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393 lines
18 KiB
C#
393 lines
18 KiB
C#
using HalconDotNet;
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using Newtonsoft.Json.Linq;
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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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namespace Rs.MotionPlat.Recipe
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{
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public partial class TurnoverLocationRecipe : BaseForm
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{
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SqliteHelper db = new SqliteHelper();
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DataTable dt = new DataTable();
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public TurnoverLocationRecipe()
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{
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InitializeComponent();
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cameraTemplate1.ItemName = "TurnoverTray";
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cameraTemplate1.SetFindShapeMode( EFindShapeMode.SelfDefine );
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cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
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}
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private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final arg1, HalconDotNet.HObject arg2)
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{
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/*
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gen_rectangle1 (Rectangle, Row1, Column1, Row2, Column2)
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reduce_domain (Image21212121, Rectangle, ImageReduced)
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threshold (ImageReduced, Region, 0, 100)
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connection (Region, ConnectedRegions)
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select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 3000, 4000)
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select_shape (SelectedRegions, SelectedRegions1, 'circularity', 'and', 0.8, 1)
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smallest_circle (SelectedRegions1, Row, Column, Radius)
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gen_circle (Circle, Row, Column, Radius)
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*/
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//HOperatorSet.GenRectangle1(out HObject rectSearch, 427, 555, 1097, 799);
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//HOperatorSet.ReduceDomain(arg2, rectSearch, out HObject imageReduced);
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HOperatorSet.Threshold(arg2, out HObject region, 0, 100);
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HOperatorSet.Connection(region, out HObject connectRegion);
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if (connectRegion.IsInitialized() && connectRegion.CountObj() > 0)
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{
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HOperatorSet.SelectShape(connectRegion, out HObject select1Regions, "area", "and", 400, 600);
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HOperatorSet.SelectShape(select1Regions, out HObject select2Regions, "circularity", "and", 0.8, 1);
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HOperatorSet.SmallestCircle(select2Regions, out HTuple circleRow, out HTuple circleColumn, out HTuple circleRadius);
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if (circleRadius.Type.ToString() !="EMPTY" && circleRadius.DArr.Length >= 1)
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{
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HOperatorSet.GenCrossContourXld(out HObject cross, circleRow, circleColumn, 20, 0);
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arg1.DispObj(cross, "green");
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}
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}
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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='Turnover'";
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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='Turnover'";
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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 btnSavePoint_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("btnSaveTurnoverTray", "");
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Control txt = ControlManager.FindControl(groupBox1, "txtTurnoverTray" + name);
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if (txt != null)
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{
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string updateSql = $"update NormalTray set {name}={txt.Text} where trayname='{dt.Rows[0]["trayname"]}'";
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if (db.ExecuteNonQuery(updateSql) > 0)
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{
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Msg.ShowInfo("save point ok!");
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}
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}
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}
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private void TurnoverLocationRecipe_Load(object sender, EventArgs e)
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{
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dgvSlotOffset.AutoGenerateColumns = false;
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string querySql = "select * from NormalTray where trayname='Turnover'";
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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, "txtTurnoverTray" + 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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}
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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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querySql = $"select * from SlotOffset where RecipeName='{GlobalVar.CurRecipe}' and TrayName='Turnover'";
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DataTable dtSlotOffsets = db.GetDataTable(querySql);
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dgvSlotOffset.DataSource = dtSlotOffsets;
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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 trayname='{dt.Rows[0]["TrayName"]}'";
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int rowEffect = db.ExecuteNonQuery(deleteSql);
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deleteSql = $"delete from TrayRunPoints where trayname='{dt.Rows[0]["TrayName"]}'";
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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()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
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double yBase = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
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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 insertBaseSql = $"insert into TrayBasePoints(trayid,recipename,trayname,slotindex,x,y) values({dt.Rows[0]["id"]},'{GlobalVar.CurRecipe}', '{dt.Rows[0]["TrayName"]}',{index},{xBase},{yBase})";
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string insertRunSql = $"insert into TrayRunPoints(trayid,recipename,trayname,slotindex,x,y) values({dt.Rows[0]["id"]},'{GlobalVar.CurRecipe}', '{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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}
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}
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BindPoints();
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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 = $"update NormalTray set {txt.Name.Replace("txtTurnoverTray","")}={pos} where trayname='{dt.Rows[0]["trayname"]}'";
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if(db.ExecuteNonQuery(updateSql)>0)
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{
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string querySql = "select * from NormalTray where trayname='Turnover'";
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dt = db.GetDataTable(querySql);
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Msg.ShowInfo("teach point ok!");
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}
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}
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}
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}
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private void btnMove_Click(object sender, EventArgs e)
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{
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Button btnTeach = (Button)sender;
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string name = btnTeach.Name.Replace("btnMove", "");
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Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
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if (txt != null)
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{
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double targetPos = double.Parse(txt.Text);
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DialogResult dr = Msg.ShowQuestion($"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 slotOffsetCtl1_SlotValueChanged(int slotIndex, string xORy, double value)
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{
