920 lines
27 KiB
C#
920 lines
27 KiB
C#
using AR;
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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 Project.Dialog
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{
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public partial class Motion_MoveToGroup : Form
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{
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int axisX, axisY, axisZ;
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DataSet1 ds;
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int pidx = -1;/// = string.Empty;
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public Motion_MoveToGroup(DataSet1 dt_, int targetidx)
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{
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InitializeComponent();
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// this.Size = new Size(800, 500);
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this.WindowState = FormWindowState.Maximized;
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btXNeg.Tag = "X-";
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btXPos.Tag = "X+";
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btYNeg.Tag = "Y-";
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btYPos.Tag = "Y+";
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this.ds = dt_;
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pidx = targetidx;
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//this.lvF.FullRowSelect = true;
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//this.lvF.GridLines = true;
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//arDatagridView1.DataSource = dt_.MCModel;
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var dr = dt_.MCModel.Where(t => t.idx == targetidx).FirstOrDefault();
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if (dr == null) this.Text = "Position-Based Movement";
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else this.Text = $"Position-Based Movement (Model: {dr.Title})";
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}
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private void Motion_MoveToGroup_Load(object sender, EventArgs e)
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{
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refreshData();
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tmDisplay.Start();
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}
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void refreshData()
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{
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//목록을 추출한다
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//this.lvF.Items.Clear();
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//this.listView1.Columns[0].Width = 120;
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//this.listView1.Columns[1].Width = 300;
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//this.lvF.Font = new Font("맑은 고딕", 15);
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var ctgrp = this.ds.MCModel.Where(t => t.pidx == this.pidx && string.IsNullOrEmpty(t.Category) == false).GroupBy(t => t.Category);
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var rawGrplist = ctgrp.Select(t => t.Key).ToList();
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Dictionary<string, List<int>> grpList = new Dictionary<string, List<int>>();
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foreach (var dr in ctgrp.OrderBy(t => t.Key))
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{
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var rawgrplist = dr.Key.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
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foreach (var grpname in rawgrplist)
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{
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var keybuf = grpname.Split('|'); //그룹과 위치명은 | 로구분되어있다
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if (keybuf.Length == 1)
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{
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Array.Resize(ref keybuf, 2);
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keybuf[1] = keybuf[0];
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keybuf[0] = "Normal";
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}
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var newgrpname = string.Join("|", keybuf);
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var motlist = dr.GroupBy(t => t.idx).Select(t => t.Key).ToList();
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if (grpList.ContainsKey(newgrpname) == false)
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{
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grpList.Add(newgrpname, motlist);
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}
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else
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{
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//동일그룹이 등록되어있다
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var oldlist = grpList[newgrpname];
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foreach (var drindex in motlist)
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if (oldlist.Contains(drindex) == false) oldlist.Add(drindex);
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grpList[newgrpname] = oldlist;
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}
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}
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}
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tvFront.Nodes.Clear();
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tvFront.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
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tvRear.Nodes.Clear();
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tvRear.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
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tvOther.Nodes.Clear();
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tvOther.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
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tvOther2.Nodes.Clear();
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tvOther2.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
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//목록을 취합햇으니 표시한다
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foreach (var item in grpList)
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{
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var motlist = new List<int>();
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foreach (var drindex in item.Value)
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{
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var dr = this.ds.MCModel.Where(t => t.idx == drindex).First();
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motlist.Add(dr.MotIndex);
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}
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if (motlist.Count < 1) continue;
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var buf = item.Key.Split('|');
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var cate = buf[0];
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var itemname = buf[1];
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if (cate.Contains("_MANAGE"))
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{
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if (tvOther2.Nodes.ContainsKey(cate) == false)
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{
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var nd = tvOther2.Nodes.Add(cate, cate);
