From c6357341bd92942f4a2aaf9c624a3e76be50283f Mon Sep 17 00:00:00 2001 From: lhiven <236881222@qq.com> Date: Sun, 1 Oct 2023 08:49:25 +0800 Subject: [PATCH] =?UTF-8?q?=E7=B2=BE=E7=AE=80rstray=E6=8E=A7=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Rs.Controls/RsTray.cs | 237 ------------------ Rs.MotionPlat/FormMain.Designer.cs | 7 - Rs.MotionPlat/FormMain.cs | 16 +- .../StockTrayLocationRecipe.Designer.cs | 1 - Rs.MotionPlat/Recipe/TrayRecipe.Designer.cs | 1 - Rs.MotionPlat/Recipe/TrayRecipe.cs | 120 ++++----- .../Recipe/TurnoverLocationRecipe.Designer.cs | 1 - 7 files changed, 68 insertions(+), 315 deletions(-) diff --git a/Rs.Controls/RsTray.cs b/Rs.Controls/RsTray.cs index 7d309f3..0deed76 100644 --- a/Rs.Controls/RsTray.cs +++ b/Rs.Controls/RsTray.cs @@ -32,10 +32,7 @@ namespace Rs.Controls public partial class RsTray : UserControl { - public string RecipeName { get; set; } = "default"; private int CurrentSlot { get; set; } = 1; - - private TrayInfo trayInfo; public string ItemName { get; set; } public ESortDir SortDir { get; set; } = ESortDir.Horizontal; public event Action SlotClickEvent; @@ -73,11 +70,6 @@ namespace Rs.Controls }; } - public void NextSlot() - { - CurrentSlot++; - } - public void ResetTray() { CurrentSlot = 1; @@ -267,8 +259,6 @@ namespace Rs.Controls slot.Row = r; slot.Column = c; slot.SlotStatus = status; - //slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5); - //slot.Draw(g2); traySlots.Add(slot); traySlotsDic.Add(index, slot); } @@ -286,8 +276,6 @@ namespace Rs.Controls slot.Row = r; slot.Column = c; slot.SlotStatus = status; - //slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5); - //slot.Draw(g2); traySlots.Add(slot); traySlotsDic.Add(index, slot); } @@ -297,63 +285,6 @@ namespace Rs.Controls } - public void Init() - { - trayInfo = new TrayInfo(SortDir, RowNum, ColumnNum, ItemName); - trayInfo = trayInfo.Init(RecipeName); - } - - public bool Save() - { - return trayInfo.Save(this); - } - - public void SetLeftTop(PointF point) - { - trayInfo.LeftTop = point; - } - - public void SetLeftBottom(PointF point) - { - trayInfo.LeftBottom = point; - } - - public void SetRightBottom(PointF point) - { - trayInfo.RightBottom = point; - } - - public PointF GetLeftTop() - { - return trayInfo.LeftTop; - } - - public PointF GetLeftBottom() - { - return trayInfo.LeftBottom; - } - - public PointF GetRightBottom() - { - return trayInfo.RightBottom; - } - - public List GetAllSlot() - { - return trayInfo.SlotPoints; - } - - public TraySlot GetSlot(int index) - { - return trayInfo.GetSlot(index); - } - - public TraySlot GetCurrentSlot() - { - return trayInfo.GetSlot(CurrentSlot); - } - - public void Fill() { foreach (TraySlot item in traySlots) @@ -377,8 +308,6 @@ namespace Rs.Controls traySlotsDic[index].SlotStatus = status; traySlotsDic[index].Refresh(this.panel2.CreateGraphics(), ShowText); } - - //panel2_Paint(null, null); } private void UpdateSlotPos() @@ -445,13 +374,6 @@ namespace Rs.Controls //画料盘的行号 g2.DrawString((r + 1).ToString(), new Font("宋体", 7.0F), new SolidBrush(Color.White), new PointF(5, TopSpaceHeight + (heightPer * r))); } - //Rectangle rect = new Rectangle((int)(LeftSpaceWidth + widthPer * c), (int)(TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5); - //g2.DrawRectangle(Pens.Red, (LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5); - //TraySlot slot = new TraySlot(); - //slot.Row = r; - //slot.Column = c; - //slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5); - //slot.Draw(g2); if (traySlotsDic.ContainsKey(index)) { traySlotsDic[index].Draw(g2, ShowText); @@ -462,9 +384,6 @@ namespace Rs.Controls g.DrawImage(drawImage, 0, 0, drawImage.Width, drawImage.Height); if (drawRegion) { - //drawRect.Width = 20; - //drawRect.Height = 20; - //g.DrawRectangle(Pens.Green, drawRect); g.FillRectangle(new SolidBrush(Color.FromArgb(200, Color.Pink)), drawRect); } g.Flush(); @@ -640,16 +559,6 @@ namespace Rs.Controls default: break; } - - //if(Status==1) - //{ - // g.FillRectangle(new SolidBrush(Color.Red), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1); - //} - //else if(Status==0) - //{ - // g.FillRectangle(new SolidBrush(Color.FromArgb(11, 16, 36)), Bound.X, Bound.Y, Bound.Width-1, Bound.Height-1); - // // g.FillRectangle(new SolidBrush(Color.Red), Bound.X, Bound.Y, Bound.Width , Bound.Height ); - //} g.DrawRectangle(Pens.White, Bound.X, Bound.Y, Bound.Width, Bound.Height); if (isShowText) { @@ -659,150 +568,4 @@ namespace Rs.Controls } } - - public class TrayInfo - { - public TrayInfo() { } - public TrayInfo(ESortDir sortDir,int rowNum,int colNum,string itemName) { - RowNum=rowNum; - ColumnNum=colNum; - ItemName=itemName; - SortDir=sortDir; - } - - public ESortDir SortDir { get; set; } = ESortDir.Horizontal; - public string ItemName { get; set; } - - private int _RowNum = 26; - - /// - /// 行数 - /// - public int RowNum - { - get { return _RowNum; } - set { _RowNum = value; } - } - - private int _ColumnNum = 10; - - /// - /// 列数量 - /// - public int ColumnNum - { - get { return _ColumnNum; } - set { _ColumnNum = value; } - } - - public PointF LeftTop { get; set; } = new PointF(0, 0); - public PointF LeftBottom { get; set; } = new PointF(0, 0); - public PointF RightBottom { get; set; } = new PointF(0, 0); - - public List SlotPoints { get; set; } = new List(); - - public bool Save(RsTray rsTray) - { - try - { - float offsetX = -12.8f; - float offsetY = 11.8f; - int index = 0; - int rowNum = 0; - SlotPoints.Clear(); - HTuple rows = new HTuple(); - HTuple columns = new HTuple(); - - if (SortDir == ESortDir.Horizontal) - { - for (int i = 0; i < RowNum; i++) - { - for (int j = 0; j < ColumnNum; j++) - { - index++; - TraySlot ts = new TraySlot(); - ts.Index = index; - ts.Row = i + 1; - ts.Column = j + 1; - ts.Position = new PointF(LeftTop.X + (j * rsTray.OffsetX), LeftTop.Y + (i * rsTray.OffsetY)); - //1 2 3 4 - //ts.Position = new PointF(LeftTop.X + (j * rsTray.OffsetX), LeftTop.Y + ((i-(i/2)) * rsTray.OffsetY) +(i/2)*rsTray.OffsetYEven); - rows.Append(ts.Position.Y); - columns.Append(ts.Position.X); - SlotPoints.Add(ts); - } - } - if(!rsTray.SinglePoint) - { - //求斜率 - HOperatorSet.AngleLx(LeftTop.Y, LeftTop.X, LeftBottom.Y, LeftBottom.X, out HTuple angle); - double deg = AngleTool.Rad2Deg(angle) + 90; - - HOperatorSet.HomMat2dIdentity(out HTuple homMat2dIdentity); - HOperatorSet.HomMat2dRotate(homMat2dIdentity, AngleTool.Deg2Rad(deg), LeftTop.Y, LeftTop.X, out HTuple homMat2dRotate); - HOperatorSet.AffineTransPoint2d(homMat2dRotate, rows, columns, out HTuple qx, out HTuple qy); - for (int i = 0; i < qx.Length; i++) - { - GetSlot(i + 1).Position = new PointF((float)qy.DArr[i], (float)qx.DArr[i]); - } - } - } - else - { - for (int i = 0; i < ColumnNum; i++) - { - for (int j = 0; j < RowNum; j++) - { - index++; - TraySlot ts = new TraySlot(); - ts.Index = index; - ts.Row = i + 1; - ts.Column = j + 1; - ts.Position = new PointF(LeftTop.X + (i * offsetX), LeftTop.Y + (j * offsetY)); - SlotPoints.Add(ts); - } - } - } - string