实例介绍
【实例截图】
【核心代码】
using System;
using System.Drawing;
using System.Collections;
using System.ComponentModel;
using System.Windows.Forms;
using System.Data;
namespace TrioPC_Test
{
/// <summary>
/// Summary description for Form1.
/// </summary>
public class frmMain : System.Windows.Forms.Form
{
private System.Windows.Forms.Button btnExit;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.Button btnOpen;
private System.Windows.Forms.Button btnClose;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox cbConnectionType;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.TextBox tbHostAddress;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.TextBox tbChannel;
private AxTrioPCLib.AxTrioPC axTrioPC;
private System.Windows.Forms.TabPage tabStatus;
private System.Windows.Forms.TabPage tabAxisParameters;
private System.Windows.Forms.TabPage tabIO;
private System.Windows.Forms.TabPage tabTable;
private System.Windows.Forms.TabPage tabVRs;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.TextBox tbAnalogueIOs;
private System.Windows.Forms.TextBox tbDigitalIOs;
private System.Windows.Forms.TextBox tbSystemVersion;
private System.Windows.Forms.TextBox tbControllerType;
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.Container components = null;
private System.Windows.Forms.Button btnRefresh;
private System.Windows.Forms.Button btnRefreshLamp;
private System.Windows.Forms.TabControl shtControllerPages;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.TextBox tbAxis;
private System.Windows.Forms.ListView lstParameters1;
private System.Windows.Forms.ColumnHeader clmDescription;
private System.Windows.Forms.ColumnHeader clmValue;
private System.Windows.Forms.ListView lstParameters2;
private System.Windows.Forms.ColumnHeader columnHeader1;
private System.Windows.Forms.ColumnHeader columnHeader2;
private System.Windows.Forms.Label label9;
private System.Windows.Forms.TextBox tbDigitalIOValue;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.TextBox tbTableStart;
private System.Windows.Forms.TextBox tbTableEntries;
private System.Windows.Forms.ListView lstTableValues;
private System.Windows.Forms.ColumnHeader clmEntry;
private System.Windows.Forms.ColumnHeader clmTableValue;
private System.Windows.Forms.ColumnHeader columnHeader3;
private System.Windows.Forms.ColumnHeader columnHeader4;
private System.Windows.Forms.ListView lstVRValues;
private System.Windows.Forms.ColumnHeader columnHeader5;
private System.Windows.Forms.ColumnHeader columnHeader6;
private System.Windows.Forms.TextBox tbVREntries;
private System.Windows.Forms.TextBox tbVRStart;
private System.Windows.Forms.Label label12;
private System.Windows.Forms.Label label13;
private System.Windows.Forms.TabPage tabDir;
private System.Windows.Forms.TextBox tbDirList;
private System.Windows.Forms.Button btnSetVR;
private System.Windows.Forms.TabPage tabMoves;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.TextBox tbRunStatus;
private System.Windows.Forms.Button btnRun;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.TextBox tbWatchdogState;
private System.Windows.Forms.ListView lstMoveParams;
private System.Windows.Forms.ColumnHeader clmParameter;
private System.Windows.Forms.ColumnHeader clmAxis0;
private System.Windows.Forms.ColumnHeader clmAxis1;
private System.Windows.Forms.Button btnWriteTableValues;
protected short m_iPortID;
protected int m_iSelectedTableItem;
private System.Windows.Forms.TextBox tbTableEdit;
protected int m_iPreSelectedTableItem;
public frmMain()
{
//
// Required for Windows Form Designer support
//
InitializeComponent();
m_iPortID = 0;
cbConnectionType.SelectedIndex = 0;
m_iSelectedTableItem = -1;
m_iPreSelectedTableItem = -1;
InitParameterGrids();
tbRunStatus.Text = "Stopped";
tbRunStatus.Refresh();
}
/// <summary>
/// Clean up any resources being used.
/// </summary>
protected override void Dispose( bool disposing )
{
if( disposing )
{
if (components != null)
{
components.Dispose();
}
}
base.Dispose( disposing );
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.btnExit = new System.Windows.Forms.Button();
this.btnOpen = new System.Windows.Forms.Button();
this.btnClose = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.tbChannel = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.tbHostAddress = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.cbConnectionType = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.shtControllerPages = new System.Windows.Forms.TabControl();
this.tabStatus = new System.Windows.Forms.TabPage();
this.tbAnalogueIOs = new System.Windows.Forms.TextBox();
this.tbDigitalIOs = new System.Windows.Forms.TextBox();
this.tbSystemVersion = new System.Windows.Forms.TextBox();
this.tbControllerType = new System.Windows.Forms.TextBox();
this.label7 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.tabAxisParameters = new System.Windows.Forms.TabPage();
this.lstParameters2 = new System.Windows.Forms.ListView();
this.columnHeader1 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.columnHeader2 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.lstParameters1 = new System.Windows.Forms.ListView();
this.clmDescription = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.clmValue = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.tbAxis = new System.Windows.Forms.TextBox();
this.label8 = new System.Windows.Forms.Label();
this.tabIO = new System.Windows.Forms.TabPage();
this.tbDigitalIOValue = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.tabTable = new System.Windows.Forms.TabPage();
this.tbTableEdit = new System.Windows.Forms.TextBox();
this.btnWriteTableValues = new System.Windows.Forms.Button();
this.lstTableValues = new System.Windows.Forms.ListView();
