415 lines
15 KiB
C#
415 lines
15 KiB
C#
using CowainHmi.UIEditor;
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using PCHMI;
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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.Drawing.Design;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace CowainHmi
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{
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public partial class AxisDebug : UserControl
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{
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private string axisIdAddr = "";
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[Category("PCHMI"), Description("轴编号地址")]
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public string AxisIdAddr
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{
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get
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{
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return axisIdAddr;
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}
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set
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{
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axisIdAddr = value;
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}
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}
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private string dataAddr = "";
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[Category("PCHMI"), Description("轴控制DB地址")]
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public string DataAddr
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{
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get
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{
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return dataAddr;
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}
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set
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{
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dataAddr = value;
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}
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}
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private string torqueAddr = "";
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[Category("PCHMI"), Description("轴扭矩DB地址")]
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public string TorqueAddr
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{
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get
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{
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return torqueAddr;
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}
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set
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{
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torqueAddr = value;
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}
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}
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private string errAddr = "";
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[Category("PCHMI"), Description("轴错误DB地址")]
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public string ErrAddr
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{
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get
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{
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return errAddr;
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}
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set
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{
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errAddr = value;
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}
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}
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private string paramAddr = "";
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[Category("PCHMI"), Description("轴参数DB地址")]
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public string ParamAddr
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{
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get
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{
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return paramAddr;
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}
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set
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{
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paramAddr = value;
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}
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}
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private string posAddr = "";
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[Category("PCHMI"), Description("点位DB地址")]
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public string PosAddr
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{
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get
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{
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return posAddr;
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}
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set
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{
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posAddr = value;
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}
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}
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private string axisConfig = "S1";
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[Browsable(true)]
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[Category("PCHMI"), Description("轴配置")]
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[DesignerSerializationVisibility(DesignerSerializationVisibility.Content)]
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[Editor(typeof(UIAxisConfigEdit), typeof(UITypeEditor))]
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public string AxisConfig
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{
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get
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{
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return axisConfig;
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}
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set
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{
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axisConfig = value;
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}
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}
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private int id = 0;
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private int posId = 0;
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private string axisName = "";
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private List<string> posNames = new List<string>();
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private DataTable table;
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public AxisDebug()
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{
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InitializeComponent();
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}
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private void SetAddress()
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{
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//id = PCHMI.VL.GET_UINT16(0, AxisIdAddr) - 1;//读轴编号
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//if (id < 0)
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//{
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// PCHMI.RT.SEND_UINT16(0, AxisIdAddr, 1);
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// id = 0;
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//}
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id = this.cbxAxisSel.SelectedIndex;
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axisName = $"轴{id + 1}"; //默认轴名称
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if (table != null)
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{
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DataRow row = table.Select($"轴号='{id + 1}'").FirstOrDefault();
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if (row != null)
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{
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axisName = row["轴名称"].ToString();
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for (int i = 0; i < 32; i++)
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{
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posNames[i] = row[$"位置名称{i}"].ToString();
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}
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}
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}
