RealSys.MotionPlat/Rs.MotionPlat/DebugMove.cs

using Rs.Framework;
using Rs.Motion;
using Rs.Motion.Base;
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.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class DebugMove : BaseFormHeader
    {
        private static DebugMove instance;
        public static DebugMove Instance
        {
            get
            {
                if (instance == null)
                    instance = new DebugMove(null);
                return instance;
            }
        }
        public event Action<string> FormCloseEven;
        public DebugMove(Action<string> act)
        {
            InitializeComponent();
            FormCloseEven=act;
        }

        private void DebugMove_Load(object sender, EventArgs e)
        {
            //获取屏幕的宽度
            int tWidth = Screen.PrimaryScreen.WorkingArea.Width;
            int tHeight = Screen.PrimaryScreen.WorkingArea.Height;
            this.Opacity = 1;
            this.Location = new Point(tWidth - Width, tHeight - Height);
            timer1.Enabled = true;
            HeaderBackgroundColor = Color.FromArgb(192, 0, 192);
        }

        private void Move_MouseDown(object sender, MouseEventArgs e)
        {
            Button btn = (Button)sender;
            if (e.Button == MouseButtons.Left)
            {
                int dir = btn.Tag.ToString().GetLastChar() == "+" ? 1 : 0;
                if (chkMoveStep.Checked)
                {
                    //走步长运动
                    double.TryParse(txtMoveDist.Text, out double moveStep);
                    ErrorCode errCode = AxisControl.GetAxis(btn.Tag.ToString().SubLastChar()).MoveOffset(dir==1?moveStep:moveStep*-1, tbarSpeed.Value);
                    if(errCode> ErrorCode.Ok)
                    {
                        MessageQueue.Instance.Warn(errCode.ToString());
                    }
                }
                else
                {
                    ErrorCode errCode = AxisControl.GetAxis(btn.Tag.ToString().SubLastChar()).MoveJog((short)dir, tbarSpeed.Value);
                    if (errCode > ErrorCode.Ok)
                    {
                        MessageQueue.Instance.Warn(errCode.ToString());
                    }
                }
            }
        }

        private void Move_MouseUp(object sender, MouseEventArgs e)
        {
            Button btn = (Button)sender;
            if (!chkMoveStep.Checked)
            {
                ErrorCode errCode = AxisControl.GetAxis(btn.Tag.ToString().SubLastChar()).Stop();
                if (errCode > ErrorCode.Ok)
                {
                    MessageQueue.Instance.Warn(errCode.ToString());
                }
            }
        }


        protected void CommonMoveDist_Click(object sender, EventArgs e)
        {
            Label lblNum = (Label)sender;
            txtMoveDist.Text = lblNum.Text;
            chkMoveStep.Checked = true;
        }

        protected void Calc_Click(object sender, EventArgs e)
        {
            chkMoveStep.Checked = true;
            Label lblNum = (Label)sender;
            if (lblNum.Text.ToLower() == "c")
            {
                txtMoveDist.Text = "";
            }
            else
            {
                if (lblNum.Text == ".")
                {
                    if (txtMoveDist.Text.IndexOf(".") == -1 && txtMoveDist.Text.Length > 0)
                        txtMoveDist.Text += ".";
                }
                else
                {
                    txtMoveDist.Text += lblNum.Text;
                }
            }
        }

        private void tbarSpeed_ValueChanged(object sender, EventArgs e)
        {
            lblSpeed.Text = $"{tbarSpeed.Value}%";
        }

        double axisCurPotion = 0.0;

        ErrorCode errcode = ErrorCode.Ok;
        Dictionary<string, TextBox> dicPosText = new Dictionary<string, TextBox>();
        private void timer1_Tick(object sender, EventArgs e)
        {
            List<IAxis> axises = AxisControl.GetAllAxis();
            foreach (IAxis axis in axises)
            {
                if (axis.Config.EnableEncoder == 1)
                {
                    errcode = axis.GetPrfPosition(out axisCurPotion);
                    
                    if (errcode > ErrorCode.Ok) return;
                }
                else
                {
                    errcode = axis.GetPrfPosition(out axisCurPotion);
                    if (errcode > ErrorCode.Ok) return;
                }
                if (dicPosText.ContainsKey(axis.Config.AxisName))
                {
                    dicPosText[axis.Config.AxisName].Text = axisCurPotion.ToString("0.000");
                }
                else
                {
                    Control txtControl = ControlManager.FindControl(this,$"txt{axis.Config.AxisName}");
                    if (txtControl != null && txtControl is TextBox)
                    {
                        dicPosText.Add(txtControl.Tag.ToString(), (TextBox)txtControl);
                        ((TextBox)txtControl).Text = axisCurPotion.ToString("0.000");
                    }
                }
            }
        }

        private void DebugMove_FormClosed(object sender, FormClosedEventArgs e)
        {
            FormCloseEven?.Invoke("DebugMove");
        }

        private void button59_Click(object sender, EventArgs e)
        {
            for(int i=1;i<=16;i++)
            {
                Ops.On($"测试{i}号穴位真空吸");
            }
        }

        private void button60_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.Off($"测试{i}号穴位真空吸");
            }
        }

        private void btnNozzleXOpen_Click(object sender, EventArgs e)
        {
            for(int i=1;i<=9;i++)
            {
                Ops.On($"{i}号吸嘴真空吸电磁阀");
            }
        }

        private void btnNozzleXClose_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 9; i++)
            {
                Ops.Off($"{i}号吸嘴真空吸电磁阀");
            }
        }

        private void btnTurnoverVacOpen_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 32; i++)
            {
                Ops.On($"周转盘{i}号穴位真空吸");
            }
        }

        private void btnTurnoverVacClose_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 32; i++)
            {
                Ops.Off($"周转盘{i}号穴位真空吸");
            }
        }

        private void btnNozzlePoOpen_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 9; i++)
            {
                Ops.On($"{i}号吸嘴真空破电磁阀");
            }
        }

        private void btnNozzlePoClose_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 9; i++)
            {
                Ops.Off($"{i}号吸嘴真空破电磁阀");
            }
        }

        private void button64_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 32; i++)
            {
                Ops.On($"周转盘{i}号穴位真空破");
            }
        }

        private void button63_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 32; i++)
            {
                Ops.Off($"周转盘{i}号穴位真空破");
            }
        }

        private void button65_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.On($"周转{i}号吸嘴真空吸");
            }
        }

        private void button66_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.Off($"周转{i}号吸嘴真空吸");
            }
        }

        private void button67_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.On($"周转{i}号吸嘴真空破");
            }
        }

        private void button68_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.Off($"周转{i}号吸嘴真空破");
            }
        }

        private void button61_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.On($"测试{i}号穴位真空破");
            }
        }

        private void button62_Click(object sender, EventArgs e)
        {
            for (int i = 1; i <= 16; i++)
            {
                Ops.Off($"测试{i}号穴位真空破");
            }
        }

        public override bool WindowsClose()
        {
            return true;
        }
    }
}