this.clmEntry = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.clmTableValue = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.tbTableEntries = new System.Windows.Forms.TextBox();
this.tbTableStart = new System.Windows.Forms.TextBox();
this.label11 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
this.tabVRs = new System.Windows.Forms.TabPage();
this.btnSetVR = new System.Windows.Forms.Button();
this.lstVRValues = new System.Windows.Forms.ListView();
this.columnHeader5 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.columnHeader6 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.tbVREntries = new System.Windows.Forms.TextBox();
this.tbVRStart = new System.Windows.Forms.TextBox();
this.label12 = new System.Windows.Forms.Label();
this.label13 = new System.Windows.Forms.Label();
this.tabDir = new System.Windows.Forms.TabPage();
this.tbDirList = new System.Windows.Forms.TextBox();
this.tabMoves = new System.Windows.Forms.TabPage();
this.tbWatchdogState = new System.Windows.Forms.TextBox();
this.label15 = new System.Windows.Forms.Label();
this.btnRun = new System.Windows.Forms.Button();
this.tbRunStatus = new System.Windows.Forms.TextBox();
this.label14 = new System.Windows.Forms.Label();
this.lstMoveParams = new System.Windows.Forms.ListView();
this.clmParameter = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.clmAxis0 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.clmAxis1 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.btnRefresh = new System.Windows.Forms.Button();
this.btnRefreshLamp = new System.Windows.Forms.Button();
this.columnHeader3 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.columnHeader4 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
this.groupBox1.SuspendLayout();
this.shtControllerPages.SuspendLayout();
this.tabStatus.SuspendLayout();
this.tabAxisParameters.SuspendLayout();
this.tabIO.SuspendLayout();
this.tabTable.SuspendLayout();
this.tabVRs.SuspendLayout();
this.tabDir.SuspendLayout();
this.tabMoves.SuspendLayout();
this.SuspendLayout();
//
// btnExit
//
this.btnExit.Location = new System.Drawing.Point(595, 353);
this.btnExit.Name = "btnExit";
this.btnExit.Size = new System.Drawing.Size(87, 26);
this.btnExit.TabIndex = 0;
this.btnExit.Text = "Exit";
this.btnExit.Click = new System.EventHandler(this.btnExit_Click);
//
// btnOpen
//
this.btnOpen.Location = new System.Drawing.Point(48, 172);
this.btnOpen.Name = "btnOpen";
this.btnOpen.Size = new System.Drawing.Size(86, 26);
this.btnOpen.TabIndex = 1;
this.btnOpen.Text = "Open";
this.btnOpen.Click = new System.EventHandler(this.btnOpen_Click);
//
// btnClose
//
this.btnClose.Enabled = false;
this.btnClose.Location = new System.Drawing.Point(48, 215);
this.btnClose.Name = "btnClose";
this.btnClose.Size = new System.Drawing.Size(86, 26);
this.btnClose.TabIndex = 2;
this.btnClose.Text = "Close";
this.btnClose.Click = new System.EventHandler(this.btnClose_Click);
//
// groupBox1
//
this.groupBox1.Controls.Add(this.tbChannel);
this.groupBox1.Controls.Add(this.label3);
this.groupBox1.Controls.Add(this.tbHostAddress);
this.groupBox1.Controls.Add(this.label2);
this.groupBox1.Controls.Add(this.cbConnectionType);
this.groupBox1.Controls.Add(this.label1);
this.groupBox1.Controls.Add(this.btnOpen);
this.groupBox1.Controls.Add(this.btnClose);
this.groupBox1.Location = new System.Drawing.Point(547, 9);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(173, 258);
this.groupBox1.TabIndex = 3;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "Connection";
//
// tbChannel
//
this.tbChannel.Location = new System.Drawing.Point(86, 121);
this.tbChannel.Name = "tbChannel";
this.tbChannel.Size = new System.Drawing.Size(77, 21);
this.tbChannel.TabIndex = 8;
this.tbChannel.Text = "0";
//
// label3
//
this.label3.Location = new System.Drawing.Point(19, 121);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(58, 17);
this.label3.TabIndex = 7;
this.label3.Text = "Channel";
//
// tbHostAddress
//
this.tbHostAddress.Location = new System.Drawing.Point(48, 86);
this.tbHostAddress.Name = "tbHostAddress";
this.tbHostAddress.Size = new System.Drawing.Size(115, 22);
this.tbHostAddress.TabIndex = 6;
this.tbHostAddress.Text = "192.168.0.111";
//
// label2
//
this.label2.Location = new System.Drawing.Point(19, 60);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(96, 18);
this.label2.TabIndex = 5;
this.label2.Text = "Host address";
//
// cbConnectionType
//
this.cbConnectionType.Items.AddRange(new object[] {
"USB",
"Ethernet",
"PCI"});
this.cbConnectionType.Location = new System.Drawing.Point(86, 26);
this.cbConnectionType.Name = "cbConnectionType";
this.cbConnectionType.Size = new System.Drawing.Size(77, 20);
this.cbConnectionType.TabIndex = 4;
this.cbConnectionType.Text = "???";
this.cbConnectionType.SelectedIndexChanged = new System.EventHandler(this.cbConnectionType_SelectedIndexChanged);
//
// label1
//
this.label1.Location = new System.Drawing.Point(19, 26);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(48, 17);
this.label1.TabIndex = 3;
this.label1.Text = "Type";
//
// shtControllerPages
//
this.shtControllerPages.Controls.Add(this.tabStatus);
this.shtControllerPages.Controls.Add(this.tabAxisParameters);
this.shtControllerPages.Controls.Add(this.tabIO);
this.shtControllerPages.Controls.Add(this.tabTable);
this.shtControllerPages.Controls.Add(this.tabVRs);
this.shtControllerPages.Controls.Add(this.tabDir);
this.shtControllerPages.Controls.Add(this.tabMoves);
this.shtControllerPages.Location = new System.Drawing.Point(10, 9);
this.shtControllerPages.Name = "shtControllerPages";
this.shtControllerPages.SelectedIndex = 0;
this.shtControllerPages.Size = new System.Drawing.Size(528, 379);
this.shtControllerPages.TabIndex = 4;