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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else
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{
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var nd = tvOther2.Nodes[cate];
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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}
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else if (itemname.StartsWith("R") || (itemname.StartsWith("F") == false && itemname.ToUpper().Contains("REAR")))
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{
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itemname = itemname.Replace("RSHUTTLE", "R");
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if (tvRear.Nodes.ContainsKey(cate) == false)
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{
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var nd = tvRear.Nodes.Add(cate, cate);
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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else
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{
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var nd = tvRear.Nodes[cate];
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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}
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else if (itemname.StartsWith("F") || (itemname.StartsWith("R") == false && itemname.ToUpper().Contains("FRONT")))
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{
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itemname = itemname.Replace("FSHUTTLE", "F");
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if (tvFront.Nodes.ContainsKey(cate) == false)
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{
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var nd = tvFront.Nodes.Add(cate, cate);
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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else
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{
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var nd = tvFront.Nodes[cate];
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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}
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else
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{
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if (tvOther.Nodes.ContainsKey(cate) == false)
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{
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var nd = tvOther.Nodes.Add(cate, cate);
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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else
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{
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var nd = tvOther.Nodes[cate];
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var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
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snd.Tag = item.Value;
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if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
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else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
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else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
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else snd.ForeColor = Color.Black;
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}
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}
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//var lv = this.lvF.Items.Add(buf[0]);
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//lv.SubItems.Add(buf[1]);
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//lv.SubItems.Add(string.Join(",", motlist.OrderBy(t => t)));
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//if (buf[1].StartsWith("R"))
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// lv.ForeColor = Color.Blue;
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//else if (buf[1].StartsWith("T"))
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// lv.ForeColor = Color.Magenta;
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//lv.Tag = item.Value; //datarowindex 를 가진다
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}
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tvFront.ExpandAll();
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tvRear.ExpandAll();
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tvOther.ExpandAll();
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tvOther2.ExpandAll();
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}
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private void toolStripButton1_Click(object sender, EventArgs e)
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{
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refreshData();
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}
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Task MoveMotion = null;
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List<int> GetCurrentList()
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{
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if (seltv == null)
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{
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UTIL.MsgE("Please select a position to move to first");
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return null;
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}
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var tn = seltv.SelectedNode;
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if (tn == null) return null;
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if (tn.Level < 1) return null;
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return (List<int>)tn.Tag;
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}
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private void toolStripButton2_Click(object sender, EventArgs e)
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{
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//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
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List<int> idxlist = GetCurrentList();
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if (idxlist == null) return;
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List<eAxis> zlist = new List<eAxis>();
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List<eAxis> nlist = new List<eAxis>();
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List<DataSet1.MCModelRow> zplist = new List<DataSet1.MCModelRow>();
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List<DataSet1.MCModelRow> nplist = new List<DataSet1.MCModelRow>();
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System.Text.StringBuilder sb = new StringBuilder();
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foreach (var dridx in idxlist)
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{
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var dr = this.ds.MCModel.Where(t => t.idx == dridx).First();
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var ax = (eAxis)dr.MotIndex;
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var cate = ax.CategoryAttr();
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if (cate.StartsWith("Z"))
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{
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zlist.Add(ax);
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zplist.Add(dr);
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}
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else
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{
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//나머지축에 인터락이 있으면 처리하지 않는다.
