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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.IO;
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using System.Linq;
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using System.Threading;
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using System.Windows;
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using System.Windows.Forms;
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using System.Windows.Input;
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using GummingCommon;
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using GummingEntity;
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using GummingSupport;
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using GummingControl;
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using System.Text;
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using GummingBusiness;
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using Newtonsoft.Json;
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using GummingLine;
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using System.Threading.Tasks;
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namespace Gumming
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{
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public class ControlCOTArmViewModule : ViewModelBase
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{
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#region base parameters
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private int rows = 20;
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private int pagenumber = 1;
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public ControlCOTArmView View { get; set; }
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private bool IsConfirm;
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private bool isLoading;
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private System.Timers.Timer timer;
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private HardFormulaFlowEntity HomeFlow;
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private bool Homing = false;
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private int MovingPostion = 0;
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#endregion
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#region constructor
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public ControlCOTArmViewModule()
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{
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View = new ControlCOTArmView();
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View.DataContext = this;
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InitializeCommands();
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InitializeParameters();
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}
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private void InitializeCommands()
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{
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CancelCommand = new DelegateCommand(OnCancelCommand);
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SVONCommand = new DelegateCommand(OnSVONCommand);
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UpDownCommand = new DelegateCommand(OnUpDownCommand);
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//JogForwardCommand = new DelegateCommand(OnJogForwardCommand);
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//JogBackCommand = new DelegateCommand(OnJogBackCommand);
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HomeCommand = new DelegateCommand(OnHomeCommand);
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PosMoveCommand = new DelegateCommand(OnPosMoveCommand);
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}
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public override void InitializeParameters(object content = null)
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{
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IsConfirm = false;
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WindowTitle = "";
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//*
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if (timer == null)
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{
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timer = new System.Timers.Timer();
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timer.Interval = 300;
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timer.Elapsed += timer_Elapsed;
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timer.Start();
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}//*/
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}
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public void ShowDialog()
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{
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IsConfirm = false;
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View.ShowDialog();
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}
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~ControlCOTArmViewModule()
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{
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}
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public void LoadDefaultValue()
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{
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SafeStart = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrSafeStart : Constant.EbrSafeStart)));
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SafeEnd = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrSafeEnd : Constant.EbrSafeEnd)));
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AxisSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrAxisSpeed : Constant.EbrAxisSpeed)));
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string postionkey = (IsPrArm ? string.Format("{0}_Arm1PRHomingOffset", StationCode) : string.Format("{0}_Arm2EBRHomingOffset", StationCode));
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var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
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HomePosition = postionSet.SettingValue;
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HomeSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrHomeSpeed : Constant.EbrHomeSpeed)));
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MovePosition = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrMovePosition : Constant.EbrMovePosition)));
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MoveSpeed = Common.ToDecimal(HardParameters.Read(StationCode + (IsPrArm ? Constant.PrMoveSpeed : Constant.EbrMoveSpeed)));
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//Ĭ<><C4AC>Arm<72><6D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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ArmFlow = (IsPrArm ? HardParameters.GetCotPrAxis(StationCode) : HardParameters.GetCotEbrAxis(StationCode));
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HomeFlow = (!IsPrArm ? HardParameters.GetCotPrAxis(StationCode) : HardParameters.GetCotEbrAxis(StationCode));
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//<2F><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>״̬
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var axis = Global.Axises.FirstOrDefault(q => q.NodeId == ArmFlow.NodeId && q.SlotId == ArmFlow.SlotId);
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if (axis != null)
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{
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SVONStatus = axis.Energy;
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}
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}
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#endregion
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#region Binding Properties
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public string WindowTitle { get; private set; }
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public bool IsPrArm { get; set; }
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private ushort _MainAxisTopStatus;
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public ushort MainAxisTopStatus
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{
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get
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{
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return _MainAxisTopStatus;
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}
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set
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{
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_MainAxisTopStatus = value;
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OnPropertyChanged("MainAxisTopStatus");
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}
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}
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private string _HeaderTitle;
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public string HeaderTitle
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{
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get
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{
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return _HeaderTitle;
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}
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set
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{
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_HeaderTitle = value;
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OnPropertyChanged("HeaderTitle");
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}
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}
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private string _StationCode;
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public string StationCode
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{
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get
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{
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return _StationCode;
