实例介绍
【实例简介】
【实例截图】
【核心代码】
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Data.SqlClient;
using System.IO.Ports;
using csLTDMC;
using System.Threading;
using WindowsFormsApplication2;
namespace 视觉
{
public partial class main : Form
{
public main()
{
InitializeComponent();
}
private ushort _CardID = 0;
axis axis = new axis();
yundong axis_x;
yundong axis_y;
yundong axis_z;
yundong axis_folder;
yundong axis_move1;
yundong axis_move2;
public string time;
//传输 ip地址与端口号
private IPEndPoint ServerInfo;
private Socket ClientSocket;
string[] protName = SerialPort.GetPortNames();
//信息接收缓存
private Byte[] MsgBuffer;
//信息发送存储
private Byte[] MsgSend;
Thread Up_piece;
private void Form1_Load(object sender, EventArgs e)
{
#region 初始化窗体
pnlOPContainer.Controls.Clear();//移除所有控件
you frmAddUser = new you();
frmAddUser.TopLevel = false;
frmAddUser.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
pnlOPContainer.Controls.Add(frmAddUser);
frmAddUser.Show();
main form1 = new main();
main main = new main();
lei.sizi sizi = new lei.sizi();
sizi.controllInitializeSize(main);
sizi.controlAutoSize(main);
// sizi.controllInitializeSize(frmAddUser);
// sizi.controlAutoSize(frmAddUser);
#endregion
#region 初始化
axis.ka();
axis.qigang(false, 4);
axis.qigang(false, 5);
try
{ //定义一个IPV4，TCP模式的Socket
ClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
MsgBuffer = new Byte[65535];
MsgSend = new Byte[65535];
//允许子线程刷新数据
//服务端IP和端口信息设定,这里的IP可以是127.0.0.1，可以是本机局域网IP，也可以是本机网络IP
ServerInfo = new IPEndPoint(IPAddress.Parse("192.168.2.201"), Convert.ToInt32("6666"));
//客户端连接服务端指定IP端口，Sockket
Thread.Sleep(5);
ClientSocket.Connect(ServerInfo);
//将用户登录信息发送至服务器，由此可以让其他客户端获知
// ClientSocket.Send(Encoding.ASCII.GetBytes("ccd61"));
// Thread.Sleep(5);
//开始从连接的Socket异步读取数据。接收来自服务器，其他客户端转发来的信息
//AsyncCallback引用在异步操作完成时调用的回调方法
// ClientSocket.Receive(MsgBuffer, 0, SocketFlags.None);
}
catch (Exception u)
{
throw u;
}
#endregion
try
{
#region 设置
axis_x = new yundong(_CardID, 0, 0, 1, 1, 1, 0, 0);//打码轴
axis_y = new yundong(_CardID, 1, 0, 1, 1, 1, 0, 0);//横轴
axis_z = new yundong(_CardID, 5, 0, 0, 0, 1, 0, 0); //旋转轴
axis_move1 = new yundong(_CardID, 3, 0, 0, 1, 0, 0, 0);//履带
axis_move2 = new yundong(_CardID, 4, 0, 0, 1, 0, 0, 0);//履带
axis_folder = new yundong(_CardID, 2, 0, 0, 1, 0, 0, 0);//加料轴
axis_x.SetReset(0, 20000, 0, 1);
axis_y.SetReset(0, 20000, 0, 1);
axis_z.SetReset(0, 5000, 1000, 0);
axis_folder.SetReset(0, 3000, 0, 1);
//axis_move1.SetReset(0, 6000, 1000, 0);
//axis_move2.SetReset(0, 6000, 1000, 0);
axis_x.SetRunpara(0.1, 0.1, 1000, 1000, 30000, 0.1);
axis_y.SetRunpara(0.1, 0.1, 1000, 1000, 30000, 0.1);
axis_z.SetRunpara(0.1, 0.1, 500, 500, 2000, 0.1);
axis_move1.SetRunpara(0.1, 0.1, 1000, 1000, 4000, 0.1);
axis_move2.SetRunpara(0.1, 0.1, 1000, 1000, 4000, 0.1);
axis_folder.SetRunpara(0.1, 0.1, 1000, 1000, 5000, 0.1);
