是否拧紧
int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引 int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引
float Distance_DisD = 0;//拧紧轴推进距离100
//float NJZ_T = (float)102.548;
DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有） DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有）
private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1) private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1)
{ {
if (MelsecPlc != null && MelsecPlc.InitialConfig.IsEnabled) if (MelsecPlc != null && MelsecPlc.InitialConfig.IsEnabled)
@ -55,6 +56,7 @@ namespace BRS.Process.A020
/* 设备对象 */ /* 设备对象 */
private ThridLibray.IDevice m_dev; private ThridLibray.IDevice m_dev;
Mat Mat_CamA = new Mat(); Mat Mat_CamA = new Mat();
Bitmap Bit_Image = null; Bitmap Bit_Image = null;
// private ThridLibray.IDevice m_dev1; // private ThridLibray.IDevice m_dev1;
// private ThridLibray.IDevice m_dev2; // private ThridLibray.IDevice m_dev2;
@ -139,7 +141,7 @@ namespace BRS.Process.A020
Catcher.Show(exception); Catcher.Show(exception);
} }
} }
bool CamA = false; bool CamA = true;
private void OnImageGrabbed(Object sender, GrabbedEventArgs e) private void OnImageGrabbed(Object sender, GrabbedEventArgs e)
{ {
Mat_CamA = null; Mat_CamA = null;
@ -245,12 +247,40 @@ namespace BRS.Process.A020
public static void Contour_Get(Mat mat, List<OpenCvSharp.Point[]> Lastcontours) public static void Contour_Get(Mat mat, List<OpenCvSharp.Point[]> Lastcontours)
{ {
//高斯模糊 //高斯模糊
Mat dst = new Mat(); //Mat dst = new Mat();
//OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3);
//Cv2.GaussianBlur(mat, dst, ksize, 0);
//Mat gray = new Mat();
//Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY);
Mat binary = mat.Clone();
Cv2.Threshold(mat, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu);
//查找轮廓
//List<List<Point>> contours = new List<List<Point>>();
OpenCvSharp.Point[][] contours = null;
HierarchyIndex[] hierarchly;
Cv2.FindContours(binary, out contours, out hierarchly, RetrievalModes.Tree, ContourApproximationModes.ApproxSimple, new OpenCvSharp.Point(0, 0));
for (int i = 0; i < contours.Length; i++)
{
double length = Cv2.ArcLength(contours[i], true);
if (length > 300 && length < 550)
{
Lastcontours.Add(contours[i]);
Console.WriteLine(length);
}
}
}
public static void Contour3_Get(Mat mat, List<OpenCvSharp.Point[]> Lastcontours)
{
//高斯模糊
//Mat Image = Cv2.ImRead(@"C:\徐敏育\项目\螺丝机研发\P1\1.png");
Mat dst = mat.Clone();
OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3); OpenCvSharp.Size ksize = new OpenCvSharp.Size(3, 3);
Cv2.GaussianBlur(mat, dst, ksize, 0); // Cv2.GaussianBlur(mat, dst, ksize, 0);
Mat gray = new Mat(); Mat gray = mat.Clone();
Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY); Cv2.CvtColor(dst, gray, ColorConversionCodes.BGR2GRAY);
Mat binary = new Mat(); Mat binary = gray.Clone();
Cv2.Threshold(gray, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu); Cv2.Threshold(gray, binary, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu);
//查找轮廓 //查找轮廓
//List<List<Point>> contours = new List<List<Point>>(); //List<List<Point>> contours = new List<List<Point>>();
@ -261,8 +291,13 @@ namespace BRS.Process.A020
for (int i = 0; i < contours.Length; i++) for (int i = 0; i < contours.Length; i++)
{ {
double length = Cv2.ArcLength(contours[i], true); double length = Cv2.ArcLength(contours[i], true);
if (length > 300 && length < 400)
//Console.ReadKey();