dirPath = Path.Combine("recipe",rsTray.RecipeName, ItemName); - if (!Directory.Exists(dirPath)) - { - Directory.CreateDirectory(dirPath); - } - XmlSerializerHelper.Instance.Serialize($"{dirPath}/tray.xml", this); - } - catch (Exception) - { - return false; - } - return true; - } - - - public TrayInfo Init(string recipeName) - { - string dirPath = Path.Combine("recipe",recipeName, ItemName); - if (!Directory.Exists(dirPath)) - { - Directory.CreateDirectory(dirPath); - } - - XmlSerializerHelper.Instance.Deserialize($"{dirPath}/tray.xml", out TrayInfo tray); - if (tray == null) - return new TrayInfo(SortDir,RowNum,ColumnNum,ItemName); - tray.RowNum = RowNum; - tray.ColumnNum = ColumnNum; - return tray; - } - - public TraySlot GetSlot(int index) - { - if (SlotPoints != null && SlotPoints.Count > 0) - { - TraySlot ts = SlotPoints.Where(s => s.Index == index).First(); - if (ts != null) - return ts; - } - return null; - } - } } diff --git a/Rs.MotionPlat/FormMain.Designer.cs b/Rs.MotionPlat/FormMain.Designer.cs index c7a78c7..025ce6f 100644 --- a/Rs.MotionPlat/FormMain.Designer.cs +++ b/Rs.MotionPlat/FormMain.Designer.cs @@ -556,7 +556,6 @@ this.trayEmpty1.OffsetX = 0F; this.trayEmpty1.OffsetY = 0F; this.trayEmpty1.OffsetYEven = 0F; - this.trayEmpty1.RecipeName = "default"; this.trayEmpty1.RowNum = 9; this.trayEmpty1.RowSpace = 3; this.trayEmpty1.SelectSlot = null; @@ -585,7 +584,6 @@ this.trayInput.OffsetX = 0F; this.trayInput.OffsetY = 0F; this.trayInput.OffsetYEven = 0F; - this.trayInput.RecipeName = "default"; this.trayInput.RowNum = 9; this.trayInput.RowSpace = 3; this.trayInput.SelectSlot = null; @@ -614,7 +612,6 @@ this.trayOk.OffsetX = 0F; this.trayOk.OffsetY = 0F; this.trayOk.OffsetYEven = 0F; - this.trayOk.RecipeName = "default"; this.trayOk.RowNum = 9; this.trayOk.RowSpace = 3; this.trayOk.SelectSlot = null; @@ -644,7 +641,6 @@ this.trayNg.OffsetX = 0F; this.trayNg.OffsetY = 0F; this.trayNg.OffsetYEven = 0F; - this.trayNg.RecipeName = "default"; this.trayNg.RowNum = 9; this.trayNg.RowSpace = 3; this.trayNg.SelectSlot = null; @@ -674,7 +670,6 @@ this.trayMulti.OffsetX = 0F; this.trayMulti.OffsetY = 0F; this.trayMulti.OffsetYEven = 0F; - this.trayMulti.RecipeName = "default"; this.trayMulti.RowNum = 9; this.trayMulti.RowSpace = 3; this.trayMulti.SelectSlot = null; @@ -704,7 +699,6 @@ this.trayEmpty2.OffsetX = 0F; this.trayEmpty2.OffsetY = 0F; this.trayEmpty2.OffsetYEven = 0F; - this.trayEmpty2.RecipeName = "default"; this.trayEmpty2.RowNum = 9; this.trayEmpty2.RowSpace = 3; this.trayEmpty2.SelectSlot = null; @@ -758,7 +752,6 @@ this.trayTurnover.OffsetX = 0F; this.trayTurnover.OffsetY = 0F; this.trayTurnover.OffsetYEven = 0F; - this.trayTurnover.RecipeName = "default"; this.trayTurnover.RowNum = 4; this.trayTurnover.RowSpace = 3; this.trayTurnover.SelectSlot = null; diff --git a/Rs.MotionPlat/FormMain.cs b/Rs.MotionPlat/FormMain.cs index c4963a2..2229cf8 100644 --- a/Rs.MotionPlat/FormMain.cs +++ b/Rs.MotionPlat/FormMain.cs @@ -369,7 +369,7 @@ namespace Rs.MotionPlat ColumnNum = 8, }; turnoverTray.ItemName = "中转盘"; - turnoverTray.Init(); + //turnoverTray.Init(); GlobalTray.TurnoverTray = turnoverTray; @@ -388,14 +388,14 @@ namespace Rs.MotionPlat hwin_vac1.HobjectToHimage(image); //hSmartWindowControl1.HalconWindow.SetDraw("margin"); } - trayEmpty1.ItemName = "料盘1"; - trayEmpty1.Init(); + trayEmpty1.ItemName = "Empty1"; + //trayEmpty1.Init(); trayInput.ItemName = "Input"; - trayInput.Init(); - trayOk.ItemName = "料盘3"; - trayOk.Init(); - trayNg.ItemName = "料盘4"; - trayNg.Init(); + //trayInput.Init(); + trayOk.ItemName = "Ok"; + //trayOk.Init(); + trayNg.ItemName = "Ng"; + //trayNg.Init(); //okTray1.ItemName = "料盘5"; //okTray1.Init(); diff --git a/Rs.MotionPlat/Recipe/StockTrayLocationRecipe.Designer.cs b/Rs.MotionPlat/Recipe/StockTrayLocationRecipe.Designer.cs index af4e3c4..b000b09 100644 --- a/Rs.MotionPlat/Recipe/StockTrayLocationRecipe.Designer.cs +++ b/Rs.MotionPlat/Recipe/StockTrayLocationRecipe.Designer.cs @@ -448,7 +448,6 @@ this.rsTray1.OffsetX = 0F; this.rsTray1.OffsetY = 0F; this.rsTray1.OffsetYEven = 0F; - this.rsTray1.RecipeName = "default"; this.rsTray1.RowNum = 9; this.rsTray1.RowSpace = 5; this.rsTray1.SelectSlot = null; diff --git a/Rs.MotionPlat/Recipe/TrayRecipe.Designer.cs b/Rs.MotionPlat/Recipe/TrayRecipe.Designer.cs index 5d83293..2a9663a 100644 --- a/Rs.MotionPlat/Recipe/TrayRecipe.Designer.cs +++ b/Rs.MotionPlat/Recipe/TrayRecipe.Designer.cs @@ -133,7 +133,6 @@ this.rsTray1.OffsetX = 0F; this.rsTray1.OffsetY = 0F; this.rsTray1.OffsetYEven = 0F; - this.rsTray1.RecipeName = "default"; this.rsTray1.RowNum = 9; this.rsTray1.RowSpace = 3; this.rsTray1.SelectSlot = null; diff --git a/Rs.MotionPlat/Recipe/TrayRecipe.cs b/Rs.MotionPlat/Recipe/TrayRecipe.cs index 9b1b819..a5066b9 100644 --- a/Rs.MotionPlat/Recipe/TrayRecipe.cs +++ b/Rs.MotionPlat/Recipe/TrayRecipe.cs @@ -55,12 +55,12 @@ namespace Rs.MotionPlat { panel2.Visible = false; } - rsTray1.Init(); + //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(); + //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(); } @@ -87,30 +87,30 @@ namespace Rs.MotionPlat 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!"); - } + //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($"确定移动到{slot}号槽位吗？","Tips",MessageBoxButtons.OKCancel,MessageBoxIcon.Question); - if(dr== DialogResult.OK) - { - TraySlot ts =rsTray1.GetAllSlot()[slot - 1]; - AxisControl.LoadX.MovePos(ts.Position.X,10); - AxisControl.LoadY.MovePos(ts.Position.Y, 10); - } - } - } + //if (e.RowIndex >= 0) + //{ + // if (e.ColumnIndex == 3) + // { + // int slot = e.RowIndex + 1; + // DialogResult dr = MessageBox.Show($"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) @@ -120,13 +120,13 @@ namespace Rs.MotionPlat private void tsmi_go_Click(object sender, EventArgs e) { - DialogResult dr = MessageBox.Show($"确定移动到{rsTray1.SelectSlot.Index.ToString()}号槽位吗？", "Tips", MessageBoxButtons.OKCancel, MessageBoxIcon.Question); - if(dr== DialogResult.OK) - { - TraySlot ts =rsTray1.GetSlot(rsTray1.SelectSlot.Index); - AxisControl.LoadX.MovePos(ts.Position.X, 10); - AxisControl.LoadY.MovePos(ts.Position.Y, 10); - } + //DialogResult dr = MessageBox.Show($"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); + //} } @@ -154,38 +154,38 @@ namespace Rs.MotionPlat 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); + //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); + //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) diff --git a/Rs.MotionPlat/Recipe/TurnoverLocationRecipe.Designer.cs b/Rs.MotionPlat/Recipe/TurnoverLocationRecipe.Designer.cs index 896c5fa..fc4f481 100644 --- a/Rs.MotionPlat/Recipe/TurnoverLocationRecipe.Designer.cs +++ b/Rs.MotionPlat/Recipe/TurnoverLocationRecipe.Designer.cs @@ -845,7 +845,6 @@ this.rsTray1.OffsetX = 0F; this.rsTray1.OffsetY = 0F; this.rsTray1.OffsetYEven = 0F; - this.rsTray1.RecipeName = "default"; this.rsTray1.RowNum = 4; this.rsTray1.RowSpace = 3; this.rsTray1.SelectSlot = null;