1463 lines
43 KiB
C#
1463 lines
43 KiB
C#
#pragma warning disable IDE1006 // 명명 스타일
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using AR;
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using System;
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using System.Collections.Generic;
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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.Windows.Forms;
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namespace Project
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{
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public partial class Model_Motion : Form
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{
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public string Value = string.Empty;
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short axisIndex = -1;
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eAxis axis = eAxis.Z_THETA;//
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Color sbBackColor = Color.FromArgb(200, 200, 200);
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public Model_Motion()
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{
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InitializeComponent();
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if (System.Diagnostics.Debugger.IsAttached == false)
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{
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// fb = new Dialog.fBlurPanel();
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//fb.Show();
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}
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this.KeyPreview = true;
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this.KeyDown += (s1, e1) => { if (e1.KeyCode == Keys.Escape) this.Close(); };
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this.StartPosition = FormStartPosition.CenterScreen;
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this.FormClosed += __Closed;
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this.FormClosing += __Closing;
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var axlist = Enum.GetNames(typeof(eAxis));
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var axvalues = Enum.GetValues(typeof(eAxis));
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var preValueList = new List<ushort>();
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//모터설정값을 보고 해당 모터의 목록을 표시한다.
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//사용하지 않는 축은 표시하지 않는다
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for (int i = 0; i < SETTING.System.MotaxisCount; i++)
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{
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var axis = (eAxis)i;
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var axisname = (eAxisName)i;
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var axTitle = axisname.ToString();// axis.ToString();
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if (PUB.system_mot.UseAxis(i) == false) continue;// axTitle = "Disable";
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if (axisIndex == -1) axisIndex = (short)i;
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if (axTitle.Equals(i.ToString())) axTitle = "(No Name)";
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this.dvMot.Rows.Add(
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new string[] {
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i.ToString(), axTitle, string.Empty, string.Empty, string.Empty,
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string.Empty, string.Empty, string.Empty, string.Empty, string.Empty,
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string.Empty
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});
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}
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dvMot.Columns[10].DefaultCellStyle.Alignment = DataGridViewContentAlignment.MiddleLeft;
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//링크레이블과 버튼 연결
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AttachEvents();
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}
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Boolean hasChanged()
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{
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this.Validate();
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this.bsPosData.EndEdit();
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var chg = this.ds1.MCModel.GetChanges();
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if (chg == null || chg.Rows.Count < 1) return false;
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return true;
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}
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private void __Closing(object sender, FormClosingEventArgs e)
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{
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if (hasChanged())
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{
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var dlg = UTIL.MsgQ("There are unsaved changes.\n" +
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"Proceeding will discard the changes\n" +
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"Do you want to continue?");
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if (dlg != DialogResult.Yes)
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{
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e.Cancel = true;
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return;
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}
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}
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}
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private void __Load(object sender, EventArgs e)
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{
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this.Show();
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////'Application.DoEvents();
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///
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this.ds1.Clear();
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this.ds1.MCModel.Merge(PUB.mdm.dataSet.MCModel);
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this.ds1.MCModel.AcceptChanges();
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this.ds1.MCModel.TableNewRow += Model_TableNewRow;
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//this.ds1.MCModel.AcceptChanges();
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//축이름을 확인 220304
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foreach (DataSet1.MCModelRow dr in ds1.MCModel)
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{
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if (dr.RowState == DataRowState.Deleted || dr.RowState == DataRowState.Detached) continue;
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var curname = dr.MotName;
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var axis = (eAxis)dr.MotIndex;
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if (axis.ToString() != curname)
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{
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dr.MotName = axis.ToString();
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dr.EndEdit();
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}
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}
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this.ds1.MCModel.AcceptChanges();
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//데이터가 안나오게 한다.
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this.bsPosData.Filter = "isnull(title,'') = 'dudrndjqtek' and isnull(motindex,-1) = -1";
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//모델목록을 업데이트한다 (모델은 pidx =-1인데이터를 뜻한다)
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RefreshModelList();
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//현재 선택된 모델정보를 표시한다.
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if (PUB.Result.isSetmModel)
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{
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//모델명을 표시
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lbModelTitle.Text = PUB.Result.mModel.Title;
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//해당모델명을 찾아서 선택해준다.
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foreach (ListViewItem item in this.listView1.Items)
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{
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if (item.Text == PUB.Result.mModel.Title)
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{
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item.Focused = true;
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item.Selected = true;
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break;
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}
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}
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}
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else
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{
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//선택된 모델명이 없다
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lbModelTitle.Text = "--";
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}
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//모델정보가 아에 없다면
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if (this.ds1.MCModel.Rows.Count < 1)
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{
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var newdr = this.ds1.MCModel.NewMCModelRow();
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newdr.Title = "Default";
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newdr.pidx = -1;
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newdr.PosIndex = -1;
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newdr.idx = ds1.MCModel.Rows.Count + 1;
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this.ds1.MCModel.AddMCModelRow(newdr);
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UTIL.MsgI("No registered models found. Creating default model (Default)");
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}
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//this.axisIndex = 0; //기본Z축
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//radClick_MotAxisSelect(this.flowLayoutPanel1.Controls[0], null);
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//var rad = flowLayoutPanel1.Controls[0] as RadioButton;
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//rad.Checked = true;
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//빠른실행폼추가
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var fctl = new Dialog.Quick_Control
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{
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TopLevel = false,
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Visible = true,
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Padding = new Padding(0, 0, 0, 0),
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ForeColor = Color.Black
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};
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fctl.panBG.BackColor = Color.White;
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fctl.panBG.ForeColor = Color.Black;
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//fctl.groupBox2.ForeColor = Color.Black;
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fctl.groupBox3.ForeColor = Color.Black;
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this.tabPage2.Controls.Add(fctl);
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fctl.Dock = DockStyle.Fill;
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fctl.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
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//fctl.panTopMenuDiv.Visible = false;
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/// fctl.panBG.BackColor = this.panel6.BackColor;
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fctl.panBG.BorderStyle = BorderStyle.None;
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fctl.Show();
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fctl.Dock = DockStyle.Fill;
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PUB.log.RaiseMsg += log_RaiseMsg;
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//PUB.flag.set(eVarBool.JOG, true, "MOTION CONTROL");
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if (PUB.sm.Step != eSMStep.IDLE)
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{
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btDel.Enabled = false;
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btCopy.Enabled = false;
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btSelect.Visible = false;
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btEdit.Enabled = false;
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//Util.MsgE("대기 상태일때만 복사/삭제 기능을 쓸 수 있습니다");
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}
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this.RtLog.ColorList = new arCtl.sLogMessageColor[] {
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new arCtl.sLogMessageColor("BARCODE",Color.DarkMagenta),
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new arCtl.sLogMessageColor("ERR",Color.Red),
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new arCtl.sLogMessageColor("NORMAL", Color.Black),
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new arCtl.sLogMessageColor("WARN", Color.DarkMagenta),
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new arCtl.sLogMessageColor("ATT", Color.MidnightBlue),
