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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 ControlHPManualViewModule : 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 ControlHPManualView 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 HardDTMEntity dtm;
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private CancellationTokenSource cancellationTokenSource;
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private DateTime dtStart;
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private bool IsCanceling = false;
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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 ControlHPManualViewModule()
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{
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View = new ControlHPManualView();
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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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AttractCommand = new DelegateCommand(OnAttractCommand);
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MainAxisTopCommand = new DelegateCommand(OnMainAxisTopCommand);
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HOMECommand = new DelegateCommand(OnHOMECommand);
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DMTSetCommand = new DelegateCommand(OnDMTSetCommand);
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PrepareCommand = new DelegateCommand(OnPrepareCommand);
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TerminateCommand = new DelegateCommand(OnTerminateCommand);
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WindowCommand = new DelegateCommand(OnWindowCommand);
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BrowN2Command = new DelegateCommand(OnBrowN2Command);
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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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ProgressEnabled = true;
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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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~ControlHPManualViewModule()
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{
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}
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public void LoadDefaultValue()
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{
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MainAxisSpeed = Common.ToDouble(HardParameters.Read(StationCode + Constant.HPMainAxisSpeed));
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MainAxisTopPosition = Common.ToDouble(HardParameters.Read(StationCode + Constant.HPMainAxisTopPosition));
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//HOMEPosition = Common.ToDouble(HardParameters.Read(StationCode + Constant.HPMainAxisBackPosition));
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string postionkey = string.Format("HP_{0}HomingOffset", StationCode);
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var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
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HOMEPosition = (double)postionSet.SettingValue;
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dtm = HardDTMDA.LoadByCode(StationCode);
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if(dtm != null)
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{
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HPSV = dtm.SV;
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HPAlmOffset = dtm.AlmOffset;
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HPOffset = dtm.Offset;
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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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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 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 decimal _HPSV;
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public decimal HPSV
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{
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get
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{
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return _HPSV;
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}
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set
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{
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_HPSV = value;
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OnPropertyChanged("HPSV");
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}
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}
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private decimal _HPAlmOffset;
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public decimal HPAlmOffset
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{
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get
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{
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return _HPAlmOffset;
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}
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set
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{
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_HPAlmOffset = value;
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OnPropertyChanged("HPAlmOffset");
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}
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}
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private decimal _HPOffset;
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public decimal HPOffset
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{
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get
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{
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return _HPOffset;
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}
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set