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if (PUB.iLock[dr.MotIndex].IsEmpty() == false)
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{
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if (sb.Length < 1) sb.AppendLine("Motion interlock is set\n");
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var locklist = MOT.GetActiveLockList(ax, PUB.iLock[dr.MotIndex]);
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sb.AppendLine($"Axis : {ax}({dr.MotIndex}) Target:{string.Join(",", locklist)}");
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}
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nlist.Add(ax);
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nplist.Add(dr);
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}
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}
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if (sb.Length > 0)
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{
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UTIL.MsgE(sb.ToString(), true);
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return;
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}
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Queue<Tuple<eAxis, sPositionData, bool>> poslist = new Queue<Tuple<eAxis, sPositionData, bool>>();
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sb.AppendLine("Do you want to start axis movement?\nZ-axis will move to 0 first for safety before movement");
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int idx = 0;
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for (int i = 0; i < zlist.Count; i++)
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{
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var ax = zlist[i];
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var dr = zplist[i];
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sb.AppendLine($"[{++idx:000}] Move to origin (0) : " + ax.ToString());
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var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
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{
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Axis = (short)ax,
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Position = 0,
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Speed = Math.Max(100, dr.Speed),
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Acc = dr.SpeedAcc,
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Dcc = dr.SpeedDcc,
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}, true);
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poslist.Enqueue(p);
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}
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for (int i = 0; i < nlist.Count; i++)
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{
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var ax = nlist[i];
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var dr = nplist[i];
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sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
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var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
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{
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Axis = (short)ax,
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Position = dr.Position,
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Speed = Math.Max(100, dr.Speed),
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Acc = dr.SpeedAcc,
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Dcc = dr.SpeedDcc,
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}, false);
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poslist.Enqueue(p);
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}
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//x,y완료될떄까지 기다림
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for (int i = 0; i < nlist.Count; i++)
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{
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var ax = nlist[i];
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var dr = nplist[i];
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sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
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var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
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{
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Axis = (short)ax,
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Position = dr.Position,
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Speed = Math.Max(100, dr.Speed),
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Acc = dr.SpeedAcc,
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Dcc = dr.SpeedDcc,
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}, true);
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poslist.Enqueue(p);
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}
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for (int i = 0; i < zlist.Count; i++)
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{
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var ax = zlist[i];
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var dr = zplist[i];
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sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
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var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
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{
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Axis = (short)ax,
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Position = Math.Max(dr.Position - 50, 0),
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Speed = Math.Max(100, dr.Speed),
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Acc = dr.SpeedAcc,
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Dcc = dr.SpeedDcc,
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}, false);
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poslist.Enqueue(p);
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}
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var dlg = UTIL.MsgQ(sb.ToString());
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if (dlg != DialogResult.Yes) return;
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if (PUB.mot.HasHomeSetOff)
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{
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UTIL.MsgE("There are motions that have not completed homing");
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return;
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}
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MoveMotion = new Task(new Action(() =>
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{
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DateTime starttime = DateTime.Now;
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Tuple<eAxis, sPositionData, bool> p = null;
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while (poslist.Any() || p != null) //자료가있거나 현재 걸려있는게 있는 경우
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{
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if (p == null)
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{
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p = poslist.Dequeue();
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starttime = DateTime.Now;
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}
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var seqtime = DateTime.Now - starttime;
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if (p.Item3) //대기
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{
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if (MOT.CheckMotionPos(seqtime, p.Item2, "USER", false) == false)
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{
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var msg = PUB.mot.ErrorMessage;
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//{
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//Util.MsgE("모션 이동 실패\n" + Pub.mot.ErrorMessage);
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//break;
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//}
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if (seqtime.TotalSeconds > 60)
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{
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PUB.log.AddE("Position movement failed, exceeded 60 seconds");
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break;
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}
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System.Threading.Thread.Sleep(100);
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continue;
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}
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}
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else MOT.Move(p.Item1, p.Item2.Position, p.Item2.Speed, p.Item2.Acc, false, false, false); //위치이동을한다
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p = null; //다음으로 진행할 수 있게 한다
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}
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}));
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MoveMotion.RunSynchronously();
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}
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private void btSet_Click(object sender, EventArgs e)
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{
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//담당 축중에 ready 를 제외한 축을 추출하고
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//해당 축의 해당 위치에 command 좌표를 할당 합니다.