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}
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set
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{
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_StationCode = value;
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OnPropertyChanged("StationCode");
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}
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}
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private ushort _SVONStatus;
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public ushort SVONStatus
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{
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get
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{
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return _SVONStatus;
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}
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set
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{
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_SVONStatus = value;
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OnPropertyChanged("SVONStatus");
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}
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}
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private ushort _ForwardStatus;
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public ushort ForwardStatus
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{
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get
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{
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return _ForwardStatus;
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}
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set
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{
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_ForwardStatus = value;
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OnPropertyChanged("ForwardStatus");
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}
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}
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private ushort _BackStatus;
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public ushort BackStatus
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{
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get
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{
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return _BackStatus;
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}
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set
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{
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_BackStatus = value;
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OnPropertyChanged("BackStatus");
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}
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}
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private ushort _UpDownStatus;
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public ushort UpDownStatus
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{
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get
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{
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return _UpDownStatus;
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}
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set
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{
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_UpDownStatus = value;
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OnPropertyChanged("UpDownStatus");
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}
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}
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private decimal _CurPosition;
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public decimal CurPosition
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{
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get
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{
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return _CurPosition;
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}
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set
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{
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_CurPosition = value;
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OnPropertyChanged("CurPosition");
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}
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}
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private decimal _AxisSpeed;
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public decimal AxisSpeed
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{
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get
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{
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return _AxisSpeed;
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}
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set
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{
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_AxisSpeed = value;
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OnPropertyChanged("AxisSpeed");
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}
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}
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private decimal _HomePosition;
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public decimal HomePosition
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{
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get
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{
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return _HomePosition;
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}
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set
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{
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_HomePosition = value;
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OnPropertyChanged("HomePosition");
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}
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}
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private decimal _HomeSpeed;
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public decimal HomeSpeed
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{
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get
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{
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return _HomeSpeed;
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}
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set
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{
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_HomeSpeed = value;
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OnPropertyChanged("HomeSpeed");
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}
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}
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private decimal _MovePosition;
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public decimal MovePosition
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{
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get
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{
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return _MovePosition;
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}
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set
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{
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_MovePosition = value;
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OnPropertyChanged("MovePosition");
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}
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}
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private decimal _MoveSpeed;
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public decimal MoveSpeed
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{
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get
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{
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return _MoveSpeed;
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}
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set
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{
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_MoveSpeed = value;
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OnPropertyChanged("MoveSpeed");
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}
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}
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private decimal _SafeStart;
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public decimal SafeStart
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{
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get
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{
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return _SafeStart;
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}
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set
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{
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_SafeStart = value;
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OnPropertyChanged("SafeStart");
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}
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}
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private decimal _SafeEnd;
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public decimal SafeEnd
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{
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get
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{
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return _SafeEnd;
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}
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set
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{