#endregion
}
catch (Exception u)
{
throw u;
}
}
private void dingsheng_Click(object sender, EventArgs e)
{
}
private void label3_Click_1(object sender, EventArgs e)
{
if (this.label3.ImageIndex == 1)
{
this.label3.ImageIndex = 0;
LTDMC.dmc_write_sevon_pin(_CardID, 0, 0);//使能 卡号 轴号 低电平
LTDMC.dmc_write_sevon_pin(_CardID, 1, 0);//使能
LTDMC.dmc_write_sevon_pin(_CardID, 2, 0);//使能
LTDMC.dmc_write_sevon_pin(_CardID, 5, 0);//使能
MessageBox.Show("启动使能", "提示");
yundong.shineng = true;
}
else if (this.label3.ImageIndex == 0)
{
this.label3.ImageIndex = 1;
LTDMC.dmc_write_sevon_pin(_CardID, 0, 1);//使能 卡号 轴号 低电平
LTDMC.dmc_write_sevon_pin(_CardID, 1, 1);//使能
LTDMC.dmc_write_sevon_pin(_CardID, 2, 1);//使能
LTDMC.dmc_write_sevon_pin(_CardID, 5, 1);//使能
// MessageBox.Show("关闭使能", "提示", MessageBoxButtons.OK);
yundong.shineng = false;
}
}
private void 急停ToolStripMenuItem_Click(object sender, EventArgs e)
{
LTDMC.dmc_emg_stop(_CardID);
}
private void 复位ToolStripMenuItem_Click(object sender, EventArgs e)
{
LTDMC.dmc_write_outbit(0, 4, 1);
LTDMC.dmc_write_outbit(0, 5, 1);
axis_x.fuwei();
axis_y.fuwei();
axis_z.fuwei();
}
private void pnlOPContainer_Paint(object sender, PaintEventArgs e)
{
}
private void 启动ToolStripMenuItem_Click(object sender, EventArgs e)
{
MsgBuffer = new Byte[65535];
MsgSend = new Byte[65535];
string a = DateTime.Now.ToLongDateString();
string str1 = a;
int i = 0, length = 2;
str1 = str1.Remove(i, length);
string str2 = str1;
string[] strArray = str2.Split('年');
time = strArray[0] ".";
a = DateTime.Now.ToLongDateString();
str1 = a;
i = 0;
length = 5;
str1 = str1.Remove(i, length);
str2 = str1;
strArray = str2.Split('月');
time = strArray[0] ".";
a = DateTime.Now.ToLongDateString();
str1 = a;
i = 0;
length = 8;
str1 = str1.Remove(i, length);
str2 = str1;
strArray = str2.Split('日');
if (int.Parse(strArray[0].ToString()) < 10)
{
strArray[0] = "0" strArray[0];
}
time = strArray[0];
DBHelper.ExcuteSql("delete from a");
DBHelper.ExcuteSql("delete from b");
Up_piece = new Thread(new ThreadStart(yun));//运动线程
Up_piece.Start();
}
public int zhuangtai;
public void yun()
{
while (true)
{
zhuangtai = 0;
if (csLTDMC.LTDMC.dmc_read_inbit(0, 0) == 0)
{
axis_move1.Vmove(1);
axis_move2.Vmove(1);
// axis.My_check_io_1(_CardID, 1);
while (true)
{
Thread.Sleep(10);
if (0 == LTDMC.dmc_read_inbit(_CardID, 1)) //传感器触发时输出的电平为低电平 单个传感器感应
{
break;
}
Application.DoEvents();
}
axis.qigang(true, 4);
Thread.Sleep(1000);
axis_move1.Vmovestop(3);
axis_move1.Vmovestop(4);
axis.qigang(true, 5);
zhou();
if (zhuangtai==1)
{
break;
}
axis.qigang(false, 5);
axis.qigang(false, 4);
axis_move1.Vmove(1);
axis_move2.Vmove(1);
// axis.My_check_io_1(_CardID, 2);
while (true)
{
Thread.Sleep(10);
if (0 == LTDMC.dmc_read_inbit(_CardID, 2)) //传感器触发时输出的电平为低电平 单个传感器感应
{
break;
}