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new arCtl.sLogMessageColor("INFO", Color.MidnightBlue),
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new arCtl.sLogMessageColor("VIS", Color.Blue),
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new arCtl.sLogMessageColor("SM", Color.Indigo),
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new arCtl.sLogMessageColor("WATCH", Color.Indigo),
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};
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this.tmDisplay.Start();
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}
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void RefreshModelList()
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{
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this.listView1.Items.Clear();
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var list = this.ds1.MCModel.Where(t => t.pidx == -1).OrderBy(t => t.Title).ToList();
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if (list.Any())
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{
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foreach (var item in list)
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{
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if (item.Title.isEmpty()) continue;
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var lv = this.listView1.Items.Add(item.Title);
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lv.Tag = item.idx;
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}
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}
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}
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void AttachEvents()
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{
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var EventConnectControls = new List<Control>
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{
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tabControl4
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};
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//linklabel 과 button 에 클릭 이벤트 생성
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foreach (Control page in EventConnectControls)
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{
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foreach (var ctl in page.Controls)
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{
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if (ctl.GetType() == typeof(arFrame.Control.MotLinkLabel))
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{
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var label = ctl as arFrame.Control.MotLinkLabel;
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if (label.motValueControl != null) label.LinkClicked += label_LinkClicked;
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}
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else if (ctl.GetType() == typeof(arFrame.Control.MotCommandButton))
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{
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var button = ctl as arFrame.Control.MotCommandButton;
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if (button.motValueControl != null) button.Click += button_Click;
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}
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}
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}
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}
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void button_Click(object sender, EventArgs e)
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{
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var ctl = sender as arFrame.Control.MotCommandButton;
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var nud = ctl.motValueControl as arFrame.Control.MotValueNumericUpDown;
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var nudAcc = ctl.motAccControl;// as arFrame.Control.MotValueNumericUpDown;
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var nudSpd = ctl.motSpdControl;
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if (nud.MotionIndex < 0)
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{
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UTIL.MsgE("Motion axis number is not specified\n\n" +
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"Name : " + ctl.Name + "\n" +
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"Title : " + ctl.Text);
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return;
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}
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if ((nudAcc == null || nudSpd == null) && ctl.motCommand != arFrame.Control.MotCommandButton.eCommand.AcceptPosition)
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{
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UTIL.MsgE("Speed/acceleration control is not specified\n\n" +
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"Name : " + ctl.Name + "\n" +
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"Title : " + ctl.Text);
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return;
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}
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var axis = (eAxis)nud.MotionIndex;
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var pos = (double)nud.Value;
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//모션이 초기화가 안되있다면 오류로 처리한다
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if (PUB.mot.IsHomeSet((short)nud.MotionIndex) == false)
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{
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UTIL.MsgE("Home search for this axis is not completed.\nPlease complete home search first");
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return;
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}
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switch (ctl.motCommand)
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{
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case arFrame.Control.MotCommandButton.eCommand.AcceptPosition:
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var msg1 = string.Format("Do you want to change the motion settings?\n" +
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"Axis : {0}\n" +
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"Before : {1}\n" +
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"After : {2}\n" +
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"You must press 'Save' after change to record permanently", axis, PUB.mot.GetActPos((short)nud.MotionIndex), pos, nud.Value);
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if (UTIL.MsgQ(msg1) != System.Windows.Forms.DialogResult.Yes) return;
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ChangeCurrentPosition((short)nud.MotionIndex, nud);
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break;
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case arFrame.Control.MotCommandButton.eCommand.AbsoluteMove:
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case arFrame.Control.MotCommandButton.eCommand.RelativeMove:
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var speed = (double)nudSpd.Value;
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var acc = (double)nudAcc.Value;
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var relative = false;
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if (ctl.motCommand == arFrame.Control.MotCommandButton.eCommand.RelativeMove)
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relative = true;
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var msg = string.Format("Do you want to change the motion position?\n" +
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"Axis : {0}\n" +
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"Current position : {1}\n" +
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"Target position : {2}\n" +
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"Please make sure to check for potential collisions during movement", axis, PUB.mot.GetActPos((short)nud.MotionIndex), pos);
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if (UTIL.MsgQ(msg) != System.Windows.Forms.DialogResult.Yes) return;
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if (!MOT.Move(axis, pos, speed, acc, relative))
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PUB.log.AddE("MOT:MOVE_:" + axis.ToString() + ",Msg=" + PUB.mot.ErrorMessage);
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break;
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}
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}
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void label_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
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{
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var ctl = sender as arFrame.Control.MotLinkLabel;
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PUB.ChangeUIPopup(ctl.motValueControl);
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}
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private void __Closed(object sender, FormClosedEventArgs e)
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{
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//this.bs.CurrentChanged -= this.bs_CurrentChanged_1;
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this.tmDisplay.Enabled = false;
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this.ds1.MCModel.TableNewRow -= Model_TableNewRow;
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}
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#region "Mouse Form Move"
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private Boolean fMove = false;
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private Point MDownPos;
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private void LbTitle_DoubleClick(object sender, EventArgs e)
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{
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if (this.WindowState == FormWindowState.Maximized) this.WindowState = FormWindowState.Normal;
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else this.WindowState = FormWindowState.Maximized;
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}
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private void LbTitle_MouseMove(object sender, MouseEventArgs e)
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{
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if (fMove)
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{
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Point offset = new Point(e.X - MDownPos.X, e.Y - MDownPos.Y);
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this.Left += offset.X;
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this.Top += offset.Y;
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offset = new Point(0, 0);
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}
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}
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private void LbTitle_MouseUp(object sender, MouseEventArgs e)
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{
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fMove = false;
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}
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private void LbTitle_MouseDown(object sender, MouseEventArgs e)
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{
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MDownPos = new Point(e.X, e.Y);
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fMove = true;
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}
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#endregion
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void log_RaiseMsg(DateTime LogTime, string TypeStr, string Message)
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{
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if (Message.StartsWith("[EO]") || Message.StartsWith("EO"))
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{
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return;
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}
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this.RtLog.AddMsg(LogTime, TypeStr, Message);
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}
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void Model_TableNewRow(object sender, DataTableNewRowEventArgs e)
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{
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// e.Row["SlotCount"] = 20;
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}
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private void tmDisplay_Tick(object sender, EventArgs e)
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{
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tabControl4.TabPages[0].Text = $"({axisIndex}) JOG";
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this.Text = "MODEL(MOTION) SETTING";
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if (PUB.mot.IsInit == false)
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{
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//if (groupBox3.Enabled == true) groupBox3.Enabled = false;
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}
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else
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{
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//if (groupBox3.Enabled == false) groupBox3.Enabled = true;
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//각축별 기본 상태를 표시해준다.
