333 lines
12 KiB
C#
333 lines
12 KiB
C#
using Advantech.Motion;
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using Newtonsoft.Json;
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using AssistClient.Device;
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using AssistClient.Utils;
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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.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 System.Xml.Linq;
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using static AssistClient.Device.AxisDev;
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using static AssistClient.UI.UIAxisDev;
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namespace AssistClient.UI
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{
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public partial class UIAxisDev : UserControl
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{
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SynchronizationContext SyncContext = null;
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public Action<string> GetParamsEvent;
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//
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private AxisDevProp prop = new AxisDevProp();
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private AxisDev dev;
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public UIAxisDev()
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{
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InitializeComponent();
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propertyGrid1.PropertyValueChanged += propertyGrid1_PropertyValueChanged;
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refreshUIState();
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//获取UI线程同步上下文
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SyncContext = SynchronizationContext.Current;
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//init();
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}
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private void refreshUIState()
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{
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foreach (ToolStripItem item in this.toolStrip1.Items)
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{
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if (item.Text == "打开设备")
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item.Visible = (dev == null || !dev.IsInit);
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else
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this.propertyGrid1.Enabled=item.Enabled = !(dev == null || !dev.IsInit);
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}
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}
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public string getParamsData()
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{
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return prop.serialize();
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}
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public bool stopNow()
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{
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if (dev != null && dev.IsInit)
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{
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dev.stopNow();
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return true;
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}
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else
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return false;
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}
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public void setParamsData(string json)
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{
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if (json == "") return;
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prop.deserialize(json);
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this.propertyGrid1.Refresh();
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}
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public void init()
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{
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this.tbtnSave.Visible = tssSave.Visible = (GetParamsEvent != null);
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this.propertyGrid1.SelectedObject = prop;
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dev = new AxisDev();
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dev.WarningEvent = (level, info) =>
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{
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txtLog.Text = $"({level}){info}";
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};
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//STATE
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dev.axisStateEvent += new System.Action<int, AxisStateType, uint>((axisIndex, type, stateValue) =>
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{
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if (axisIndex != (int)prop.AxisIndex)
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return;
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switch (type)
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{
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case AxisStateType.AxisState:
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if (prop.AxState != (AxisState)stateValue)
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{
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prop.AxState = (AxisState)stateValue;
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this.refreshUI();
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}
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break;
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case AxisStateType.AxisIOState:
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if (prop.AxIOStatus != stateValue)
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{
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prop.AxIOStatus = stateValue;
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prop.ALM = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ALM) > 0;//需IO close
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prop.EMG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_EMG) > 0;//需重置 state
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prop.LMTP = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTP) > 0;//右极限 true->false
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prop.LMTN = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTN) > 0;//左极限
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prop.ORG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ORG) > 0;
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prop.EZ = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_EZ) > 0;
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prop.SVON = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_SVON) > 0;
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this.refreshUI();
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}
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break;
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case AxisStateType.AxisMotionState:
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if (prop.AxMotionState != stateValue)
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{
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prop.AxMotionState = stateValue;
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this.refreshUI();
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}
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break;
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}
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});
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//位置POS
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dev.axisPosEvent += new System.Action<int, AxisPosType, double>((axisIndex, type, pos) =>
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{
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if (axisIndex != (int)prop.AxisIndex)
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return;
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switch (type)
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{
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case AxisPosType.CmdPos:
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if (prop.CmdPos != pos)
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{
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prop.CmdPos = pos;
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this.refreshUI();
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}
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break;
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case AxisPosType.ActualPos:
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if (prop.ActualPos != pos)
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{
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prop.ActualPos = pos;
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this.refreshUI();
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}
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break;
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}
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});
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if (!dev.start(Config.Axis_PulseOutMode,true))
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{
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this.closeDev();
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return;
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}
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prop.DeviceNum = dev.DeviceNum.ToString();
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refreshAxisVelParam();
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refreshUIState();
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}
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private void refreshUI()
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{
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SyncContext.Post(m =>
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{
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var result = m as string;
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propertyGrid1.Refresh();
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tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";
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tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);
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}, "异步操作完成结果");
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}
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private void refreshAxisVelParam()
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{
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int axisIndex = (int)prop.AxisIndex;
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//prop.HomeMode = (AxitHomeMode)Config.Axis_HomeMode[axisIndex];
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var values = dev.getAxisVelParam(axisIndex);
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prop.VelLow = dev.tomm(values[0], Config.Axis_MM2PulseNum[axisIndex]);
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prop.VelHigh = dev.tomm(values[1], Config.Axis_MM2PulseNum[axisIndex]);
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prop.Acc = dev.tomm(values[2], Config.Axis_MM2PulseNum[axisIndex]);
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prop.Dec = dev.tomm(values[3], Config.Axis_MM2PulseNum[axisIndex]);
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}
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private void closeDev()
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{
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try
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{
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if (dev == null)
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return;
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dev.stop();
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}
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catch (Exception ex)
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{
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this.refreshUIState();
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MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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protected override void OnHandleDestroyed(EventArgs e)
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{
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base.OnHandleDestroyed(e);
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// 在此添加需要手动释放资源的代码
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this.closeDev();
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}
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private void tbtnRun_Click(object sender, EventArgs e)
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{
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try
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{
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dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
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dev.move_ptp((int)prop.AxisIndex, prop.Value, prop.MoveMode);
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//running...
