245 lines
9.2 KiB
C#
245 lines
9.2 KiB
C#
using CowainHmi.Properties;
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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.IO;
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using System.Linq;
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using System.Resources;
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using System.Runtime.InteropServices.ComTypes;
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using System.Security.Cryptography;
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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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using System.Xml.Linq;
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using static System.Net.Mime.MediaTypeNames;
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namespace CowainHmi
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{
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public partial class DlgAxisPosData : Form
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{
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private class PosData : INotifyPropertyChanged
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{
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private string setPos;
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private string setVel;
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private bool inPos;
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private bool safe;
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private bool safeLock;
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public string PosName { get; set; }
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public string SetPos
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{
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get => setPos;
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set
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{
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setPos = value;
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OnPropertyChanged("SetPos");
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}
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}
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public string SetVel
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{
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get => setVel;
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set
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{
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setVel = value;
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OnPropertyChanged("SetVel");
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}
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}
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public bool InPos
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{
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get => inPos;
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set
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{
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inPos = value;
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OnPropertyChanged("InPos");
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}
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}
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public bool Safe
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{
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get => safe;
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set
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{
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safe = value;
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OnPropertyChanged("Safe");
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}
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}
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public bool SafeLock
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{
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get => safeLock;
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set
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{
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safeLock = value;
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OnPropertyChanged("SafeLock");
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}
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}
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public event PropertyChangedEventHandler PropertyChanged;
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protected virtual void OnPropertyChanged(string propertyName)
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{
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PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(propertyName));
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}
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}
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private enum UnitType
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{
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mm,
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cm,
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m,
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deg,
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rad
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}
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private BindingList<PosData> list = new BindingList<PosData>();
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private int id;
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private int unit;
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private string posAddr;
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private string dataAddr;
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private List<string> posNames;
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public DlgAxisPosData(List<string> posNames, string posAddr, string dataAddr, int id, int unit)
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{
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InitializeComponent();
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this.id = id;
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this.posAddr = posAddr;
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this.dataAddr = dataAddr;
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this.posNames = posNames;
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this.unit = unit;
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for (int i = 0; i < posNames.Count; i++)
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{
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PosData data = new PosData { PosName = posNames[i] };
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list.Add(data);
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}
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this.dgvAxisPos.AutoGenerateColumns = false;
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this.dgvAxisPos.DataSource = list;
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}
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private async void DlgAxisPosData_Load(object sender, EventArgs e)
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{
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await GetPosData();
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}
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private async Task GetPosData()
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{
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for (int i = 0; i < list.Count; i++)
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{
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var pos = PCHMI.VL.GET_INT32(0, $"{posAddr}.{id * 384 + i * 12}");
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var vel = PCHMI.VL.GET_INT32(0, $"{posAddr}.{id * 384 + i * 12 + 8}");
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var inPos = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 56 + i / 8}.{i % 8}");
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var safe = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 10 + i / 8}.{i % 8}");
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var safeLock = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 6 + i / 8}.{i % 8}");
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}
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await Task.Delay(300);
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for (int i = 0; i < list.Count; i++)
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{
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var pos = PCHMI.VL.GET_INT32(0, $"{posAddr}.{id * 384 + i * 12}");