this.shtControllerPages.SelectedIndexChanged = new System.EventHandler(this.shtControllerPages_SelectedIndexChanged);
//
// tabStatus
//
this.tabStatus.Controls.Add(this.tbAnalogueIOs);
this.tabStatus.Controls.Add(this.tbDigitalIOs);
this.tabStatus.Controls.Add(this.tbSystemVersion);
this.tabStatus.Controls.Add(this.tbControllerType);
this.tabStatus.Controls.Add(this.label7);
this.tabStatus.Controls.Add(this.label6);
this.tabStatus.Controls.Add(this.label5);
this.tabStatus.Controls.Add(this.label4);
this.tabStatus.Location = new System.Drawing.Point(4, 22);
this.tabStatus.Name = "tabStatus";
this.tabStatus.Size = new System.Drawing.Size(520, 353);
this.tabStatus.TabIndex = 0;
this.tabStatus.Text = "Status";
//
// tbAnalogueIOs
//
this.tbAnalogueIOs.Location = new System.Drawing.Point(154, 112);
this.tbAnalogueIOs.Name = "tbAnalogueIOs";
this.tbAnalogueIOs.ReadOnly = true;
this.tbAnalogueIOs.Size = new System.Drawing.Size(124, 21);
this.tbAnalogueIOs.TabIndex = 7;
this.tbAnalogueIOs.Text = "0";
//
// tbDigitalIOs
//
this.tbDigitalIOs.Location = new System.Drawing.Point(154, 78);
this.tbDigitalIOs.Name = "tbDigitalIOs";
this.tbDigitalIOs.ReadOnly = true;
this.tbDigitalIOs.Size = new System.Drawing.Size(124, 21);
this.tbDigitalIOs.TabIndex = 6;
this.tbDigitalIOs.Text = "0";
//
// tbSystemVersion
//
this.tbSystemVersion.Location = new System.Drawing.Point(154, 43);
this.tbSystemVersion.Name = "tbSystemVersion";
this.tbSystemVersion.ReadOnly = true;
this.tbSystemVersion.Size = new System.Drawing.Size(124, 21);
this.tbSystemVersion.TabIndex = 5;
this.tbSystemVersion.Text = "0.0";
//
// tbControllerType
//
this.tbControllerType.Location = new System.Drawing.Point(154, 9);
this.tbControllerType.Name = "tbControllerType";
this.tbControllerType.ReadOnly = true;
this.tbControllerType.Size = new System.Drawing.Size(124, 21);
this.tbControllerType.TabIndex = 4;
this.tbControllerType.Text = "Unknown";
//
// label7
//
this.label7.Location = new System.Drawing.Point(19, 112);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(115, 26);
this.label7.TabIndex = 3;
this.label7.Text = "Analogue I/Os";
this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label6
//
this.label6.Location = new System.Drawing.Point(19, 78);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(115, 25);
this.label6.TabIndex = 2;
this.label6.Text = "Digitao I/Os";
this.label6.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label5
//
this.label5.Location = new System.Drawing.Point(19, 43);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(115, 26);
this.label5.TabIndex = 1;
this.label5.Text = "System version:";
this.label5.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label4
//
this.label4.Location = new System.Drawing.Point(19, 9);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(115, 25);
this.label4.TabIndex = 0;
this.label4.Text = "Controller type:";
this.label4.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// tabAxisParameters
//
this.tabAxisParameters.Controls.Add(this.lstParameters2);
this.tabAxisParameters.Controls.Add(this.lstParameters1);
this.tabAxisParameters.Controls.Add(this.tbAxis);
this.tabAxisParameters.Controls.Add(this.label8);
this.tabAxisParameters.Location = new System.Drawing.Point(4, 22);
this.tabAxisParameters.Name = "tabAxisParameters";
this.tabAxisParameters.Size = new System.Drawing.Size(520, 353);
this.tabAxisParameters.TabIndex = 1;
this.tabAxisParameters.Text = "Axis Parameters";
//
// lstParameters2
//
this.lstParameters2.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
this.columnHeader1,
this.columnHeader2});
this.lstParameters2.GridLines = true;
this.lstParameters2.HideSelection = false;
this.lstParameters2.Location = new System.Drawing.Point(163, 215);
this.lstParameters2.Name = "lstParameters2";
this.lstParameters2.Size = new System.Drawing.Size(240, 121);
this.lstParameters2.TabIndex = 4;
this.lstParameters2.UseCompatibleStateImageBehavior = false;
this.lstParameters2.View = System.Windows.Forms.View.Details;
//
// columnHeader1
//
this.columnHeader1.Text = "Parameter";
this.columnHeader1.Width = 80;
//
// columnHeader2
//
this.columnHeader2.Text = "Value";
this.columnHeader2.Width = 100;
//
// lstParameters1
//
this.lstParameters1.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
this.clmDescription,
this.clmValue});
this.lstParameters1.GridLines = true;
this.lstParameters1.HideSelection = false;
this.lstParameters1.Location = new System.Drawing.Point(163, 9);
this.lstParameters1.Name = "lstParameters1";
this.lstParameters1.Size = new System.Drawing.Size(240, 206);
this.lstParameters1.TabIndex = 3;
this.lstParameters1.UseCompatibleStateImageBehavior = false;
this.lstParameters1.View = System.Windows.Forms.View.Details;
//
// clmDescription
//
this.clmDescription.Text = "Parameter";
this.clmDescription.Width = 80;
//
// clmValue
//
this.clmValue.Text = "Value";
this.clmValue.Width = 100;
//
// tbAxis
//
this.tbAxis.Location = new System.Drawing.Point(67, 17);
this.tbAxis.Name = "tbAxis";
this.tbAxis.Size = new System.Drawing.Size(48, 21);
this.tbAxis.TabIndex = 2;
this.tbAxis.Text = "0";
this.tbAxis.TextChanged = new System.EventHandler(this.tbAxis_TextChanged);
//
// label8
//
this.label8.Location = new System.Drawing.Point(19, 17);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(39, 17);
this.label8.TabIndex = 1;
this.label8.Text = "Axis:";
//
// tabIO
//
this.tabIO.Controls.Add(this.tbDigitalIOValue);
this.tabIO.Controls.Add(this.label9);
this.tabIO.Location = new System.Drawing.Point(4, 22);
this.tabIO.Name = "tabIO";
this.tabIO.Size = new System.Drawing.Size(520, 353);
this.tabIO.TabIndex = 2;
this.tabIO.Text = "I/O";
//
// tbDigitalIOValue
//