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{
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_HPOffset = value;
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OnPropertyChanged("HPOffset");
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}
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}
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private ObservableCollection<HardFormulaEntity> _HardFormulas;
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public ObservableCollection<HardFormulaEntity> HardFormulas
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{
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get
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{
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return _HardFormulas;
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}
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set
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{
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_HardFormulas = value;
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OnPropertyChanged("HardFormulas");
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}
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}
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private HardFormulaEntity _SelectedFormula;
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public HardFormulaEntity SelectedFormula
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{
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get
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{
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return _SelectedFormula;
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}
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set
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{
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_SelectedFormula = value;
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OnPropertyChanged("SelectedFormula");
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}
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}
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private ushort _DMTSetStatus;
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public ushort DMTSetStatus
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{
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get
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{
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return _DMTSetStatus;
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}
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set
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{
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_DMTSetStatus = value;
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OnPropertyChanged("DMTSetStatus");
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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 _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 _AttractIOStatus;
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public ushort AttractIOStatus
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{
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get
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{
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return _AttractIOStatus;
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}
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set
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{
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_AttractIOStatus = value;
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OnPropertyChanged("AttractIOStatus");
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}
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}
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private ushort _PrepareStatus;
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public ushort PrepareStatus
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{
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get
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{
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return _PrepareStatus;
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}
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set
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{
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_PrepareStatus = value;
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OnPropertyChanged("PrepareStatus");
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}
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}
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private ushort _TerminateStatus;
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public ushort TerminateStatus
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{
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get
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{
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return _TerminateStatus;
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}
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set
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{
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_TerminateStatus = value;
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OnPropertyChanged("TerminateStatus");
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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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private ushort _DingZhenStatus;
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public ushort DingZhenStatus
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{
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get
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{
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return _DingZhenStatus;
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}
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set