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var vel = PCHMI.VL.GET_INT32(0, $"{posAddr}.{id * 384 + i * 12 + 8}");
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var inPos = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 56 + i / 8}.{i % 8}");
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var safe = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 10 + i / 8}.{i % 8}");
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var safeLock = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 6 + i / 8}.{i % 8}");
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list[i].SetPos = $"{((double)pos / 100.0).ToString("F2")} {(UnitType)unit}";
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list[i].SetVel = $"{vel} {(UnitType)unit}/s";
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list[i].InPos = inPos > 0 ? true : false;
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list[i].Safe = safe > 0 ? true : false;
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list[i].SafeLock = safeLock > 0 ? true : false;
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}
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}
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private async void dgvAxisPos_CellClick(object sender, DataGridViewCellEventArgs e)
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{
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if ((e.ColumnIndex == this.dgvAxisPos.Columns["Edit"].Index || e.ColumnIndex == this.dgvAxisPos.Columns["SetPos"].Index || e.ColumnIndex == this.dgvAxisPos.Columns["SetVel"].Index) && e.RowIndex >= 0)
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{
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DlgPosEdit dlg = new DlgPosEdit(posNames[e.RowIndex], posAddr, id, e.RowIndex, unit);
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var result = dlg.ShowDialog();
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if (result == DialogResult.OK)
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{
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await GetPosData();
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}
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}
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else if (e.ColumnIndex == this.dgvAxisPos.Columns["Teach"].Index && e.RowIndex >= 0)
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{
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//按下示教按钮,将轴当前位置设置为目标位置
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var actPos = PCHMI.VL.GET_INT32(0, $"{dataAddr}.{id * 60 + 24}");
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PCHMI.RT.SEND_INT32(0, $"{posAddr}.{id * 384 + e.RowIndex * 12}", actPos);
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PCHMI.OPTLOG.WLOG($"手动按下了点位示教按钮，Axis{id}，点位号：{e.RowIndex},原位置:{list[e.RowIndex].SetPos},新位置:{actPos}");
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await GetPosData();
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}
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else if (e.ColumnIndex == this.dgvAxisPos.Columns["Goto"].Index && e.RowIndex >= 0)
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{
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//按下Goto按钮
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PCHMI.RT.SEND_INT16(0, $"{dataAddr}.{id * 60 + 4}", 0);
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await Task.Delay(200);
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var actPos = PCHMI.VL.GET_INT32(0, $"{dataAddr}.{id * 60 + 24}");
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PCHMI.RT.SEND_INT16(0, $"{dataAddr}.{id * 60 + 4}", (short)(100 + e.RowIndex));
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PCHMI.OPTLOG.WLOG($"手动触发了定位按钮，Axis{id},点位号：{e.RowIndex}，定位前位置:{actPos},目标位置:{list[e.RowIndex].SetPos}");
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}
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else if (e.ColumnIndex == this.dgvAxisPos.Columns["Safe"].Index && e.RowIndex >= 0)
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{
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//按下解锁按钮
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bool isChecked = PCHMI.VL.GET_BIT(0, $"{dataAddr}.{id * 60 + 10 + e.RowIndex / 8}.{e.RowIndex % 8}") > 0 ? true : false;
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//DataGridViewCheckBoxCell chkBoxCell = (DataGridViewCheckBoxCell)dgvAxisPos.Rows[e.RowIndex].Cells[e.ColumnIndex];
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//bool isChecked = (bool)chkBoxCell.Value;
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if (isChecked)
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{
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PCHMI.RT.SEND_BIT(0, $"{dataAddr}.{id * 60 + 10 + e.RowIndex / 8}.{e.RowIndex % 8}", 0);
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}
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else
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{
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PCHMI.OPTLOG.WLOG($"手动触发解除安全，Axis{id},点位{e.RowIndex}");
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PCHMI.RT.SEND_BIT(0, $"{dataAddr}.{id * 60 + 10 + e.RowIndex / 8}.{e.RowIndex % 8}", 1);
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}
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await GetPosData();
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}
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}
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private void dgvAxisPos_RowPostPaint(object sender, DataGridViewRowPostPaintEventArgs e)
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{
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new DataGridViewStyle().DgvRowPostPaint(dgvAxisPos, e);
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}
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private void dgvAxisPos_CellFormatting(object sender, DataGridViewCellFormattingEventArgs e)
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{
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if (e.ColumnIndex == this.dgvAxisPos.Columns["InPos"].Index && e.Value != null)
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{
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bool inPos = (bool)e.Value;
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if (inPos) // 根据条件判断
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{
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e.CellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
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e.Value = global::CowainHmi.Properties.Resources.有效;
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e.FormattingApplied = true;
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}
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else
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{
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e.CellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
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e.Value = global::CowainHmi.Properties.Resources.无效;
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e.FormattingApplied = true;
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}
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}
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else if (e.ColumnIndex == this.dgvAxisPos.Columns["SafeLock"].Index && e.Value != null)
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{
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bool safeLock = (bool)e.Value;
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if (safeLock) // 根据条件判断
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{
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e.CellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
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e.Value = global::CowainHmi.Properties.Resources.无效;
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e.FormattingApplied = true;
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}
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else
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{
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e.CellStyle.Alignment = DataGridViewContentAlignment.MiddleCenter;
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e.Value = global::CowainHmi.Properties.Resources.有效;
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e.FormattingApplied = true;
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}
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}
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}
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}
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}
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