303 lines
11 KiB
C#
303 lines
11 KiB
C#
using Advantech.Motion;
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using Newtonsoft.Json;
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using ProductionControl.Device;
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using ProductionControl.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 ProductionControl.Device.Axis;
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using static ProductionControl.UI.UIAxis;
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namespace ProductionControl.UI
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{
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public partial class UIAxis : UserControl
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{
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SynchronizationContext SyncContext = null;
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public enum AxisName
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{
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[Description("0-Axis")]
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Axis0 = 0,
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[Description("1-Axis")]
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Axis1 = 1,
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[Description("2-Axis")]
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Axis2 = 2,
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[Description("3-Axis")]
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Axis3 = 3,
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}
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public enum AxisType
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{
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[Description("默认")]
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默认 = 0,
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[Description("直线电机")]
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直线电机 = 1,
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}
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public Action<int, string> log;
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//
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private AxisProp axisProp = new AxisProp();
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private Axis axis;
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public UIAxis()
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{
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InitializeComponent();
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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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public void init()
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{
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try
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{
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this.propertyGrid1.SelectedObject = axisProp;
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axis = new Axis();
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axis.log = log;
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axis.start();
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//STATE
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axis.axisStateEvent += new System.Action<int, AxisStateType, uint>((axisIndex, type, stateValue) => {
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if (axisIndex != (int)axisProp.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 (axisProp.AxState != (AxisState)stateValue)
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{
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axisProp.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 (axisProp.AxIOStatus != stateValue)
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{
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axisProp.AxIOStatus = stateValue;
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axisProp.ALM = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ALM) > 0;//需IO close
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if (axisProp.ALM) log?.Invoke(2, $"Axis{axisIndex} ALM!!!");
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axisProp.EMG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_EMG) > 0;//需重置 state
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if (axisProp.EMG) log?.Invoke(2, $"Axis{axisIndex} EMG!!!");
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axisProp.LMTP = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTP) > 0;//右极限 true->false
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axisProp.LMTN = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTN) > 0;//左极限
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axisProp.ORG = (stateValue & (uint)Ax_Motion_IO.AX_MOTION_IO_ORG) > 0;
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axisProp.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 (axisProp.AxMotionState != stateValue)
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{
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axisProp.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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axis.axisPosEvent += new System.Action<int, AxisPosType, double>((axisIndex, type, pos) => {
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if (axisIndex != (int)axisProp.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 (axisProp.CmdPos != pos)
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{
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axisProp.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 (axisProp.ActualPos != pos)
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{
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axisProp.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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refreshAxisVelParam();
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this.toolStrip1.Enabled = true;
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this.propertyGrid1.Enabled = true;
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}
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catch (Exception ex)
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{
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this.toolStrip1.Enabled = false;
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this.propertyGrid1.Enabled = false;
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MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
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this.closeDev();
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}
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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 = (axisProp.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";
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tbtnLeft.Enabled = tbtnRight.Enabled = (axisProp.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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var values = axis.getAxisVelParam((int)axisProp.AxisIndex);
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axisProp.VelLow = values[0];
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axisProp.VelHigh = values[1];
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axisProp.Acc = values[2];
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axisProp.Dec = values[3];
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//axisProp.VelLow = values[4];
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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 (axis == null)
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return;
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axis.stop();
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}
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catch (Exception ex)
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{
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this.toolStrip1.Enabled = false;
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this.propertyGrid1.Enabled = false;
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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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axis.setAxisVelParam(axisProp.VelLow, axisProp.VelHigh, axisProp.Acc, axisProp.Dec, (int)axisProp.AxisIndex);
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axis.move_ptp((int)axisProp.AxisIndex, axisProp.Value, axisProp.IsAbsPos);
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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)axisProp.AxisIndex}配置.json", "JSON|*.json");
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if (filePath != "")
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{
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string jsonText = axisProp.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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axisProp.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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if (axisProp.DeviceType == AxisType.默认)
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{
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axis.home((int)axisProp.AxisIndex);
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}
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else //直线电机
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{
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axis.move_ptp((int)axisProp.AxisIndex, - axisProp.ActualPos, false);
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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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axis.jog((int)axisProp.AxisIndex, 0);
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}
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private void tbtnLeft_MouseUp(object sender, MouseEventArgs e)
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{
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axis.stopDec();
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}
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private void tbtnRight_MouseDown(object sender, MouseEventArgs e)
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{
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axis.jog((int)axisProp.AxisIndex, 1);
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}
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private void tbtnRight_MouseUp(object sender, MouseEventArgs e)
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{
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axis.stopDec();
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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(axisProp.AxState==AxisState.STA_AX_EXT_JOG)
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{
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axis.closeJogMode((int)axisProp.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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axis.openJogMode((int)axisProp.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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axis.stopDec((int)axisProp.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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axis.resetAxisState((int)axisProp.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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axis.resetCmdPosition((int)axisProp.AxisIndex);
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axis.resetActualPosition((int)axisProp.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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}
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}
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