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if (PUB.mot.HasHomeSetOff)
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{
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UTIL.MsgE("There are motions that have not completed homing\nCannot save");
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return;
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}
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//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
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//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
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List<int> idxlist = GetCurrentList();
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if (idxlist == null) return;
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List<eAxis> nlist = new List<eAxis>();
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List<DataSet1.MCModelRow> nplist = new List<DataSet1.MCModelRow>();
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foreach (var dridx in idxlist)
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{
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var dr = this.ds.MCModel.Where(t => t.idx == dridx).First();
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if (dr.PosTitle.StartsWith("READY")) continue;
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var ax = (eAxis)dr.MotIndex;
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var cate = ax.CategoryAttr();
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nlist.Add(ax);
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nplist.Add(dr);
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}
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Queue<Tuple<DataSet1.MCModelRow, eAxis, string, double, double>> poslist = new Queue<Tuple<DataSet1.MCModelRow, eAxis, string, double, double>>();
|
|
var sb = new System.Text.StringBuilder();
|
|
sb.AppendLine("Do you want to save the positions of the following coordinates?");
|
|
sb.AppendLine();
|
|
|
|
for (int i = 0; i < nlist.Count; i++)
|
|
{
|
|
var ax = nlist[i];
|
|
var dr = nplist[i];
|
|
var curpos = PUB.mot.GetCmdPos((short)ax);
|
|
sb.AppendLine($"[{dr.idx}] Axis:{ax} - {dr.PosTitle}\n\tChange position {dr.Position} -> {curpos}");
|
|
var param = new Tuple<DataSet1.MCModelRow, eAxis, string, double, double>(dr, ax, dr.PosTitle, dr.Position, curpos);
|
|
poslist.Enqueue(param);
|
|
}
|
|
|
|
|
|
using (var f = new Dialog.fSavePosition(poslist))
|
|
{
|
|
if (f.ShowDialog() != DialogResult.OK)
|
|
{
|
|
UTIL.MsgE("Coordinate saving was cancelled");
|
|
}
|
|
}
|
|
|
|
|
|
|
|
//var dlg = Util.MsgQ(sb.ToString());
|
|
//if (dlg != DialogResult.Yes) return;
|
|
|
|
|
|
|
|
//var cnt = 0;
|
|
//foreach (var p in poslist)
|
|
//{
|
|
// p.Item1.Position = p.Item2;
|
|
// p.Item1.EndEdit();
|
|
// cnt += 1;
|
|
//}
|
|
//Util.MsgI($"{cnt}건의 위치를 변경 했습니다");
|
|
}
|
|
|
|
private void btJogUp_MouseDown(object sender, MouseEventArgs e)
|
|
{
|
|
var but = sender as Button;
|
|
var tag = but.Tag.ToString();
|
|
var vel = (float)nudJogVel.Value;
|
|
if (tag == "X+")
|
|
{
|
|
if (axisX >= 0) PUB.mot.JOG((short)axisX, arDev.MOT.MOTION_DIRECTION.Positive, vel, 500, false, false);
|
|
}
|
|
else if (tag == "X-")
|
|
{
|
|
if (axisX >= 0) PUB.mot.JOG((short)axisX, arDev.MOT.MOTION_DIRECTION.Negative, vel, 500, false, false);
|
|
}
|
|
else if (tag == "Y+")
|
|
{
|
|
if (axisY >= 0) PUB.mot.JOG((short)axisY, arDev.MOT.MOTION_DIRECTION.Positive, vel, 500, false, false);
|
|
}
|
|
else if (tag == "Y-")
|
|
{
|
|
if (axisY >= 0) PUB.mot.JOG((short)axisY, arDev.MOT.MOTION_DIRECTION.Negative, vel, 500, false, false);