this.tbDigitalIOValue.Location = new System.Drawing.Point(106, 17);
this.tbDigitalIOValue.Name = "tbDigitalIOValue";
this.tbDigitalIOValue.Size = new System.Drawing.Size(211, 21);
this.tbDigitalIOValue.TabIndex = 1;
//
// label9
//
this.label9.Location = new System.Drawing.Point(19, 17);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(77, 26);
this.label9.TabIndex = 0;
this.label9.Text = "Digital I/O:";
this.label9.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// tabTable
//
this.tabTable.Controls.Add(this.tbTableEdit);
this.tabTable.Controls.Add(this.btnWriteTableValues);
this.tabTable.Controls.Add(this.lstTableValues);
this.tabTable.Controls.Add(this.tbTableEntries);
this.tabTable.Controls.Add(this.tbTableStart);
this.tabTable.Controls.Add(this.label11);
this.tabTable.Controls.Add(this.label10);
this.tabTable.Location = new System.Drawing.Point(4, 22);
this.tabTable.Name = "tabTable";
this.tabTable.Size = new System.Drawing.Size(520, 353);
this.tabTable.TabIndex = 3;
this.tabTable.Text = "Table";
//
// tbTableEdit
//
this.tbTableEdit.Location = new System.Drawing.Point(432, 164);
this.tbTableEdit.Name = "tbTableEdit";
this.tbTableEdit.Size = new System.Drawing.Size(58, 21);
this.tbTableEdit.TabIndex = 6;
this.tbTableEdit.Visible = false;
this.tbTableEdit.Leave = new System.EventHandler(this.tbTableEdit_Leave);
//
// btnWriteTableValues
//
this.btnWriteTableValues.Location = new System.Drawing.Point(96, 310);
this.btnWriteTableValues.Name = "btnWriteTableValues";
this.btnWriteTableValues.Size = new System.Drawing.Size(58, 26);
this.btnWriteTableValues.TabIndex = 5;
this.btnWriteTableValues.Text = "Write";
this.btnWriteTableValues.Click = new System.EventHandler(this.btnWriteTableValues_Click);
//
// lstTableValues
//
this.lstTableValues.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
this.clmEntry,
this.clmTableValue});
this.lstTableValues.GridLines = true;
this.lstTableValues.HideSelection = false;
this.lstTableValues.Location = new System.Drawing.Point(173, 9);
this.lstTableValues.Name = "lstTableValues";
this.lstTableValues.Size = new System.Drawing.Size(230, 327);
this.lstTableValues.TabIndex = 4;
this.lstTableValues.UseCompatibleStateImageBehavior = false;
this.lstTableValues.View = System.Windows.Forms.View.Details;
this.lstTableValues.MouseDown = new System.Windows.Forms.MouseEventHandler(this.lstTableValues_MouseDown);
this.lstTableValues.MouseUp = new System.Windows.Forms.MouseEventHandler(this.lstTableValues_MouseUp);
//
// clmEntry
//
this.clmEntry.Text = "Entry";
this.clmEntry.Width = 70;
//
// clmTableValue
//
this.clmTableValue.Text = "Value";
this.clmTableValue.Width = 100;
//
// tbTableEntries
//
this.tbTableEntries.Location = new System.Drawing.Point(86, 52);
this.tbTableEntries.Name = "tbTableEntries";
this.tbTableEntries.Size = new System.Drawing.Size(68, 21);
this.tbTableEntries.TabIndex = 3;
this.tbTableEntries.Text = "10";
//
// tbTableStart
//
this.tbTableStart.Location = new System.Drawing.Point(86, 17);
this.tbTableStart.Name = "tbTableStart";
this.tbTableStart.Size = new System.Drawing.Size(68, 21);
this.tbTableStart.TabIndex = 2;
this.tbTableStart.Text = "0";
//
// label11
//
this.label11.Location = new System.Drawing.Point(19, 52);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(58, 17);
this.label11.TabIndex = 1;
this.label11.Text = "Entries";
this.label11.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label10
//
this.label10.Location = new System.Drawing.Point(19, 17);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(58, 17);
this.label10.TabIndex = 0;
this.label10.Text = "Start";
this.label10.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// tabVRs
//
this.tabVRs.Controls.Add(this.btnSetVR);
this.tabVRs.Controls.Add(this.lstVRValues);
this.tabVRs.Controls.Add(this.tbVREntries);
this.tabVRs.Controls.Add(this.tbVRStart);
this.tabVRs.Controls.Add(this.label12);
this.tabVRs.Controls.Add(this.label13);
this.tabVRs.Location = new System.Drawing.Point(4, 22);
this.tabVRs.Name = "tabVRs";
this.tabVRs.Size = new System.Drawing.Size(520, 353);
this.tabVRs.TabIndex = 4;
this.tabVRs.Text = "VRs";
//
// btnSetVR
//
this.btnSetVR.Location = new System.Drawing.Point(77, 302);
this.btnSetVR.Name = "btnSetVR";
this.btnSetVR.Size = new System.Drawing.Size(86, 25);
this.btnSetVR.TabIndex = 10;
this.btnSetVR.Text = "Set VR";
this.btnSetVR.Click = new System.EventHandler(this.btnSetVR_Click);
//
// lstVRValues
//
this.lstVRValues.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
this.columnHeader5,
this.columnHeader6});
this.lstVRValues.GridLines = true;
this.lstVRValues.HideSelection = false;
this.lstVRValues.Location = new System.Drawing.Point(182, 12);
this.lstVRValues.Name = "lstVRValues";
this.lstVRValues.Size = new System.Drawing.Size(231, 327);
this.lstVRValues.TabIndex = 9;
this.lstVRValues.UseCompatibleStateImageBehavior = false;
this.lstVRValues.View = System.Windows.Forms.View.Details;
//
// columnHeader5
//
this.columnHeader5.Text = "Entry";
this.columnHeader5.Width = 70;
//
// columnHeader6
//
this.columnHeader6.Text = "Value";
this.columnHeader6.Width = 100;
//
// tbVREntries
//
this.tbVREntries.Location = new System.Drawing.Point(96, 55);
this.tbVREntries.Name = "tbVREntries";
this.tbVREntries.Size = new System.Drawing.Size(67, 21);
this.tbVREntries.TabIndex = 8;
this.tbVREntries.Text = "10";
//
// tbVRStart
//
this.tbVRStart.Location = new System.Drawing.Point(96, 20);
this.tbVRStart.Name = "tbVRStart";
this.tbVRStart.Size = new System.Drawing.Size(67, 21);
this.tbVRStart.TabIndex = 7;
this.tbVRStart.Text = "0";
//
// label12
//
this.label12.Location = new System.Drawing.Point(29, 55);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(57, 17);