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this.cbxPosSelect.DataSource = null;
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List<string> list = new List<string>();
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int idx = 0;
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foreach (var item in posNames)
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{
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list.Add($"{idx}-{item}");
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idx++;
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}
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this.cbxPosSelect.DataSource = list;
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this.btnEnable.开关功能.地址[0] = $"{DataAddr}.{id * 60}.6";
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this.btnEnable.开关功能.地址[1] = $"{DataAddr}.{id * 60 + 4}";
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this.btnEnable.开关功能.扩展[1] = "0";
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this.btnEnable.指示灯地址 = $"{DataAddr}.{id * 60}.6";
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this.btnHome.指示灯地址 = $"{DataAddr}.{id * 60}.2";
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this.lblEnable.指示灯地址 = $"{DataAddr}.{id * 60 + 36}.4";
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this.lblRef.指示灯地址 = $"{DataAddr}.{id * 60 + 36}.0";
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this.lblErr.指示灯地址 = $"{ErrAddr}.{id * 2 + 0}.2";
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this.lblAutoMode.指示灯地址 = $"{DataAddr}.{id * 60 + 37}.1";
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this.lblJogAddSafe.指示灯地址 = $"{DataAddr}.{id * 60 + 0}.7";
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this.lblJogDecSafe.指示灯地址 = $"{DataAddr}.{id * 60 + 1}.0";
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this.btnJogAdd.指示灯地址 = $"{DataAddr}.{id * 60 + 4}";
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this.btnJogDec.指示灯地址 = $"{DataAddr}.{id * 60 + 4}";
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this.btnJogSafe.开关功能.地址[0] = $"{DataAddr}.{id * 60 + 1}.1";
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this.btnJogSafe.监控地址 = $"{DataAddr}.{id * 60 + 1}.1";
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this.txtActPos.监控地址 = $"{DataAddr}.{id * 60 + 24}";
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this.txtActVel.监控地址 = $"{DataAddr}.{id * 60 + 20}";
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this.txtErrCode.监控地址 = $"{DataAddr}.{id * 60 + 42}";
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this.txtTipCode.监控地址 = $"{DataAddr}.{id * 60 + 44}";
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this.txtManualV.监控地址 = $"{ParamAddr}.{id * 38 + 6}";
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this.txtAutoV.监控地址 = $"{ParamAddr}.{id * 38 + 8}";
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this.txtAcc.监控地址 = $"{ParamAddr}.{id * 38 + 10}";
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this.txtDec.监控地址 = $"{ParamAddr}.{id * 38 + 12}";
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this.txtLockPos.监控地址 = $"{DataAddr}.{id * 60 + 28}";
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this.lblAxisLock.指示灯地址 = $"{ErrAddr}.{id * 2}.4";
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this.btnUnlock.开关功能.地址[0] = $"{DataAddr}.{id * 60 + 1}.2";
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this.btnUnlock.监控地址 = $"{DataAddr}.{id * 60 + 1}.2";
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this.btnGoLock.监控地址 = $"{DataAddr}.{id * 60 + 4}";
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this.lblInPos.指示灯地址 = $"{DataAddr}.{id * 60 + 56 + posId / 8}.{posId % 8}"; //点位到位指示
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this.txtTargetPos.监控地址 = $"{PosAddr}.{id * 384 + posId * 12}";
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this.txtTargetVel.监控地址 = $"{PosAddr}.{id * 384 + posId * 12 + 8}";
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this.lblGoSafe.指示灯地址 = $"{DataAddr}.{id * 60 + 6 + posId / 8}.{posId % 8}"; //点位安全指示
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this.btnGoSafe.开关功能.地址[0] = $"{DataAddr}.{id * 60 + 10 + posId / 8}.{posId % 8}"; //安全解锁
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this.btnGoSafe.监控地址 = $"{DataAddr}.{id * 60 + 10 + posId / 8}.{posId % 8}";
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this.btnGoto.监控地址 = $"{DataAddr}.{id * 60 + 4}";
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this.lblPosUnit1.监控地址 = $"{ParamAddr}.{id * 38 + 14}";
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this.lblPosUnit2.监控地址 = $"{ParamAddr}.{id * 38 + 14}";
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this.lblGotoUnit.监控地址 = $"{ParamAddr}.{id * 38 + 14}";
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this.lblActVelUnit.监控地址 = $"{ParamAddr}.{id * 38 + 14}";
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this.标签2.监控地址 = $"{ParamAddr}.{id * 38 + 14}";
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this.txtSetTorque.监控地址 = $"{TorqueAddr}.{id * 26 + 16}";
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this.txtActTorque.监控地址 = $"{TorqueAddr}.{id * 26 + 20}";
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this.lblTorqueLight.指示灯地址 = $"{TorqueAddr}.{id * 26 + 24}.0";
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this.lblErrBit1.指示灯地址 = $"{DataAddr}.{id * 60 + 46}.1";
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this.lblErrBit4.指示灯地址 = $"{DataAddr}.{id * 60 + 46}.4";
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this.lblErrBit5.指示灯地址 = $"{DataAddr}.{id * 60 + 46}.5";
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this.lblErrBit7.指示灯地址 = $"{DataAddr}.{id * 60 + 46}.7";
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}
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private void OpenFile(string fileName)
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{
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string text = Application.StartupPath + $"\\DATA\\{fileName}.csv";
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if (File.Exists(text))
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{
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table = CSV.OpenCSV(text);
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}
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}
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private void AxisDebug_Load(object sender, EventArgs e)
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{
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if (PCHMI.PClass.SystemRun)
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{
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for (int i = 0; i < 32; i++)
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{
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posNames.Add($"位置{i}");
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}
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OpenFile(AxisConfig);
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id = PCHMI.VL.GET_UINT16(0, AxisIdAddr) - 1;//读轴编号
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if (id < 0)
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{
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PCHMI.RT.SEND_UINT16(0, AxisIdAddr, 1);
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id = 0;
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}
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if (table != null)
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{
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List<string> list = new List<string>();
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foreach (DataRow row in table.Rows)
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{
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string name = row["轴名称"].ToString();
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list.Add(name);
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}
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this.cbxAxisSel.DataSource = list;
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this.cbxAxisSel.SelectedIndex = id;
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this.cbxAxisSel.SelectedIndexChanged += CbxAxisSel_SelectedIndexChanged;
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SetAddress();
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this.cbxPosSelect.SelectedIndex = -1;
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this.cbxPosSelect.SelectedIndexChanged += CbxPosSelect_SelectedIndexChanged;
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}
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}
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}
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private void CbxAxisSel_SelectedIndexChanged(object sender, EventArgs e)
