347 lines
12 KiB
C#
347 lines
12 KiB
C#
using MesWork;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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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.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 DT_YQJF_DC_SLN
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{
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public partial class F_RobotMonitor : Form
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{
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/// <summary>
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///
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/// </summary>
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public string Curr_RobotKey = "";
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public string Curr_RobotId = "";
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string[] AxisString = new string[] { "x", "y", "z" };
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string[] FilpString = new string[] { "1", "-1" };
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/// <summary>
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///
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/// </summary>
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List<JointConfig> jointsCurrent = new List<JointConfig>();
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List<DiyJoint> diyJoint = new List<DiyJoint>();
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public F_RobotMonitor()
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{
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InitializeComponent();
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InitComBoxVale();
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foreach (var item in MesWorkForm.dc_Robot.Keys)
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{
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lb_Robot.Items.Add(item);
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}
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if (MesWorkForm.IsDemoMesServer == 1)
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{
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panel_Debug_Btn.Visible = true;
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panel_Debug_Txt.Visible = true;
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}
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else
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{
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panel_Debug_Btn.Visible = false;
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panel_Debug_Txt.Visible = false;
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}
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void lb_Robot_SelectedIndexChanged(object sender, EventArgs e)
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{
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label19_currentId.Text = "";
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Curr_RobotId = "";
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var selectedItem = lb_Robot.SelectedItem;
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if (selectedItem == null)
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{
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return;
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}
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jointsCurrent = new List<JointConfig>();
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Curr_RobotKey = selectedItem.ToString();
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GetRobot(Curr_RobotKey, out string type, out string robotCode, out object robotObj);
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double[] j = null;
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switch (type.ToUpper())
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{
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case "ROBOTFANUC":
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var fanuc = (B_Robot_Fanuc)robotObj;
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j = fanuc.j;
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label19_currentId.Text = fanuc.Id;
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Curr_RobotId = fanuc.Id;
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break;
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case "ROBOTKUKA":
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var kuka = (B_Robot_Kuka)robotObj;
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jointsCurrent = kuka.Joints;
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label19_currentId.Text = kuka.Id;
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Curr_RobotId = kuka.Id;
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j = kuka.j;
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break;
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case "ROBOTABB":
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var abb = (B_Robot_Abb)robotObj;
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jointsCurrent = abb.Joints;
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label19_currentId.Text = abb.Id;
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Curr_RobotId = abb.Id;
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j = abb.j;
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break;
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case "ROBOTEPSON":
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var espon = (B_Robot_Espon)robotObj;
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jointsCurrent = espon.Joints;
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label19_currentId.Text = espon.Id;
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Curr_RobotId = espon.Id;
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j = espon.j;
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break;
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case "CNCEDM":
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var edm = (B_Cnc_Edm)robotObj;
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jointsCurrent = edm.Joints;
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label19_currentId.Text = edm.Id;
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Curr_RobotId = edm.Id;
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j = edm.machine_j;
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break;
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default:
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break;
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}
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button1.Enabled = true;
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button2save.Enabled = true;
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ShowJoint(j);
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ShowJointDT(jointsCurrent);
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txt_Detail.Text = JObject.Parse(JsonConvert.SerializeObject(robotObj)).ToString();
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}
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private void GetRobot(string robotKey,out string type, out string robotCode,out object robotObj)
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{
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type = "";
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robotCode = "";
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robotObj = null;
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try
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{
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type = robotKey.Split('|')[0];
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robotCode = robotKey.Split('|')[1];