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//dvMot.SuspendLayout();
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for (int r = 0; r < dvMot.RowCount; r++) // 오류수정 2111221
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{
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var row = this.dvMot.Rows[r];
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var axis = short.Parse(row.Cells[0].Value.ToString());
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row.Cells[0].Style.BackColor = PUB.mot.IsServOn(axis) ? Color.Lime : Color.Tomato;
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row.Cells[2].Value = $"{PUB.mot.GetCmdPos(axis)}";
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row.Cells[3].Value = $"{PUB.mot.GetActPos(axis)}";
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row.Cells[4].Style.BackColor = PUB.mot.IsOrg(axis) ? Color.SkyBlue : Color.Gray;
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row.Cells[4].Value = PUB.mot.IsOrg(axis) ? "O" : "";
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row.Cells[5].Style.BackColor = PUB.mot.IsLimitN(axis) ? Color.Red : Color.Gray;
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row.Cells[5].Value = PUB.mot.IsLimitN(axis) ? "O" : "";
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row.Cells[6].Style.BackColor = PUB.mot.IsLimitP(axis) ? Color.Red : Color.Gray;
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row.Cells[6].Value = PUB.mot.IsLimitP(axis) ? "O" : "";
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row.Cells[7].Style.BackColor = PUB.mot.IsInp(axis) ? Color.SkyBlue : Color.Gray;
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row.Cells[7].Value = PUB.mot.IsInp(axis) ? "O" : "";
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row.Cells[8].Style.BackColor = PUB.mot.IsServAlarm(axis) ? Color.Red : Color.Gray;
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row.Cells[8].Value = PUB.mot.IsServAlarm(axis) ? "O" : "";
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row.Cells[9].Style.BackColor = PUB.mot.IsHomeSet(axis) ? Color.Green : Color.Gray;
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row.Cells[9].Value = PUB.mot.IsHomeSet(axis) ? "O" : "";
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row.Cells[10].Value = PUB.mot.IsServOn(axis) ? "Servo On" : "Servo Off";
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}
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//dvMot.ResumeLayout();
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}
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// this.tblFG.Invalidate();
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}
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private void dv_DataError(object sender, DataGridViewDataErrorEventArgs e)
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{
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}
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#region "jog function"
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private void button1_Click(object sender, EventArgs e)
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{
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//절대값 이동
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var pos = (double)nudPosAbs.Value;
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var vel = (double)nudJogVel.Value;
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var msg = $"Move motion({axis}) coordinate to ({pos})?";
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if (UTIL.MsgQ(msg) != DialogResult.Yes) return;
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MOT.Move(this.axis, pos, vel, 500, false, !chkJogMoveForce.Checked, !chkJogMoveForce.Checked);
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PUB.log.AddI(string.Format("Axis {0} manual movement(ABS) {1}mm", axisIndex, pos));
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}
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private void button3_Click_1(object sender, EventArgs e)
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{
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//상대값 이동
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var pos = (double)nudPosRel.Value;
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var vel = (double)nudJogVel.Value;
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if(pos == 0.0)
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{
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UTIL.MsgE("Value cannot be (0) for relative movement",true);
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return;
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}
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var msg = $"Move motion({axis}) coordinate by ({pos}) from current position?";
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if (UTIL.MsgQ(msg) != DialogResult.Yes) return;
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MOT.Move(this.axis, pos, vel, 500, true, !chkJogMoveForce.Checked, !chkJogMoveForce.Checked);
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PUB.log.AddI(string.Format("Axis {0} manual movement(REL) {1}mm", axisIndex, pos));
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}
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private void btJogHome_Click(object sender, EventArgs e)
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{
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//jog-home
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|
var dlg = UTIL.MsgQ(string.Format("Execute home search for axis {0}?", this.axis));
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
var rlt = MOT.Home("Model(UserControl)", this.axis);
|
|
if (rlt == false)
|
|
{
|
|
UTIL.MsgE(PUB.mot.ErrorMessage);
|
|
return;
|
|
}
|
|
PUB.log.Add(string.Format("user click : home ({0})", axisIndex));
|
|
}
|
|
|
|
private void btJogPClear_Click(object sender, EventArgs e)
|
|
{
|
|
var dlg = UTIL.MsgQ("Initialize position values?\n" +
|
|
"Make sure to perform home operation before actual use");
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
//jog pos-clear
|
|
PUB.mot.ClearPosition((short)axisIndex);
|
|
PUB.mot.SetHomeSet(axisIndex, false); //홈셋도 풀어야한다 201222
|
|
PUB.log.Add(string.Format("user click : pos clear ({0})", axisIndex));
|
|
}
|
|
|
|
private void btJogAClear_Click(object sender, EventArgs e)
|
|
{
|
|
//jog-alaram clear
|
|
PUB.mot.SetAlarmClearOn(this.axisIndex);
|
|
System.Threading.Thread.Sleep(200);
|
|
PUB.mot.SetAlarmClearOff(this.axisIndex);
|
|
PUB.log.Add(string.Format("user click : alarm clear ({0})", axisIndex));
|
|
}
|
|
|
|
private void btJogBrake_Click(object sender, EventArgs e)
|
|
{
|
|
//jog-brake
|
|
//var curstate = Util_DO.GetIOOutput(eDOName.BRAKE_OFF);
|
|
//Util_DO.SetBrake(!curstate);
|
|
//Pub.log.Add(string.Format("user click : set brake ({0})", axisIndex));
|
|
}
|
|
|
|
private void btJogSVon_Click(object sender, EventArgs e)
|
|
{
|
|
//jog-svon
|
|
var curstate = PUB.mot.IsServOn(axisIndex);
|
|
if (curstate)
|
|
{
|
|
var dlg = UTIL.MsgQ("Turn OFF SERVO-ON status?\n\nWhen turned OFF, HOME-SET status will also be turned OFF");
|
|
if (dlg != DialogResult.Yes) return;
|
|
}
|
|
PUB.mot.SetServOn((short)axisIndex, !curstate);
|
|
PUB.log.Add(string.Format("user click : servo on ({0})", axisIndex));
|
|
}
|
|
|
|
|
|
private void btJogStop_Click(object sender, EventArgs e)
|
|
{
|
|
//jog-stop
|
|
PUB.mot.MoveStop("JOG", this.axisIndex);
|
|
PUB.log.Add(string.Format("user click : move stop ({0})", axisIndex));
|
|
}
|
|
|
|
private void btJogDown_Click(object sender, MouseEventArgs e)
|
|
{
|
|
//jog-moouse down
|
|
var bt = sender as Button;
|
|
var tag = bt.Tag.ToString();
|
|
var vel1 = (double)this.nudJogVel.Value;
|
|
var acc1 = (double)this.nudJogAcc.Value;
|
|
|
|
var motDir = arDev.MOT.MOTION_DIRECTION.Positive;
|
|
if (tag == "CCW") motDir = arDev.MOT.MOTION_DIRECTION.Negative;
|
|
|
|
Boolean jogMoveForce = this.chkJogMoveForce.Checked;
|
|
if (!MOT.JOG(this.axisIndex, motDir, vel1, acc1, acc1, false, !jogMoveForce, !jogMoveForce))
|
|
PUB.log.AddE("MOT:JOG:" + tag + ":" + PUB.mot.ErrorMessage);
|
|
|
|
PUB.log.Add(string.Format("user click : jog start ({0}) - {1}", axisIndex, tag));
|
|
}
|
|
|
|
private void btJogUp_Click(object sender, MouseEventArgs e)
|
|
{
|
|
//jog-mouseup
|
|
var bt = sender as Button;
|
|
var tag = bt.Tag.ToString();
|
|
//Pub.mot.MoveStop("JOG", this.axisIndex); //선택된 축을 멈춘다.