|
|
}
|
|
else if (tag == "Z+")
|
|
{
|
|
if (axisZ >= 0) PUB.mot.JOG((short)axisZ, arDev.MOT.MOTION_DIRECTION.Positive, vel, 500, false, false);
|
|
}
|
|
else if (tag == "Z-")
|
|
{
|
|
if (axisZ >= 0) PUB.mot.JOG((short)axisZ, arDev.MOT.MOTION_DIRECTION.Negative, vel, 500, false, false);
|
|
}
|
|
}
|
|
|
|
private void btAClear_MouseUp(object sender, MouseEventArgs e)
|
|
{
|
|
var but = sender as Button;
|
|
var tag = but.Tag.ToString();
|
|
var vel = (float)nudJogVel.Value;
|
|
if (tag == "X+")
|
|
{
|
|
if (axisX >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisX, true);
|
|
}
|
|
else if (tag == "X-")
|
|
{
|
|
if (axisX >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisX, true);
|
|
}
|
|
else if (tag == "Y+")
|
|
{
|
|
if (axisY >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisY, true);
|
|
}
|
|
else if (tag == "Y-")
|
|
{
|
|
if (axisY >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisY, true);
|
|
}
|
|
else if (tag == "Z+")
|
|
{
|
|
if (axisZ >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisZ, true);
|
|
}
|
|
else if (tag == "Z-")
|
|
{
|
|
if (axisZ >= 0) PUB.mot.MoveStop("MOVETOGRP", (short)axisZ, true);
|
|
}
|
|
}
|
|
|
|
|
|
private void tmDisplay_Tick(object sender, EventArgs e)
|
|
{
|
|
var motpos = string.Empty;
|
|
if (axisX >= 0)
|
|
{
|
|
motpos += $"X:{PUB.mot.GetActPos((short)axisX):N3}/{PUB.mot.GetCmdPos((short)axisX):N3}";
|
|
button6.BackColor = PUB.iLock[axisX].IsEmpty() ? Color.FromArgb(224, 224, 224) : Color.Orange;
|
|
}
|
|
else
|
|
{
|
|
motpos += "X:(none)";
|
|
button6.BackColor = Color.FromArgb(224, 224, 224);
|
|
}
|
|
if (axisY >= 0)
|
|
{
|
|
motpos += $" / Y:{PUB.mot.GetActPos((short)axisY):N3}/{PUB.mot.GetCmdPos((short)axisY):N3}";
|
|
button5.BackColor = PUB.iLock[axisY].IsEmpty() ? Color.FromArgb(224, 224, 224) : Color.Orange;
|
|
}
|
|
else
|
|
{
|
|
motpos += " Y:(none)";
|
|
button5.BackColor = Color.FromArgb(224, 224, 224);
|
|
}
|
|
if (axisZ >= 0)
|
|
{
|
|
motpos += $" / Z:{PUB.mot.GetActPos((short)axisZ):N3},{PUB.mot.GetCmdPos((short)axisZ):N3}";
|
|
button4.BackColor = PUB.iLock[axisZ].IsEmpty() ? Color.FromArgb(224, 224, 224) : Color.Orange;
|
|
}
|
|
else
|
|
{
|
|
motpos += " Z:(none)";
|
|
button4.BackColor = Color.FromArgb(224, 224, 224);
|
|
}
|
|
|
|
this.lbMotPos.Text = motpos;
|
|
|
|
}
|
|
|
|
private void Motion_MoveToGroup_FormClosed(object sender, FormClosedEventArgs e)
|
|
{
|
|
tmDisplay.Stop();
|
|
}
|
|
|
|
private void button1_Click(object sender, EventArgs e)
|
|
{
|
|
var but = sender as Button;
|
|
if (but.Text.EndsWith("-ZERO"))
|
|
{
|
|
|
|
if (but.Text.StartsWith("X") && axisX >= 0)
|
|
{
|
|
if (UTIL.MsgQ("Do you want to move X position to 0?") != DialogResult.Yes) return;
|
|
MOT.Move((eAxis)axisX, 0, 100, 1000, false, false, false);
|
|
}
|
|
else if (but.Text.StartsWith("Y") && axisY >= 0)
|
|
{
|
|
if (UTIL.MsgQ("Do you want to move Y position to 0?") != DialogResult.Yes) return;
|
|
MOT.Move((eAxis)axisY, 0, 100, 1000, false, false, false);
|
|
}
|
|
else if (but.Text.StartsWith("Z") && axisZ >= 0)
|
|
{
|
|
if (UTIL.MsgQ("Do you want to move Z position to 0?") != DialogResult.Yes) return;
|
|
MOT.Move((eAxis)axisZ, 0, 100, 1000, false, false, false);
|
|
}
|
|
}
|
|
else if (but.Text.EndsWith("-MOVE"))
|
|
{
|
|
|
|
//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
|
|
List<int> idxlist = GetCurrentList();
|
|
if (idxlist == null) return;
|
|
|
|
foreach (var dridx in idxlist)
|
|
{
|
|
var dr = this.ds.MCModel.Where(t => t.idx == dridx).First();
|
|
var ax = (eAxis)dr.MotIndex;
|
|
var cate = ax.CategoryAttr();
|
|
|
|
|
|
//나머지축에 인터락이 있으면 처리하지 않는다.
