diff --git a/HitBotCSharpDemo/CSharpDemo.csproj b/HitBotCSharpDemo/CSharpDemo.csproj
index d182c69..b7c2396 100644
--- a/HitBotCSharpDemo/CSharpDemo.csproj
+++ b/HitBotCSharpDemo/CSharpDemo.csproj
@@ -112,6 +112,7 @@
+
ShowForm.cs
diff --git a/HitBotCSharpDemo/CameraManager.cs b/HitBotCSharpDemo/CameraManager.cs
index 05a3ecd..3912d2b 100644
--- a/HitBotCSharpDemo/CameraManager.cs
+++ b/HitBotCSharpDemo/CameraManager.cs
@@ -14,20 +14,25 @@ namespace HitBotCSharpDemo
{
public class CameraManager
{
- private string configFilePath = "Camera_config.txt";
- readonly DeviceTLayerType enumTLayerType = DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvUsbDevice
- | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvGenTLCXPDevice | DeviceTLayerType.MvGenTLCameraLinkDevice | DeviceTLayerType.MvGenTLXoFDevice;
- List deviceInfoList = new List();
- IDevice device = null;
- bool isGrabbing = false;
- Thread receiveThread = null;
+ private readonly DeviceTLayerType enumTLayerType = DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvUsbDevice
+ | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvGenTLCXPDevice | DeviceTLayerType.MvGenTLCameraLinkDevice | DeviceTLayerType.MvGenTLXoFDevice;
+
+ private System.Collections.Generic.List deviceInfoList = new System.Collections.Generic.List();
+ private IDevice device = null;
+ private bool isGrabbing = false;
+ private Thread receiveThread = null;
private IFrameOut frameForSave;
private readonly object saveImageLock = new object();
- // 添加曝光参数控制变量
private float currentExposure = 10000f; // 默认曝光时间
private float currentGain = 0f; // 默认增益
+ private string configFilePath = "Camera_config.txt";
+ private PictureBox displayControl;
- private void InitializeCamera()
+ public CameraManager(PictureBox displayPictureBox)
+ {
+ displayControl = displayPictureBox;
+ }
+ public void Initialize()
{
// 枚举设备
int nRet = DeviceEnumerator.EnumDevices(enumTLayerType, out deviceInfoList);
@@ -42,6 +47,189 @@ namespace HitBotCSharpDemo
ConnectFirstCamera();
}
}
+ public void LoadConfiguration()
+ {
+ try
+ {
+ if (File.Exists(configFilePath))
+ {
+ string[] lines = File.ReadAllLines(configFilePath);
+ foreach (string line in lines)
+ {
+ if (line.StartsWith("Exposure="))
+ {
+ if (float.TryParse(line.Substring(9), out float exposure))
+ currentExposure = exposure;
+ }
+ else if (line.StartsWith("Gain="))
+ {
+ if (float.TryParse(line.Substring(5), out float gain))
+ currentGain = gain;
+ }
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine("加载相机配置失败: " + ex.Message);
+ }
+ }
+ public void TakePhoto()
+ {
+ if (frameForSave == null)
+ {
+ MessageBox.Show("没有可用的图像数据！");
+ return;
+ }
+ try
+ {
+ string fileName = "Photo_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + ".jpg";
+ ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
+ imageFormatInfo.FormatType = ImageFormatType.Jpeg;
+ imageFormatInfo.JpegQuality = 90;
+ lock (saveImageLock)
+ {
+ int result = device.ImageSaver.SaveImageToFile(fileName, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
+ if (result == MvError.MV_OK)
+ {
+ MessageBox.Show($"照片已保存: {fileName}");
+ }
+ else
+ {
+ MessageBox.Show("保存照片失败!" + result);
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show("拍照失败: " + ex.Message);
+ }
+ }
+ public void ShowParameterDialog()
+ {
+ if (device == null)
+ {
+ MessageBox.Show("相机未连接！");
+ return;
+ }
+ // 创建参数调整窗体
+ using (Form paramForm = new Form())
+ {
+ paramForm.Text = "相机参数设置";
+ paramForm.Size = new Size(300, 200);
+ paramForm.StartPosition = FormStartPosition.CenterParent;
+ // 曝光时间设置
+ Label lblExposure = new Label() { Text = "曝光时间:", Location = new Point(10, 20), Size = new Size(80, 20) };
+ TextBox txtExposure = new TextBox() { Location = new Point(100, 18), Size = new Size(100, 20), Text = currentExposure.ToString() };