|
|
MOT.Stop((eAxis)this.axisIndex, "JOG");
|
|
PUB.log.Add(string.Format("user click : jog stop ({0})", axisIndex));
|
|
}
|
|
|
|
#endregion
|
|
|
|
void ChangeCurrentPosition(short Axis, NumericUpDown valueCtl)
|
|
{
|
|
valueCtl.Value = (decimal)PUB.mot.GetActPos(Axis);
|
|
}
|
|
/// <summary>
|
|
/// 상단목록에서 모션을 선택한 경우
|
|
/// </summary>
|
|
/// <param name="sender"></param>
|
|
/// <param name="e"></param>
|
|
private void MotAxisSelect(int axisindex, string source)
|
|
{
|
|
if (tabControl4.Tag != null && tabControl4.Tag.ToString().Equals(axisindex.ToString()))
|
|
return;
|
|
|
|
this.tabControl4.Tag = axisindex;
|
|
|
|
//if(this.listView1.FocusedItem == null)
|
|
//{
|
|
// Util.MsgE("선택된 모델이 없습니다\n\n좌측 목록에서 모델을 선택 하세요");
|
|
//}
|
|
|
|
RefreshMotorPosition($"motaxis({source})");
|
|
}
|
|
|
|
private void bs_CurrentChanged_1(object sender, EventArgs e)
|
|
{
|
|
//if (pauserefreshmot == true) return;
|
|
|
|
//RefreshMotorPosition("bs");
|
|
//BindingData();
|
|
}
|
|
void RefreshMotorPosition(string source)
|
|
{
|
|
if (listView1.FocusedItem == null)
|
|
{
|
|
bsPosData.Filter = "motindex=99 and PosTitle='영구없다'";
|
|
return;
|
|
}
|
|
var lvitem = listView1.FocusedItem; lvitem.Selected = true;
|
|
var idx = int.Parse(listView1.FocusedItem.Tag.ToString());
|
|
|
|
|
|
var dr = ds1.MCModel.Where(t => t.idx == idx).FirstOrDefault();
|
|
if (dr == null)
|
|
{
|
|
UTIL.MsgE($"No data found for selected index({idx}). \nPlease try again", true);
|
|
bsPosData.Filter = "motindex=99 and PosTitle='영구없다'";
|
|
return;
|
|
}
|
|
|
|
if (lvitem.Text != lbModelTitle.Text)
|
|
{
|
|
lbModelTitle.BackColor = Color.Red;
|
|
lbModelTitle.BackColor2 = Color.Tomato;
|
|
}
|
|
else
|
|
{
|
|
lbModelTitle.BackColor = Color.Gray;
|
|
lbModelTitle.BackColor2 = Color.FromArgb(100, 100, 100);
|
|
}
|
|
|
|
|
|
|
|
|
|
this.tabControl5.TabPages[0].Text = $"[{dr.Title}] Motion Status";
|
|
this.tabControl1.TabPages[0].Text = $"[{dr.Title}-M{this.axisIndex}] Position Data";
|
|
|
|
|
|
RtLog.AddMsg($"Motion coordinate value check ({dr.Title}[{dr.idx}], Axis: {this.axisIndex})");
|
|
|
|
|
|
//var rowindex = dvMot.SelectedCells[0].RowIndex;
|
|
//var row = dvMot.Rows[rowindex];
|
|
//var axisIndex = short.Parse(row.Cells[0].Value.ToString());
|
|
//var axis = (eAxis)this.axisIndex;
|
|
//var axisTitle = row.Cells[1].Value.ToString();
|
|
{
|
|
|
|
|
|
//위치정보 표시
|
|
bsPosData.Filter = string.Format("pidx={0} and motindex = {1} and PosTitle not like 'XX_%'", dr.idx, this.axisIndex);
|
|
|
|
RtLog.AddMsg($"({bsPosData.Count}) data items confirmed");
|
|
|
|
|
|
//(위치정보) 데이터수량이 맞지 않으면 재 생성한다
|
|
string[] list = null;
|
|
Array val = null;
|
|
Type axType = null;
|
|
var axis = (eAxis)axisIndex;
|
|
|
|
if (axis == eAxis.PX_PICK) axType = typeof(ePXLoc);
|
|
else if (axis == eAxis.PZ_PICK) axType = typeof(ePZLoc);
|
|
else if (axis == eAxis.Z_THETA) axType = typeof(ePTLoc);
|
|
|
|
else if (axis == eAxis.PL_MOVE) axType = typeof(eLMLoc);
|
|
else if (axis == eAxis.PL_UPDN) axType = typeof(eLZLoc);
|
|
else if (axis == eAxis.PR_MOVE) axType = typeof(eRMLoc);
|
|
else if (axis == eAxis.PR_UPDN) axType = typeof(eRZLoc);
|
|
|
|
if (axType == null)
|
|
{
|
|
UTIL.MsgE("Position information for specified axis is not defined");
|
|
return;
|
|
}
|
|
|
|
list = Enum.GetNames(axType);
|
|
val = Enum.GetValues(axType);
|
|
|
|
var sb = new System.Text.StringBuilder();
|
|
var cntI = 0;
|
|
var cntE = 0;
|
|
var cntD = 0;
|
|
|
|
//posidx == -1인 데이터는 모두 소거한다
|
|
var dellist = ds1.MCModel.Where(t => t.pidx == dr.idx && t.MotIndex == this.axisIndex && t.PosIndex == -1).ToList();
|
|
if (dellist.Any())
|
|
{
|
|
RtLog.AddMsg($"Motion ({axisIndex}) has {dellist.Count} data items with position information -1, deleting them");
|
|
cntD += dellist.Count;
|
|
foreach (var item in dellist)
|
|
ds1.MCModel.RemoveMCModelRow(item);
|
|
|
|
//삭제되었으니 적용처리한다
|
|
ds1.MCModel.AcceptChanges();
|
|
}
|
|
|
|
//모든데이터의 체크상태를 off한다.
|
|
//작업완료후 CHK가 false 인 데이터는 삭제 처리 한다.
|
|
var alllist = this.ds1.MCModel.Where(t => t.pidx == dr.idx && t.MotIndex == this.axisIndex);
|
|
alllist.ToList().ForEach(t => t.Check = false);
|
|
ds1.MCModel.AcceptChanges();
|
|
|
|
//list는 각 모션의 위치정보 enum list 값이다.
|
|
for (int i = 0; i < list.Length; i++)
|
|
{
|
|
var arrTitle = list[i];
|
|
var vv = val.GetValue(i);
|
|
var arrIndex = (byte)vv;// ((eAxis)(val.GetValue(i)));
|
|
//if (arrIndex < 50) continue; //여기는 예약된 위치값이므로 사용하지 않는다
|
|
var targetem = Enum.Parse(axType, vv.ToString());
|
|
|
|
//이 값이 데이터가 없다면 추가하고, 있다면 이름을 검사해서 결과를 안내한다
|
|
var pDr = alllist.Where(t => t.PosIndex == arrIndex).FirstOrDefault();
|
|
if (pDr == null)
|
|
{
|
|
cntI += 1;
|
|
var newdr = this.ds1.MCModel.NewMCModelRow();
|
|
|
|
if (ds1.MCModel.Rows.Count == 0) newdr.idx = 1;
|
|
else newdr.idx = ds1.MCModel.Max(t => t.idx) + 1;
|
|
|
|
newdr.pidx = dr.idx;
|
|
newdr.MotIndex = this.axisIndex;
|
|
newdr.PosIndex = (short)arrIndex;
|
|
newdr.PosTitle = arrTitle;
|
|
newdr.Position = 0.0;
|
|
newdr.Speed = 50;
|
|
newdr.SpeedAcc = 100;
|
|
newdr.Check = true;
|
|
newdr.Description = targetem.DescriptionAttr();
|
|
newdr.Category = targetem.CategoryAttr();
|
|
|
|
this.ds1.MCModel.AddMCModelRow(newdr);
|
|
newdr.EndEdit();
|
|
sb.AppendLine("Item added: " + arrTitle);
|
|
}
|
|
else
|
|
{
|
|
//이름이 다르다면 추가해준다.