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{
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_DingZhenStatus = value;
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OnPropertyChanged("DingZhenStatus");
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}
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}
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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 double _HOMEPosition;
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public double 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 double _MainAxisTopPosition;
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public double MainAxisTopPosition
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{
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get
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{
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return _MainAxisTopPosition;
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}
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set
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{
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if (value < 0)
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{
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value = 0;
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}
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_MainAxisTopPosition = value;
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OnPropertyChanged("MainAxisTopPosition");
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}
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}
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private double _MainAxisSpeed;
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public double MainAxisSpeed
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{
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get
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{
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return _MainAxisSpeed;
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}
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set
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{
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_MainAxisSpeed = value;
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OnPropertyChanged("MainAxisSpeed");
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}
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}
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private bool _ProgressEnabled;
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public bool ProgressEnabled
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{
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get
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{
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return _ProgressEnabled;
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}
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set
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{
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_ProgressEnabled = value;
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OnPropertyChanged("ProgressEnabled");
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}
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}
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private int _ProgressTime;
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public int ProgressTime
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{
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get
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{
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return _ProgressTime;
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}
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set
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{
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_ProgressTime = value;
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OnPropertyChanged("ProgressTime");
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}
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}
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private ushort _WindowStatus;
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public ushort WindowStatus
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{
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get
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{
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return _WindowStatus;
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}
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set
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{
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_WindowStatus = value;
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OnPropertyChanged("WindowStatus");
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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 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 ushort _BrowN2Status;
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public ushort BrowN2Status
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{
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get
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{
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return _BrowN2Status;
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}
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set
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{
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_BrowN2Status = value;
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OnPropertyChanged("BrowN2Status");
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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 _MainAxisTopCommand;
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public ICommand MainAxisTopCommand
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{