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}
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catch(Exception ex)
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{
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MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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private void tbtnExport_Click(object sender, EventArgs e)
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{
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string filePath = FileUtil.saveAsFile($"Axis{(int)prop.AxisIndex}配置.json", "JSON|*.json");
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if (filePath != "")
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{
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string jsonText = prop.serialize();
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File.WriteAllText(filePath, jsonText);
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MessageBox.Show("保存成功！", "成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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}
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private void tbtnImport_Click(object sender, EventArgs e)
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{
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string filePath = FileUtil.openFile("JSON|*.json");
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if (filePath != "")
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{
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string jsonText = File.ReadAllText(filePath);
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prop.deserialize(jsonText);
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this.propertyGrid1.Refresh();
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//this.propertyGrid1.SelectedObject= axisProp;
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//MessageBox.Show("加载成功！", "成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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}
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private void tbtnHome_Click(object sender, EventArgs e)
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{
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int axitIndex = (int)prop.AxisIndex;
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dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
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//dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex,true);
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dev.home(axitIndex, (uint)Config.Axis_HomeMode[axitIndex], (uint)Config.Axis_HomeDir[axitIndex]);
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//if (prop.DeviceType == AxisType.默认)
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//{
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// dev.home((int)prop.AxisIndex);
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//}
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//else //直线电机
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//{
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// //dev.move_ptp((int)prop.AxisIndex, - prop.ActualPos, false);
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// dev.move_ptp((int)prop.AxisIndex, 0, true);
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//}
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}
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private void tbtnLeft_MouseDown(object sender, MouseEventArgs e)
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{
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dev.jog((int)prop.AxisIndex, 1);
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}
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private void tbtnLeft_MouseUp(object sender, MouseEventArgs e)
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{
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dev.stopDec((int)prop.AxisIndex);
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}
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private void tbtnRight_MouseDown(object sender, MouseEventArgs e)
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{
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dev.jog((int)prop.AxisIndex, 0);
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}
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private void tbtnRight_MouseUp(object sender, MouseEventArgs e)
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{
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dev.stopDec((int)prop.AxisIndex);
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}
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private void tbtnJogOnOff_Click(object sender, EventArgs e)
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{
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if(prop.AxState==AxisState.STA_AX_EXT_JOG)
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{
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dev.closeJogMode((int)prop.AxisIndex);
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//tbtnJogOnOff.Text = "开启Jog";
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}
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else
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{
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dev.setAxisVelParam(prop.VelLow, prop.VelHigh, prop.Acc, prop.Dec, (int)prop.AxisIndex);
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dev.openJogMode((int)prop.AxisIndex);
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//tbtnJogOnOff.Text = "关闭Jog";
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}
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}
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private void tbtnStop_Click(object sender, EventArgs e)
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{
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dev.stopDec((int)prop.AxisIndex);
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}
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private void tbtnRestState_Click(object sender, EventArgs e)
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{
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dev.resetAxisState((int)prop.AxisIndex);
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}
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private void tbtnResetPos_Click(object sender, EventArgs e)
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{
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dev.resetCmdPosition((int)prop.AxisIndex);
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dev.resetActualPosition((int)prop.AxisIndex);
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}
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private void propertyGrid1_PropertyValueChanged(object s, PropertyValueChangedEventArgs e)
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{
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//其中包含了两个重要的属性：OldValue和ChangeItem。
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//ChangeItem是“PropertyDescriptorGridEntry”类型。一般可以通过ChangeItem.PropertyDescriptor.ComponentType查找到属性的实际类型。
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//而通过ChangeItem的Label，则可以查看到当前在属性编辑输入框中显示的值。
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string className = e.ChangedItem.PropertyDescriptor.ComponentType.Name;
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string propertyName = e.ChangedItem.PropertyDescriptor.Name;
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var oldValue = e.OldValue;
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var newValue = e.ChangedItem.Value;
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switch (propertyName)
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{
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case "AxisIndex":
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refreshAxisVelParam();
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break;
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}
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}
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private void tbtnSave_Click(object sender, EventArgs e)
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{
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GetParamsEvent?.Invoke(prop.serialize());
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}
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private void tsbtnOpenDev_Click(object sender, EventArgs e)
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{
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this.init();
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}
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}
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}
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