|
|
if (pDr.PosTitle != arrTitle)
|
|
{
|
|
sb.AppendLine("(Position) Item changed: " + pDr.PosTitle + " => " + arrTitle);
|
|
cntE += 1;
|
|
pDr.PosTitle = arrTitle;
|
|
}
|
|
pDr.Description = targetem.DescriptionAttr();
|
|
//pDr.Category = targetem.CategoryAttr();
|
|
pDr.Check = true;
|
|
pDr.EndEdit();
|
|
}
|
|
}
|
|
ds1.MCModel.AcceptChanges();
|
|
|
|
//미사용개체 삭제한다
|
|
var NotUseList = alllist.Where(t => t.Check == false).ToList();
|
|
if (NotUseList.Any())
|
|
{
|
|
cntD += NotUseList.Count();
|
|
foreach (var item in NotUseList)
|
|
ds1.MCModel.RemoveMCModelRow(item);
|
|
|
|
//삭제한 대상이 있으니적용처리
|
|
ds1.MCModel.AcceptChanges();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (cntI > 0) sb.AppendLine("Added count: " + cntI.ToString());
|
|
if (cntE > 0) sb.AppendLine("Changed count: " + cntE.ToString());
|
|
if (cntD > 0) sb.AppendLine("Deleted count: " + cntD.ToString());
|
|
|
|
//최종 확정
|
|
this.ds1.MCModel.AcceptChanges();
|
|
|
|
if (sb.Length > 0)
|
|
{
|
|
UTIL.MsgI(sb.ToString());
|
|
}
|
|
}
|
|
}
|
|
|
|
private void chkJogMoveForce_Click(object sender, EventArgs e)
|
|
{
|
|
if (chkJogMoveForce.Checked)
|
|
{
|
|
UTIL.MsgI(
|
|
"Collision conditions are not checked during jog forced movement\n" +
|
|
"Please make sure to check surrounding obstacles when moving shuttle\n" +
|
|
"'Forced movement' should only be used during teaching operations");
|
|
}
|
|
}
|
|
|
|
//private void button6_Click(object sender, EventArgs e)
|
|
//{
|
|
// //적용
|
|
|
|
// this.bs.EndEdit();
|
|
// this.bsPosData.EndEdit();
|
|
// this.Validate();
|
|
|
|
// var drv = this.bs.Current as DataRowView;
|
|
// if (drv == null) return;
|
|
// var dr = drv.Row as DataSet1.MCModelRow;
|
|
|
|
// this.Value = dr.Title;
|
|
|
|
// if (Pub.LockModel.WaitOne(1) == true)
|
|
// {
|
|
// Pub.LockModel.Reset();
|
|
// Pub.log.AddI("모션모델을 적용 합니다");
|
|
// Pub.Result.mModel.ReadValue(dr.Title, this.ds1.MCModel);
|
|
// Pub.LockModel.Set();
|
|
// if (Pub.Result.mModel.isSet)
|
|
// {
|
|
// Pub.log.AddAT("모션모델선택완료 : " + Pub.Result.mModel.Title);
|
|
// }
|
|
// else Util.MsgE("적용 실패\n\n대상 모델 명이 없습니다");
|
|
// }
|
|
// else
|
|
// {
|
|
// Util.MsgE("모션 적용 실패\n잠시 후 다시 시도하세요");
|
|
// }
|
|
|
|
//}
|
|
|
|
|
|
|
|
private void arDatagridView2_CellClick(object sender, DataGridViewCellEventArgs e)
|
|
{
|
|
//position click
|
|
var dv = sender as DataGridView;
|
|
var col = this.dvPosition.Columns[e.ColumnIndex];
|
|
var colName = col.Name.ToLower();
|
|
if (colName == "btgo")
|
|
{
|
|
if (PUB.mot.HasHomeSetOff)
|
|
{
|
|
UTIL.MsgE("Motion home is not completed\nPlease proceed with 'Device Initialization' from main screen");
|
|
return;
|
|
}
|
|
//현재값으로 모터를 이동
|
|
//현재위치값으로 설정
|
|
var cell = dv.Rows[e.RowIndex].Cells["btpos"];
|
|
var value = (double)cell.Value;
|
|
var drv = this.bsPosData.Current as DataRowView;
|
|
var drParent = drv.Row as DataSet1.MCModelRow;
|
|
|
|
//일반 속도값을 찾는다
|
|
//var speedDr = drParent.Speed;// this.ds1.MCModel.Where(t => t.pidx == drParent.idx && t.MotIndex == axisIndex && t.PosIndex == -1 && t.SpdIndex == (int)eAxisSpeed.Normal).FirstOrDefault();
|
|
var speed = drParent.Speed;// speedDr.Speed;// (double)this.nudJogVel.Value;
|
|
var acc = drParent.SpeedAcc;// speedDr.SpeedAcc;// ; (double)nudAcc.Value;
|
|
|
|
|
|
var relative = false;
|
|
//if (ctl.motCommand == arFrame.Control.MotCommandButton.eCommand.RelativeMove)
|
|
// relative = true;
|
|
|
|
var msg = string.Format("Do you want to change the motion position?\n" +
|
|
"Axis : {0}\n" +
|
|
"Current position : {1}\n" +
|
|
"Target position : {2}\n" +
|
|
"Movement speed : {3}(Acceleration:{4})\n" +
|
|
"Please make sure to check for potential collisions during movement", axis, PUB.mot.GetActPos(axisIndex), value, speed, acc);
|
|
|
|
if (UTIL.MsgQ(msg) != System.Windows.Forms.DialogResult.Yes) return;
|
|
|
|
if (!MOT.Move(axis, value, speed, acc, relative, true,true))
|
|
PUB.log.AddE("MOT:MOVE_:" + axis.ToString() + ",Msg=" + PUB.mot.ErrorMessage);
|
|
|
|
|
|
|
|
}
|
|
else if (colName == "btset")
|
|
{
|
|
if (PUB.mot.HasHomeSetOff)
|
|
{
|
|
UTIL.MsgE("Motion home is not completed\nPlease proceed with 'Device Initialization' from main screen");
|
|
return;
|
|
}
|
|
|
|
//현재위치값으로 설정
|
|
var cell = dv.Rows[e.RowIndex].Cells["btpos"];
|
|
var value = (double)cell.Value;
|
|
var nValue = Math.Round(PUB.mot.GetCmdPos(this.axisIndex), 4); //소수점4자리에서 반올림처리한다 210414
|
|
|
|
var msg1 = string.Format("Do you want to change the motion settings?\n" +
|
|
"Axis : {0}\n" +
|
|
"Before : {1}\n" +
|
|
"After : {2}\n" +
|
|
"You must press 'Save' after change to record permanently", this.axis, value, nValue);
|
|
|
|
if (UTIL.MsgQ(msg1) != System.Windows.Forms.DialogResult.Yes) return;
|
|
cell.Value = nValue;
|
|
}
|
|
else if (colName == "btpos")
|
|
{
|
|
//현재값 변경 팝업
|
|
var cell = dv.Rows[e.RowIndex].Cells[e.ColumnIndex];
|
|
var value = (double)cell.Value;
|
|
value = PUB.ChangeValuePopup(value, "Position Input");
|
|
cell.Value = value;
|
|
}
|
|
else if (colName == "btspeed")
|
|
{
|
|
//현재값 변경 팝업
|
|
var cell = dv.Rows[e.RowIndex].Cells[e.ColumnIndex];
|
|
var value = (double)cell.Value;
|
|
|
|
var maxvalue = PUB.system_mot.GetMaxSpeed[this.axisIndex];
|
|
if (maxvalue == 0) maxvalue = 1000;
|
|
value = PUB.ChangeValuePopup(value, $"Speed Input(Max:{maxvalue}mm/s)");
|
|
if(value > maxvalue)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) exceeds maximum value({maxvalue}).\nPlease input again");
|
|
//cell.Value = maxvalue;
|
|
}
|
|
else
|
|
{
|
|
cell.Value = value;
|
|
}
|
|
|
|
}
|
|
else if (colName == "btacc")
|
|
{
|
|
//현재값 변경 팝업
|
|
var cell = dv.Rows[e.RowIndex].Cells[e.ColumnIndex];
