RealSys.MotionPlat/Rs.MotionPlat/OldTest.cs

using Rs.Framework;
using Rs.Motion.Base;
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.Reflection;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Xml.Serialization;

namespace Rs.MotionPlat
{
    public partial class OldTest : BaseForm
    {
        bool m_bPause = false;
        string configFilePath = "config/oldtest.xml";
        private OldTestConfig config;
        public OldTest()
        {
            InitializeComponent();
            CheckForIllegalCrossThreadCalls = false;
        }

        private void OldTest_Load(object sender, EventArgs e)
        {
            config = LoadConfig();

            dataGridView1.AutoGenerateColumns = false;
            //添加第一列
            DataGridViewTextBoxColumn column1 = new DataGridViewTextBoxColumn();
            column1.ReadOnly = true;
            column1.Name = "cboxAxis";
            column1.HeaderText = "轴名称";
            column1.Width = 150;
            column1.DataPropertyName = "AxisName";
            
            dataGridView1.Columns.Add(column1);
            //添加第二列
            DataGridViewTextBoxColumn column2 = new DataGridViewTextBoxColumn();
            column2.Name = "axisSpeed";
            column2.HeaderText = "速度比例";
            column2.DataPropertyName = "Speed";
            dataGridView1.Columns.Add(column2);

            //添加第三列
            DataGridViewTextBoxColumn column3 = new DataGridViewTextBoxColumn();
            column3.Name = "repeatTimes";
            column3.HeaderText = "循环次数";
            column3.DataPropertyName = "RepeatTimes";
            dataGridView1.Columns.Add(column3);

            //添加第四列
            DataGridViewTextBoxColumn column4 = new DataGridViewTextBoxColumn();
            column4.Name = "sleepTime";
            column4.HeaderText = "间隔时间";
            column4.DataPropertyName = "SleepTime";
            dataGridView1.Columns.Add(column4);
            //添加第五列
            DataGridViewTextBoxColumn column5 = new DataGridViewTextBoxColumn();
            column5.Name = "startPoint";
            column5.HeaderText = "起点";
            column5.DataPropertyName = "StartPos";
            dataGridView1.Columns.Add(column5);
            //添加第六列
            DataGridViewTextBoxColumn column6 = new DataGridViewTextBoxColumn();
            column6.Name = "endPoint";
            column6.HeaderText = "终点";
            column6.DataPropertyName = "EndPos";
            dataGridView1.Columns.Add(column6);

            //添加第七列
            DataGridViewButtonColumn column7 = new DataGridViewButtonColumn();
            column7.Name = "axisSpeed";
            column7.HeaderText = "启动";
            column7.DefaultCellStyle.NullValue = "启动";
            //column7.Width = 50;
            //column7.FillWeight = 20;
            dataGridView1.Columns.Add(column7);

            dataGridView1.DataSource = config.MovePoints;

            
        }

        protected override void OnClosing(CancelEventArgs e)
        {
            quit = true;
            base.OnClosing(e);

        }
        private OldTestConfig LoadConfig()
        {
            OldTestConfig config = new OldTestConfig();
            XmlSerializerHelper.Instance.Deserialize<OldTestConfig>(configFilePath, out config);
            if(config==null)
            {
                config = new OldTestConfig();
                Type type = typeof(AxisControl);
                PropertyInfo[] pis = type.GetProperties(BindingFlags.Public |  BindingFlags.Static);
                foreach (var item in pis)
                {
                    MoveParameter move = new MoveParameter();
                    move.AxisName = item.Name;
                    move.Speed = 5;
                    move.RepeatTimes = 10;
                    move.SleepTime = 100;
                    move.StartPos = 10;
                    move.EndPos = 20;
                    config.MovePoints.Add(move);
                }
                XmlSerializerHelper.Instance.Serialize<OldTestConfig>(configFilePath, config);
            }
            else
            {
                Type type = typeof(AxisControl);
                PropertyInfo[] pis = type.GetProperties(BindingFlags.Public | BindingFlags.Static);
                foreach (var item in pis)
                {
                    if(config.MovePoints.Where(m=>m.AxisName==item.Name).Count()>0)
                    {
                        continue;
                    }
                    MoveParameter move = new MoveParameter();
                    move.AxisName = item.Name;
                    move.Speed = 5;
                    move.RepeatTimes = 10;
                    move.SleepTime = 100;
                    move.StartPos = 10;
                    move.EndPos = 20;
                    config.MovePoints.Add(move);
                }
            }
            return config;
        }

        private void btnAddAxis_Click(object sender, EventArgs e)
        {
            int rowIndex = dataGridView1.Rows.Add();
            DataGridViewComboBoxCell cell = dataGridView1.Rows[rowIndex].Cells[0] as DataGridViewComboBoxCell;
            dataGridView1.Rows[rowIndex].Cells[1].Value = 5;//速度
            dataGridView1.Rows[rowIndex].Cells[2].Value = 10;//次数
            dataGridView1.Rows[rowIndex].Cells[3].Value = 100;//间隔
            dataGridView1.Rows[rowIndex].Cells[4].Value = 10;//起点
            dataGridView1.Rows[rowIndex].Cells[5].Value = 20;//终点
            dataGridView1.Rows[rowIndex].Cells[6].Value = "启动";
        }

