155 lines
6.3 KiB
C#
155 lines
6.3 KiB
C#
using NJ_ZC;
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using NPOI.SS.Formula.Functions;
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using OpcBasic;
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using System;
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using System.Collections;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Data;
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using System.Diagnostics;
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using System.IO;
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using System.Threading;
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using System.Windows.Forms;
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using SystemFramework;
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namespace MesWork
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{
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public partial class Temp { }
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/// <summary>
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///
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/// </summary>
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public partial class MesWorkForm
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{
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/// <summary>
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///
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/// </summary>
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/// <param name="dt_Robot"></param>
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private void LoadDevice(ScadaConfig appConfig)
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{
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foreach (var mu in appConfig.MachineTool)
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{
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var Enable = mu.Enable;
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var Type = mu.Type;
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var ConnectStr = mu.ConnectStr;
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var Id = mu.Id;
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var Name = mu.Name;
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var DataTimeInterval = Convert.ToInt32(mu.DataTimeInterval);
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var AxesTimeInterval = Convert.ToInt32(mu.AxesTimeInterval);
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var Joints = mu.Joints;
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var TagID_Clamp = mu.TagID_Clamp;
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var IP = "";
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var Port = 0;
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if (Enable == "1")
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{
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switch (Type.ToUpper())
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{
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case "ROBOTFANUC":
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{
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if (!ConnectStr.Contains(":"))
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{
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MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
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Process.GetCurrentProcess().Kill();
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}
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IP = ConnectStr.Split(':')[0];
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Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
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var fanuc = new B_Robot_Fanuc();
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fanuc.Start(IP, Port, AxesTimeInterval, DataTimeInterval, "CurrentPose", "", Id, Name, Joints);
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dc_Robot.Add($"{Type}|{Id}", fanuc);
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}
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break;
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case "ROBOTKUKA":
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{
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if (!ConnectStr.Contains(":"))
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{
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MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
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Process.GetCurrentProcess().Kill();
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}
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IP = ConnectStr.Split(':')[0];
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Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
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var kuka = new B_Robot_Kuka();
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kuka.Start(IP, Port, AxesTimeInterval, DataTimeInterval, "$axis_act", "$OUT[8]", Id, Name, Joints);
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dc_Robot.Add($"{Type}|{Id}", kuka);
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}
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break;
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case "ROBOTABB":
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{
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if (!ConnectStr.Contains(":"))
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{
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MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
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Process.GetCurrentProcess().Kill();
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}
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IP = ConnectStr.Split(':')[0];
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var cname = ConnectStr.Split(':')[1];
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var abb = new B_Robot_Abb();
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abb.Start(IP, cname, AxesTimeInterval, DataTimeInterval, Id, Name, Joints);
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dc_Robot.Add($"{Type}|{Id}", abb);
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}
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break;
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case "ROBOTEPSON":
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{
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if (!ConnectStr.Contains(":"))
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{
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MessageBox.Show("Json文件中，ConnectStr 值格式错误！");
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Process.GetCurrentProcess().Kill();
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}
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IP = ConnectStr.Split(':')[0];
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Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
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var espon = new B_Robot_Espon();
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espon.Start(IP, Port, AxesTimeInterval, DataTimeInterval, Id, Name, Joints, TagID_Clamp);
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dc_Robot.Add($"{Type}|{Id}", espon);
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}
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break;
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case "AXIS":
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{
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var b_Read_N_Axis = new B_Read_N_Axis();
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b_Read_N_Axis.Start(AxesTimeInterval, DataTimeInterval, ConnectStr, Joints, Id, Name);
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dc_Name_Axis.Add($"{Type}|{Id}|{ConnectStr}", b_Read_N_Axis);
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}
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break;
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case "AXIS_CARD":
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{
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var b_Read_N_AxisCard = new B_Read_N_AxisCard();
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b_Read_N_AxisCard.Start(AxesTimeInterval, DataTimeInterval, ConnectStr, Joints);
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dc_Name_Axis_Card.Add($"{Type}|{Id}|{ConnectStr}", b_Read_N_AxisCard);
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}
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break;
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case "AGV":
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{
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agvRead = new AgvRead();
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agvRead.Start(ConnectStr,AxesTimeInterval, DataTimeInterval, Id, Name);
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}
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break;
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case "CNCEDM":
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{
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IP = ConnectStr.Split(':')[0];
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Port = Convert.ToInt32(ConnectStr.Split(':')[1]);
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var edm = new B_Cnc_Edm();
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edm.Start(IP, Port, AxesTimeInterval, DataTimeInterval, Id, Name, Joints);
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dc_Robot.Add($"{Type}|{Id}", edm);
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}
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break;
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default:
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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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}
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}
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