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_SafeEnd = value;
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OnPropertyChanged("SafeEnd");
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}
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}
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private string _ControlName;
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public string ControlName
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{
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get
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{
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return _ControlName;
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}
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set
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{
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_ControlName = value;
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OnPropertyChanged("ControlName");
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}
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}
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private HardFormulaFlowEntity _ArmFlow;
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public HardFormulaFlowEntity ArmFlow
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{
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get
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{
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return _ArmFlow;
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}
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set
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{
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_ArmFlow = value;
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OnPropertyChanged("ArmFlow");
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}
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}
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private bool _IsSub1Open;
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public bool IsSub1Open
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{
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get { return _IsSub1Open; }
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set
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{
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_IsSub1Open = value;
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OnPropertyChanged("IsSub1Open");
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}
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}
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private bool _IsSub2Open;
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public bool IsSub2Open
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{
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get { return _IsSub2Open; }
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set
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{
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_IsSub2Open = value;
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OnPropertyChanged("IsSub2Open");
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}
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}
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private bool _IsSub3Open;
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public bool IsSub3Open
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{
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get { return _IsSub3Open; }
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set
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{
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_IsSub3Open = value;
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OnPropertyChanged("IsSub3Open");
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}
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}
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private ushort _HOMEStatus;
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public ushort HOMEStatus
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{
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get
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{
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return _HOMEStatus;
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}
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set
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{
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_HOMEStatus = value;
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OnPropertyChanged("HOMEStatus");
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}
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}
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#endregion
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#region Binding Commands
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private ICommand _CancelCommand;
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public ICommand CancelCommand
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{
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get
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{
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return _CancelCommand;
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}
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set
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{
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_CancelCommand = value;
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OnPropertyChanged("CancelCommand");
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}
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}
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private ICommand _PosMoveCommand;
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public ICommand PosMoveCommand
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{
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get
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{
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return _PosMoveCommand;
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}
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set
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{
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_PosMoveCommand = value;
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OnPropertyChanged("PosMoveCommand");
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}
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}
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private ICommand _HomeCommand;
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public ICommand HomeCommand
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{
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get
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{
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return _HomeCommand;
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}
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set
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{
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_HomeCommand = value;
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OnPropertyChanged("HomeCommand");
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}
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}
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private ICommand _JogBackCommand;
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public ICommand JogBackCommand
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{
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get
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{
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return _JogBackCommand;
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}
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set
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{
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_JogBackCommand = value;
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OnPropertyChanged("JogBackCommand");
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}
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}
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private ICommand _JogForwardCommand;
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public ICommand JogForwardCommand
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{
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get
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{
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return _JogForwardCommand;
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}
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set
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{
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_JogForwardCommand = value;
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OnPropertyChanged("JogForwardCommand");
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}
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}
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private ICommand _UpDownCommand;
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public ICommand UpDownCommand
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{
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get
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{
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return _UpDownCommand;
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}
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set
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{
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_UpDownCommand = value;
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OnPropertyChanged("UpDownCommand");
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}
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}
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private ICommand _SVONCommand;
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public ICommand SVONCommand
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{
