Test/WebUITest-RealProjecT
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

initial commit

Browse Source
This commit is contained in:
tindevil
2025-11-25 20:14:41 +09:00
commit 5cb1ff372c
559 changed files with 149800 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

919
Handler/Project/Dialog/Motion_MoveToGroup.cs Normal file
View File

@@ -0,0 +1,919 @@
using AR;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace Project.Dialog
{
public partial class Motion_MoveToGroup : Form
{
int axisX, axisY, axisZ;
DataSet1 ds;
int pidx = -1;/// = string.Empty;
public Motion_MoveToGroup(DataSet1 dt_, int targetidx)
{
InitializeComponent();
// this.Size = new Size(800, 500);
this.WindowState = FormWindowState.Maximized;
btXNeg.Tag = "X-";
btXPos.Tag = "X+";
btYNeg.Tag = "Y-";
btYPos.Tag = "Y+";
this.ds = dt_;
pidx = targetidx;
//this.lvF.FullRowSelect = true;
//this.lvF.GridLines = true;
//arDatagridView1.DataSource = dt_.MCModel;
var dr = dt_.MCModel.Where(t => t.idx == targetidx).FirstOrDefault();
if (dr == null) this.Text = "Position-Based Movement";
else this.Text = $"Position-Based Movement (Model: {dr.Title})";
}
private void Motion_MoveToGroup_Load(object sender, EventArgs e)
{
refreshData();
tmDisplay.Start();
}
void refreshData()
{
//목록을 추출한다
//this.lvF.Items.Clear();
//this.listView1.Columns[0].Width = 120;
//this.listView1.Columns[1].Width = 300;
//this.lvF.Font = new Font("맑은 고딕", 15);
var ctgrp = this.ds.MCModel.Where(t => t.pidx == this.pidx && string.IsNullOrEmpty(t.Category) == false).GroupBy(t => t.Category);
var rawGrplist = ctgrp.Select(t => t.Key).ToList();
Dictionary<string, List<int>> grpList = new Dictionary<string, List<int>>();
foreach (var dr in ctgrp.OrderBy(t => t.Key))
{
var rawgrplist = dr.Key.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
foreach (var grpname in rawgrplist)
{
var keybuf = grpname.Split('|'); //그룹과 위치명은 | 로구분되어있다
if (keybuf.Length == 1)
{
Array.Resize(ref keybuf, 2);
keybuf[1] = keybuf[0];
keybuf[0] = "Normal";
}
var newgrpname = string.Join("|", keybuf);
var motlist = dr.GroupBy(t => t.idx).Select(t => t.Key).ToList();
if (grpList.ContainsKey(newgrpname) == false)
{
grpList.Add(newgrpname, motlist);
}
else
{
//동일그룹이 등록되어있다
var oldlist = grpList[newgrpname];
foreach (var drindex in motlist)
if (oldlist.Contains(drindex) == false) oldlist.Add(drindex);
grpList[newgrpname] = oldlist;
}
}
}
tvFront.Nodes.Clear();
tvFront.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
tvRear.Nodes.Clear();
tvRear.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
tvOther.Nodes.Clear();
tvOther.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
tvOther2.Nodes.Clear();
tvOther2.Font = new Font("맑은 고딕", 10, FontStyle.Bold);
//목록을 취합햇으니 표시한다
foreach (var item in grpList)
{
var motlist = new List<int>();
foreach (var drindex in item.Value)
{
var dr = this.ds.MCModel.Where(t => t.idx == drindex).First();
motlist.Add(dr.MotIndex);
}
if (motlist.Count < 1) continue;