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get
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{
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return _MainAxisTopCommand;
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}
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set
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{
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_MainAxisTopCommand = value;
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OnPropertyChanged("MainAxisTopCommand");
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}
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}
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private ICommand _AttractCommand;
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public ICommand AttractCommand
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{
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get
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{
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return _AttractCommand;
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}
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set
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{
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_AttractCommand = value;
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OnPropertyChanged("AttractCommand");
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}
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}
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private ICommand _PrepareCommand;
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public ICommand PrepareCommand
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{
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get
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{
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return _PrepareCommand;
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}
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set
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{
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_PrepareCommand = value;
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OnPropertyChanged("PrepareCommand");
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}
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}
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private ICommand _TerminateCommand;
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public ICommand TerminateCommand
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{
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get
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{
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return _TerminateCommand;
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}
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set
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{
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_TerminateCommand = value;
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OnPropertyChanged("TerminateCommand");
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}
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}
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private ICommand _DMTSetCommand;
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public ICommand DMTSetCommand
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|
{
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get
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|
{
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return _DMTSetCommand;
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}
|
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set
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{
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_DMTSetCommand = value;
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OnPropertyChanged("DMTSetCommand");
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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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|
{
|
|
|
return _HOMECommand;
|
|
|
}
|
|
|
set
|
|
|
{
|
|
|
_HOMECommand = value;
|
|
|
OnPropertyChanged("HOMECommand");
|
|
|
}
|
|
|
}
|
|
|
private ICommand _WindowCommand;
|
|
|
public ICommand WindowCommand
|
|
|
{
|
|
|
get
|
|
|
{
|
|
|
return _WindowCommand;
|
|
|
}
|
|
|
set
|
|
|
{
|
|
|
_WindowCommand = value;
|
|
|
OnPropertyChanged("WindowCommand");
|
|
|
}
|
|
|
}
|
|
|
private ICommand _BrowN2Command;
|
|
|
public ICommand BrowN2Command
|
|
|
{
|
|
|
get
|
|
|
{
|
|
|
return _BrowN2Command;
|
|
|
}
|
|
|
set
|
|
|
{
|
|
|
_BrowN2Command = value;
|
|
|
OnPropertyChanged("BrowN2Command");
|
|
|
}
|
|
|
}
|
|
|
#endregion
|
|
|
|
|
|
#region Private Methods
|
|
|
private void timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
|
|
|
{
|
|
|
if (this.IsActiveChildPage)
|
|
|
{
|
|
|
var dtm = Global.DTM?.FirstOrDefault(q => q.DTMCode == StationCode);
|
|
|
if (dtm != null)
|
|
|
{
|
|
|
DMTSetStatus = dtm.IsAutoSetStatus;
|
|
|
}
|
|
|
int position = 0;
|
|
|
var axis = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (axis != null && !Helpering.IsTerminate)
|
|
|
{
|
|
|
DeviceControl.GetPosition(axis.NodeId, axis.SlotId, ref position);
|
|
|
if (Homing && ControlCheck.IsHPHomeDone(axis.NodeId, axis.SlotId))//恢复Home状态
|
|
|
{
|
|
|
HOMEStatus = 0;
|
|
|
DingZhenStatus = 1;
|
|
|
Homing = false;
|
|
|
}
|
|
|
if (MovingPostion == position)
|
|
|
{
|
|
|
MainAxisTopStatus = 0;
|
|
|
DingZhenStatus = 0;
|
|
|
}
|
|
|
if (0 == position)
|
|
|
{
|
|
|
DingZhenStatus = 1;
|
|
|
}
|
|
|
ushort Datasize = 4;
|
|
|
byte[] Data = new byte[4];
|
|
|
DeviceControl.ReadPDOParameter(axis.NodeId, 0, Global.PositionSign, 0, Datasize, ref Data[0]);
|
|
|
int c = TypeHelper.ByteArrayToInt(Data);
|
|
|
string values = Convert.ToString(c, 2);
|
|
|
IsSub1Open = false;
|
|
|
IsSub2Open = false;
|
|
|
IsSub3Open = false;
|
|
|
//原点最右侧
|
|
|