|
|
var sb = new System.Text.StringBuilder();
|
|
if (PUB.iLock[dr.MotIndex].IsEmpty() == false)
|
|
{
|
|
if (sb.Length < 1) sb.AppendLine("Motion interlock is set\n");
|
|
var locklist = MOT.GetActiveLockList(ax, PUB.iLock[dr.MotIndex]);
|
|
sb.AppendLine($"Axis : {ax}({dr.MotIndex}) Target:{string.Join(",", locklist)}");
|
|
sb.AppendLine();
|
|
sb.AppendLine("Do you want to continue?");
|
|
if (UTIL.MsgQ(sb.ToString()) != DialogResult.Yes) return;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (but.Text.StartsWith("X") && cate.StartsWith("X") && axisX >= 0)
|
|
{
|
|
if (UTIL.MsgQ($"Do you want to move X position to ({dr.Position})?") != DialogResult.Yes) return;
|
|
MOT.Move(ax, dr.Position, dr.Speed, 1000, false, false, false);
|
|
}
|
|
else if (but.Text.StartsWith("Y") && cate.StartsWith("Y") && axisY >= 0)
|
|
{
|
|
if (UTIL.MsgQ($"Do you want to move Y position to ({dr.Position})?") != DialogResult.Yes) return;
|
|
MOT.Move(ax, dr.Position, dr.Speed, 1000, false, false, false);
|
|
}
|
|
else if (but.Text.StartsWith("Z") && cate.StartsWith("Z") && axisZ >= 0)
|
|
{
|
|
if (UTIL.MsgQ($"Do you want to move Z position to ({dr.Position})?") != DialogResult.Yes) return;
|
|
MOT.Move(ax, dr.Position, Math.Min(50, dr.Speed), 1000, false, false, false);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
private void button13_Click(object sender, EventArgs e)
|
|
{
|
|
var but = sender as Button;
|
|
var txt = but.Text.Trim();
|
|
var aname = txt.Substring(0, 1);
|
|
var value = txt.Split(':')[1].Replace("mm", "").Replace("+", "").Trim();
|
|
var v = float.Parse(value);
|
|
if (aname == "X" && axisX >= 0)
|
|
{
|
|
//이동을 해준다
|
|
MOT.Move((eAxis)axisX, v, 100, 1000, true, false, false);
|
|
}
|
|
else if (aname == "Y" && axisY >= 0)
|
|
{
|
|
//이동을 해준다
|
|
MOT.Move((eAxis)axisY, v, 100, 1000, true, false, false);
|
|
}
|
|
else if (aname == "Z" && axisZ >= 0)
|
|
{
|
|
//이동을 해준다
|
|
MOT.Move((eAxis)axisZ, v, 100, 1000, true, false, false);
|
|
}
|
|
}
|
|
|
|
TreeNode prevnode = null;
|
|
TreeView seltv = null;
|
|
private void treeView1_AfterSelect(object sender, TreeViewEventArgs e)
|
|
{
|
|
//선택되면 대상축에서 x,y,z를 찾아서 설정하고 enable 을 설정한다.