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robotObj = MesWorkForm.dc_Robot[robotKey];
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}
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catch (Exception err)
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{
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}
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}
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private void InitComBoxVale() {
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foreach (string item in AxisString)
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{
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comboBox1_Axis_J1.Items.Add(item);
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comboBox1_Axis_J2.Items.Add(item);
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comboBox1_Axis_J3.Items.Add(item);
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comboBox1_Axis_J4.Items.Add(item);
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comboBox1_Axis_J5.Items.Add(item);
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comboBox1_Axis_J6.Items.Add(item);
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}
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foreach (string item in FilpString)
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{
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comboBox1_Flip_J1.Items.Add(item);
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comboBox1_Flip_J2.Items.Add(item);
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comboBox1_Flip_J3.Items.Add(item);
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comboBox1_Flip_J4.Items.Add(item);
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comboBox1_Flip_J5.Items.Add(item);
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comboBox1_Flip_J6.Items.Add(item);
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}
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}
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private void ShowJoint(double[] j)
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{
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txt_J1.Text = j[0].ToString();
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txt_J2.Text = j[1].ToString();
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txt_J3.Text = j[2].ToString();
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txt_J4.Text = j[3].ToString();
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txt_J5.Text = j[4].ToString();
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txt_J6.Text = j[5].ToString();
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txt_J7.Text = j[6].ToString();
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txt_J8.Text = j[7].ToString();
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txt_J9.Text = j[8].ToString();
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txt_J10.Text = j[9].ToString();
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txt_J11.Text = j[10].ToString();
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txt_J12.Text = j[11].ToString();
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}
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private void ShowJointDT(List<JointConfig> joints)
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{
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if (joints == null)
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{
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return;
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}
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for (int i = 0; i < joints.Count; i++)
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{
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diyJoint.Add(new DiyJoint()
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{
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Axis = joints[i].Axis,
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Delta = joints[i].Delta,
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Flip = joints[i].Flip,
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ModelCode = joints[i].ModelCode,
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});
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}
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comboBox1_Axis_J1.Text = joints[0].Axis.ToString();
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comboBox1_Axis_J2.Text = joints[1].Axis.ToString();
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comboBox1_Axis_J3.Text = joints[2].Axis.ToString();
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comboBox1_Axis_J4.Text = joints[3].Axis.ToString();
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comboBox1_Axis_J5.Text = joints[4].Axis.ToString();
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comboBox1_Axis_J6.Text = joints[5].Axis.ToString();
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comboBox1_Flip_J1.Text = joints[0].Flip.ToString();
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comboBox1_Flip_J2.Text = joints[1].Flip.ToString();
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comboBox1_Flip_J3.Text = joints[2].Flip.ToString();
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comboBox1_Flip_J4.Text = joints[3].Flip.ToString();
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comboBox1_Flip_J5.Text = joints[4].Flip.ToString();
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comboBox1_Flip_J6.Text = joints[5].Flip.ToString();
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numericUpDown_j1.Text = joints[0].Delta.ToString();
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numericUpDown_j2.Text = joints[1].Delta.ToString();
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numericUpDown_j3.Text = joints[2].Delta.ToString();
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numericUpDown_j4.Text = joints[3].Delta.ToString();
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numericUpDown_j5.Text = joints[4].Delta.ToString();
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numericUpDown_j6.Text = joints[5].Delta.ToString();
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}
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private void btn_Fill_Joint_Click(object sender, EventArgs e)
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{
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txt_Set_J1.Text = txt_J1.Text;
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txt_Set_J2.Text = txt_J2.Text;
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txt_Set_J3.Text = txt_J3.Text;
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txt_Set_J4.Text = txt_J4.Text;
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txt_Set_J5.Text = txt_J5.Text;
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txt_Set_J6.Text = txt_J6.Text;
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txt_Set_J7.Text = txt_J7.Text;
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txt_Set_J8.Text = txt_J8.Text;
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txt_Set_J9.Text = txt_J9.Text;
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txt_Set_J10.Text = txt_J10.Text;
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txt_Set_J11.Text = txt_J11.Text;
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txt_Set_J12.Text = txt_J12.Text;
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}
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private void btn_Submit_Click(object sender, EventArgs e)
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{
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var jSet = new double[12];
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jSet[0] = Convert.ToDouble(txt_Set_J1.Text);
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jSet[1] = Convert.ToDouble(txt_Set_J2.Text);