+ // 增益设置
+ Label lblGain = new Label() { Text = "增益:", Location = new Point(10, 50), Size = new Size(80, 20) };
+ TextBox txtGain = new TextBox() { Location = new Point(100, 48), Size = new Size(100, 20), Text = currentGain.ToString() };
+ // 确定按钮
+ Button btnOK = new Button() { Text = "应用", Location = new Point(50, 100), Size = new Size(60, 30) };
+ btnOK.Click += (s, e) => {
+ try
+ {
+ float exposure = float.Parse(txtExposure.Text);
+ float gain = float.Parse(txtGain.Text);
+ SetCameraParameters(exposure, gain);
+ paramForm.Close();
+ }
+ catch
+ {
+ MessageBox.Show("请输入正确的数值！");
+ }
+ };
+ // 取消按钮
+ Button btnCancel = new Button() { Text = "取消", Location = new Point(130, 100), Size = new Size(60, 30) };
+ btnCancel.Click += (s, e) => paramForm.Close();
+ paramForm.Controls.AddRange(new Control[] { lblExposure, txtExposure, lblGain, txtGain, btnOK, btnCancel });
+ paramForm.ShowDialog();
+ }
+ }
+ public string SaveCurrentImageForDetection()
+ {
+ if (frameForSave == null) return null;
+ try
+ {
+ string fileName = "temp_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg";
+ string fullPath = Path.Combine(Application.StartupPath, fileName);
+ ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
+ imageFormatInfo.FormatType = ImageFormatType.Jpeg;
+ imageFormatInfo.JpegQuality = 90;
+ lock (saveImageLock)
+ {
+ int result = device.ImageSaver.SaveImageToFile(fullPath, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
+ if (result == MvError.MV_OK)
+ {
+ return fullPath;
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show("保存图像失败: " + ex.Message);
+ }
+ return null;
+ }
+ public string SaveImageToPositionFolder(int positionIndex, int currentCycle, string cycleStartTime)
+ {
+ if (frameForSave == null) return null;
+ try
+ {
+ string positionFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Original_{cycleStartTime}");
+ if (!Directory.Exists(positionFolder))
+ {
+ Directory.CreateDirectory(positionFolder);
+ }
+ string fileName = $"Original_Pos{positionIndex + 1}_Cycle{currentCycle}_{DateTime.Now:yyyyMMddHHmmss}.jpg";
+ string fullPath = Path.Combine(positionFolder, fileName);
+ ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
+ imageFormatInfo.FormatType = ImageFormatType.Jpeg;
+ imageFormatInfo.JpegQuality = 90;
+ lock (saveImageLock)
+ {
+ int result = device.ImageSaver.SaveImageToFile(fullPath, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
+ if (result == MvError.MV_OK)
+ {
+ return fullPath;
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"保存点位{positionIndex + 1}图像失败: " + ex.Message);
+ }
+ return null;
+ }
+ public void StopCamera()
+ {
+ // 停止采集
+ if (isGrabbing)
+ {
+ isGrabbing = false;
+ if (receiveThread != null && receiveThread.IsAlive)
+ {
+ receiveThread.Join();
+ }
+ }
+ // 关闭设备
+ if (device != null)
+ {
+ device.StreamGrabber.StopGrabbing();
+ device.Close();
+ device.Dispose();
+ device = null;
+ }
+ // 释放帧缓存
+ lock (saveImageLock)
+ {
+ if (frameForSave != null)
+ {
+ frameForSave.Dispose();
+ frameForSave = null;
+ }
+ }
+ }
private void ConnectFirstCamera()
{
try
@@ -70,9 +258,7 @@ namespace HitBotCSharpDemo
// 设置采集模式
device.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
device.Parameters.SetEnumValueByString("TriggerMode", "Off");
-
SetCameraParameters(currentExposure, currentGain);
-
// 启动图像采集
StartGrabbing();
}
@@ -110,7 +296,6 @@ namespace HitBotCSharpDemo
{
IFrameOut frameOut;
int nRet = device.StreamGrabber.GetImageBuffer(1000, out frameOut);
-
if (MvError.MV_OK == nRet)
{
// 保存帧信息用于拍照
@@ -125,10 +310,10 @@ namespace HitBotCSharpDemo
// 显示图像到PictureBox
try
{
- //if (cam_feed.IsHandleCreated)
- //{
- // device.ImageRender.DisplayOneFrame(cam_feed.Handle, frameOut.Image);
- //}
+ if (displayControl.IsHandleCreated)
+ {