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//string deleteSql = $"delete from SlotOffset where recipename='{GlobalVar.CurRecipe}' and trayname='{slotOffsetCtl1.TrayName}' and slotindex={slotIndex}";
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//if(db.ExecuteNonQuery(deleteSql)>=0)
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//{
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// string insertSql = $"insert into slotoffset(recipename,trayname,slotindex,offsetx,offsety) values('{GlobalVar.CurRecipe}','{slotOffsetCtl1.TrayName}',{slotIndex},,)";
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//}
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//string querySql = $"select * from slotoffset where recipename='{GlobalVar.CurRecipe}' and trayname='{slotOffsetCtl1.TrayName}'";
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//DataTable dt = db.GetDataTable(querySql);
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//if(ObjectHelper.IsNotNullorEmpty(dt))
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//{
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// string updateSql = "";
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// if (xORy.ToLower() == "x")
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// {
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// updateSql = $"update slotoffset set offsetx={value} where recipename='{GlobalVar.CurRecipe}' and trayname='{slotOffsetCtl1.TrayName}'";
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// }
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// else
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// {
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// updateSql = $"update slotoffset set offsety={value} where recipename='{GlobalVar.CurRecipe}' and trayname='{slotOffsetCtl1.TrayName}'";
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// }
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// db.ExecuteNonQuery(updateSql);
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//}
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//else
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//{
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// string insertSql = "";
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// if (xORy.ToLower() == "x")
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// {
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// insertSql = $"insert into slotoffset(recipename,trayname,slotindex,offsetx) values('{GlobalVar.CurRecipe}','{slotOffsetCtl1.TrayName}',{slotIndex},{value})";
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// }
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// else
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// {
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// insertSql = $"insert into slotoffset(recipename,trayname,slotindex,offsety) values('{GlobalVar.CurRecipe}','{slotOffsetCtl1.TrayName}',{slotIndex},{value})";
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// }
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// db.ExecuteNonQuery(insertSql);
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//}
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}
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private TraySlot selectedSlot;
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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 = $"select * from TrayRunPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
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DataTable dtGoPosition = db.GetDataTable(querySql);
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if (ObjectHelper.IsNotNullorEmpty(dtGoPosition))
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{
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double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
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double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
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ToolStripMenuItem subMenu = sender as ToolStripMenuItem;
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ToolStripMenuItem parentMenu =(ToolStripMenuItem) subMenu.OwnerItem;
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if (parentMenu.Text.IndexOf("Nozzle") >= 0)
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{
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nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
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SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
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targetX += dist.X;
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targetY += dist.Y;
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}
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DialogResult dr = Msg.ShowQuestion($"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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/// <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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//开吸嘴真空
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//关闭周转盘真空吸
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//打开周转盘真空破
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//关闭真空破
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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($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{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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Ops.Off($"周转盘{slotIndex}号穴位真空吸");
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Thread.Sleep(100);
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Ops.On($"周转盘{slotIndex}号穴位真空破");
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Thread.Sleep(100);
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Ops.Off($"周转盘{slotIndex}号穴位真空破");
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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}
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});
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}
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/// <summary>
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/// 放料
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/// </summary>
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private void DumpProduct(int slotIndex, int nozzleIndex)
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{
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ErrorCode errCode = ErrorCode.Ok;
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Task.Run(() => {
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//开吸嘴真空
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//关闭周转盘真空吸
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//打开周转盘真空破
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//关闭真空破
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while (true)
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{
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if (Ops.IsStop("LoadX") && Ops.IsStop("LoadY"))
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break;
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Thread.Sleep(10);
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}
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DialogResult dr = Msg.ShowQuestion("Are you sure to dump product?", MessageBoxButtons.OKCancel);
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if (dr== DialogResult.OK)
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{
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode > ErrorCode.Ok) return;
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while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
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{
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Thread.Sleep(10);
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}
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Ops.On($"周转盘{slotIndex}号穴位真空吸");
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Thread.Sleep(100);
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Ops.Off($"{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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private void dgvSlotOffset_CellValueChanged(object sender, DataGridViewCellEventArgs e)
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{
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if (e.RowIndex >= 0)
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{
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string slotindex = dgvSlotOffset.Rows[e.RowIndex].Cells[0].Value.ToString();
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string offsetx = dgvSlotOffset.Rows[e.RowIndex].Cells[1].Value.ToString();
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string offsety = dgvSlotOffset.Rows[e.RowIndex].Cells[2].Value.ToString();
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string offseta = dgvSlotOffset.Rows[e.RowIndex].Cells[3].Value.ToString();
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string updateSql = $"update slotoffset set offsetx={offsetx}, offsety={offsety},offseta={offseta} where recipename='{GlobalVar.CurRecipe}' and trayname='Turnover' and slotindex={slotindex}";
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db.ExecuteNonQuery(updateSql);
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TurnoverSlotOffset.Reload();
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}
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}
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}
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}
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