|
|
if (seltv != null)
|
|
{
|
|
seltv.BackColor = Color.White;
|
|
}
|
|
seltv = sender as TreeView;
|
|
seltv.BackColor = Color.LightGoldenrodYellow;
|
|
|
|
if (prevnode != null)
|
|
{
|
|
prevnode.BackColor = Color.White;
|
|
}
|
|
|
|
|
|
|
|
//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
|
|
List<int> idxlist = GetCurrentList();
|
|
if (idxlist == null) return;
|
|
var tn = this.seltv.SelectedNode;
|
|
this.Text = $"{tn.Parent.Text} - {tn.Text}";
|
|
|
|
this.prevnode = tn;
|
|
this.prevnode.BackColor = Color.Lime;
|
|
|
|
List<eAxis> xlist = new List<eAxis>();
|
|
List<eAxis> ylist = new List<eAxis>();
|
|
List<eAxis> zlist = new List<eAxis>();
|
|
|
|
List<DataSet1.MCModelRow> xplist = new List<DataSet1.MCModelRow>();
|
|
List<DataSet1.MCModelRow> yplist = new List<DataSet1.MCModelRow>();
|
|
List<DataSet1.MCModelRow> zplist = new List<DataSet1.MCModelRow>();
|
|
|
|
foreach (var dridx in idxlist)
|
|
{
|
|
var dr = this.ds.MCModel.Where(t => t.idx == dridx).First();
|
|
var ax = (eAxis)dr.MotIndex;
|
|
var cate = ax.CategoryAttr();
|
|
if (cate.StartsWith("Z"))
|
|
{
|
|
zlist.Add(ax);
|
|
zplist.Add(dr);
|
|
}
|
|
else if (cate.StartsWith("X"))
|
|
{
|
|
xlist.Add(ax);
|
|
xplist.Add(dr);
|
|
}
|
|
else if (cate.StartsWith("Y"))
|
|
{
|
|
ylist.Add(ax);
|
|
yplist.Add(dr);
|
|
}
|
|
}
|
|
|
|
if (xlist.Count == 1)
|
|
{
|
|
axisX = (int)xlist.First();
|
|
btXNeg.Enabled = true;
|
|
btXPos.Enabled = true;
|
|
btXNeg.BackColor = Color.LightSkyBlue;
|
|
btXPos.BackColor = Color.LightSkyBlue;
|
|
}
|
|
else
|
|
{
|
|
axisX = -1;
|
|
btXNeg.Enabled = false;
|
|
btXPos.Enabled = false;
|
|
btXNeg.BackColor = Color.LightGray;
|
|
btXPos.BackColor = Color.LightGray;
|
|
}
|
|
|
|
if (ylist.Count == 1)
|
|
{
|
|
axisY = (int)ylist.First();
|
|
btYNeg.Enabled = true;
|
|
btYPos.Enabled = true;
|
|
btYNeg.BackColor = Color.LightSkyBlue;
|
|
btYPos.BackColor = Color.LightSkyBlue;
|
|
}
|
|
else
|
|
{
|
|
axisY = -1;
|
|
btYNeg.Enabled = false;
|
|
btYPos.Enabled = false;
|
|
btYNeg.BackColor = Color.LightGray;
|
|
btYPos.BackColor = Color.LightGray;
|
|
}
|
|
|
|
if (zlist.Count == 1)
|
|
{
|
|
axisZ = (int)zlist.First();
|
|
btZNeg.Enabled = true;
|
|
btZPos.Enabled = true;
|
|
btZNeg.BackColor = Color.LightSkyBlue;
|
|
btZPos.BackColor = Color.LightSkyBlue;
|
|
}
|
|
else
|
|
{
|
|
axisZ = -1;
|
|
btZNeg.Enabled = false;
|
|
btZPos.Enabled = false;
|
|
btZNeg.BackColor = Color.LightGray;
|
|
btZPos.BackColor = Color.LightGray;
|
|
}
|
|
|
|
eAxis axx = (eAxis)axisX;
|
|
eAxis axy = (eAxis)axisY;
|
|
eAxis axz = (eAxis)axisZ;
|
|
|
|
lbX.Text = $"({axisX}){axx}";
|
|
if (axisX >= 0) lbX.Text += $"({xplist.First().PosIndex}mm)";
|
|
lbY.Text = $"({axisY}){axy}";