this.label12.TabIndex = 6;
this.label12.Text = "Entries";
this.label12.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// label13
//
this.label13.Location = new System.Drawing.Point(29, 20);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(57, 18);
this.label13.TabIndex = 5;
this.label13.Text = "Start";
this.label13.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
//
// tabDir
//
this.tabDir.Controls.Add(this.tbDirList);
this.tabDir.Location = new System.Drawing.Point(4, 22);
this.tabDir.Name = "tabDir";
this.tabDir.Size = new System.Drawing.Size(520, 353);
this.tabDir.TabIndex = 5;
this.tabDir.Text = "Directory";
//
// tbDirList
//
this.tbDirList.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.tbDirList.Location = new System.Drawing.Point(10, 9);
this.tbDirList.Multiline = true;
this.tbDirList.Name = "tbDirList";
this.tbDirList.ReadOnly = true;
this.tbDirList.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.tbDirList.Size = new System.Drawing.Size(499, 336);
this.tbDirList.TabIndex = 0;
this.tbDirList.WordWrap = false;
//
// tabMoves
//
this.tabMoves.Controls.Add(this.tbWatchdogState);
this.tabMoves.Controls.Add(this.label15);
this.tabMoves.Controls.Add(this.btnRun);
this.tabMoves.Controls.Add(this.tbRunStatus);
this.tabMoves.Controls.Add(this.label14);
this.tabMoves.Controls.Add(this.lstMoveParams);
this.tabMoves.Location = new System.Drawing.Point(4, 22);
this.tabMoves.Name = "tabMoves";
this.tabMoves.Size = new System.Drawing.Size(520, 353);
this.tabMoves.TabIndex = 6;
this.tabMoves.Text = "Moves";
//
// tbWatchdogState
//
this.tbWatchdogState.Location = new System.Drawing.Point(115, 250);
this.tbWatchdogState.Name = "tbWatchdogState";
this.tbWatchdogState.Size = new System.Drawing.Size(39, 21);
this.tbWatchdogState.TabIndex = 5;
//
// label15
//
this.label15.Location = new System.Drawing.Point(10, 250);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(67, 17);
this.label15.TabIndex = 4;
this.label15.Text = "Watchdog";
//
// btnRun
//
this.btnRun.Location = new System.Drawing.Point(202, 215);
this.btnRun.Name = "btnRun";
this.btnRun.Size = new System.Drawing.Size(57, 26);
this.btnRun.TabIndex = 3;
this.btnRun.Text = "Run";
this.btnRun.Click = new System.EventHandler(this.btnRun_Click);
//
// tbRunStatus
//
this.tbRunStatus.Location = new System.Drawing.Point(86, 215);
this.tbRunStatus.Name = "tbRunStatus";
this.tbRunStatus.Size = new System.Drawing.Size(68, 21);
this.tbRunStatus.TabIndex = 2;
//
// label14
//
this.label14.Location = new System.Drawing.Point(10, 224);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(67, 17);
this.label14.TabIndex = 1;
this.label14.Text = "Status";
//
// lstMoveParams
//
this.lstMoveParams.AutoArrange = false;
this.lstMoveParams.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
this.clmParameter,
this.clmAxis0,
this.clmAxis1});
this.lstMoveParams.GridLines = true;
this.lstMoveParams.HideSelection = false;
this.lstMoveParams.LabelEdit = true;
this.lstMoveParams.LabelWrap = false;
this.lstMoveParams.Location = new System.Drawing.Point(10, 9);
this.lstMoveParams.Name = "lstMoveParams";
this.lstMoveParams.Size = new System.Drawing.Size(393, 198);
this.lstMoveParams.TabIndex = 0;
this.lstMoveParams.UseCompatibleStateImageBehavior = false;
this.lstMoveParams.View = System.Windows.Forms.View.Details;
//
// clmParameter
//
this.clmParameter.Text = "Parameter";
this.clmParameter.Width = 80;
//
// clmAxis0
//
this.clmAxis0.Text = "Axis 0";
this.clmAxis0.Width = 120;
//
// clmAxis1
//
this.clmAxis1.Text = "Axis 1";
this.clmAxis1.Width = 120;
//
// btnRefresh
//
this.btnRefresh.Enabled = false;
this.btnRefresh.Location = new System.Drawing.Point(595, 293);
this.btnRefresh.Name = "btnRefresh";
this.btnRefresh.Size = new System.Drawing.Size(106, 26);
this.btnRefresh.TabIndex = 5;
this.btnRefresh.Text = "Refresh";
this.btnRefresh.Click = new System.EventHandler(this.btnRefresh_Click);
//
// btnRefreshLamp
//
this.btnRefreshLamp.Location = new System.Drawing.Point(566, 293);
this.btnRefreshLamp.Name = "btnRefreshLamp";
this.btnRefreshLamp.Size = new System.Drawing.Size(29, 26);
this.btnRefreshLamp.TabIndex = 6;
//
// columnHeader3
//
this.columnHeader3.Text = "Entry";
this.columnHeader3.Width = 70;
//
// columnHeader4
//
this.columnHeader4.Text = "Value";
this.columnHeader4.Width = 100;
//
// frmMain
//
this.AutoScaleBaseSize = new System.Drawing.Size(6, 14);
this.ClientSize = new System.Drawing.Size(762, 425);
this.Controls.Add(this.btnRefreshLamp);
this.Controls.Add(this.btnRefresh);
this.Controls.Add(this.shtControllerPages);
this.Controls.Add(this.groupBox1);
this.Controls.Add(this.btnExit);
this.Name = "frmMain";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "TrioPC Test (VCS)";
this.groupBox1.ResumeLayout(false);
this.shtControllerPages.ResumeLayout(false);
this.tabStatus.ResumeLayout(false);
this.tabStatus.PerformLayout();
this.tabAxisParameters.ResumeLayout(false);
this.tabAxisParameters.PerformLayout();
this.tabIO.ResumeLayout(false);
this.tabIO.PerformLayout();
this.tabTable.ResumeLayout(false);
this.tabTable.PerformLayout();
this.tabVRs.ResumeLayout(false);
this.tabVRs.PerformLayout();
this.tabDir.ResumeLayout(false);
this.tabDir.PerformLayout();
this.tabMoves.ResumeLayout(false);
this.tabMoves.PerformLayout();
this.ResumeLayout(false);
}
#endregion
/// <summary>
/// The main entry point for the application.
/// </summary>
[STAThread]
static void Main()
{
Application.Run(new frmMain());
}
private void btnExit_Click(object sender, System.EventArgs e)
{
if ( axTrioPC.IsOpen( 0 ) )
axTrioPC.Close( 0 );
Close();
}
private void btnClose_Click(object sender, System.EventArgs e)
{
if ( axTrioPC.IsOpen( 0 ) )
{
btnClose.Enabled = false;