        private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
            if(e.ColumnIndex==6)
            {
                string axisName = dataGridView1.Rows[e.RowIndex].Cells[0].Value.ToString();
                IAxis axis = AxisControl.GetAxis(axisName);
                if(axis!=null)
                {
                    if(axis.HomeStatus== Motion.EHomeStatus.Finished)
                    {
                        //开启一个线程，开始运动
                        Task task = new Task(() =>
                        {
                            MoveParameter mp = config[axisName];
                            int workStep = 0;
                            while (true && mp.RepeatTimes > 0 && quit==false)
                            {
                                if(m_bPause)
                                {
                                    Thread.Sleep(100);
                                    continue;
                                }
                                switch (workStep)
                                {
                                    case 0://到起点
                                        axis.MovePos(mp.StartPos, mp.Speed);
                                        workStep++;
                                        break;
                                    case 1:
                                        axis.IsStop(out bool bStop);
                                        if (bStop)
                                        {
                                            workStep++;
                                            Thread.Sleep(mp.SleepTime);
                                            //设置
                                            //double targetPos = -105;
                                            //targetPos-
                                            axis.SetPosCompare(1, new double[] { -20,-80 });
                                        }
                                        break;
                                    case 2:
                                        axis.MovePos(mp.EndPos, mp.Speed);
                                        workStep++;
                                        break;
                                    case 3:
                                        axis.IsStop(out bStop);
                                        if (bStop)
                                        {
                                            mp.RepeatTimes--;
                                            workStep = 0;
                                            axis.SetPosCompare(1, new double[] { 20, 80 });
                                            Thread.Sleep(mp.SleepTime);
                                        }
                                        break;
                                    default:
                                        break;
                                }
                            }

                        });
                        task.Start();

                    }
                }
            }
        }
        

        private void btnSave_Click(object sender, EventArgs e)
        {
            try
            {
                if (File.Exists(configFilePath))
                    File.Delete(configFilePath);
                if(config!=null)
                {
                   if( XmlSerializerHelper.Instance.Serialize<OldTestConfig>(configFilePath, config))
                    {
                        MessageBox.Show("Save sucess","Info",MessageBoxButtons.OK,MessageBoxIcon.Information);
                    }
                }
            }
            catch (Exception)
            {
            }
            
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            m_bPause = true;
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            m_bPause = false;
        }

        private void button1_Click(object sender, EventArgs e)
        {
            //AxisControl.LoadX.SetPosCompare(1, new double[] { -20,-40});
        }
    }

    public class OldTestConfig
    {
        public BindingList<MoveParameter> MovePoints { get; set; } = new BindingList<MoveParameter>();

        public MoveParameter this[string axisName]
        {
            get
            {
                if (MovePoints.Where(m => m.AxisName == axisName).Count()>0)
                    return MovePoints.Where(m => m.AxisName == axisName).First();
                return null;
            }
        }
    }

    public class MoveParameter:INotifyPropertyChanged
    {
        
        private string _AxisName;
        /// <summary>
        /// 轴名称
        /// </summary>
        public string AxisName
        {
            get { return _AxisName; }
            set {
                NotifyPropertyChange(ref _AxisName, value);
            }
        }

        private int _Speed;
        /// <summary>
        /// 运动速度(1=100)
        /// </summary>
        public int Speed
        {
            get { return _Speed; }
            set {
                NotifyPropertyChange(ref _Speed, value);
            }
        }

        private int _RepeatTimes;
        /// <summary>
        /// 重复次数
        /// </summary>
        public int RepeatTimes
        {
            get { return _RepeatTimes; }
            set
            {
                NotifyPropertyChange(ref _RepeatTimes, value);
            }
        }
       

        private int _SleepTime;
        /// <summary>
        /// 等待时间
        /// </summary>
        public int SleepTime
        {
            get { return _SleepTime; }
            set {
                NotifyPropertyChange(ref _SleepTime, value);
            }
        }

        

        private double _StartPos;
        /// <summary>
        /// 起点
        /// </summary>
        public double StartPos
        {
            get { return _StartPos; }
            set {
                NotifyPropertyChange(ref _StartPos, value);
            }
        }

        

        private double _EndPos;
        /// <summary>
        /// 终点
        /// </summary>
        public double EndPos
        {
            get { return _EndPos; }
            set {
                NotifyPropertyChange(ref _EndPos, value);
            }
        }


        public event PropertyChangedEventHandler PropertyChanged;

        private void NotifyPropertyChange<T>(ref T oldValue, T newValue, [CallerMemberName] string propertyName = "")
        {
            if (Object.Equals(oldValue, newValue))
                return;
            oldValue = newValue;
            if (PropertyChanged != null)
                PropertyChanged.Invoke(this, new PropertyChangedEventArgs(propertyName));

        }
    }
}