Application.DoEvents();
}
axis_move1.Vmovestop(3);
axis_move1.Vmovestop(4);
ushort[] Axis = { 0, 1, 5 };
int[] printstart = { 0, 0, 0 };
DataTable text = DBHelper.GetDataTableBySql("select * from canshu where moban='2'");
printstart[0] = int.Parse(text.Rows[0]["pz_x_1"].ToString());
printstart[1] = int.Parse(text.Rows[0]["pz_y_1"].ToString());
axis.Mulit_Position(Axis, printstart, 40000);
}
}
}
public int a = 0;
public string shuju;
public void zhou()
{
ushort[] Axis = { 0, 1, 5 };
int[] printstart = { 0, 0, 0 }; //打印起始点
int[] printstop = { 0, 0, 0 }; //打印结束点
int[] print = { 0, 0, 0 }; //
int[] print2 = { 0, 0, 0 };
int[] print3 = { 0, 0, 0 };
int[] home = { 0, 0, 0 };
int[] pz = { 0, 0, 0 };
//验证码
if (a > 6)
{
a = 0;
}
DataTable text1 = DBHelper.GetDataTableBySql("select id,ma from ma");
string ma = text1.Rows[a][1].ToString();
a ;
//if (a >= 1)
//{
// DataTable text1 = DBHelper.GetDataTableBySql("select id from ma where ma='" shuju "'");
// string ma1 = text1.Rows[0][0].ToString();
// int ma2 = int.Parse(ma1) 1;
// DataTable text2 = DBHelper.GetDataTableBySql("select ma from ma where id='" ma2 "'");
// string ma3 = text2.Rows[0][0].ToString();
// if (ma3 == ma)
// {
// }
// else
// {
// ma = ma3;
// }
//}
//
DataTable text = DBHelper.GetDataTableBySql("select * from canshu where moban='2'");
pz[0] = int.Parse(text.Rows[0]["pz_x_1"].ToString());
pz[1] = int.Parse(text.Rows[0]["pz_y_1"].ToString());
//
axis.Mulit_Position(Axis, pz, 30000);
//2.发指令
decimal pzx = (decimal)pz[0] / 1000;
decimal pzy = (decimal)pz[1] / 1000;
decimal pzz = (decimal)pz[2] / 1000;
MsgSend = Encoding.ASCII.GetBytes("ccd61," pzx "," pzy);
Thread.Sleep(500);
ClientSocket.Send(MsgSend);
pz[0] = int.Parse(text.Rows[0]["pz_x_2"].ToString());
pz[1] = int.Parse(text.Rows[0]["pz_y_2"].ToString());
axis.Mulit_Position(Axis, pz, 30000);
pzx = (decimal)pz[0] / 1000;
pzy = (decimal)pz[1] / 1000;
pzz = (decimal)pz[2] / 1000;
MsgSend = Encoding.ASCII.GetBytes("ccd62," pzx "," pzy);
ClientSocket.Send(MsgSend);
Thread.Sleep(50);
MsgSend = Encoding.ASCII.GetBytes("ex99," "122.618," "106.276");
ClientSocket.Send(MsgSend);
ClientSocket.Receive(MsgBuffer, MsgBuffer.Length, SocketFlags.None);
byte[] byteArray = MsgBuffer;
string str = System.Text.Encoding.ASCII.GetString(byteArray);
string[] b = str.Split(',');
if (b[0] == "20")
{
MessageBox.Show("模板未识别");
LTDMC.dmc_emg_stop(_CardID);
axis.qigang(false, 4);
axis.qigang(false, 5);
axis_x.MyReset();
axis_y.MyReset();
axis_z.MyReset();
zhuangtai = 1;
return ;
}
MessageBox.Show(b[0] "-" b[1] "-" b[2] "-" b[3]);
// MessageBox.Show(b[1]);
// MessageBox.Show(b[2]);
// MessageBox.Show(b[3]);
double x1 = double.Parse(b[1]);
double y1 = double.Parse(b[2]);
double z1 = double.Parse(b[3]);
x1 = x1 * 1000;
y1 = y1 * 1000;
int x = (Int32)x1;
int y = (Int32)y1;