axTrioPC.Close( 0 );
btnOpen.Enabled = true;
btnRefresh.Enabled = false;
axTrioPC.Refresh();
}
}
private void btnOpen_Click(object sender, System.EventArgs e)
{
short iPortID = -1,
iPortType = -1;
btnOpen.Enabled = false;
btnRefresh.Enabled = false;
switch ( cbConnectionType.Text )
{
case "USB":
iPortType = 0;
iPortID = 0;
break;
case "Ethernet":
axTrioPC.HostAddress = tbHostAddress.Text;
iPortType = 2;
iPortID = 3240;
break;
case "PCI":
axTrioPC.Board = Convert.ToInt32( tbChannel.Text );
iPortType = 3;
iPortID = 0;
break;
}
if ( (iPortType != -1) && (iPortID != -1) )
axTrioPC.Open( iPortType, iPortID );
if ( axTrioPC.IsOpen( iPortID ) )
{
btnClose.Enabled = true;
btnRefresh.Enabled = true;
m_iPortID = iPortID;
axTrioPC.Refresh();
RefreshVisibleTab();
}
else
{
btnOpen.Enabled = true;
m_iPortID = 0;
}
}
private void cbConnectionType_SelectedIndexChanged(object sender, System.EventArgs e)
{
switch ( cbConnectionType.Text )
{
case "USB":
tbHostAddress.Enabled = false;
tbChannel.Enabled = false;
break;
case "Ethernet":
tbHostAddress.Enabled = true;
tbChannel.Enabled = false;
break;
case "PCI":
tbHostAddress.Enabled = false;
tbChannel.Enabled = true;
break;
default:
tbHostAddress.Enabled = false;
tbChannel.Enabled = false;
break;
}
}
private void btnRefresh_Click(object sender, System.EventArgs e)
{
RefreshVisibleTab();
btnRefresh.Focus();
}
private void RefreshVisibleTab()
{
btnRefresh.Enabled = false;
btnRefreshLamp.BackColor = System.Drawing.Color.Red;
btnRefreshLamp.Refresh();
switch ( shtControllerPages.SelectedIndex )
{
case 0:
RefreshStatus();
break;
case 1:
RefreshAxisParameters();
break;
case 2:
RefreshIO();
break;
case 3:
RefreshTable();
break;
case 4:
RefreshVRs();
break;
case 5:
RefreshDirectory();
break;
}
btnRefreshLamp.BackColor = System.Drawing.SystemColors.Control;
btnRefreshLamp.Refresh();
btnRefresh.Enabled = true;
}
private void RefreshStatus()
{
if ( axTrioPC.IsOpen ( m_iPortID ) )
{
double dReadVal;
if ( axTrioPC.GetVariable( "CONTROL", out dReadVal ))
tbControllerType.Text = dReadVal.ToString();
if ( axTrioPC.GetVariable( "VERSION", out dReadVal ))
tbSystemVersion.Text = Math.Round( dReadVal, 4 ).ToString();
if ( axTrioPC.GetVariable( "NIO", out dReadVal ))
tbDigitalIOs.Text = dReadVal.ToString();
if ( axTrioPC.GetVariable( "NAIO", out dReadVal ))
tbAnalogueIOs.Text = dReadVal.ToString();
}
}
private void RefreshAxisParameters()
{
if ( axTrioPC.IsOpen( m_iPortID ))
{
double dReadVar;
short iBase = Convert.ToInt16( tbAxis.Text );
int nItem = 0;
if ( axTrioPC.Base( 1, iBase ))
{
if ( axTrioPC.GetVariable( "ATYPE", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "P_GAIN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "I_GAIN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "D_GAIN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "OV_GAIN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "VFF_GAIN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "UNITS", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "SPEED", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "ACCEL", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "DECEL", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "CREEP", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "JOGSPEED", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "FE_LIMIT", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "DAC", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "SERVO", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "REP_DIST", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "FWD_IN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "REV_IN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "DATUM_IN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "FH_IN", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "FS_LIMIT", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "RS_LIMIT", out dReadVar ))
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
nItem = 0;
if ( axTrioPC.GetVariable( "MTYPE", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "NTYPE", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "MPOS", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "DPOS", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "FE", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "AXISSTATUS", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
if ( axTrioPC.GetVariable( "VPSPEED", out dReadVar ))
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = dReadVar.ToString();
} // if ( axTrioPC.Base( 1, iBase ))
} // if ( axTrioPC.IsOpen( iPortID ))
}
private void RefreshIO()
{
if ( axTrioPC.IsOpen( m_iPortID ))
{
double dReadVar;
if ( axTrioPC.GetVariable( "NIO", out dReadVar ))
{
const int kiIOBlockSize = 16;
int iLastToGet = (int)dReadVar - 1;
short iFrom = 0,
iTo = -1;
int iReadVar;
bool bOK = true;
string strIn = "";
int nBit;
while ( iFrom <= iLastToGet && bOK)
{
iTo = (short)(iFrom kiIOBlockSize - 1);
if ( iTo > iLastToGet )
iTo = (short)iLastToGet;
if ( axTrioPC.In( iFrom, iTo, out iReadVar ))
{
for ( nBit = 0; nBit < iTo - iFrom 1; nBit )
{
if ( ( iReadVar & 1 ) == 1 )
strIn = "1" strIn;
else
strIn = "0" strIn;
iReadVar >>= 1;
}
iFrom = (short)(iTo 1);
}
else
bOK = false;
}
if ( bOK )
tbDigitalIOValue.Text = strIn;
else
tbDigitalIOValue.Text = "";
} // if ( axTrioPC.GetVariable( "NIO", out dReadVar ))
} // if ( axTrioPC.IsOpen( m_iPortID ))
}
private void RefreshTable()
{
if ( axTrioPC.IsOpen( m_iPortID ) )
{
int iStart = Convert.ToInt32( tbTableStart.Text ),
iEntries = Convert.ToInt32( tbTableEntries.Text );
lstTableValues.Items.Clear();
if ( iStart >= 0 && iEntries > 0 )
{
int iFrom = iStart,
iTo,
iEntry;
double [] dValues = new double[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
