Rs.ThressTemprature/Rs.ThreeTemprature/Recipe/TurnoverTrayExceptionNozzle.cs

using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion;
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.Recipe
{
    public partial class TurnoverTrayExceptionNozzle : BaseForm
    {
        string trayName = "ForceNozzleTurnover";
        SqliteHelper db = new SqliteHelper();
        DataTable dt = new DataTable();
        TraySlot selectedSlot;
        public TurnoverTrayExceptionNozzle()
        {
            InitializeComponent();
        }

        private void btnCreateMatrix_Click(object sender, EventArgs e)
        {
            string deleteSql = $"delete from traypoints where recipename='{GlobalVar.CurRecipe}' and trayname='{trayName}'";
            if(db.ExecuteNonQuery(deleteSql)>0)
            {
                int rowNum = 4;
                int colNum = 8;
                int index = 1;

                SlotPoint slotPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
                double dischargeNozzleX1 = double.Parse(txtMarkX1.Text);
                double dischargeNozzleY1 = double.Parse(txtMarkY1.Text);

                double markx2 = double.Parse(txtMarkX2.Text);
                double marky2 = double.Parse(txtMarkY2.Text);
                SlotPoint dist = TrayPointManager.GetDistToNozzle1(1);
                //slotPoint.X += dist.X;
                //slotPoint.Y += dist.Y;

                double offsetX = slotPoint.X - dischargeNozzleX1;
                double offsetY = slotPoint.Y - dischargeNozzleY1;
                //计算出周转吸头要移动的目标位置
                double targetX = markx2 + offsetX +dist.X;
                double targetY = marky2 + offsetY +dist.Y;


                for (int i = 0; i < rowNum; i++)
                {
                    for (int j = 0; j < colNum; j++)
                    {
                        double xRun = targetX + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
                        double yRun = targetY + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
                        string insertRunSql = $"insert into TrayPoints(trayid,recipename,trayname,slotindex,x,y) values({dt.Rows[0]["id"]},'{GlobalVar.CurRecipe}', '{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
                        db.ExecuteNonQuery(insertRunSql);
                        index++;
                    }
                }
            }
            BindPoints();
        }

        private void BindPoints()
        {
            string querySql = $"select * from normaltray where recipename='{GlobalVar.CurRecipe}' and trayname='ForceNozzleTurnover'";
            dt = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                txtMarkX1.Text = dt.Rows[0]["MarkX1"].ToString();
                txtMarkY1.Text = dt.Rows[0]["MarkY1"].ToString();

                txtMarkX2.Text = dt.Rows[0]["MarkX2"].ToString();
                txtMarkY2.Text = dt.Rows[0]["MarkY2"].ToString();
            }
            querySql = $"select * from TrayPoints where trayname='{dt.Rows[0]["TrayName"]}'";
            DataTable dtRunPoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
            {
                dgvRunPoints.DataSource = dtRunPoints;
            }

        }

        private void btnTeach_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnTeach", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double pos = Ops.GetCurPosition(txt.Tag.ToString());
                txt.Text = pos.ToString("0.000");
                string updateSql = $"update NormalTray set {txt.Name.Replace("txt", "")}={pos} where recipename='{GlobalVar.CurRecipe}' and trayname='{trayName}'";
                if (db.ExecuteNonQuery(updateSql) > 0)
                {
                    Msg.ShowInfo("teach point ok!");
                }
            }
        }

        private void btnCalcAndMove_Click(object sender, EventArgs e)
        {
           // ErrorCode errCode = ErrorCode.Ok;
           // //先获取周转吸头的当前位置
           // double curX = Ops.GetCurPosition(AxisControl.TurnoverX);
           // double curY = Ops.GetCurPosition(AxisControl.TurnoverY);
           // //取出排料吸嘴1到周转盘1号取料位的位置
           // SlotPoint slotPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1);
           // double dischargeNozzleX1 = double.Parse(txtMarkX1.Text);
           // double dischargeNozzleY1 = double.Parse(txtMarkY1.Text);

           // double markx2 = double.Parse(txtMarkX2.Text);
           // double marky2 = double.Parse(txtMarkY2.Text);
           // SlotPoint dist = TrayPointManager.GetDistToNozzle1(1);
           //// slotPoint.X += dist.X;
           // //slotPoint.Y += dist.Y;

           // double offsetX=slotPoint.X- dischargeNozzleX1;
           // double offsetY=slotPoint.Y- dischargeNozzleY1;
           // //计算出周转吸头要移动的目标位置
           // double targetX = markx2 + offsetX +dist.X;
           // double targetY = marky2 + offsetY +dist.Y;
           // errCode = AxisControl.TurnoverX.MovePos(targetX, 4);
           // if(errCode == ErrorCode.Ok)
           // {
           //     errCode=AxisControl.TurnoverY.MovePos(targetY, 4);
           //     if(errCode > ErrorCode.Ok )
           //     {
           //         Msg.ShowError($"{AxisAlias.TurnoverX}轴运动失败 ret:{errCode}");
           //     }
           // }
           // else
           // {
           //     Msg.ShowError($"{AxisAlias.TurnoverX}轴运动失败 ret:{errCode}");
           // }
        }

        private void TurnoverTrayExceptionNozzle_Load(object sender, EventArgs e)
        {
            dgvRunPoints.AutoGenerateColumns = false;
            BindPoints();
            LoadSysParam(groupBox4);
        }

        private void rsTray1_SlotClickEvent(Controls.TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot = arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void moveToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (selectedSlot != null)
            {
                string querySql = $"select * from TrayPoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if (ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move turnoverx to {targetX},turnovery to {targetY}?");
                    if (dr == DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("TurnoverX").MovePos(targetX, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis TurnoverX move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("TurnoverY").MovePos(targetY, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis TurnoverY move fail,ret={errCode}");
                            return;
                        }
                    }
                }
            }
        }
        private void txtPoint_KeyUp(object sender, KeyEventArgs e)
        {
            TextBox txtKey = (TextBox)sender;
            if (e.KeyCode == Keys.Enter)
            {
                string key = txtKey.Name.Replace("txt", "");
                string value = txtKey.Text;
                if (SysConfigParam.Update(key, value) > 0)
                {
                    Msg.ShowInfo("Save success!");
                }
            }
        }

    }
}