+ device.ImageRender.DisplayOneFrame(displayControl.Handle, frameOut.Image);
+ }
}
catch (Exception ex)
{
@@ -143,41 +328,14 @@ namespace HitBotCSharpDemo
}
}
}
- private void LoadCameraConfig()
- {
- try
- {
- if (File.Exists(configFilePath))
- {
- string[] lines = File.ReadAllLines(configFilePath);
- foreach (string line in lines)
- {
- if (line.StartsWith("Exposure="))
- {
- if (float.TryParse(line.Substring(9), out float exposure))
- currentExposure = exposure;
- }
- else if (line.StartsWith("Gain="))
- {
- if (float.TryParse(line.Substring(5), out float gain))
- currentGain = gain;
- }
- }
- }
- }
- catch (Exception ex)
- {
- Console.WriteLine("加载相机配置失败: " + ex.Message);
- }
- }
private void SaveCameraConfig()
{
try
{
string[] config = new string[]
{
- $"Exposure={currentExposure}",
- $"Gain={currentGain}"
+ $"Exposure={currentExposure}",
+ $"Gain={currentGain}"
};
File.WriteAllLines(configFilePath, config);
}
@@ -186,82 +344,6 @@ namespace HitBotCSharpDemo
Console.WriteLine("保存相机配置失败: " + ex.Message);
}
}
-
- private void TakePhoto()
- {
- if (frameForSave == null)
- {
- MessageBox.Show("没有可用的图像数据！");
- return;
- }
- try
- {
- string fileName = "Photo_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + ".jpg";
-
- ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
- imageFormatInfo.FormatType = ImageFormatType.Jpeg;
- imageFormatInfo.JpegQuality = 90;
- lock (saveImageLock)
- {
- int result = device.ImageSaver.SaveImageToFile(fileName, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
- if (result == MvError.MV_OK)
- {
- MessageBox.Show($"照片已保存: {fileName}");
- }
- else
- {
- MessageBox.Show("保存照片失败!" + result);
- }
- }
- }
- catch (Exception ex)
- {
- MessageBox.Show("拍照失败: " + ex.Message);
- }
- }
- //private void ShowCameraParameterDialog()
- //{
- // if (device == null)
- // {
- // MessageBox.Show("相机未连接！");
- // return;
- // }
- // // 创建参数调整窗体
- // using (Form paramForm = new Form())
- // {
- // paramForm.Text = "相机参数设置";
- // paramForm.Size = new Size(300, 200);
- // paramForm.StartPosition = FormStartPosition.CenterParent;
- // // 曝光时间设置
- // Label lblExposure = new Label() { Text = "曝光时间:", Location = new Point(10, 20), Size = new Size(80, 20) };
- // TextBox txtExposure = new TextBox() { Location = new Point(100, 18), Size = new Size(100, 20), Text = currentExposure.ToString() };
- // // 增益设置
- // Label lblGain = new Label() { Text = "增益:", Location = new Point(10, 50), Size = new Size(80, 20) };
- // TextBox txtGain = new TextBox() { Location = new Point(100, 48), Size = new Size(100, 20), Text = currentGain.ToString() };
- // // 确定按钮
- // Button btnOK = new Button() { Text = "应用", Location = new Point(50, 100), Size = new Size(60, 30) };
- // btnOK.Click += (s, e) => {
- // try
- // {
- // float exposure = float.Parse(txtExposure.Text);
- // float gain = float.Parse(txtGain.Text);
-
- // SetCameraParameters(exposure, gain);
- // paramForm.Close();
- // }
- // catch
- // {
- // MessageBox.Show("请输入正确的数值！");
- // }
- // };
- // // 取消按钮
- // Button btnCancel = new Button() { Text = "取消", Location = new Point(130, 100), Size = new Size(60, 30) };
- // btnCancel.Click += (s, e) => paramForm.Close();
- // paramForm.Controls.AddRange(new Control[] { lblExposure, txtExposure, lblGain, txtGain, btnOK, btnCancel });
- // paramForm.ShowDialog(this);
- // }
- //}
-
private void SetCameraParameters(float exposure, float gain)
{
if (device == null) return;
@@ -286,7 +368,6 @@ namespace HitBotCSharpDemo
currentExposure = exposure;
currentGain = gain;
SaveCameraConfig();
-
//MessageBox.Show("参数设置成功！");
}
catch (Exception ex)
@@ -294,38 +375,5 @@ namespace HitBotCSharpDemo
MessageBox.Show("设置参数失败: " + ex.Message);
}
}
- //protected override void OnFormClosing(FormClosingEventArgs e)
- //{
- // // 停止采集
- // if (isGrabbing)
- // {
- // isGrabbing = false;