object oValues = dValues;
bool bOK = true;
ListViewItem Item;
while ( iFrom < ( iStart iEntries ) && bOK )
{
iTo = iFrom dValues.GetLength( 0 ) - 1;
if ( iTo >= (iStart iEntries))
iTo = iStart iEntries - 1;
if ( axTrioPC.GetTable(iFrom, iTo - iFrom 1, ref oValues))
{
dValues = (double[])oValues;
for ( iEntry = 0; iEntry < iTo - iFrom 1; iEntry )
{
Item = lstTableValues.Items.Add((iFrom iEntry).ToString());
Item.SubItems.Add(dValues[iEntry].ToString());
}
iFrom = iTo 1;
}
else
bOK = false;
}
}
} // if ( axTrioPC.IsOpen( m_iPortID ) )
}
private void RefreshVRs()
{
if ( axTrioPC.IsOpen( m_iPortID ) )
{
short iStart = Convert.ToInt16( tbVRStart.Text ),
iEntries = Convert.ToInt16( tbVREntries.Text );
if ( iStart >= 0 && iEntries > 0 )
{
short iEntry;
double dReadVar;
bool bOK = true;
ListViewItem Item;
lstVRValues.Items.Clear();
for ( iEntry = 0; iEntry < iEntries && bOK; iEntry )
{
if ( axTrioPC.GetVr( (short)(iEntry iStart), out dReadVar ))
{
Item = lstVRValues.Items.Add( (iEntry iStart).ToString() );
Item.SubItems.Add( dReadVar.ToString() );
}
else
bOK = false;
}
} // if ( iStart >= 0 && iEntries > 0 )
} // if ( axTrioPC.IsOpen( m_iPortID ) )
}
private void InitParameterGrids()
{
int nItem;
lstParameters1.Items.Add( "ATYPE" );
lstParameters1.Items.Add( "P_GAIN" );
lstParameters1.Items.Add( "I_GAIN" );
lstParameters1.Items.Add( "D_GAIN" );
lstParameters1.Items.Add( "OV_GAIN" );
lstParameters1.Items.Add( "VFF_GAIN" );
lstParameters1.Items.Add( "UNITS" );
lstParameters1.Items.Add( "SPEED" );
lstParameters1.Items.Add( "ACCEL" );
lstParameters1.Items.Add( "DECEL" );
lstParameters1.Items.Add( "CREEP" );
lstParameters1.Items.Add( "JOGSPEED" );
lstParameters1.Items.Add( "FE_LIMIT" );
lstParameters1.Items.Add( "DAC" );
lstParameters1.Items.Add( "SERVO" );
lstParameters1.Items.Add( "REP_DIST" );
lstParameters1.Items.Add( "FWD_IN" );
lstParameters1.Items.Add( "REV_IN" );
lstParameters1.Items.Add( "DATUM_IN" );
lstParameters1.Items.Add( "FH_IN" );
lstParameters1.Items.Add( "FS_LIMIT" );
lstParameters1.Items.Add( "RS_LIMIT" );
for ( nItem = 0; nItem < lstParameters1.Items.Count; nItem )
lstParameters1.Items[ nItem ].SubItems.Add( "0 ");
lstParameters2.Items.Add( "MTYPE" );
lstParameters2.Items.Add( "NTYPE" );
lstParameters2.Items.Add( "MPOS" );
lstParameters2.Items.Add( "DPOS" );
lstParameters2.Items.Add( "FE" );
lstParameters2.Items.Add( "AXISSTATUS" );
lstParameters2.Items.Add( "VPSPEED" );
for ( nItem = 0; nItem <lstParameters2.Items.Count; nItem )
lstParameters2.Items[ nItem ].SubItems.Add( "0 ");
lstMoveParams.Items.Add("MTYPE");
lstMoveParams.Items.Add("NTYPE");
lstMoveParams.Items.Add("MPOS");
lstMoveParams.Items.Add("DPOS");
lstMoveParams.Items.Add("FE");
lstMoveParams.Items.Add("SERVO");
lstMoveParams.Items.Add("REMAIN");
for ( nItem = 0; nItem < lstMoveParams.Items.Count; nItem )
{
lstMoveParams.Items[ nItem ].SubItems.Add( "0 ");
lstMoveParams.Items[ nItem ].SubItems.Add( "0 ");
}
} // private void InitParameterGrids()
private void tbAxis_TextChanged(object sender, System.EventArgs e)
{
ClearParameterGrids();
}
private void ClearParameterGrids()
{
int nItem;
for ( nItem = 0; nItem < lstParameters1.Items.Count; nItem )
lstParameters1.Items[ nItem ].SubItems[ 1 ].Text = "0";
for ( nItem = 0; nItem < lstParameters2.Items.Count; nItem )
lstParameters2.Items[ nItem ].SubItems[ 1 ].Text = "0";
}
private void shtControllerPages_SelectedIndexChanged(object sender, System.EventArgs e)
{
RefreshVisibleTab();
}
private void RefreshDirectory()
{
if ( axTrioPC.IsOpen( m_iPortID ))
{
string strDir = "";
var oDir = strDir;
if ( axTrioPC.Dir( out oDir ))
{
strDir = (string)oDir;
tbDirList.Text = strDir;
}
}
}
private void btnSetVR_Click(object sender, System.EventArgs e)
{
frmSetVR SVForm = new frmSetVR();
if (SVForm.ShowDialog(this) == DialogResult.OK)
{
short nVR = Convert.ToInt16(SVForm.VR);
if (nVR >= 0)
{
short nStart = Convert.ToInt16(tbVRStart.Text);
axTrioPC.SetVr(nVR, SVForm.Value);
if (nVR >= nStart && nVR < nStart Convert.ToInt16(tbVREntries.Text))
{
RefreshVRs();
}
}
}
}
private void btnRun_Click(object sender, System.EventArgs e)
{
btnRun.Enabled = false;
RunCommandSequence();
btnRun.Enabled = true;
}
private void RunCommandSequence()
{
int nAxis;
object oBases;
object oValues;
int [] nBases = new int[2];
double [] dValues = new double[2];
const double kdBaseLength = 50;
tbRunStatus.Text = "Running";
tbRunStatus.Refresh();
for (nAxis = 0; nAxis <= 1; nAxis )
{
axTrioPC.Base(1, nAxis);
axTrioPC.SetVariable("UNITS", 1000);
axTrioPC.SetVariable("SPEED", 25);
axTrioPC.SetVariable("ACCEL", 50);
axTrioPC.SetVariable("DECEL", 25);
axTrioPC.SetVariable("FE_LIMIT", 2);
}
axTrioPC.SetVariable("WDOG", 1);
for (nAxis = 0; nAxis <= 1; nAxis )
{
axTrioPC.Base(1, nAxis);
axTrioPC.SetVariable("SERVO", 1);
}
nBases[0] = 0;
nBases[1] = 1;
oBases = nBases;
axTrioPC.Base(2, oBases);
dValues[0] = 0.0;
dValues[1] = 0.0;
oValues = dValues;
axTrioPC.MoveAbs(2, dValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = kdBaseLength;
dValues[1] = 0.0;
oValues = dValues;
axTrioPC.MoveRel(2, dValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = -kdBaseLength;
dValues[1] = -kdBaseLength;
oValues = dValues;
axTrioPC.MoveRel(2, dValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = -kdBaseLength;
dValues[1] = kdBaseLength;
oValues = dValues;
axTrioPC.MoveRel(2, oValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = kdBaseLength;
dValues[1] = kdBaseLength;
oValues = dValues;
axTrioPC.MoveRel(2, oValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = kdBaseLength;
dValues[1] = -kdBaseLength;
oValues = dValues;
axTrioPC.MoveRel(2, oValues, oBases);
WaitNextFree();
axTrioPC.Base(2, oBases);
dValues[0] = 0.0;
dValues[1] = 0.0;
oValues = dValues;