if (values.Length > 0)
|
|
|
{
|
|
|
IsSub3Open = values.Substring(values.Length - 1) == "1";
|
|
|
}
|
|
|
//中间负极
|
|
|
if (values.Length > 1)
|
|
|
{
|
|
|
IsSub2Open = values.Substring(values.Length - 2, 1) == "1";
|
|
|
}
|
|
|
//左侧正极
|
|
|
if (values.Length > 2)
|
|
|
{
|
|
|
IsSub1Open = values.Substring(values.Length - 3, 1) == "1";
|
|
|
}
|
|
|
|
|
|
//var inputIO = Global.InputIOs.FirstOrDefault(q => q.RecId == "DI5.1");
|
|
|
//bool isDone = DeviceControl.GetPortStatus(inputIO.NodeId, inputIO.SlotId, inputIO.PortIndex, true);
|
|
|
//inputIO = Global.InputIOs.FirstOrDefault(q => q.RecId == "DI5.2");
|
|
|
//isDone = DeviceControl.GetPortStatus(inputIO.NodeId, inputIO.SlotId, inputIO.PortIndex, true);
|
|
|
var postion = BusinessHelper.ConvertHPMapSpeed(axis.NodeId, (double)position);
|
|
|
View.Dispatcher.BeginInvoke(new Action(() =>
|
|
|
{
|
|
|
CurPosition = MainAxisTopPosition == 0 ? postion : (decimal)MainAxisTopPosition - postion;
|
|
|
}), null);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
private void RefreshIOStatus()
|
|
|
{
|
|
|
//状态位刷新
|
|
|
WindowStatus = Global.GetInPortStatus(StationCode, "Window");
|
|
|
AttractIOStatus = Global.GetInPortStatus(StationCode, "Attract");
|
|
|
BrowN2Status = Global.GetOutPortStatus(StationCode, "BrowN2");//*/
|
|
|
}
|
|
|
//吸片真空
|
|
|
private void OnAttractCommand(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
AttractIOStatus = (ushort)(AttractIOStatus != 1 ? 1 : 0);
|
|
|
OnAttractCommand(AttractIOStatus);
|
|
|
}
|
|
|
private void OnAttractCommand(ushort value)
|
|
|
{
|
|
|
var flow = HardParameters.GetHPAttractIO(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
AttractIOStatus = value;
|
|
|
ControlCheck.PMCInvoke(false, "SetPortStatus", null, () => DeviceControl.SetPortStatus(flow.NodeId, flow.SlotId, flow.BitNum, AttractIOStatus));
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 自整定，内容可设定为 0:停止、1:执行
|
|
|
/// </summary>
|
|
|
/// <param name="sender"></param>
|
|
|
private void OnDMTSetCommand(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
if (DMTSetStatus != 1)
|
|
|
{
|
|
|
DMTSetStatus = 1;
|
|
|
DTM.Write(dtm.Channel, dtm.WriteAddress, (ushort)((HPSV + HPOffset) * 10));
|
|
|
DTM.Write(dtm.Channel, dtm.ATAddress, 1);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
DMTSetStatus = 0;
|
|
|
DTM.Write(dtm.Channel, dtm.ATAddress, 0);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public void OnMainAxisSpeedTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + Constant.HPMainAxisSpeed, Convert.ToString(value));
|
|
|
}
|
|
|
public void OnMainAxisTopPositionTextChangedCommand(string value)
|
|
|
{
|
|
|
HardParameterDA.Save(StationCode + Constant.HPMainAxisTopPosition, Convert.ToString(value));
|
|
|
}
|
|
|
public void OnHOMEPositionTextChangedCommand(string value)
|
|
|
{
|
|
|
//HardParameterDA.Save(StationCode + Constant.HPMainAxisBackPosition, Convert.ToString(value));
|
|
|
string postionkey = string.Format("HP_{0}HomingOffset", StationCode);
|
|
|
var postionSet = Global.Settings.FirstOrDefault(q => q.RecId == postionkey);
|
|
|
postionSet.SettingValue = Common.ToDecimal(value);
|
|
|
SysSettingDA.Update(postionSet);
|
|
|
}
|
|
|
|
|
|
public void OnHPSVTextChangedCommand(string value)
|
|
|
{
|
|
|
HPSV = Common.ToDecimal(value);
|
|
|
UpdateParameter();
|
|
|
}
|
|
|
public void OnHPAlmOffsetTextChangedCommand(string value)
|
|
|
{
|
|
|
HPAlmOffset = Common.ToDecimal(value);
|
|
|
UpdateParameter();
|
|
|
}
|
|
|
public void OnHPOffsetTextChangedCommand(string value)
|
|
|
{
|
|
|
HPOffset = Common.ToDecimal(value);
|
|
|
UpdateParameter();
|
|
|
}
|
|
|
|
|
|
private void UpdateParameter()
|
|
|
{
|
|
|
HardDTMEntity dtm = new HardDTMEntity();
|
|
|
dtm.RecId = StationCode;
|
|
|
dtm.DTMCode = StationCode;
|
|
|
dtm.DTMName = StationCode;
|
|
|
dtm.SV = HPSV;
|
|
|
dtm.AlmOffset = HPAlmOffset;
|
|
|
dtm.Offset = HPOffset;
|
|
|
HardDTMDA.Update(dtm);
|
|
|
}
|
|
|
|
|
|
public void OnJogForwardStart()
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
var flow = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(flow.NodeId, (double)MainAxisSpeed);
|
|
|
double axisAcc = 0.1;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(flow.NodeId, flow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
ForwardStatus = 1;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(flow.NodeId, flow.SlotId, 1, axisSpeed, axisSpeed, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogForwardStop()
|
|
|
{
|
|
|
var flow = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(flow.NodeId, (double)MainAxisSpeed);
|
|
|
double axisAcc = 0.1;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(flow.NodeId, flow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
ForwardStatus = 0;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(flow.NodeId, flow.SlotId, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogBackStart()
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
var flow = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(flow.NodeId, (double)MainAxisSpeed);
|
|
|
double axisAcc = 0.1;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(flow.NodeId, flow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
BackStatus = 1;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(flow.NodeId, flow.SlotId, 0, axisSpeed, axisSpeed, axisAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
public void OnJogBackStop()
|
|
|
{
|
|
|
var flow = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(flow.NodeId, (double)MainAxisSpeed);
|
|
|
double axisAcc = 0.1;
|
|
|
SVONStatus = 1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(flow.NodeId, flow.SlotId, SVONStatus)))
|
|
|
{
|
|
|
BackStatus = 0;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(flow.NodeId, flow.SlotId, axisAcc));
|
|
|
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
private void OnHOMECommand(Object sender)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
var axis = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (axis != null)