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jSet[2] = Convert.ToDouble(txt_Set_J3.Text);
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jSet[3] = Convert.ToDouble(txt_Set_J4.Text);
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jSet[4] = Convert.ToDouble(txt_Set_J5.Text);
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jSet[5] = Convert.ToDouble(txt_Set_J6.Text);
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jSet[6] = Convert.ToDouble(txt_Set_J7.Text);
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jSet[7] = Convert.ToDouble(txt_Set_J8.Text);
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jSet[8] = Convert.ToDouble(txt_Set_J9.Text);
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jSet[9] = Convert.ToDouble(txt_Set_J10.Text);
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jSet[10] = Convert.ToDouble(txt_Set_J11.Text);
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jSet[11] = Convert.ToDouble(txt_Set_J12.Text);
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GetRobot(Curr_RobotKey, out string type, out string robotCode, out object robotObj);
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switch (type)
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{
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case "ROBOTFANUC":
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var fanuc = (B_Robot_Fanuc)robotObj;
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fanuc.jDemo = jSet;
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break;
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case "ROBOTKUKA":
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var kuka = (B_Robot_Kuka)robotObj;
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kuka.jDemo = jSet;
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break;
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case "ROBOTABB":
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var abb = (B_Robot_Abb)robotObj;
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abb.jDemo = jSet;
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break;
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case "ROBOTEPSON":
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var espon = (B_Robot_Espon)robotObj;
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espon.jDemo = jSet;
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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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private void button1_Click(object sender, EventArgs e)
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{
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if(Curr_RobotId == "")
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{
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MessageBox.Show("请选择机器人");
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}
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label19_apply.Text = "";
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try
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{
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jointsCurrent[0].Delta = numericUpDown_j1.Text;
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jointsCurrent[1].Delta = numericUpDown_j2.Text;
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jointsCurrent[2].Delta = numericUpDown_j3.Text;
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jointsCurrent[3].Delta = numericUpDown_j4.Text;
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jointsCurrent[4].Delta = numericUpDown_j5.Text;
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jointsCurrent[5].Delta = numericUpDown_j6.Text;
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jointsCurrent[0].Axis = comboBox1_Axis_J1.Text;
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jointsCurrent[1].Axis = comboBox1_Axis_J2.Text;
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jointsCurrent[2].Axis = comboBox1_Axis_J3.Text;
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jointsCurrent[3].Axis = comboBox1_Axis_J4.Text;
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jointsCurrent[4].Axis = comboBox1_Axis_J5.Text;
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jointsCurrent[5].Axis = comboBox1_Axis_J6.Text;
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jointsCurrent[0].Flip = comboBox1_Flip_J1.Text;
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jointsCurrent[1].Flip = comboBox1_Flip_J2.Text;
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jointsCurrent[2].Flip = comboBox1_Flip_J3.Text;
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jointsCurrent[3].Flip = comboBox1_Flip_J4.Text;
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jointsCurrent[4].Flip = comboBox1_Flip_J5.Text;
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jointsCurrent[5].Flip = comboBox1_Flip_J6.Text;
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label19_apply.Text = "应用成功！\r\n等待数据发送更新";
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}
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catch (Exception err )
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{
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label19_apply.Text = err.Message;
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}
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}
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private void button2save_Click(object sender, EventArgs e)
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{
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if (Curr_RobotId == "")
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{
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MessageBox.Show("请选择机器人");
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}
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ScadaConfig scadaConfig = new ScadaConfig();
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scadaConfig.MachineTool = new List<MachineToolConfig>();
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for (int i = 0; i < MesWorkForm.scadaConfig.MachineTool.Count; i++)
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{
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MachineToolConfig machineToolConfig = MesWorkForm.scadaConfig.MachineTool[i];
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string Id = machineToolConfig.Id;
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if (Id == Curr_RobotId)
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{
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machineToolConfig.Joints = jointsCurrent;
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}
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scadaConfig.MachineTool.Add(machineToolConfig);
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}
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string scadaConfigStr = JsonConvert.SerializeObject(scadaConfig);
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System.IO.File.WriteAllText(@"config.json", scadaConfigStr);
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MessageBox.Show("保存成功");
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}
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}
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public class DiyJoint
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{
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public string ModelCode { get; set; }
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public string Axis { get; set; }
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public string Flip { get; set; }
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public string Delta { get; set; }
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}
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}
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