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302 lines
13 KiB
C#
302 lines
13 KiB
C#
using Rs.Controls;
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using Rs.DataAccess;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Flow;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.Button;
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namespace Rs.MotionPlat.Recipe
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{
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public partial class StockTrayLocationRecipe : BaseForm
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{
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private TraySlot selectedSlot;
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private string m_trayName = "";
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DataTable dt = new DataTable();
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SqliteHelper db=new SqliteHelper();
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public StockTrayLocationRecipe()
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{
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InitializeComponent();
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}
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public StockTrayLocationRecipe(string trayName)
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{
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InitializeComponent();
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m_trayName = trayName;
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cameraTemplate1.ItemName = m_trayName;
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}
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private void BindPoints()
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{
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string querySql = $"select * from TrayBasePoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
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DataTable dtBasePoints = db.GetDataTable(querySql);
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if (ObjectHelper.IsNotNullorEmpty(dtBasePoints))
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{
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dgvBasePoints.DataSource = dtBasePoints;
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}
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querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
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DataTable dtRunPoints = db.GetDataTable(querySql);
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if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
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{
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dgvRunPoints.DataSource = dtRunPoints;
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}
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}
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private void StockTrayLocationRecipe_Load(object sender, EventArgs e)
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{
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rsTray1.HeadText= m_trayName;
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string querySql = $"select * from NormalTray where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
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dt = db.GetDataTable(querySql);
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if (ObjectHelper.IsNotNullorEmpty(dt))
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{
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DataRow dr = dt.Rows[0];
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foreach (DataColumn dc in dt.Columns)
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{
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string columname = dc.ColumnName;
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Control txt = ControlManager.FindControl(groupBox1, "txt" + columname);
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if (txt != null)
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{
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txt.Text = dr[columname].ToString();
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rsTray1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
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rsTray1.RowNum = int.Parse(dr["RowNum"].ToString());
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}
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}
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}
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dgvBasePoints.AutoGenerateColumns = false;
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dgvRunPoints.AutoGenerateColumns = false;
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BindPoints();
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}
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private void btnCreateMatrix_Click(object sender, EventArgs e)
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{
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if (ObjectHelper.IsNotNullorEmpty(dt))
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{
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string deleteSql = $"delete from TrayBasePoints where trayid='{dt.Rows[0]["ID"]}'";
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int rowEffect = db.ExecuteNonQuery(deleteSql);
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deleteSql = $"delete from TrayRunPoints where trayid='{dt.Rows[0]["ID"]}'";
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rowEffect = db.ExecuteNonQuery(deleteSql);
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if (rowEffect >= 0)
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{
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int rowNum = int.Parse(dt.Rows[0]["RowNum"].ToString());
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int colNum = int.Parse(dt.Rows[0]["ColumnNum"].ToString());
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int index = 1;
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for (int i = 0; i < rowNum; i++)
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{
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for (int j = 0; j < colNum; j++)
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{
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double xBase = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistX"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
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double yBase = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
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string insertBaseSql = $"insert into TrayBasePoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xBase},{yBase})";
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double xRun = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistX"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
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double yRun = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
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string insertRunSql = $"insert into TrayRunPoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
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db.ExecuteNonQuery(insertBaseSql);
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db.ExecuteNonQuery(insertRunSql);
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index++;
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}
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}
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BindPoints();
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}
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}
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}
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private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
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{
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selectedSlot=arg1;
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contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
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}
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private void goToolStripMenuItem_Click(object sender, EventArgs e)
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{
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if(selectedSlot!=null)
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{
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int nozzleIndex = 0;
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string querySql = $"select * from TrayBasePoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
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DataTable dtGoPosition = db.GetDataTable(querySql);
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if(ObjectHelper.IsNotNullorEmpty(dtGoPosition))
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{
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double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
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double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
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ToolStripMenuItem subMenu=sender as ToolStripMenuItem;
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ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
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if (parentMenu.Text.IndexOf("Nozzle") >= 0)
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{
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nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
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SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
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targetX += dist.X;
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targetY += dist.Y;
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}