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{
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SetAddress();
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}
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private void CbxPosSelect_SelectedIndexChanged(object sender, EventArgs e)
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{
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//更改了点位
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posId = this.cbxPosSelect.SelectedIndex;
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this.lblInPos.指示灯地址 = $"{DataAddr}.{id * 60 + 56 + posId / 8}.{posId % 8}"; //点位到位指示
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this.txtTargetPos.监控地址 = $"{PosAddr}.{id * 384 + posId * 12}";
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this.txtTargetVel.监控地址 = $"{PosAddr}.{id * 384 + posId * 12 + 8}";
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this.lblGoSafe.指示灯地址 = $"{DataAddr}.{id * 60 + 6 + posId / 8}.{posId % 8}"; //点位安全指示
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this.btnGoSafe.开关功能.地址[0] = $"{DataAddr}.{id * 60 + 10 + posId / 8}.{posId % 8}"; //安全解锁
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this.btnGoSafe.监控地址 = $"{DataAddr}.{id * 60 + 10 + posId / 8}.{posId % 8}";
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this.btnGoto.开关功能.地址[0] = $"{DataAddr}.{id * 60 + 2}"; //手动定位到目标点位
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this.btnGoto.开关功能.扩展[0] = $"{100 + posId}"; //写入100-131
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this.btnGoto.监控地址 = $"{DataAddr}.{id * 60 + 4}";
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}
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private void txtAxisId_数值改变事件(数据显示器 sender)
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{
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SetAddress();
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}
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private void btnEnable_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.OPTLOG.WLOG($"手动按下了轴使能按钮，Axis{id}-{axisName}");
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}
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private void btnJogSafe_MouseDown(object sender, MouseEventArgs e)
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{
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if (this.btnJogSafe.Value == 0)
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{
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PCHMI.OPTLOG.WLOG($"手动解除了轴Jog保护，可能发生安全事故，Axis{id}-{axisName}");
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}
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}
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private void btnUnlock_MouseDown(object sender, MouseEventArgs e)
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{
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if (this.btnUnlock.Value == 0)
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{
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PCHMI.OPTLOG.WLOG($"手动解除了轴连锁（清除了手动操作记忆），可能发生安全事故，Axis{id}-{axisName}");
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}
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}
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private void btnGoSafe_MouseDown(object sender, MouseEventArgs e)
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{
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if (this.btnGoSafe.Value == 0)
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{
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PCHMI.OPTLOG.WLOG($"手动解除定位安全，Axis{id}-{axisName}，点位：{posId}");
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}
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}
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private void txtTargetPos_Enter(object sender, EventArgs e)
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{
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MessageBox.Show("不可以修改位置，请通过点位选择", "提示");
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}
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private void btnAxisPoss_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SEND_UINT16(0, AxisIdAddr, (ushort)(id + 1));
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DlgAxisPosData dlg = new DlgAxisPosData(posNames, PosAddr, DataAddr, id, (int)this.lblPosUnit1.Value);
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dlg.ShowDialog();
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}
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#region JogAdd
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private async void btnJogAdd_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(100);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 1);
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}
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private async void btnJogAdd_MouseUp(object sender, MouseEventArgs e)
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{
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await Task.Delay(300);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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}
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#endregion
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#region JogDec
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private async void btnJogDec_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(100);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 2);
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}
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private async void btnJogDec_MouseUp(object sender, MouseEventArgs e)
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{
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await Task.Delay(300);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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}
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#endregion
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#region Home
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private async void btnHome_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(200);
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PCHMI.OPTLOG.WLOG($"手动按下了轴回原点按钮，Axis{id}-{axisName}");
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 3);
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}
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private async void btnHome_MouseUp(object sender, MouseEventArgs e)
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{
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await Task.Delay(500);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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}
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#endregion
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#region Goto
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private async void btnGoto_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(200);
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PCHMI.OPTLOG.WLOG($"手动触发了定位，定位目标点={posId + 1}，目标位置:{this.txtTargetPos.Value}，Axis{id}-{axisName}");
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", (short)(100 + posId));
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}
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private void btnGoto_MouseUp(object sender, MouseEventArgs e)
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{
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//PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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}
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#endregion
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#region GotoLock
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private async void btnGoLock_MouseDown(object sender, MouseEventArgs e)
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{
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(200);
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PCHMI.OPTLOG.WLOG($"手动触发了去连锁位置，Axis{id}-{axisName},连锁位置：{this.txtLockPos.Value}");
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 10);
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}
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private async void btnGoLock_MouseUp(object sender, MouseEventArgs e)
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{
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await Task.Delay(500);
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PCHMI.RT.SET_INT16(0, $"{DataAddr}.{id * 60 + 4}", 0);
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}
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#endregion
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}
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}
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