if (length > 500 && length < 600)
{ {
Console.WriteLine(length);
Lastcontours.Add(contours[i]); Lastcontours.Add(contours[i]);
} }
@ -278,7 +313,7 @@ namespace BRS.Process.A020
{ {
Mat SrcImage = image.Clone(); Mat SrcImage = image.Clone();
// 固定路径的模板图像 // 固定路径的模板图像
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\20230330\1.png"); Mat Image = Cv2.ImRead(@"D:\testData\Model_P\1.jpg");
Mat TempleteImage = Image.Clone(); Mat TempleteImage = Image.Clone();
// Point[][] contours1 = new Point[][] { }; // Point[][] contours1 = new Point[][] { };
@ -286,9 +321,10 @@ namespace BRS.Process.A020
List<OpenCvSharp.Point[]> contours1 = new List<OpenCvSharp.Point[]>(); List<OpenCvSharp.Point[]> contours1 = new List<OpenCvSharp.Point[]>();
List<OpenCvSharp.Point[]> contours2 = new List<OpenCvSharp.Point[]>(); List<OpenCvSharp.Point[]> contours2 = new List<OpenCvSharp.Point[]>();
Contour3_Get(TempleteImage, contours2);
Contour_Get(SrcImage, contours1); Contour_Get(SrcImage, contours1);
Contour_Get(TempleteImage, contours2); Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\TempleteImage.jpg", SrcImage);
Cv2.ImWrite(@"D:\MelsecPLCReadWrite\Bk\20230330\SrcImage.jpg", TempleteImage);
// Hu矩计算 // Hu矩计算
//Moments mm2 = Cv2.Moments(contours2[0]); // 先计算几何矩 //Moments mm2 = Cv2.Moments(contours2[0]); // 先计算几何矩
//Mat hu2 = new Mat(); //Mat hu2 = new Mat();
@ -340,119 +376,138 @@ namespace BRS.Process.A020
VP.Clear(); VP.Clear();
VR.Clear(); VR.Clear();
/*************生成像素数据*********************/ /*************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; for (int i = 0; i < VPList.Count; i++)
tp.dY = VPList[1].Y; //986; {
VP.Add(tp); MyPoint tp;
tp.dX = VPList[i].X;//2054;
tp.dX = VPList[2].X;//2013; tp.dY = VPList[i].Y;// 1831;
tp.dY = VPList[2].Y;//168; VP.Add(tp);
VP.Add(tp); }
tp.dX = VPList[3].X;// 1369;
tp.dY = VPList[3].Y; //235;
VP.Add(tp);
////5-8 //MyPoint tp;
tp.dX = VPList[4].X;// 1369; //tp.dX = VPList[0].X;//2054;
tp.dY = VPList[4].Y; //235; //tp.dY = VPList[0].Y;// 1831;
// tp.dX = 1403; //VP.Add(tp);
//tp.dY = 985;
VP.Add(tp);
tp.dX = VPList[5].X;// 1327; //tp.dX = VPList[1].X;// 2033;
tp.dY = VPList[5].Y;// 1756; //tp.dY = VPList[1].Y; //986;
VP.Add(tp); //VP.Add(tp);
tp.dX = VPList[6].X;// 717; //tp.dX = VPList[2].X;//2013;
tp.dY = VPList[6].Y;// 1701; //tp.dY = VPList[2].Y;//168;
VP.Add(tp); //VP.Add(tp);
tp.dX = VPList[7].X;// 879; //tp.dX = VPList[3].X;// 1369;
tp.dY = VPList[7].Y;// 947; //tp.dY = VPList[3].Y; //235;
VP.Add(tp); //VP.Add(tp);
////
tp.dX = VPList[8].X;// 774;
tp.dY = VPList[8].Y;// 236;
VP.Add(tp);
tp.dX = VPList[9].X;// 257; //////5-8
tp.dY = VPList[9].Y;// ; //tp.dX = VPList[4].X;// 1369;
VP.Add(tp); //tp.dY = VPList[4].Y; //235;
// // tp.dX = 1403;
// //tp.dY = 985;
//VP.Add(tp);
tp.dX = VPList[10].X;// 307; //tp.dX = VPList[5].X;// 1327;
tp.dY = VPList[10].Y;// 994; //tp.dY = VPList[5].Y;// 1756;
VP.Add(tp); //VP.Add(tp);
tp.dX = VPList[11].X;// 303; //tp.dX = VPList[6].X;// 717;
tp.dY = VPList[11].Y;// 1727; //tp.dY = VPList[6].Y;// 1701;
VP.Add(tp); //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*********************/ /*************生成三维数据*********************/
MyPoint tr; for (int i = 0; i < VRList.Count; i++)
tr.dX = VRList[0].X + PYliangx; {
tr.dY = VRList[0].Y + PYliangy; MyPoint tr;
VR.Add(tr); tr.dX = VRList[i].X + PYliangx;
tr.dY = VRList[i].Y + PYliangy;
VR.Add(tr);
}
//MyPoint tr;
//tr.dX = VRList[0].X + PYliangx;
//tr.dY = VRList[0].Y + PYliangy;