int chuankou = CsServial_Q560.PrintText(ma, serialPort1, protName[0]);//发送数据//COM3
// shuju = ma;
LTDMC.dmc_write_outbit(_CardID, 2, 1);
LTDMC.dmc_compare_clear_points(_CardID, 0); //清除所有一维比较点
getposition(ref printstart, ref print, ref printstop, x, y, z1);
int pos = print[0];
LTDMC.dmc_compare_add_point(0, 0, pos, 1, 8, 2);//触发结束位置 卡 轴 触发点 0：小于等于 1：大于等于 100ms脉冲 指定io
LTDMC.dmc_compare_set_config(_CardID, 0, 0, 0);//print_style 为0-1 xy 轴分别为2 3 卡号 轴号 使能0：禁止 1：使能 触发源
axis.Mulit_Position(Axis, printstart, 40000);//暂定运行速度为x轴速度//移动到打印起始点
csLTDMC.LTDMC.dmc_compare_set_config(0, 0, 1, 0); //触发使能 xy 轴分别为2 3 卡号 轴号 使能0：禁止 1：使能 触发源
axis.Mulit_Position(Axis, printstop, 100000);//打印
csLTDMC.LTDMC.dmc_compare_set_config(0, 0, 0, 0); //触发使能 xy 轴分别为2 3 卡号 轴号 使能0：禁止 1：使能 触发源
axis.Mulit_Position(Axis, printstart, 40000);
}
public int id;
public int pz_x_1;
public int pz_x_2;
public int pz_y_1;
public int pz_y_2;
public int position_x;
public int position_y;
public int position_x2;
public int position_y2;
public int position_x3;
public int position_y3;
public int added_x;
public int added_y;
public int angle;
public int speed;
public void getposition(ref int[] printstart, ref int[] print, ref int[] printstop, int rex, int rey, double reangle)
{
double z = 0 - 60000 / 360 * reangle;
// if (z%1>0.5)
// {
// z ;
// }
DataTable text = DBHelper.GetDataTableBySql("select * from canshu where moban='2'");
position_x = int.Parse(text.Rows[0]["position_x"].ToString());
position_y = int.Parse(text.Rows[0]["position_y"].ToString());
print[0] = position_x rex;
print[1] = position_y rey;
print[2] = (int)z;
//print[2] = (int)((point.angle reangle) / 90 * Config.Axis_Z_90_Pulse);
//printstart[0] = (int)Math.Cos(point.angle reangle) * Config.Print_Length_add print[0];
//printstart[1] = (int)Math.Sin(point.angle reangle) * Config.Print_Length_add print[1];
//printstart[2] = print[2];
//printstop[0] = 0 - (int)Math.Cos(point.angle reangle) * Config.Print_Length_add print[0];
//printstop[1] = 0 - (int)Math.Sin(point.angle reangle) * Config.Print_Length_add print[1];
//printstop[2] = print[2];
printstart[0] = print[0] - 60000;
printstart[1] = print[1];
printstart[2] = print[2];
printstop[0] = print[0] 100000;
printstop[1] = print[1];
printstop[2] = print[2];
}
private void 停止工作ToolStripMenuItem_Click(object sender, EventArgs e)
{
}
private void 位置清零ToolStripMenuItem_Click(object sender, EventArgs e)
{
LTDMC.dmc_set_position(_CardID, 0, 0);
LTDMC.dmc_set_position(_CardID, 1, 0);
LTDMC.dmc_set_position(_CardID, 5, 0);
}
private void 退出程序ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (LTDMC.dmc_check_done(_CardID, 0) == 0 || LTDMC.dmc_check_done(_CardID, 1) == 0 || LTDMC.dmc_check_done(_CardID, 5) == 0)
{
MessageBox.Show("工作未停止");
}
Application.Exit();
}
}
}
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