- // if (receiveThread != null && receiveThread.IsAlive)
- // {
- // receiveThread.Join();
- // }
- // }
- // // 关闭设备
- // if (device != null)
- // {
- // device.StreamGrabber.StopGrabbing();
- // device.Close();
- // device.Dispose();
- // device = null;
- // }
- // // 释放帧缓存
- // lock (saveImageLock)
- // {
- // if (frameForSave != null)
- // {
- // frameForSave.Dispose();
- // frameForSave = null;
- // }
- // }
- // // 终结SDK
- // SDKSystem.Finalize();
-
- // base.OnFormClosing(e);
- //}
}
}
diff --git a/HitBotCSharpDemo/PositionManager.cs b/HitBotCSharpDemo/PositionManager.cs
new file mode 100644
index 0000000..424f5f7
--- /dev/null
+++ b/HitBotCSharpDemo/PositionManager.cs
@@ -0,0 +1,93 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace HitBotCSharpDemo
+{
+ public interface IPositionManager
+ {
+ bool LoadPositions();
+ float[] GetPosition(int index);
+ int PositionCount { get; }
+ bool IsPositionValid(int index);
+ }
+ internal class PositionManager
+ {
+ private float[][] cameraPositions;
+ private string filePath = "Cam_pos_path.txt";
+ public int PositionCount => cameraPositions?.Length ?? 0;
+ public bool LoadPositions()
+ {
+ try
+ {
+ if (File.Exists(filePath))
+ {
+ string[] lines = File.ReadAllLines(filePath);
+ cameraPositions = new float[5][];
+ int positionIndex = 0;
+ foreach (string line in lines)
+ {
+ if (string.IsNullOrWhiteSpace(line) || line.StartsWith("#"))
+ continue;
+ if (positionIndex < 5)
+ {
+ string[] coords = line.Split(',');
+ if (coords.Length == 4)
+ {
+ cameraPositions[positionIndex] = new float[4];
+ for (int i = 0; i < 4; i++)
+ {
+ if (float.TryParse(coords[i].Trim(), out float value))
+ {
+ cameraPositions[positionIndex][i] = value;
+ }
+ else
+ {
+ MessageBox.Show($"解析第{positionIndex + 1}行第{i + 1}个坐标时出错：{coords[i]}");
+ return false;
+ }
+ }
+ positionIndex++;
+ }
+ else
+ {
+ MessageBox.Show($"第{positionIndex + 1}行坐标格式错误，应该包含4个值(X,Y,Z,R)");
+ return false;
+ }
+ }
+ }
+ return true;
+ }
+ else
+ {
+ MessageBox.Show($"未找到文件：{filePath}");
+ return false;
+ }
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"加载点位文件时出错：{ex.Message}");
+ return false;
+ }
+ }
+ public float[] GetPosition(int index)
+ {
+ if (IsPositionValid(index))
+ {
+ return cameraPositions[index];
+ }
+ return null;
+ }
+ public bool IsPositionValid(int index)
+ {
+ return cameraPositions != null &&
+ index >= 0 &&
+ index < cameraPositions.Length &&
+ cameraPositions[index] != null;
+ }
+ }
+}
diff --git a/HitBotCSharpDemo/RobotManager.cs b/HitBotCSharpDemo/RobotManager.cs
new file mode 100644
index 0000000..39017a1
--- /dev/null
+++ b/HitBotCSharpDemo/RobotManager.cs
@@ -0,0 +1,133 @@
+using ControlBeanExDll;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using TcpserverExDll;
+
+namespace HitBotCSharpDemo
+{
+ public interface IRobotManager
+ {
+ ControlBeanEx Robot { get; }
+ bool IsInitialized { get; }
+ bool Initialize(int robotId);
+ void MoveToPosition(float x, float y, float z, float r, int hand);
+ void JogMove(float deltaX, float deltaY, float deltaZ, float deltaR);
+ void StopMove();
+ void GetCurrentPosition();
+ int[] GetIOInputs(int count);
+ int[] GetIOOutputs(int count);
+ void SetDigitalOutput(int index, bool state);
+ void JointHome(int jointNumber);
+ float X { get; }
+ float Y { get; }
+ float Z { get; }
+ float Rotation { get; }
+ int Hand { get; }
+ bool MoveFlag { get; }
+ }
+ internal class RobotManager
+ {
+ private ControlBeanEx robot;
+ private bool isInitialized = false;
+ public ControlBeanEx Robot => robot;
+ public bool IsInitialized => isInitialized;
+ public float X => robot?.x ?? 0;
+ public float Y => robot?.y ?? 0;
+ public float Z => robot?.z ?? 0;
+ public float Rotation => robot?.rotation ?? 0;
+ public int Hand => robot?.get_lr() ?? 0;
+ public bool MoveFlag => robot?.move_flag ?? false;