//VR.Add(tr);
tr.dX = VRList[1].X + PYliangx; //tr.dX = VRList[1].X + PYliangx;
tr.dY = VRList[1].Y + PYliangy; //tr.dY = VRList[1].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[2].X + PYliangx; //tr.dX = VRList[2].X + PYliangx;
tr.dY = VRList[2].Y + PYliangy; //tr.dY = VRList[2].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
////////////// ////////////////
tr.dX = VRList[3].X + PYliangx; //tr.dX = VRList[3].X + PYliangx;
tr.dY = VRList[3].Y + PYliangy; //tr.dY = VRList[3].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[4].X + PYliangx; //tr.dX = VRList[4].X + PYliangx;
tr.dY = VRList[4].Y + PYliangy; //tr.dY = VRList[4].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[5].X + PYliangx; //tr.dX = VRList[5].X + PYliangx;
tr.dY = VRList[5].Y + PYliangy; //tr.dY = VRList[5].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
//////////////7 ////////////////7
tr.dX = VRList[6].X + PYliangx; //tr.dX = VRList[6].X + PYliangx;
tr.dY = VRList[6].Y + PYliangy; //tr.dY = VRList[6].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[7].X + PYliangx; //tr.dX = VRList[7].X + PYliangx;
tr.dY = VRList[7].Y + PYliangy; //tr.dY = VRList[7].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[8].X + PYliangx; //tr.dX = VRList[8].X + PYliangx;
tr.dY = VRList[8].Y + PYliangy; //tr.dY = VRList[8].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
////////////// ////////////////
tr.dX = VRList[9].X + PYliangx; //tr.dX = VRList[9].X + PYliangx;
tr.dY = VRList[9].Y + PYliangy; //tr.dY = VRList[9].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[10].X + PYliangx; //tr.dX = VRList[10].X + PYliangx;
tr.dY = VRList[10].Y + PYliangy; //tr.dY = VRList[10].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
tr.dX = VRList[11].X + PYliangx; //tr.dX = VRList[11].X + PYliangx;
tr.dY = VRList[11].Y + PYliangy; //tr.dY = VRList[11].Y + PYliangy;
VR.Add(tr); //VR.Add(tr);
} }
catch (Exception e) catch (Exception e)
{ {
@ -473,14 +528,16 @@ namespace BRS.Process.A020
Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "==========================="); Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "===========================");
//MyPoint ssw = new MyPoint(); //MyPoint ssw = new MyPoint();
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png"); //Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
List<MyPoint> resultPoint = new List<MyPoint>(); List<MyPoint> resultPoint = new List<MyPoint>();
#if false
Mat _mat = dd.Clone(); Mat _mat = dd.Clone();
string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg"; string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
Cv2.ImWrite(ss, _mat); Cv2.ImWrite(ss, _mat);
#endif
Mat _mat = dd.Clone();
GetScrew(Image, resultPoint); GetScrew(_mat, resultPoint);
MyPoint ssw3 = resultPoint[0]; MyPoint ssw3 = resultPoint[0];
@ -534,6 +591,9 @@ namespace BRS.Process.A020
var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
var KawasakiRobot = DeviceCollection.Find(d => d is KawasakiTCPSeverRobotDriver) as KawasakiTCPSeverRobotDriver; var KawasakiRobot = DeviceCollection.Find(d => d is KawasakiTCPSeverRobotDriver) as KawasakiTCPSeverRobotDriver;
float NJZt = AModeTypeRun.NIJ_DisD;
StrRobotPoint strPointInitA;//示教点位 StrRobotPoint strPointInitA;//示教点位
strPointInitA.X = 847.462F; strPointInitA.X = 847.462F;
strPointInitA.Y = 891.623F; strPointInitA.Y = 891.623F;
@ -543,7 +603,7 @@ namespace BRS.Process.A020
