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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