+ public RobotManager()
+ {
+ TcpserverEx.net_port_initial();
+ }
+ public bool Initialize(int robotId)
+ {
+ robot = TcpserverEx.get_robot(robotId);
+
+ if (robot.is_connected())
+ {
+ robot.check_joint(4, false);
+ int ret = robot.initial(1, 240);
+
+ if (ret == 1)
+ {
+ robot.unlock_position();
+ isInitialized = true;
+ MessageBox.Show("机械臂初始化完成");
+ return true;
+ }
+ else
+ {
+ MessageBox.Show($"机械臂初始化失败，返回值 = {ret}");
+ return false;
+ }
+ }
+ else
+ {
+ MessageBox.Show("机械臂未连接");
+ return false;
+ }
+ }
+ public void MoveToPosition(float x, float y, float z, float r, int hand)
+ {
+ if (!isInitialized) return;
+
+ robot.get_scara_param();
+ robot.new_set_acc(30, 30, 30, 30);
+ robot.new_movej_xyz_lr(x, y, z, r, 100, 0, hand);
+ }
+ public void JogMove(float deltaX, float deltaY, float deltaZ, float deltaR)
+ {
+ if (!isInitialized) return;
+
+ robot.jog_move2(deltaX, deltaY, deltaZ, deltaR, 1);
+ }
+ public void StopMove()
+ {
+ if (!isInitialized) return;
+ robot.new_stop_move();
+ }
+ public void GetCurrentPosition()
+ {
+ if (!isInitialized) return;
+ robot.get_scara_param();
+ }
+ public int[] GetIOInputs(int count)
+ {
+ if (!isInitialized) return new int[count];
+
+ int[] inputs = new int[count];
+ for (int i = 0; i < count; i++)
+ {
+ inputs[i] = robot.get_digital_in(i);
+ }
+ return inputs;
+ }
+ public int[] GetIOOutputs(int count)
+ {
+ if (!isInitialized) return new int[count];
+
+ int[] outputs = new int[count];
+ for (int i = 0; i < count; i++)
+ {
+ outputs[i] = robot.get_digital_out(i);
+ }
+ return outputs;
+ }
+ public void SetDigitalOutput(int index, bool state)
+ {
+ if (!isInitialized) return;
+ robot.set_digital_out(index, state);
+ }
+ public void JointHome(int jointNumber)
+ {
+ if (!isInitialized) return;
+ robot.joint_home(jointNumber);
+ }
+ }
+}
diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs
index 73e6b64..4933d5d 100644
--- a/HitBotCSharpDemo/ShowForm.Designer.cs
+++ b/HitBotCSharpDemo/ShowForm.Designer.cs
@@ -103,6 +103,7 @@
this.btn_Pause = new System.Windows.Forms.Button();
this.btn_Start = new System.Windows.Forms.Button();
this.tap_Cam = new System.Windows.Forms.TabPage();
+ this.label1 = new System.Windows.Forms.Label();
this.textBox1 = new System.Windows.Forms.TextBox();
this.checkBox4 = new System.Windows.Forms.CheckBox();
this.checkBox3 = new System.Windows.Forms.CheckBox();
@@ -118,12 +119,52 @@
this.cam_btn_3 = new System.Windows.Forms.Button();
this.cam_btn_2 = new System.Windows.Forms.Button();
this.cam_btn_1 = new System.Windows.Forms.Button();
+ this.tap_tempCtrl = new System.Windows.Forms.TabPage();
+ this.grb_temport = new System.Windows.Forms.GroupBox();
+ this.comboBox1 = new System.Windows.Forms.ComboBox();
+ this.label2 = new System.Windows.Forms.Label();
+ this.button3 = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel();
this.cob_Robot_ID = new System.Windows.Forms.ComboBox();
this.lbl_Refresh_ID = new System.Windows.Forms.Label();
this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components);
this.rit_Coord = new System.Windows.Forms.RichTextBox();
- this.label1 = new System.Windows.Forms.Label();
+ this.grb_pos1 = new System.Windows.Forms.GroupBox();
+ this.label3 = new System.Windows.Forms.Label();
+ this.label4 = new System.Windows.Forms.Label();
+ this.label5 = new System.Windows.Forms.Label();
+ this.label6 = new System.Windows.Forms.Label();
+ this.textBox2 = new System.Windows.Forms.TextBox();
+ this.button4 = new System.Windows.Forms.Button();
+ this.button5 = new System.Windows.Forms.Button();
+ this.label7 = new System.Windows.Forms.Label();
+ this.groupBox1 = new System.Windows.Forms.GroupBox();
+ this.label8 = new System.Windows.Forms.Label();
+ this.button6 = new System.Windows.Forms.Button();