strPointInitA.C = 90F; strPointInitA.C = 90F;
RobotPoint robotInitPoint = KawasakiRobot.IIConfig.RobotInitPosition;//机械臂初始点位 RobotPoint robotInitPoint = KawasakiRobot.IIConfig.RobotInitPosition;//机械臂初始点位
StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint);
#region 驱动委托 #region 驱动委托
if (KawasakiRobot != null) if (KawasakiRobot != null)
{ {
@ -559,8 +619,9 @@ namespace BRS.Process.A020
MachineState = MachineState.Running; MachineState = MachineState.Running;
ProcessStatus = ProcessStatus.Init; ProcessStatus = ProcessStatus.Init;
RobotsStatus = RobotsStatus.Release; RobotsStatus = RobotsStatus.Release;
KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置 KawasakiRobotMove(KawasakiRobot, initPoint);
OpenCam1(); //KawasakiRobotInit(KawasakiRobot);//机械臂移动到初始位置
//OpenCam1();
Task.Run(() => Task.Run(() =>
{ {
@ -621,13 +682,13 @@ namespace BRS.Process.A020
KawasakiRobot.SendMessage(PointInitMove); KawasakiRobot.SendMessage(PointInitMove);
LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动到示教点"); LogAsync(DateTime.Now, LogLevel.Assist, $"机械臂A移动到示教点");
RobotsStatus = RobotsStatus.Runing; RobotsStatus = RobotsStatus.Runing;
DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态 //DownCirce = DownCirce.DownCirce;//标志机械臂的运动状态
while (true) while (true)
{ {
if (DownCirce == DownCirce.DownCirceRuning) if (DownCirce == DownCirce.DownCirceRuning)
break; break;
else else
Thread.Sleep(10); Thread.Sleep(20);
} }
ProcessStatus = ProcessStatus.OpenLight; ProcessStatus = ProcessStatus.OpenLight;
//KawasakiRobotInit(KawasakiRobot); //KawasakiRobotInit(KawasakiRobot);
@ -644,18 +705,20 @@ namespace BRS.Process.A020
//JYDAMDriver1.WriteStrs(SerialOpenLight); //JYDAMDriver1.WriteStrs(SerialOpenLight);
#region 拍摄图片 取图进行视觉定位 #region 拍摄图片 取图进行视觉定位
SoftTrigger1(); //SoftTrigger1();
Thread.Sleep(200); Thread.Sleep(200);
while (CamA == true) while (CamA == true)
{ {
//拍照视觉定位 //拍照视觉定位
OnBitmapChanged?.Invoke(1, Bit_Image); //OnBitmapChanged?.Invoke(1, Bit_Image);
Mat img = Cv2.ImRead(@"D:\testData\ShaftP\173648283.jpg");
Mat Mat_CamA = img.Clone();
OnCameraImageOutput(ref sswF, ref Mat_CamA, 1); OnCameraImageOutput(ref sswF, ref Mat_CamA, 1);
stopWatch.Stop(); stopWatch.Stop();
Console.WriteLine(DateTime.Now + "=========拍照==================" + stopWatch.ElapsedMilliseconds + "==========================="); Console.WriteLine(DateTime.Now + "=========拍照==================" + stopWatch.ElapsedMilliseconds + "===========================");
CamA = false; CamA = false;
} }
ProcessStatus = ProcessStatus.CVLocation;
#endregion #endregion
} }
break; break;
@ -692,7 +755,7 @@ namespace BRS.Process.A020
strPointInitA1 = strPointInitA; strPointInitA1 = strPointInitA;
StrRobotPoint strPointInitA2 = new StrRobotPoint(); StrRobotPoint strPointInitA2 = new StrRobotPoint();
strPointInitA2 = strPointInitA; strPointInitA2 = strPointInitA;
strPointInitA2.Z += Distance_DisD;//XYZ是毫米 strPointInitA2.Z += NJZt;//XYZ是毫米
_strRobotPointAs.Add(strPointInitA1); _strRobotPointAs.Add(strPointInitA1);
_strRobotPointAs.Add(strPointInitA2); _strRobotPointAs.Add(strPointInitA2);
//KawasakiRobotMoves(KawasakiRobot, _strRobotPointAs, false); //KawasakiRobotMoves(KawasakiRobot, _strRobotPointAs, false);
@ -904,7 +967,7 @@ namespace BRS.Process.A020
case ProcessStatus.UpShaft: case ProcessStatus.UpShaft:
{ {
RobotPoint robotInitPoint1 = KawasakiRobot.IIConfig.RobotInitPosition;//机器人初始点 RobotPoint robotInitPoint1 = KawasakiRobot.IIConfig.RobotInitPosition;//机器人初始点