axTrioPC.MoveAbs(2, oValues, oBases);
WaitForEndOfMove();
for (nAxis = 0; nAxis <= 1; nAxis )
{
axTrioPC.Base(1, nAxis);
axTrioPC.SetVariable("SERVO", 0);
}
axTrioPC.SetVariable("WDOG", 0);
GetMoveData();
tbRunStatus.Text = "Stopped";
tbRunStatus.Refresh();
} // private void RunCommandSequence()
private void WaitForEndOfMove()
{
double [] dRemain = new double[2];
int nAxis;
bool bWaiting;
bWaiting = true;
while (bWaiting)
{
for (nAxis = 0; nAxis <= 1; nAxis )
{
if (axTrioPC.Base(1, nAxis))
axTrioPC.GetVariable("REMAIN", out dRemain[nAxis]);
bWaiting = (Math.Abs(dRemain[0]) > 1.0) || (Math.Abs(dRemain[1]) > 1.0);
}
GetMoveData();
}
} // private void WaitForEndOfMove()
private void WaitNextFree()
{
double [] dNType = new double[2];
int nAxis;
bool bWaiting;
bWaiting = true;
while (bWaiting)
{
for (nAxis = 0; nAxis <= 1; nAxis )
{
if (axTrioPC.Base(1, nAxis))
axTrioPC.GetVariable("NTYPE", out dNType[nAxis]);
}
bWaiting = (Math.Abs(dNType[0]) > 0.5) || (Math.Abs(dNType[1]) > 0.5);
GetMoveData();
}
} // private void TfrmMain.WaitNextFree()
private void GetMoveData()
{
int nAxis;
int nItem;
double dReadVar;
SetRefreshActive(true);
if (axTrioPC.GetVariable("WDOG", out dReadVar))
{
if (dReadVar > 0.5)
{
tbWatchdogState.Text = "On";
tbWatchdogState.BackColor = System.Drawing.Color.Red;
}
else
{
tbWatchdogState.Text = "Off";
tbWatchdogState.BackColor = System.Drawing.SystemColors.Control;
}
}
tbWatchdogState.Refresh();
for (nAxis = 0; nAxis <= 1; nAxis )
{
nItem = 0;
if (axTrioPC.Base(1, nAxis))
{
if (axTrioPC.GetVariable("MTYPE", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("NTYPE", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("MPOS", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("DPOS", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("FE", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("SERVO", out dReadVar))
{
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
if (axTrioPC.GetVariable("REMAIN", out dReadVar))
lstMoveParams.Items[nItem ].SubItems[nAxis 1].Text = dReadVar.ToString();
}
}
}
}
}
}
} // if (axTrioPC.Base(1, nAxis))
} // for (nAxis = 0; nAxis <= 1; nAxis )
lstMoveParams.Refresh();
SetRefreshActive(false);
} // private void GetMoveData()
private void SetRefreshActive(bool bActive)
{
if (bActive)
{
Cursor = Cursors.WaitCursor;
btnRefresh.Enabled = false;
btnRefreshLamp.BackColor = System.Drawing.Color.Red;
}
else
{
Cursor = Cursors.Default;
btnRefreshLamp.BackColor = System.Drawing.SystemColors.Control;
btnRefresh.Enabled = true;
}
btnRefreshLamp.Refresh();
} // private void SetRefreshActive(bool bActive)
private void btnWriteTableValues_Click(object sender, System.EventArgs e)
{
WriteTableValues();
} // private void SetRefreshActive(bool bActive)
private void WriteTableValues()
{
const int c_nMaxAtOnce = 8;
const double c_dMaxValue = 1e12;
const double c_dMinValue = -1e12;
int nStart;
int nEntries;
int nEntry;
int nToSend;
int nStartIndex;
int nVarIndex;
double dValue;
object oValues;
bool bOK = true;
double [] dValues = new double[c_nMaxAtOnce];
string strValue;
SetRefreshActive(true);
nStart = Convert.ToInt32(tbTableStart.Text);
if (nStart < 0)
nStart = 0;
nEntries = Convert.ToInt32(tbTableEntries.Text);
if (nEntries < 0)
nEntries = 0;
nToSend = nEntries;
nEntry = 0;
nStartIndex = Convert.ToInt32(lstTableValues.Items[0].SubItems[0].Text);
while (nToSend > 0 && bOK)
{
// Gather group of values to send
nVarIndex = 0;
while ((nToSend > 0) && (nVarIndex < c_nMaxAtOnce) && bOK)
{
strValue = lstTableValues.Items[nEntry].SubItems[1].Text;
dValue = Convert.ToDouble(strValue);
if (dValue > c_dMaxValue)
dValue = c_dMaxValue;
else if (dValue < c_dMinValue)
dValue = c_dMinValue;
dValues[nVarIndex] = dValue;
nVarIndex;
nEntry;
--nToSend;
}
if (nVarIndex > 0)
{
oValues = dValues;
axTrioPC.SetTable(nStartIndex, nVarIndex, oValues);
nStartIndex = nStartIndex nVarIndex;
}
} // while (nToSend > 0 && bOK)
SetRefreshActive(false);
}
private int LocateTableEntry(int iX, int iY)
{
int nItem = -1;
bool bFound = false;
Rectangle rectItem;
if (iX >= 0 && iY >= 0)
{
// Locate Item
nItem = 0;
while (nItem < lstTableValues.Items.Count && !bFound)
{
rectItem = lstTableValues.Items[nItem].GetBounds(ItemBoundsPortion.Label);
if (iY >= rectItem.Top && iY <= rectItem.Bottom)
bFound = true;
else
nItem ;
}
if (bFound)
{
int nLeft = lstTableValues.Columns[0].Width;
int nRight = nLeft lstTableValues.Columns[1].Width;
// Item only valid if column = 1
if (iX < nLeft || iX >= nRight)
nItem = -1;
}
} // if (iX >= 0 && iY >= 0)
return nItem;
}
private void lstTableValues_MouseDown(object sender, System.Windows.Forms.MouseEventArgs e)
{
m_iPreSelectedTableItem = LocateTableEntry(e.X, e.Y);
}
private void lstTableValues_MouseUp(object sender, System.Windows.Forms.MouseEventArgs e)
{
if (m_iPreSelectedTableItem >= 0)
{
m_iSelectedTableItem = LocateTableEntry(e.X, e.Y);
if (m_iPreSelectedTableItem == m_iSelectedTableItem)
{
Rectangle rectValue;
Rectangle rectTable;
rectValue = lstTableValues.GetItemRect(m_iSelectedTableItem, ItemBoundsPortion.Entire);
rectValue.X = lstTableValues.Columns[0].Width;
rectValue.Width = lstTableValues.Columns[1].Width;
rectValue.Height -= 4;
rectTable = lstTableValues.Bounds;
rectValue.Offset(rectTable.Left 2, rectTable.Top);
tbTableEdit.Bounds = rectValue;
tbTableEdit.Text = lstTableValues.Items[m_iSelectedTableItem].SubItems[1].Text;
tbTableEdit.Show();
tbTableEdit.Focus();
tbTableEdit.SelectAll();
}
}
}
private void tbTableEdit_Leave(object sender, System.EventArgs e)
{
lstTableValues.Items[m_iSelectedTableItem].SubItems[1].Text = tbTableEdit.Text;
tbTableEdit.Hide();
}
} // public class frmMain : System.Windows.Forms.Form
}
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