+ this.button7 = new System.Windows.Forms.Button();
+ this.textBox3 = new System.Windows.Forms.TextBox();
+ this.label9 = new System.Windows.Forms.Label();
+ this.label10 = new System.Windows.Forms.Label();
+ this.label11 = new System.Windows.Forms.Label();
+ this.label12 = new System.Windows.Forms.Label();
+ this.groupBox2 = new System.Windows.Forms.GroupBox();
+ this.label13 = new System.Windows.Forms.Label();
+ this.button8 = new System.Windows.Forms.Button();
+ this.button9 = new System.Windows.Forms.Button();
+ this.textBox4 = new System.Windows.Forms.TextBox();
+ this.label14 = new System.Windows.Forms.Label();
+ this.label15 = new System.Windows.Forms.Label();
+ this.label16 = new System.Windows.Forms.Label();
+ this.label17 = new System.Windows.Forms.Label();
+ this.groupBox3 = new System.Windows.Forms.GroupBox();
+ this.label18 = new System.Windows.Forms.Label();
+ this.button10 = new System.Windows.Forms.Button();
+ this.button11 = new System.Windows.Forms.Button();
+ this.textBox5 = new System.Windows.Forms.TextBox();
+ this.label19 = new System.Windows.Forms.Label();
+ this.label20 = new System.Windows.Forms.Label();
+ this.label21 = new System.Windows.Forms.Label();
+ this.label22 = new System.Windows.Forms.Label();
this.tac_MainForm.SuspendLayout();
this.tap_Axis.SuspendLayout();
this.grb_R.SuspendLayout();
@@ -139,7 +180,13 @@
this.tap_Cam.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit();
+ this.tap_tempCtrl.SuspendLayout();
+ this.grb_temport.SuspendLayout();
this.panel1.SuspendLayout();
+ this.grb_pos1.SuspendLayout();
+ this.groupBox1.SuspendLayout();
+ this.groupBox2.SuspendLayout();
+ this.groupBox3.SuspendLayout();
this.SuspendLayout();
//
// btn_Init
@@ -160,6 +207,7 @@
this.tac_MainForm.Controls.Add(this.tap_joint);
this.tac_MainForm.Controls.Add(this.tap_Move);
this.tac_MainForm.Controls.Add(this.tap_Cam);
+ this.tac_MainForm.Controls.Add(this.tap_tempCtrl);
this.tac_MainForm.Dock = System.Windows.Forms.DockStyle.Fill;
this.tac_MainForm.Location = new System.Drawing.Point(0, 0);
this.tac_MainForm.Margin = new System.Windows.Forms.Padding(4);
@@ -1023,10 +1071,19 @@
this.tap_Cam.Padding = new System.Windows.Forms.Padding(3);
this.tap_Cam.Size = new System.Drawing.Size(1214, 760);
this.tap_Cam.TabIndex = 4;
- this.tap_Cam.Text = "相机点位";
+ this.tap_Cam.Text = "晶体检测";
this.tap_Cam.UseVisualStyleBackColor = true;
this.tap_Cam.Click += new System.EventHandler(this.tap_Cam_Click);
//
+ // label1
+ //
+ this.label1.AutoSize = true;
+ this.label1.Location = new System.Drawing.Point(847, 79);
+ this.label1.Name = "label1";
+ this.label1.Size = new System.Drawing.Size(170, 18);
+ this.label1.TabIndex = 17;
+ this.label1.Text = "停留时间（分钟）：";
+ //
// textBox1
//
this.textBox1.Location = new System.Drawing.Point(1023, 74);
@@ -1177,6 +1234,62 @@
this.cam_btn_1.UseVisualStyleBackColor = true;
this.cam_btn_1.Click += new System.EventHandler(this.button1_Click);
//
+ // tap_tempCtrl
+ //
+ this.tap_tempCtrl.Controls.Add(this.groupBox3);
+ this.tap_tempCtrl.Controls.Add(this.groupBox2);
+ this.tap_tempCtrl.Controls.Add(this.groupBox1);
+ this.tap_tempCtrl.Controls.Add(this.grb_pos1);
+ this.tap_tempCtrl.Controls.Add(this.grb_temport);
+ this.tap_tempCtrl.Location = new System.Drawing.Point(4, 28);
+ this.tap_tempCtrl.Name = "tap_tempCtrl";
+ this.tap_tempCtrl.Padding = new System.Windows.Forms.Padding(3);
+ this.tap_tempCtrl.Size = new System.Drawing.Size(1214, 760);
+ this.tap_tempCtrl.TabIndex = 5;
+ this.tap_tempCtrl.Text = "温度控制";
+ this.tap_tempCtrl.UseVisualStyleBackColor = true;
+ this.tap_tempCtrl.Click += new System.EventHandler(this.tabPage1_Click);
+ //
+ // grb_temport
+ //
+ this.grb_temport.Controls.Add(this.comboBox1);
+ this.grb_temport.Controls.Add(this.label2);
+ this.grb_temport.Controls.Add(this.button3);