StrRobotPoint initPoint = ClassChangeStruct(robotInitPoint); StrRobotPoint initPoint1 = ClassChangeStruct(robotInitPoint);
List<StrRobotPoint> _strRobotPointAup = new List<StrRobotPoint>(); List<StrRobotPoint> _strRobotPointAup = new List<StrRobotPoint>();
StrRobotPoint strPointInitA3 = new StrRobotPoint(); StrRobotPoint strPointInitA3 = new StrRobotPoint();
@ -912,8 +975,8 @@ namespace BRS.Process.A020
StrRobotPoint strPointInitA4 = new StrRobotPoint(); StrRobotPoint strPointInitA4 = new StrRobotPoint();
strPointInitA4 = strPointInitA; strPointInitA4 = strPointInitA;
StrRobotPoint strPointInitA5 = new StrRobotPoint(); StrRobotPoint strPointInitA5 = new StrRobotPoint();
strPointInitA5 = initPoint; strPointInitA5 = initPoint1;
strPointInitA4.Z -= Distance_DisD;//XYZ是毫米 strPointInitA4.Z -= NJZt;//XYZ是毫米
_strRobotPointAup.Add(strPointInitA4); _strRobotPointAup.Add(strPointInitA4);
_strRobotPointAup.Add(strPointInitA3); _strRobotPointAup.Add(strPointInitA3);
_strRobotPointAup.Add(strPointInitA5); _strRobotPointAup.Add(strPointInitA5);
@ -1479,6 +1542,7 @@ namespace BRS.Process.A020
KawasakiRobotStatus = KawasakiRobotStatus.Runing; KawasakiRobotStatus = KawasakiRobotStatus.Runing;
while (true) while (true)
{ {
KawasakiRobotStatus = KawasakiRobotStatus.Stoped;
if (KawasakiRobotStatus == KawasakiRobotStatus.Stoped) if (KawasakiRobotStatus == KawasakiRobotStatus.Stoped)
break; break;
else else

4
src/BRS.Process.A020/A020Process_VisionProcessor.cs
View File

@ -368,11 +368,11 @@ namespace BRS.Process.A020
} }
#endregion #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 #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") if (ProcessStatus == ProcessStatus.OpenLight && RobotsStatus == RobotsStatus)
{ {
msg = string.Empty; msg = string.Empty;
DownCirce = DownCirce.DownCirceRuning; DownCirce = DownCirce.DownCirceRuning;
ProcessStatus = ProcessStatus.OpenLight;
RobotsStatus = RobotsStatus.Release; RobotsStatus = RobotsStatus.Release;
} }
#endregion #endregion

6
src/BRS.Process.A020/UI/ContorlShaft.cs
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@ -65,7 +65,7 @@ namespace BRS.Process.A020.UI
//ProcessA020.OnBitmapChanged -= BitMapTest; //ProcessA020.OnBitmapChanged -= BitMapTest;
//ProcessA020.OnBitmapChanged += BitMapTest; //ProcessA020.OnBitmapChanged += BitMapTest;
pLCBase = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase; pLCBase = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "123") as TCPSeverBase; TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "KawasakiRobot") as TCPSeverBase;
if (TcpListerWrapBase1 != null) if (TcpListerWrapBase1 != null)
{ {
TcpListerWrapBase1.OnTcpDataReceived -= NbtRobotDriver_OnDataReceived; TcpListerWrapBase1.OnTcpDataReceived -= NbtRobotDriver_OnDataReceived;
@ -87,7 +87,10 @@ namespace BRS.Process.A020.UI
private void NbtRobotDriver_OnDataReceived(byte[] obj) private void NbtRobotDriver_OnDataReceived(byte[] obj)
{ {
string msg = string.Empty; string msg = string.Empty;
RobotAStatus.BackColor = Color.Green;
msg = Encoding.Default.GetString(obj); msg = Encoding.Default.GetString(obj);
Message1 = msg; Message1 = msg;
//} //}
//else if (rbHexData.Checked) //else if (rbHexData.Checked)
@ -579,6 +582,7 @@ namespace BRS.Process.A020.UI
if (isStart) if (isStart)
{ {
ProcessOperation(true); ProcessOperation(true);
//RobotAStatus.BackColor = Color.Green;
//ProcessOperation(true); //ProcessOperation(true);
} }
} }