|
|
|
{
|
|
|
int homeSpeed = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)MainAxisSpeed);
|
|
|
int homePostion = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)HOMEPosition);
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(axis.NodeId, axis.SlotId, 1)))
|
|
|
{
|
|
|
MainAxisTopStatus = 0;
|
|
|
if (HOMEStatus != 1)
|
|
|
{
|
|
|
Homing = true;
|
|
|
HOMEStatus = 1;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "GoHPHome", null, () => DeviceControl.GoHPHome(Global.HPHomeWay, axis.NodeId, axis.SlotId, homePostion, (uint)homeSpeed));
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
HOMEStatus = 0;
|
|
|
//停止运动
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(axis.NodeId, axis.SlotId, Global.ArmAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
ShowErrorBox(ex.Message);
|
|
|
HOMEStatus = 0;
|
|
|
}
|
|
|
}
|
|
|
private void OnMainAxisTopCommand(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
var axis = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (axis != null)
|
|
|
{
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)MainAxisSpeed);
|
|
|
int position = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)MainAxisTopPosition);
|
|
|
double scale = Global.GetRPMScale(axis.NodeId);
|
|
|
if (scale == 0)
|
|
|
{
|
|
|
scale = 1;//默认值
|
|
|
}
|
|
|
position = (int)(position * 1.0 / scale);
|
|
|
double axisAcc = Global.DefaultAcc;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(axis.NodeId, axis.SlotId, 1)))
|
|
|
{
|
|
|
HOMEStatus = 0;
|
|
|
if (MainAxisTopStatus != 1)
|
|
|
{
|
|
|
MovingPostion = position;
|
|
|
MainAxisTopStatus = 1;
|
|
|
//匀速运动
|
|
|
ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(axis.NodeId, axis.SlotId, position, axisSpeed, axisSpeed, 0, axisAcc, axisAcc, 1));
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MainAxisTopStatus = 0;
|
|
|
//停止运动
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(axis.NodeId, axis.SlotId, Global.ArmAcc));
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnWindowCommand(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
var flow = HardParameters.GetHPWindowIO(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
WindowStatus = (ushort)(WindowStatus != 1 ? 1 : 0);
|
|
|
ControlCheck.PMCInvoke(false, "SetPortStatus", null, () => DeviceControl.SetPortStatus(flow.NodeId, flow.SlotId, flow.BitNum, WindowStatus));
|
|
|
}
|
|
|
}
|
|
|
private void OnBrowN2Command(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
BrowN2Status = (ushort)(BrowN2Status != 1 ? 1 : 0);
|
|
|
OnBrowN2Command(BrowN2Status);
|
|
|
}
|
|
|
private void OnBrowN2Command(ushort value)
|
|
|
{
|
|
|
var action = HardParameters.GetHPBrowN2(StationCode);
|
|
|
if (action != null)
|
|
|
{
|
|
|
BrowN2Status = value;
|
|
|
ControlCheck.PMCInvoke(false, "SetPortStatus", null, () => DeviceControl.SetPortStatus(action.NodeId, action.SlotId, action.BitNum, BrowN2Status));
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnPrepareCommand(Object sender)
|
|
|
{
|
|
|
if (StationLockControl.StationIsLock(StationCode))
|
|
|
{
|
|
|
ShowMessageBox(HintMessage.StationLocked);
|
|
|
return;
|
|
|
}
|
|
|
//关闭遮挡
|
|
|
var flow = HardParameters.GetHPWindowIO(StationCode);
|
|
|
if (flow != null)
|
|
|
{
|
|
|
WindowStatus = 0;
|
|
|
ControlCheck.PMCInvoke(false, "SetPortStatus", null, () => DeviceControl.SetPortStatus(flow.NodeId, flow.SlotId, flow.BitNum, WindowStatus));
|
|
|
}
|
|
|
var axis = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (axis != null)
|
|
|
{
|
|
|
cancellationTokenSource = new CancellationTokenSource();
|
|
|
ProgressEnabled = false;
|
|
|
ProgressTime = 0;
|
|
|
dtStart = DateTime.Now;
|
|
|
IsCanceling = false;
|
|
|
Task formulaTask = new Task(() =>
|
|
|
{
|
|
|
Global.ClearErrorState(StationCode);
|
|
|
ProgressTime = 0;
|
|
|
int axisSpeed = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)MainAxisSpeed);
|
|
|
int homePostion = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)HOMEPosition);
|
|
|
int topPosition = BusinessHelper.GetHPMapSpeed(axis.NodeId, (double)MainAxisTopPosition);
|
|
|
double axisAcc = 0.1;
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(axis.NodeId, axis.SlotId, 1)))
|
|
|
{
|
|
|
if (IsCanceling)
|
|
|
return;
|
|
|
//运行到Home位置，间隙最大
|
|
|
ControlCheck.PMCInvoke(false, "GoHPHome", null, () => DeviceControl.GoHPHome(Global.HPHomeWay, axis.NodeId, axis.SlotId, homePostion, (uint)axisSpeed));
|
|
|
if (IsCanceling)
|
|
|
return;
|
|
|
//等待执行时间后自动关闭
|
|
|
ControlCheck.WaitAxisDone(axis.NodeId);
|
|
|
if (IsCanceling)
|
|
|
return;
|
|
|
//吸片真空
|
|
|
OnAttractCommand(0);
|
|
|
//吹氮气
|
|
|
OnBrowN2Command(0);
|
|
|
if (IsCanceling)
|
|
|
return;
|
|
|
//再运行到顶部部位置
|
|
|
//ControlCheck.PMCInvoke(false, "StartMove", null, () => DeviceControl.StartMove(axis.NodeId, axis.SlotId, topPosition, axisSpeed, axisSpeed, 0, axisAcc, axisAcc, 1));
|
|
|
if (IsCanceling)
|
|
|
return;
|
|
|
//等待执行时间后自动关闭
|
|
|
//ControlCheck.WaitAxisDone(axis.NodeId);
|
|
|
//停止运动
|
|
|
//ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(axis.NodeId, axis.SlotId, Global.ArmAcc));
|
|
|
//RefreshIOStatus();
|
|
|
}
|
|
|
ProgressEnabled = true;
|
|
|
}, cancellationTokenSource.Token, TaskCreationOptions.LongRunning);
|
|
|
formulaTask.Start();
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void OnTerminateCommand(Object sender)
|
|
|
{
|
|
|
IsCanceling = true;
|
|
|
if (cancellationTokenSource != null)
|
|
|
{
|
|
|
cancellationTokenSource.Cancel();
|
|
|
}
|
|
|
//稍等待后停止主轴
|
|
|
Helpering.Sleep(1000);
|
|
|
var axis = HardParameters.GetHPMainAxis(StationCode);
|
|
|
if (axis != null)
|
|
|
{
|
|
|
if (ControlCheck.PMCInvoke(false, "SetSvon", null, () => DeviceControl.SetSvon(axis.NodeId, axis.SlotId, 1)))
|
|
|
{
|
|
|
HOMEStatus = 0;
|
|
|
//停止运动
|
|
|
ControlCheck.PMCInvoke(false, "StopMove", null, () => DeviceControl.StopMove(axis.NodeId, axis.SlotId, Global.ArmAcc));
|
|
|
}
|
|
|
}
|
|
|
ProgressEnabled = true;
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
}
|