+ this.grb_temport.Location = new System.Drawing.Point(61, 30);
+ this.grb_temport.Name = "grb_temport";
+ this.grb_temport.Size = new System.Drawing.Size(271, 169);
+ this.grb_temport.TabIndex = 3;
+ this.grb_temport.TabStop = false;
+ this.grb_temport.Text = "串口设置";
+ //
+ // comboBox1
+ //
+ this.comboBox1.FormattingEnabled = true;
+ this.comboBox1.Location = new System.Drawing.Point(108, 46);
+ this.comboBox1.Name = "comboBox1";
+ this.comboBox1.Size = new System.Drawing.Size(91, 26);
+ this.comboBox1.TabIndex = 5;
+ this.comboBox1.SelectedIndexChanged += new System.EventHandler(this.comboBox1_SelectedIndexChanged);
+ //
+ // label2
+ //
+ this.label2.AutoSize = true;
+ this.label2.Location = new System.Drawing.Point(40, 49);
+ this.label2.Name = "label2";
+ this.label2.Size = new System.Drawing.Size(62, 18);
+ this.label2.TabIndex = 4;
+ this.label2.Text = "端口：";
+ //
+ // button3
+ //
+ this.button3.Location = new System.Drawing.Point(43, 101);
+ this.button3.Name = "button3";
+ this.button3.Size = new System.Drawing.Size(156, 40);
+ this.button3.TabIndex = 0;
+ this.button3.Text = "打开串口";
+ this.button3.UseVisualStyleBackColor = true;
+ this.button3.Click += new System.EventHandler(this.button3_Click_1);
+ //
// panel1
//
this.panel1.Controls.Add(this.tac_MainForm);
@@ -1223,14 +1336,358 @@
this.rit_Coord.Text = "";
this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged);
//
- // label1
+ // grb_pos1
//
- this.label1.AutoSize = true;
- this.label1.Location = new System.Drawing.Point(847, 79);
- this.label1.Name = "label1";
- this.label1.Size = new System.Drawing.Size(170, 18);
- this.label1.TabIndex = 17;
- this.label1.Text = "停留时间（分钟）：";
+ this.grb_pos1.Controls.Add(this.label7);
+ this.grb_pos1.Controls.Add(this.button5);
+ this.grb_pos1.Controls.Add(this.button4);
+ this.grb_pos1.Controls.Add(this.textBox2);
+ this.grb_pos1.Controls.Add(this.label6);
+ this.grb_pos1.Controls.Add(this.label5);
+ this.grb_pos1.Controls.Add(this.label4);
+ this.grb_pos1.Controls.Add(this.label3);
+ this.grb_pos1.Location = new System.Drawing.Point(61, 227);
+ this.grb_pos1.Name = "grb_pos1";
+ this.grb_pos1.Size = new System.Drawing.Size(1055, 100);
+ this.grb_pos1.TabIndex = 6;
+ this.grb_pos1.TabStop = false;
+ this.grb_pos1.Text = "点位1";
+ this.grb_pos1.Enter += new System.EventHandler(this.groupBox1_Enter);
+ //
+ // label3
+ //
+ this.label3.AutoSize = true;
+ this.label3.Location = new System.Drawing.Point(26, 42);
+ this.label3.Name = "label3";
+ this.label3.Size = new System.Drawing.Size(98, 18);
+ this.label3.TabIndex = 0;
+ this.label3.Text = "实际温度：";
+ //
+ // label4
+ //
+ this.label4.AutoSize = true;
+ this.label4.Location = new System.Drawing.Point(116, 43);
+ this.label4.Name = "label4";
+ this.label4.Size = new System.Drawing.Size(17, 18);
+ this.label4.TabIndex = 1;
+ this.label4.Text = "0";
+ this.label4.Click += new System.EventHandler(this.label4_Click);
+ //
+ // label5
+ //
+ this.label5.AutoSize = true;
+ this.label5.Location = new System.Drawing.Point(227, 42);
+ this.label5.Name = "label5";
+ this.label5.Size = new System.Drawing.Size(98, 18);
+ this.label5.TabIndex = 2;
+ this.label5.Text = "调节温度：";
+ //
+ // label6
+ //
+ this.label6.AutoSize = true;
+ this.label6.Location = new System.Drawing.Point(458, 42);
+ this.label6.Name = "label6";
+ this.label6.Size = new System.Drawing.Size(98, 18);
+ this.label6.TabIndex = 7;
+ this.label6.Text = "设定温度：";
+ this.label6.Click += new System.EventHandler(this.label6_Click);
+ //
+ // textBox2
+ //
+ this.textBox2.Location = new System.Drawing.Point(321, 38);
+ this.textBox2.Name = "textBox2";
+ this.textBox2.Size = new System.Drawing.Size(100, 28);
+ this.textBox2.TabIndex = 8;
+ this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
+ //
+ // button4
+ //
