板卡运行界面修改

wells

2020-07-11 865819f7f2d66cebb6bba68899159b9a24be3ee5

 src/Bro.UI.Device.Winform/MotionCard/FrmMotionCardOperationBase.cs

@@ -3,6 +3,7 @@
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
using System.Linq;
using System.Windows.Forms;

namespace Bro.UI.Device.Winform
@@ -16,7 +17,7 @@

        public IDevice Device { get; set; }

        public MotionCardOperationConfigBase MotionCardOperationConfig { get; set; }
        public MovingOption MotionCardMovingOption { get; set; } = new MovingOption();

        /// <summary>
        /// 当前板卡实例
@@ -32,68 +33,60 @@
            InitializeComponent();

            Device = device;
            MotionCardOperationConfig = new MotionCardOperationConfigBase();

            InitialLayout();
        }

        MovingOption movingConfig = null;

        #region ILogoutput
        public Action<LogMsg> OnLogMsgOutput { get; set; }

        public void LogDisplay(LogMsg msg)
        private void InitialLayout()
        {
        }
        #endregion
            foreach (var axisConfig in MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                CtrlMotionCardAxisOperation axisOperation = new CtrlMotionCardAxisOperation(Device, axisConfig.AxisIndex, axisConfig.AxisName);
                //axisOperation.Dock = DockStyle.Fill;
                flowLayoutPanel1.Controls.Add(axisOperation);

            }

        private void RadioButton_CheckedChanged(object sender, EventArgs e)
        {
            //加载对应运动的 movingConfig
            //if (radioP2P.Checked)
            //{
            //    movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.Normal);
            //}
            //else if (radioJog.Checked)
            //{
            //    movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.Jog);
            //}
            //else if (radioGoHome.Checked)
            //{
            //    movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.FindOri);
            //}

            propGrid.SelectedObject = movingConfig;
            MotionCardMovingOption.SetAxisSetting(MotionCard.IConfig.AxisSettings);
            propGrid.SelectedObject = MotionCardMovingOption;
        }

        private void buttonClearStatus_Click(object sender, EventArgs e)
        {

            MotionCard.ClearStatus(1, MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        private void buttonServoEnable_Click(object sender, EventArgs e)
        {

            int sts = MotionCard.GetAxisStatus(MotionCardMovingOption.AxisIndex);
            if ((sts & 0x200) == 0)//关闭状态
            {
                MotionCard.AxisOnAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已开启";
            }
            else
            {
                MotionCard.AxisOffAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已关闭";
            }
        }

        private void buttonPositionReset_Click(object sender, EventArgs e)
        {

            var res = MotionCard.PositionReset(MotionCardMovingOption.AxisIndex, 1);
        }

        private void btnStart_Click(object sender, EventArgs e)
        {

            MotionCard.SingleAxisMoving(MotionCardMovingOption).Start();
        }

        private void buttonSmoothStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 0);
        }

        private void buttonEmergencyStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 1);
        }

    }