|
|
var value = (double)cell.Value;
|
|
|
|
var maxvalue = PUB.system_mot.GetMaxAcc[this.axisIndex];
|
|
if (maxvalue == 0) maxvalue = 2000;
|
|
value = PUB.ChangeValuePopup(value, $"Acceleration Input(Max:{maxvalue}mm/s)");
|
|
if (value > maxvalue)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) exceeds maximum value({maxvalue}).\nPlease input again");
|
|
//cell.Value = maxvalue;
|
|
}
|
|
else
|
|
{
|
|
cell.Value = value;
|
|
}
|
|
}
|
|
else if (colName == "btdcc")
|
|
{
|
|
//현재값 변경 팝업
|
|
var cell = dv.Rows[e.RowIndex].Cells[e.ColumnIndex];
|
|
if (cell.Value.ToString().isEmpty()) cell.Value = "0";
|
|
var value = (double)cell.Value;
|
|
|
|
var maxvalue = PUB.system_mot.GetMaxAcc[this.axisIndex];
|
|
if (maxvalue == 0) maxvalue = 2000;
|
|
value = PUB.ChangeValuePopup(value, $"Deceleration Input(Max:{maxvalue}mm/s)");
|
|
if (value > maxvalue)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) exceeds maximum value({maxvalue}).\nPlease input again");
|
|
//cell.Value = maxvalue;
|
|
}
|
|
else
|
|
{
|
|
cell.Value = value;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
private void linkLabel8_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
|
|
{
|
|
//jopgspeed
|
|
var value = (double)nudJogVel.Value;
|
|
value = PUB.ChangeValuePopup(value, "Speed Input");
|
|
nudJogVel.Value = (decimal)value;
|
|
}
|
|
|
|
private void linkLabel10_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
|
|
{
|
|
//absvalue
|
|
var value = (double)this.nudPosAbs.Value;
|
|
value = PUB.ChangeValuePopup(value, "Speed Input");
|
|
nudPosAbs.Value = (decimal)value;
|
|
}
|
|
|
|
private void linkLabel11_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
|
|
{
|
|
//reelvalu
|
|
var value = (double)nudPosRel.Value;
|
|
value = PUB.ChangeValuePopup(value, "Speed Input");
|
|
nudPosRel.Value = (decimal)value;
|
|
}
|
|
|
|
private void toolStripButton1_Click(object sender, EventArgs e)
|
|
{
|
|
var maxspeed = PUB.system_mot.GetMaxSpeed[this.axisIndex];
|
|
if (maxspeed == 0) maxspeed = 1000;
|
|
|
|
var dlg = UTIL.MsgQ($"Change speed of all movement coordinates in batch?\nMax:{maxspeed}mm/s");
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
var value = PUB.ChangeValuePopup(100.0, "Batch Speed Change");
|
|
|
|
if(value > maxspeed)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) is greater than maximum value({maxspeed}). Please input again");
|
|
return;
|
|
}
|
|
for (int i = 0; i < this.bsPosData.Count; i++)
|
|
{
|
|
this.bsPosData.Position = i;
|
|
var drv = this.bsPosData.Current as DataRowView;
|
|
if (drv == null) return;
|
|
var dr = drv.Row as DataSet1.MCModelRow;
|
|
dr.Speed = value;
|
|
dr.EndEdit();
|
|
}
|
|
}
|
|
|
|
private void toolStripButton2_Click_2(object sender, EventArgs e)
|
|
{
|
|
var maxspeed = PUB.system_mot.GetMaxAcc[this.axisIndex];
|
|
if (maxspeed == 0) maxspeed = 2000;
|
|
|
|
var dlg = UTIL.MsgQ($"Change acceleration/deceleration of all movement coordinates in batch?\nMax:{maxspeed}mm/s");
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
var value = PUB.ChangeValuePopup(100.0, "Batch Acceleration/Deceleration Change");
|
|
|
|
if (value > maxspeed)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) is greater than maximum value({maxspeed}). Please input again");
|
|
return;
|
|
}
|
|
|
|
for (int i = 0; i < this.bsPosData.Count; i++)
|
|
{
|
|
this.bsPosData.Position = i;
|
|
var drv = this.bsPosData.Current as DataRowView;
|
|
if (drv == null) return;
|
|
var dr = drv.Row as DataSet1.MCModelRow;
|
|
dr.SpeedAcc = value;
|
|
dr.EndEdit();
|
|
}
|
|
}
|
|
|
|
private void toolStripButton3_Click_1(object sender, EventArgs e)
|
|
{
|
|
var maxspeed = PUB.system_mot.GetMaxAcc[this.axisIndex];
|
|
if (maxspeed == 0) maxspeed = 2000;
|
|
|
|
var dlg = UTIL.MsgQ($"Change deceleration of all movement coordinates in batch?\nMax:{maxspeed}mm/s");
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
var value = PUB.ChangeValuePopup(0, "Batch Deceleration Change");
|
|
|
|
if (value > maxspeed)
|
|
{
|
|
UTIL.MsgE($"Input value({value}) is greater than maximum value({maxspeed}). Please input again");
|
|
return;
|
|
}
|
|
|
|
for (int i = 0; i < this.bsPosData.Count; i++)
|
|
{
|
|
this.bsPosData.Position = i;
|
|
var drv = this.bsPosData.Current as DataRowView;
|
|
if (drv == null) return;
|
|
var dr = drv.Row as DataSet1.MCModelRow;
|
|
dr.SpeedDcc = value;
|
|
dr.EndEdit();
|
|
}
|
|
}
|
|
|
|
|
|
private void dvMot_SelectionChanged(object sender, EventArgs e)
|
|
{
|
|
if (dvMot.SelectedRows.Count < 1)
|
|
{
|
|
Console.WriteLine("no selecte");
|
|
this.axisIndex = -1;
|
|
this.axis = (eAxis)axisIndex;
|
|
}
|
|
else
|
|
{
|
|
var selrow = dvMot.SelectedRows[0];
|
|
this.axisIndex = short.Parse(selrow.Cells["dvc_axis"].Value.ToString());
|
|
this.axis = (eAxis)axisIndex;
|
|
MotAxisSelect(this.axisIndex, "dvmot");
|
|
Console.WriteLine($"select indx {axisIndex}");
|
|
}
|
|
}
|
|
|
|
private void motLinkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
|
|
{
|
|
//jopgspeed
|
|
var value = (double)nudJogAcc.Value;
|
|
value = PUB.ChangeValuePopup(value, "Jog Acceleration Input");
|
|
nudJogAcc.Value = (decimal)value;
|
|
}
|
|
|
|
|
|
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
|
|
{
|
|
System.Windows.Forms.LinkLabel lv = sender as System.Windows.Forms.LinkLabel;
|
|
var speed = int.Parse(lv.Text);
|
|
nudJogVel.Value = speed;
|
|
|
|
}
|
|
|
|
|
|
|
|
private void toolStripButton6_Click(object sender, EventArgs e)
|
|
{
|
|
var f = new AR.Dialog.fInput("Enter model name",string.Empty);
|
|
if (f.ShowDialog() != DialogResult.OK) return;
|
|
|
|
//지정한 이름이있는지 확인한다.