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get
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{
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return _SVONCommand;
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}
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set
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{
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_SVONCommand = value;
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OnPropertyChanged("SVONCommand");
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}
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}
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#endregion
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#region Private Methods
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private void timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
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{
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int position = 0;
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if (ArmFlow != null && !Helpering.IsTerminate && this.IsActiveChildPage)
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{
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DeviceControl.GetPosition(ArmFlow.NodeId, ArmFlow.SlotId, ref position);
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if (Homing && ControlCheck.IsHomeDone(ArmFlow.NodeId, ArmFlow.SlotId))//<2F>ָ<EFBFBD>Home״̬
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{
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HOMEStatus = 0;
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Homing = false;
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}
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if (MovingPostion == position)
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{
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MainAxisTopStatus = 0;
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}
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ushort Datasize = 4;
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byte[] Data = new byte[4];
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DeviceControl.ReadPDOParameter(ArmFlow.NodeId, 0, Global.PositionSign, 0, Datasize, ref Data[0]);
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int c = TypeHelper.ByteArrayToInt(Data);
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string values = Convert.ToString(c, 2);
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IsSub1Open = false;
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IsSub2Open = false;
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IsSub3Open = false;
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|
//ԭ<><D4AD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD>
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|
if (values.Length > 0)
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{
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IsSub3Open = values.Substring(values.Length - 1) == "1";
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}
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//<2F>м为<D0BC><E4B8BA>
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if (values.Length > 1)
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{
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IsSub2Open = values.Substring(values.Length - 2, 1) == "1";
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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if (values.Length > 2)
|
|
|
{
|
|
|
IsSub1Open = values.Substring(values.Length - 3, 1) == "1";
|
|
|
}
|
|
|
}
|
|
|
|
|
|
View.Dispatcher.BeginInvoke(new Action(() =>
|
|
|
{
|
|
|
CurPosition = BusinessHelper.ConvertFromPrDegree(StationCode, (double)position, IsPrArm);
|
|
|
}), null);
|
|
|
}
|
|
|
|
|
|
private void OnCancelCommand(object sender)
|
|
|
{
|
|
|
View.DialogResult = true;
|
|
|
}
|
|
|
|
|
|
private void OnSVONCommand(Object sender)
|
|
|
{
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
SVONStatus = (ushort)(SVONStatus != 1 ? 1 : 0);
|
|
|
DeviceControl.SetSvon(Common.ToUInt16(ArmFlow.NodeId), Common.ToUInt16(ArmFlow.SlotId), SVONStatus);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnUpDownCommand(Object sender)
|
|
|
{
|
|
|
var flow = (IsPrArm ? HardParameters.GetCotPrArmIO(StationCode) : HardParameters.GetCotEbrArmIO(StationCode));
|
|
|
if (flow != null)
|
|
|
{
|
|
|
UpDownStatus = (ushort)(UpDownStatus != 1 ? 1 : 0);
|
|
|
ControlCheck.PMCInvoke(false, "SetPortStatus", null, () => DeviceControl.SetPortStatus(flow.NodeId, flow.SlotId, flow.BitNum, UpDownStatus));
|
|
|
}
|
|
|
}
|
|
|
public void OnJogForwardStart()
|
|
|
{
|
|
|
if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
|
|
|
{
|
|
|
ShowErrorBox(string.Format("<22><>ȷ<EFBFBD><C8B7>{0}<7D><>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>", IsPrArm ? "ȥ<>߱ۿ<DFB1><DBBF><EFBFBD>" : "<22><><EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>"));
|
|
|
return;
|
|
|
}
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.ConvertPrDegree(StationCode, (double)AxisSpeed, IsPrArm);
|
|
|
double axisAcc = Global.ArmAcc;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
ForwardStatus = 1;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, 0, axisSpeed, axisSpeed, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogForwardStop()
|
|
|
{
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.ConvertPrDegree(StationCode, (double)AxisSpeed, IsPrArm);
|
|
|
double axisAcc = Global.ArmAcc;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
ForwardStatus = 0;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogBackStart()
|
|
|
{
|
|
|
if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
|
|
|
{
|
|
|
ShowErrorBox(string.Format("<22><>ȷ<EFBFBD><C8B7>{0}<7D><>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>", IsPrArm ? "ȥ<>߱ۿ<DFB1><DBBF><EFBFBD>" : "<22><><EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>"));
|
|
|
return;
|
|
|
}
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.ConvertPrDegree(StationCode, (double)AxisSpeed, IsPrArm);
|
|
|
double axisAcc = Global.ArmAcc;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
BackStatus = 1;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, 1, axisSpeed, axisSpeed, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogBackStop()
|
|
|
{
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.ConvertPrDegree(StationCode, (double)AxisSpeed, IsPrArm);
|
|
|
double axisAcc = Global.ArmAcc;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
BackStatus = 0;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, axisAcc));
|
|
|
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnPosMoveCommand(Object sender)
|
|
|
{
|
|
|
if (!ControlCheck.IsHomeDone(HomeFlow.NodeId, HomeFlow.SlotId))
|
|
|
{
|
|
|
ShowErrorBox(string.Format("<22><>ȷ<EFBFBD><C8B7>{0}<7D><>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>", IsPrArm ? "ȥ<>߱ۿ<DFB1><DBBF><EFBFBD>" : "<22><><EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>"));
|
|
|
return;
|
|
|
}
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.ConvertPrDegree(StationCode, (double)AxisSpeed, IsPrArm);
|
|
|
int axisPostion = BusinessHelper.ConvertPrDegree(StationCode, (double)MovePosition, IsPrArm);
|
|
|
double axisAcc = Global.ArmAcc;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
if (MainAxisTopStatus != 1)
|
|
|
{
|
|
|
MovingPostion = axisPostion;
|
|
|
MainAxisTopStatus = 1;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(ArmFlow.NodeId, ArmFlow.SlotId, axisPostion, axisSpeed, axisSpeed, 0, (uint)axisAcc, (uint)axisAcc, 1));
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MainAxisTopStatus = 0;
|
|
|
//ֹͣ<CDA3>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, Global.ArmAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnHomeCommand(Object sender)
|
|
|
{
|
|
|
if (ArmFlow != null)
|
|
|
{
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(ArmFlow.NodeId, ArmFlow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
if (HOMEStatus != 1)
|
|
|
{
|
|
|
Homing = true;
|
|
|
HOMEStatus = 1;
|
|
|
uint homeSpeed = (uint)BusinessHelper.ConvertPrDegree(StationCode, (double)HomeSpeed, IsPrArm);
|
|
|
int homePostion = BusinessHelper.ConvertPrDegree(StationCode, (double)HomePosition, IsPrArm);
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.GoArmHome(Global.ArmHomeWay, ArmFlow.NodeId, ArmFlow.SlotId, homePostion, homeSpeed));
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
HOMEStatus = 0;
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(ArmFlow.NodeId, ArmFlow.SlotId, Global.StopAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public void OnSafeStartTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrSafeStart : Constant.EbrSafeStart), Convert.ToString(value));
|
|
|
}
|
|
|
|
|
|
public void OnSafeEndTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrSafeEnd : Constant.EbrSafeEnd), Convert.ToString(value));
|
|
|
}
|
|
|
|
|
|
public void OnAxisSpeedTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrAxisSpeed : Constant.EbrAxisSpeed), Convert.ToString(value));
|
|
|
}
|
|
|
|
|
|
public void OnHomePositionTextChangedCommand(string value)
|
|
|
{
|
|
|
//HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrHomePosition : Constant.EbrHomePosition), Convert.ToString(value));
|
|
|
string postionkey = (IsPrArm ? string.Format("{0}_Arm1PRHomingOffset", StationCode) : string.Format("{0}_Arm2EBRHomingOffset", StationCode));
|
|
|
var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
|
|
|
postionSet.SettingValue = Common.ToDecimal(value);
|
|
|
SysSettingDA.Update(postionSet);
|
|
|
}
|
|
|
public void OnHomeSpeedTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrHomeSpeed : Constant.EbrHomeSpeed), Convert.ToString(value));
|
|
|
|
|
|
}
|
|
|
public void OnMovePositionTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrMovePosition : Constant.EbrMovePosition), Convert.ToString(value));
|
|
|
}
|
|
|
public void OnMoveSpeedTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + (IsPrArm ? Constant.PrMoveSpeed : Constant.EbrMoveSpeed), Convert.ToString(value));
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
}
|