var buf = item.Key.Split('|');
var cate = buf[0];
var itemname = buf[1];
if (cate.Contains("_MANAGE"))
{
if (tvOther2.Nodes.ContainsKey(cate) == false)
{
var nd = tvOther2.Nodes.Add(cate, cate);
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
else
{
var nd = tvOther2.Nodes[cate];
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
}
else if (itemname.StartsWith("R") || (itemname.StartsWith("F") == false && itemname.ToUpper().Contains("REAR")))
{
itemname = itemname.Replace("RSHUTTLE", "R");
if (tvRear.Nodes.ContainsKey(cate) == false)
{
var nd = tvRear.Nodes.Add(cate, cate);
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
else
{
var nd = tvRear.Nodes[cate];
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
}
else if (itemname.StartsWith("F") || (itemname.StartsWith("R") == false && itemname.ToUpper().Contains("FRONT")))
{
itemname = itemname.Replace("FSHUTTLE", "F");
if (tvFront.Nodes.ContainsKey(cate) == false)
{
var nd = tvFront.Nodes.Add(cate, cate);
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
else
{
var nd = tvFront.Nodes[cate];
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
}
else
{
if (tvOther.Nodes.ContainsKey(cate) == false)
{
var nd = tvOther.Nodes.Add(cate, cate);
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
else
{
var nd = tvOther.Nodes[cate];
var snd = nd.Nodes.Add(itemname, itemname + " ▶ (" + string.Join(",", motlist.OrderBy(t => t).Select(t => (eAxis)t)) + ")");
snd.Tag = item.Value;
if (itemname.Contains("PICKOFF")) snd.ForeColor = Color.Blue;
else if (itemname.Contains("PICKON")) snd.ForeColor = Color.DarkGreen;
else if (itemname.StartsWith("T")) snd.ForeColor = Color.Magenta;
else snd.ForeColor = Color.Black;
}
}
//var lv = this.lvF.Items.Add(buf[0]);
//lv.SubItems.Add(buf[1]);
//lv.SubItems.Add(string.Join(",", motlist.OrderBy(t => t)));
//if (buf[1].StartsWith("R"))
// lv.ForeColor = Color.Blue;
//else if (buf[1].StartsWith("T"))
// lv.ForeColor = Color.Magenta;
//lv.Tag = item.Value; //datarowindex 를 가진다
}
tvFront.ExpandAll();
tvRear.ExpandAll();
tvOther.ExpandAll();
tvOther2.ExpandAll();
}
private void toolStripButton1_Click(object sender, EventArgs e)
{
refreshData();
}
Task MoveMotion = null;
List<int> GetCurrentList()
{
if (seltv == null)
{
UTIL.MsgE("Please select a position to move to first");
return null;
}
var tn = seltv.SelectedNode;
if (tn == null) return null;
if (tn.Level < 1) return null;
return (List<int>)tn.Tag;
}
private void toolStripButton2_Click(object sender, EventArgs e)
{
//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
List<int> idxlist = GetCurrentList();
if (idxlist == null) return;
List<eAxis> zlist = new List<eAxis>();
List<eAxis> nlist = new List<eAxis>();
List<DataSet1.MCModelRow> zplist = new List<DataSet1.MCModelRow>();
List<DataSet1.MCModelRow> nplist = new List<DataSet1.MCModelRow>();
System.Text.StringBuilder sb = new StringBuilder();
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
{
//나머지축에 인터락이 있으면 처리하지 않는다.