|
|
if (ds1.MCModel.Where(t => t.Title == f.ValueString).Any())
|
|
{
|
|
UTIL.MsgE("Name is already in use\n\n" + f.ValueString);
|
|
return;
|
|
}
|
|
|
|
var newdr = this.ds1.MCModel.NewMCModelRow();// this.bs.AddNew() as DataRowView;
|
|
newdr.Title = f.ValueString;
|
|
newdr.pidx = -1; //메인 모델은 pidx값이 -1이다
|
|
newdr.PosIndex = -1;
|
|
newdr.idx = this.ds1.MCModel.Max(t => t.idx) + 1; //현재 인덱스에 더 크게 입력한다
|
|
newdr.EndEdit();
|
|
this.ds1.MCModel.AddMCModelRow(newdr);
|
|
this.ds1.MCModel.AcceptChanges();
|
|
|
|
//데이터를 추가 했으니 목록 추가를 해준다.
|
|
var lv = listView1.Items.Add(newdr.Title);
|
|
lv.Tag = newdr.idx;
|
|
|
|
}
|
|
|
|
private void toolStripButton7_Click(object sender, EventArgs e)
|
|
{
|
|
if (this.listView1.FocusedItem == null)
|
|
{
|
|
UTIL.MsgE("Select target to delete and try again", true);
|
|
return;
|
|
}
|
|
var idx = int.Parse(listView1.FocusedItem.Tag.ToString());
|
|
var dr = this.ds1.MCModel.Where(t => t.idx == idx).FirstOrDefault();
|
|
if (dr == null)
|
|
{
|
|
UTIL.MsgE($"No data found for index({idx}) value.\nPlease try again");
|
|
return;
|
|
}
|
|
|
|
var dlg = UTIL.MsgQ("Delete currently selected data?\n\n" +
|
|
$"Model name : {dr.Title}\n" +
|
|
$"Model number : ({dr.idx})");
|
|
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
|
|
this.ds1.MCModel.RemoveMCModelRow(dr);
|
|
this.ds1.MCModel.AcceptChanges();
|
|
this.listView1.Items.Remove(listView1.FocusedItem);
|
|
|
|
//데이터가 있다면 첫번쨰 자료를 선택한다.
|
|
RefreshMotorPosition("delete button");
|
|
}
|
|
|
|
private void toolStripButton8_Click(object sender, EventArgs e)
|
|
{
|
|
//button - save
|
|
this.Validate();
|
|
this.bsPosData.EndEdit();
|
|
this.Validate();
|
|
|
|
if (PUB.PasswordCheck() == false)
|
|
{
|
|
UTIL.MsgE("Password incorrect");
|
|
return;
|
|
}
|
|
|
|
//기존의 데이터와 다른점을 표시해준다.
|
|
var sb = new System.Text.StringBuilder();
|
|
|
|
//현재 데이터 중 부모데이터가 없는 자료를 삭제한다.
|
|
List<DataSet1.MCModelRow> delrows = new List<DataSet1.MCModelRow>();
|
|
foreach (var grpdata in this.ds1.MCModel.Where(t => t.pidx != -1).GroupBy(t => t.pidx))
|
|
{
|
|
var pidx = grpdata.Key;
|
|
//이 데이터의 부모가 존재하는지 확인
|
|
if (ds1.MCModel.Where(t => t.idx == pidx && t.pidx == -1).Any() == false)
|
|
{
|
|
//삭제 대상에 넣는다.
|
|
foreach (var dr in grpdata)
|
|
{
|
|
delrows.Add(dr);
|
|
}
|
|
}
|
|
}
|
|
|
|
//빈데이터삭제
|
|
if (delrows.Any())
|
|
{
|
|
sb.AppendLine($"Empty data deleted {delrows.Count} items");
|
|
for (int i = 0; i < delrows.Count; i++)
|
|
ds1.MCModel.RemoveMCModelRow(delrows[i]);
|
|
ds1.MCModel.AcceptChanges();
|
|
}
|
|
|
|
//현재데이터에는 있는데 기존에는 없는 것을 찾는다
|
|
foreach (DataSet1.MCModelRow dr in ds1.MCModel)
|
|
{
|
|
//if (dr.RowState == DataRowState.Detached || dr.RowState == DataRowState.Deleted) continue;
|
|
var mpos = PUB.mdm.dataSet.MCModel.Where(t => t.pidx == dr.pidx && t.MotIndex == dr.MotIndex && t.PosIndex == dr.PosIndex);
|
|
if (mpos.Any() == false)
|
|
{
|
|
sb.AppendLine($"[Added] Mot({dr.MotIndex}) {dr.PosTitle}({dr.Position})");
|
|
}
|
|
else
|
|
{
|
|
var first = mpos.First();
|
|
if (dr.Position != first.Position || dr.PosTitle != first.PosTitle)
|
|
{
|
|
sb.AppendLine($"[Changed] Mot({first.MotIndex}) {first.PosTitle}({first.Position}) => {dr.PosTitle}({dr.Position})");
|
|
//sb.AppendLine($" => {dr.PosTitle}({dr.Position})");
|
|
}
|
|
}
|
|
}
|
|
|
|
//삭제건확인
|
|
foreach (DataSet1.MCModelRow dr in PUB.mdm.dataSet.MCModel)
|
|
{
|
|
//if (dr.RowState == DataRowState.Detached || dr.RowState == DataRowState.Deleted) continue;
|
|
//서버데이터인데..나한테 존재하지 않으면 오류 처리핟.