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DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
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if(dr== DialogResult.OK)
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{
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Motion.ErrorCode errCode = AxisControl.GetAxis("LoadX").MovePos(targetX,4);
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if (errCode > Motion.ErrorCode.Ok)
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{
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Msg.ShowError($"axis loadx move fail,ret={errCode}");
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return;
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}
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errCode = AxisControl.GetAxis("LoadY").MovePos(targetY,4);
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if (errCode > Motion.ErrorCode.Ok)
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{
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Msg.ShowError($"axis loady move fail,ret={errCode}");
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return;
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}
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if (subMenu.Text.IndexOf("TakeProduct") >= 0)
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{
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TakeProduct(selectedSlot.Index, nozzleIndex);
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}
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else if (subMenu.Text.IndexOf("DumpProduct") >= 0)
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{
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DumpProduct(selectedSlot.Index, nozzleIndex);
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}
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}
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}
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}
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}
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private void btnTeach_Click(object sender, EventArgs e)
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{
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Button btnTeach = (Button)sender;
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string name = btnTeach.Name.Replace("btnTeach", "");
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Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
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if (txt != null)
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{
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double pos = Ops.GetCurPosition(txt.Tag.ToString());
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txt.Text = pos.ToString("0.000");
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if (ObjectHelper.IsNotNullorEmpty(dt))
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{
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string updateSql = $"update NormalTray set {txt.Name.Replace("txt", "")}={pos} where recipename='{GlobalVar.CurRecipe}' and trayname='{dt.Rows[0]["trayname"]}'";
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if (db.ExecuteNonQuery(updateSql) > 0)
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{
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Msg.ShowInfo("teach point ok!");
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}
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}
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}
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}
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private void btnMove_Click(object sender, EventArgs e)
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{
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Button btnTeach = (Button)sender;
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string name = btnTeach.Name.Replace("btnMove", "");
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Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
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if (txt != null)
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{
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double targetPos = double.Parse(txt.Text);
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DialogResult dr = Msg.ShowQuestion($"are you sure to move axis {txt.Tag} to postion at:{targetPos}?");
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if (dr == DialogResult.OK)
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{
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Motion.ErrorCode errCode = AxisControl.GetAxis(txt.Tag.ToString()).MovePos(targetPos, 4);
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if (errCode != Motion.ErrorCode.Ok)
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{
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Msg.ShowError($"axis {txt.Tag.ToString()} move fail {errCode}");
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}
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}
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}
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}
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private void btnSavePoint_Click(object sender, EventArgs e)
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{
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Button button = (Button)sender;
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string name = button.Name.Replace("btnSave", "");
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Control txt = ControlManager.FindControl(this, "txt" + name);
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if (txt != null)
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{
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if(ObjectHelper.IsNotNullorEmpty(dt))
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{
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string updateSql = $"update NormalTray set {name}={txt.Text} where id={dt.Rows[0]["id"]}";
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if(db.ExecuteNonQuery(updateSql)>0)
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{
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Msg.ShowInfo("save ok!");
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}
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}
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}
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}
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/// <summary>
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/// 取料
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/// </summary>
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private void TakeProduct(int slotIndex, int nozzleIndex)
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{
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ErrorCode errCode = ErrorCode.Ok;
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Task.Run(() => {
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while (true)
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{
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if (Ops.IsStop("LoadX") && Ops.IsStop("LoadY"))
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break;
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Thread.Sleep(10);
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}
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DialogResult dr = Msg.ShowQuestion("Are you sure to take product?", MessageBoxButtons.OKCancel);
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if (dr == DialogResult.OK)
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{
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{nozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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Ops.On($"{nozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(200);
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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}
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});
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}
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/// <summary>
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/// 放料
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/// </summary>
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private void DumpProduct(int slotIndex, int nozzleIndex)
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{
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ErrorCode errCode = ErrorCode.Ok;
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Task.Run(() => {
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while (true)
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{
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if (Ops.IsStop("LoadX") && Ops.IsStop("LoadY"))
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break;
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Thread.Sleep(10);
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}
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DialogResult dr = Msg.ShowQuestion("Are you sure to dump product?", MessageBoxButtons.OKCancel);
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if (dr == DialogResult.OK)
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{
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{nozzleIndex}TakeHeight")+1, GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(50);
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Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
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Thread.Sleep(100);
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Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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}
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});
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}
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}
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}
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