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)}");
}
nlist.Add(ax);
nplist.Add(dr);
}
}
if (sb.Length > 0)
{
UTIL.MsgE(sb.ToString(), true);
return;
}
Queue<Tuple<eAxis, sPositionData, bool>> poslist = new Queue<Tuple<eAxis, sPositionData, bool>>();
sb.AppendLine("Do you want to start axis movement?\nZ-axis will move to 0 first for safety before movement");
int idx = 0;
for (int i = 0; i < zlist.Count; i++)
{
var ax = zlist[i];
var dr = zplist[i];
sb.AppendLine($"[{++idx:000}] Move to origin (0) : " + ax.ToString());
var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
{
Axis = (short)ax,
Position = 0,
Speed = Math.Max(100, dr.Speed),
Acc = dr.SpeedAcc,
Dcc = dr.SpeedDcc,
}, true);
poslist.Enqueue(p);
}
for (int i = 0; i < nlist.Count; i++)
{
var ax = nlist[i];
var dr = nplist[i];
sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
{
Axis = (short)ax,
Position = dr.Position,
Speed = Math.Max(100, dr.Speed),
Acc = dr.SpeedAcc,
Dcc = dr.SpeedDcc,
}, false);
poslist.Enqueue(p);
}
//x,y완료될떄까지 기다림
for (int i = 0; i < nlist.Count; i++)
{
var ax = nlist[i];
var dr = nplist[i];
sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
{
Axis = (short)ax,
Position = dr.Position,
Speed = Math.Max(100, dr.Speed),
Acc = dr.SpeedAcc,
Dcc = dr.SpeedDcc,
}, true);
poslist.Enqueue(p);
}
for (int i = 0; i < zlist.Count; i++)
{
var ax = zlist[i];
var dr = zplist[i];
sb.AppendLine($"[{++idx:000}] {ax} Position move : {dr.Position}mm({dr.Speed}ms)");
var p = new Tuple<eAxis, sPositionData, bool>(ax, new sPositionData
{
Axis = (short)ax,
Position = Math.Max(dr.Position - 50, 0),
Speed = Math.Max(100, dr.Speed),
Acc = dr.SpeedAcc,
Dcc = dr.SpeedDcc,
}, false);
poslist.Enqueue(p);
}
var dlg = UTIL.MsgQ(sb.ToString());
if (dlg != DialogResult.Yes) return;
if (PUB.mot.HasHomeSetOff)
{
UTIL.MsgE("There are motions that have not completed homing");
return;
}
MoveMotion = new Task(new Action(() =>
{
DateTime starttime = DateTime.Now;
Tuple<eAxis, sPositionData, bool> p = null;
while (poslist.Any() || p != null) //자료가있거나 현재 걸려있는게 있는 경우
{
if (p == null)
{
p = poslist.Dequeue();
starttime = DateTime.Now;
}
var seqtime = DateTime.Now - starttime;
if (p.Item3) //대기
{
if (MOT.CheckMotionPos(seqtime, p.Item2, "USER", false) == false)
{
var msg = PUB.mot.ErrorMessage;
//{
//Util.MsgE("모션 이동 실패\n" + Pub.mot.ErrorMessage);
//break;
//}
if (seqtime.TotalSeconds > 60)
{
PUB.log.AddE("Position movement failed, exceeded 60 seconds");
break;
}
System.Threading.Thread.Sleep(100);
continue;
}
}
else MOT.Move(p.Item1, p.Item2.Position, p.Item2.Speed, p.Item2.Acc, false, false, false); //위치이동을한다
p = null; //다음으로 진행할 수 있게 한다
}
}));
MoveMotion.RunSynchronously();
}
private void btSet_Click(object sender, EventArgs e)
{
//담당 축중에 ready 를 제외한 축을 추출하고
//해당 축의 해당 위치에 command 좌표를 할당 합니다.
if (PUB.mot.HasHomeSetOff)
{
UTIL.MsgE("There are motions that have not completed homing\nCannot save");
return;
}
//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
//지정된 축중에 Z축을 가진 대상이 있다면 그것을 우선 0으로 이동시킨다.
List<int> idxlist = GetCurrentList();
if (idxlist == null) return;
List<eAxis> nlist = new List<eAxis>();
List<DataSet1.MCModelRow> nplist = new List<DataSet1.MCModelRow>();
foreach (var dridx in idxlist)
{
var dr = this.ds.MCModel.Where(t => t.idx == dridx).First();
if (dr.PosTitle.StartsWith("READY")) continue;
var ax = (eAxis)dr.MotIndex;
var cate = ax.CategoryAttr();
nlist.Add(ax);
nplist.Add(dr);
}
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);
}
}
}