RealSys.MotionPlat/Rs.MotionPlat/Recipe/TrayRecipe.cs

using Rs.Camera;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class TrayRecipe : BaseForm
    {
        private string m_ItemName;
        
        public TrayRecipe()
        {
            InitializeComponent();
        }
        public TrayRecipe(string itemName)
        {
            InitializeComponent();
            m_ItemName = itemName;
            cameraTemplate1.ItemName = m_ItemName;
        }

        private void TrayRecipe_Load(object sender, EventArgs e)
        {
            dataGridView1.AutoGenerateColumns = false;
            rsTray1.HeadText = m_ItemName;

            timer1.Interval = 1000;
            timer1.Enabled = true;
            rsTray1.ItemName = m_ItemName;
            rsTray1.OffsetX = -12.8f;
            rsTray1.OffsetY = 33.9f;
            if (m_ItemName == "Turnover")
            {
                rsTray1.SinglePoint = true;
                rsTray1.RowNum = 4;
                rsTray1.ColumnNum = 8;
                rsTray1.OffsetX = 45;
                rsTray1.OffsetY = -50;
            }
            else if (m_ItemName == "下相机")
            {
                panel2.Visible = false;
            }
            rsTray1.Init();
            rsTray1.Clear();
            slot_lefttop.Position = rsTray1.GetLeftTop();//.LeftTop;
            slot_leftbottom.Position = rsTray1.GetLeftBottom();
            slot_rightbottom.Position = rsTray1.GetRightBottom();
            dataGridView1.DataSource = rsTray1.GetAllSlot().Select(sp => new { Index = sp.Index, X = sp.Position.X, Y = sp.Position.Y }).ToList();
        }


        int val = 0;
        private void timer1_Tick(object sender, EventArgs e)
        {
            if (val == 0) val = 1;
            else if (val == 1) val = 0;
            if (m_ItemName=="中转盘")
            {
                rsTray1.ChangeStatus(1, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
                rsTray1.ChangeStatus(25, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
            }
            else
            {
                rsTray1.ChangeStatus(1, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
                rsTray1.ChangeStatus(251, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
            }
            
            rsTray1.ChangeStatus(1, val==0? ESlotStatus.NotHave:ESlotStatus.Have);
            rsTray1.ChangeStatus(251, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
            //rsTray1.ChangeStatus(260, val == 0 ? ESlotStatus.NotHave : ESlotStatus.Have);
        }

        protected void SavePosEvent(object sender, EventArgs e)
        {
            if (rsTray1.Save())
            {
                dataGridView1.DataSource = null;
                dataGridView1.DataSource = rsTray1.GetAllSlot().Select(sp => new { Index = sp.Index, X = sp.Position.X, Y = sp.Position.Y }).ToList();
                Msg.ShowInfo("Save point success!");
            }
        }

        private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex >= 0)
            {
                if (e.ColumnIndex == 3)
                {
                    int slot = e.RowIndex + 1;
                    DialogResult dr = MessageBox.Show($"确定移动到{slot}号槽位吗？","Tips",MessageBoxButtons.OKCancel,MessageBoxIcon.Question);
                    if(dr== DialogResult.OK)
                    {
                        TraySlot ts =rsTray1.GetAllSlot()[slot - 1];
                        AxisControl.LoadX.MovePos(ts.Position.X,10);
                        AxisControl.LoadY.MovePos(ts.Position.Y, 10);
                    }
                }
            }
        }

        private void rsTray1_SlotClickEvent(TraySlot obj, MouseEventArgs e)
        {
            contextMenuStrip1.Show(rsTray1, new Point(e.Location.X+15,e.Location.Y+40));
        }

        private void tsmi_go_Click(object sender, EventArgs e)
        {
            DialogResult dr = MessageBox.Show($"确定移动到{rsTray1.SelectSlot.Index.ToString()}号槽位吗？", "Tips", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
            if(dr== DialogResult.OK)
            {
                TraySlot ts =rsTray1.GetSlot(rsTray1.SelectSlot.Index);
                AxisControl.LoadX.MovePos(ts.Position.X, 10);
                AxisControl.LoadY.MovePos(ts.Position.Y, 10);
            }
            
        }

        private void slot_lefttop_MoveCameraEvent(object sender, EventArgs e)
        {
            MoveToThis(sender);
        }

        private void slot_leftbottom_MoveCameraEvent(object sender, EventArgs e)
        {
            MoveToThis(sender);
        }

        private void slot_rightbottom_MoveCameraEvent(object sender, EventArgs e)
        {
            MoveToThis(sender);
        }

        private void MoveToThis(object sender)
        {
            TrayLocation trayLocation = (TrayLocation)sender;
            AxisControl.LoadX.MovePos(trayLocation.PosX, 10);
            AxisControl.LoadY.MovePos(trayLocation.PosY, 10);
        }

        private void slot_lefttop_FetchPositionEvent(object sender, EventArgs e)
        {
            ErrorCode errCode = AxisControl.LoadX.GetEncoderPosition(out double dEncPosX);
            if (errCode > ErrorCode.Ok)
            {
                Msg.ShowError(errCode.ToString());
                return;
            }
            AxisControl.LoadY.GetEncoderPosition(out double dEncPosY);
            if (errCode > ErrorCode.Ok)
            {
                Msg.ShowError(errCode.ToString());
                return;
            }
            slot_lefttop.Position = new PointF((float)dEncPosX, (float)dEncPosY);
            rsTray1.SetLeftTop(slot_lefttop.Position);
        }

        private void slot_leftbottom_FetchPositionEvent(object sender, EventArgs e)
        {
            ErrorCode errCode = AxisControl.LoadX.GetEncoderPosition(out double dEncPosX);
            if (errCode > ErrorCode.Ok)
            {
                Msg.ShowError(errCode.ToString());
                return;
            }
            AxisControl.LoadY.GetEncoderPosition(out double dEncPosY);
            if (errCode > ErrorCode.Ok)
            {
                Msg.ShowError(errCode.ToString());
                return;
            }
            slot_leftbottom.Position = new PointF((float)dEncPosX, (float)dEncPosY);
            rsTray1.SetLeftBottom(slot_leftbottom.Position);
        }

        private void TrayRecipe_FormClosing(object sender, FormClosingEventArgs e)
        {
            cameraTemplate1.RemoveGrabEvent();
        }
    }
}