|
|
var mpos = ds1.MCModel.Where(t => t.MotIndex == dr.MotIndex && t.PosIndex == dr.PosIndex);
|
|
if (mpos.Any() == false)
|
|
{
|
|
sb.AppendLine($"[Deleted] M={dr.MotIndex},P={dr.PosIndex},T={dr.PosTitle},V={dr.Position}");
|
|
}
|
|
}
|
|
|
|
if (sb.Length > 0)
|
|
{
|
|
UTIL.MsgI("The following items have been changed\n" + sb.ToString());
|
|
}
|
|
else PUB.log.AddI("No motion information changed");
|
|
|
|
// if (PUB.LockModel.WaitOne(1000) ==false)
|
|
{
|
|
//PUB.LockModel.Reset();
|
|
try
|
|
{
|
|
this.ds1.AcceptChanges();
|
|
PUB.mdm.dataSet.MCModel.Clear();
|
|
PUB.mdm.dataSet.MCModel.Merge(this.ds1.MCModel);
|
|
PUB.mdm.dataSet.AcceptChanges();
|
|
PUB.mdm.SaveModelM();
|
|
ds1.MCModel.AcceptChanges();
|
|
|
|
//변경된데이터를 바로 적용 합니다
|
|
var curmodelnmae = PUB.Result.mModel.Title;
|
|
if (curmodelnmae.isEmpty())
|
|
{
|
|
UTIL.MsgE("No specified model, values will not be applied\nPlease select work model again", true);
|
|
}
|
|
else
|
|
{
|
|
PUB.log.AddI($"Applying motion model ({curmodelnmae})");
|
|
PUB.Result.mModel.ReadValue(curmodelnmae);
|
|
if (PUB.Result.mModel.isSet)
|
|
{
|
|
PUB.log.AddAT("Motion model application completed: " + PUB.Result.mModel.Title);
|
|
}
|
|
else UTIL.MsgE($"Motion model application failed\n\nTarget model name({curmodelnmae}) not found");
|
|
}
|
|
|
|
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
PUB.log.AddE(ex.Message);
|
|
}
|
|
finally
|
|
{
|
|
//PUB.LockModel.Set();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
//else Util.MsgE("모델정보 저장 실패\n잠시 후 다시 시도하세요");
|
|
}
|
|
|
|
private void btCopy_Click(object sender, EventArgs e)
|
|
{
|
|
if (this.listView1.FocusedItem == null)
|
|
{
|
|
UTIL.MsgE("Select model to copy", true);
|
|
return;
|
|
}
|
|
|
|
var idx = int.Parse(this.listView1.FocusedItem.Tag.ToString());
|
|
var dr = ds1.MCModel.Where(t => t.idx == idx).FirstOrDefault();// drv.Row as DataSet1.MCModelRow;
|
|
if (dr == null)
|
|
{
|
|
UTIL.MsgE($"Cannot find data for model number({idx})\n\nPlease try again");
|
|
return;
|
|
}
|
|
|
|
var dlg = UTIL.MsgQ(string.Format("Copy the following model information?\n\nModel name : {0}", dr.Title));
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
|
|
var newdr = this.ds1.MCModel.NewMCModelRow();
|
|
UTIL.CopyData(dr, newdr);
|
|
|
|
var newnameidx = 1;
|
|
while (true)
|
|
{
|
|
var newname = dr.Title + $"-Copy({newnameidx++})-";
|
|
if (ds1.MCModel.Where(t => t.Title == newname).Any() == false)
|
|
{
|
|
newdr.Title = newname;
|
|
break;
|
|
}
|
|
}
|
|
|
|
newdr.idx = this.ds1.MCModel.Max(t => t.idx) + 1;
|
|
newdr.EndEdit();
|
|
this.ds1.MCModel.AddMCModelRow(newdr);
|
|
this.ds1.MCModel.AcceptChanges();
|
|
|
|
//목록추가해준다.
|
|
var lv = this.listView1.Items.Add(newdr.Title);
|
|
lv.Tag = newdr.idx;
|
|
|
|
//상세내역 복사해준다.
|
|
var childs = ds1.MCModel.Where(t => t.pidx == dr.idx).ToArray();
|
|
foreach (var dr2 in childs)
|
|
{
|
|
var newdr2 = this.ds1.MCModel.NewMCModelRow();
|
|
UTIL.CopyData(dr2, newdr2); //모든자료를 먼저 복사한다.
|
|
newdr2.pidx = newdr.idx; //인덱스를 바꿔준다.
|
|
newdr2.EndEdit();
|
|
newdr2.idx = this.ds1.MCModel.Max(t => t.idx) + 1;
|
|
this.ds1.MCModel.AddMCModelRow(newdr2);
|
|
}
|
|
this.ds1.MCModel.AcceptChanges();
|
|
PUB.log.Add($"{dr.Title} model copy => {newdr.Title}");
|
|
}
|
|
|
|
private void toolStripButton10_Click(object sender, EventArgs e)
|
|
{
|
|
if (PUB.sm.Step == eSMStep.RUN || PUB.sm.Step == eSMStep.WAITSTART || PUB.sm.Step == eSMStep.PAUSE)
|
|
{
|
|
UTIL.MsgE("Cannot change model because currently operating (waiting)");
|
|
return;
|
|
}
|
|
//select
|
|
this.Validate();
|
|
if (listView1.FocusedItem == null) return;
|
|
if (hasChanged())
|
|
{
|
|
UTIL.MsgE("Cannot select model because there are unsaved changes", true);
|
|
return;
|
|
}
|
|
|
|
this.Value = listView1.FocusedItem.Text;
|
|
DialogResult = System.Windows.Forms.DialogResult.OK;
|
|
}
|
|
|
|
private void toolStripButton11_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void 그룹설정ToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
var f = new Dialog.Model_Motion_Desc(this.ds1);
|
|
f.ShowDialog();
|
|
}
|
|
|
|
private void toolStripButton11_ButtonClick(object sender, EventArgs e)
|
|
{
|
|
if (this.listView1.FocusedItem == null)
|
|
{
|
|
UTIL.MsgE("Select a model", true);
|
|
return;
|
|
}
|
|
var idx = int.Parse(listView1.FocusedItem.Tag.ToString());
|
|
var dr = this.ds1.MCModel.Where(t => t.idx == idx).FirstOrDefault();
|
|
if (dr == null)
|
|
{
|
|
UTIL.MsgE($"No data found for index({idx})\n\nPlease try again", true);
|
|
return;
|
|
}
|
|
|
|
using (var f = new Dialog.Motion_MoveToGroup(this.ds1, dr.idx))
|
|
f.ShowDialog();
|
|
}
|
|
|
|
private void btJogLeft_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void dvPosition_DataError(object sender, DataGridViewDataErrorEventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void listView1_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (listView1.FocusedItem == null)
|
|
{
|
|
//Util.MsgE("모델을 다시 선택하세요");
|
|
return;
|
|
}
|
|
RefreshMotorPosition("listview selinde");
|
|
}
|
|
|
|
private void btEdit_Click(object sender, EventArgs e)
|
|
{
|
|
if (this.listView1.FocusedItem == null)
|
|
{
|
|
UTIL.MsgE("Select target to change and try again", true);
|
|
return;
|
|
}
|
|
var idx = int.Parse(listView1.FocusedItem.Tag.ToString());
|
|
var dr = this.ds1.MCModel.Where(t => t.idx == idx).FirstOrDefault();
|
|
if (dr == null)
|
|
{
|
|
UTIL.MsgE($"No data found for index({idx}) value.\nPlease try again");
|
|
return;
|
|
}
|
|
|
|
var f = new AR.Dialog.fTouchKeyFull("Change Model Name", dr.Title);
|
|
if (f.ShowDialog() != DialogResult.OK) return;
|
|
|
|
var valstr = f.tbInput.Text.Trim();
|
|
if (dr.Title.Equals(valstr))
|
|
{
|
|
UTIL.MsgE("Name has not been changed", true);
|
|
return;
|
|
}
|
|
|
|
if (ds1.MCModel.Where(t => t.Title == valstr).Any())
|
|
{
|
|
UTIL.MsgE("Name already exists", true);
|
|
return;
|
|
}
|
|
|
|
var dlg = UTIL.MsgQ("Change the name of currently selected model?\n\n" +
|
|
$"Before : {dr.Title}\n" +
|
|
$"After : {valstr}");
|
|
|
|
if (dlg != System.Windows.Forms.DialogResult.Yes) return;
|
|
|
|
dr.Title = valstr;
|
|
dr.EndEdit();
|
|
this.ds1.MCModel.AcceptChanges();
|
|
|
|
this.listView1.FocusedItem.SubItems[0].Text = valstr;
|
|
|
|
RefreshMotorPosition("edit button");
|
|
}
|
|
}
|
|
}
|
|
|