|
|
if (axisY >= 0) lbY.Text += $"({yplist.First().PosIndex}mm)";
|
|
lbZ.Text = $"({axisZ}){axz}";
|
|
if (axisZ >= 0) lbZ.Text += $"({zplist.First().PosIndex}mm)";
|
|
}
|
|
|
|
private void button25_Click(object sender, EventArgs e)
|
|
{
|
|
var but = sender as Button;
|
|
var val = int.Parse(but.Text);
|
|
nudJogVel.Value = (decimal)val;
|
|
}
|
|
|
|
private void toolStripButton2_Click_1(object sender, EventArgs e)
|
|
{
|
|
using (var f = new Model_Motion())
|
|
f.ShowDialog();
|
|
}
|
|
|
|
private void toolStripButton3_Click(object sender, EventArgs e)
|
|
{
|
|
using (var f = new Dialog.fIOMonitor())
|
|
f.ShowDialog();
|
|
}
|
|
|
|
|
|
private void button28_Click(object sender, EventArgs e)
|
|
{
|
|
//var cur = DIO.GetIOOutput(eDOName.F셔틀_회전180);
|
|
//string msg;
|
|
//if (cur) msg = "셔틀(F)이 현재 뒤집혀 있습니다.\n원위치로 복귀 할까요?";
|
|
//else msg = "셔틀(F) 을 뒤집을까요?";
|
|
|
|
//var dlg = Util.MsgQ(msg);
|
|
//if (dlg != DialogResult.Yes) return;
|
|
}
|
|
|
|
private void button29_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void toolStripButton4_Click(object sender, EventArgs e)
|
|
{
|
|
using (var f = new Dialog.Quick_Control())
|
|
f.ShowDialog();
|
|
}
|
|
|
|
private void button30_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void btAllZSafe_Click(object sender, EventArgs e)
|
|
{
|
|
//Z1,2,3 안전위치로 이동한다 220421
|
|
var dlg = UTIL.MsgQ("Do you want to move all Z axes to safe position?\n" +
|
|
"For Z1 and Z4, if they are holding sockets, damage may occur during safe position movement.\n" +
|
|
"Check the socket status of each gripper before proceeding\n" +
|
|
"If Z axes are moved arbitrarily, work may not continue properly\n " +
|
|
"It is recommended to cancel the work and start again");
|
|
|
|
if (dlg != DialogResult.Yes) return;
|
|
|
|
var PosZ1 = MOT.GetPZPos(ePZLoc.READY);
|
|
var PosZ2 = MOT.GetLZPos(eLZLoc.READY);
|
|
var PosZ3 = MOT.GetRZPos(eRZLoc.READY);
|
|
|
|
PosZ1.Position = 0;
|
|
PosZ2.Position = 0;
|
|
PosZ3.Position = 0;
|
|
|
|
MOT.Move(PosZ1);
|
|
MOT.Move(PosZ2);
|
|
MOT.Move(PosZ3);
|
|
}
|
|
|
|
|
|
|
|
private void button31_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void btJogStop_Click(object sender, EventArgs e)
|
|
{
|
|
if (axisX >= 0) MOT.Stop((eAxis)axisX, "MOVETOGRP", true);
|
|
if (axisY >= 0) MOT.Stop((eAxis)axisY, "MOVETOGRP", true);
|
|
if (axisZ >= 0) MOT.Stop((eAxis)axisZ, "MOVETOGRP", true);
|
|
}
|
|
|
|
|
|
private void motCommandButton1_Click(object sender, EventArgs e)
|
|
{
|
|
if (axisX >= 0) MOT.Stop((eAxis)axisX, "MOVETOGRP", true);
|
|
if (axisY >= 0) MOT.Stop((eAxis)axisY, "MOVETOGRP", true);
|
|
if (axisZ >= 0) MOT.Stop((eAxis)axisZ, "MOVETOGRP", true);
|
|
}
|
|
}
|
|
}
|