+ this.button4.Location = new System.Drawing.Point(901, 31);
+ this.button4.Name = "button4";
+ this.button4.Size = new System.Drawing.Size(113, 40);
+ this.button4.TabIndex = 7;
+ this.button4.Text = "开始升温";
+ this.button4.UseVisualStyleBackColor = true;
+ //
+ // button5
+ //
+ this.button5.Location = new System.Drawing.Point(761, 31);
+ this.button5.Name = "button5";
+ this.button5.Size = new System.Drawing.Size(113, 40);
+ this.button5.TabIndex = 8;
+ this.button5.Text = "保存";
+ this.button5.UseVisualStyleBackColor = true;
+ //
+ // label7
+ //
+ this.label7.AutoSize = true;
+ this.label7.Location = new System.Drawing.Point(549, 43);
+ this.label7.Name = "label7";
+ this.label7.Size = new System.Drawing.Size(17, 18);
+ this.label7.TabIndex = 9;
+ this.label7.Text = "0";
+ //
+ // groupBox1
+ //
+ this.groupBox1.Controls.Add(this.label8);
+ this.groupBox1.Controls.Add(this.button6);
+ this.groupBox1.Controls.Add(this.button7);
+ this.groupBox1.Controls.Add(this.textBox3);
+ this.groupBox1.Controls.Add(this.label9);
+ this.groupBox1.Controls.Add(this.label10);
+ this.groupBox1.Controls.Add(this.label11);
+ this.groupBox1.Controls.Add(this.label12);
+ this.groupBox1.Location = new System.Drawing.Point(61, 360);
+ this.groupBox1.Name = "groupBox1";
+ this.groupBox1.Size = new System.Drawing.Size(1055, 100);
+ this.groupBox1.TabIndex = 7;
+ this.groupBox1.TabStop = false;
+ this.groupBox1.Text = "点位2";
+ this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter_1);
+ //
+ // label8
+ //
+ this.label8.AutoSize = true;
+ this.label8.Location = new System.Drawing.Point(549, 43);
+ this.label8.Name = "label8";
+ this.label8.Size = new System.Drawing.Size(17, 18);
+ this.label8.TabIndex = 9;
+ this.label8.Text = "0";
+ //
+ // button6
+ //
+ this.button6.Location = new System.Drawing.Point(761, 31);
+ this.button6.Name = "button6";
+ this.button6.Size = new System.Drawing.Size(113, 40);
+ this.button6.TabIndex = 8;
+ this.button6.Text = "保存";
+ this.button6.UseVisualStyleBackColor = true;
+ //
+ // button7
+ //
+ this.button7.Location = new System.Drawing.Point(901, 31);
+ this.button7.Name = "button7";
+ this.button7.Size = new System.Drawing.Size(113, 40);
+ this.button7.TabIndex = 7;
+ this.button7.Text = "开始升温";
+ this.button7.UseVisualStyleBackColor = true;
+ //
+ // textBox3
+ //
+ this.textBox3.Location = new System.Drawing.Point(321, 38);
+ this.textBox3.Name = "textBox3";
+ this.textBox3.Size = new System.Drawing.Size(100, 28);
+ this.textBox3.TabIndex = 8;
+ //
+ // label9
+ //
+ this.label9.AutoSize = true;
+ this.label9.Location = new System.Drawing.Point(458, 42);
+ this.label9.Name = "label9";
+ this.label9.Size = new System.Drawing.Size(98, 18);
+ this.label9.TabIndex = 7;
+ this.label9.Text = "设定温度：";
+ //
+ // label10
+ //
+ this.label10.AutoSize = true;
+ this.label10.Location = new System.Drawing.Point(227, 42);
+ this.label10.Name = "label10";
+ this.label10.Size = new System.Drawing.Size(98, 18);
+ this.label10.TabIndex = 2;
+ this.label10.Text = "调节温度：";
+ //
+ // label11
+ //
+ this.label11.AutoSize = true;
+ this.label11.Location = new System.Drawing.Point(116, 43);
+ this.label11.Name = "label11";
+ this.label11.Size = new System.Drawing.Size(17, 18);
+ this.label11.TabIndex = 1;
+ this.label11.Text = "0";
+ //
+ // label12
+ //
+ this.label12.AutoSize = true;
+ this.label12.Location = new System.Drawing.Point(26, 42);
+ this.label12.Name = "label12";
+ this.label12.Size = new System.Drawing.Size(98, 18);
+ this.label12.TabIndex = 0;
+ this.label12.Text = "实际温度：";
+ //
+ // groupBox2
+ //
+ this.groupBox2.Controls.Add(this.label13);
+ this.groupBox2.Controls.Add(this.button8);
+ this.groupBox2.Controls.Add(this.button9);
+ this.groupBox2.Controls.Add(this.textBox4);
+ this.groupBox2.Controls.Add(this.label14);
+ this.groupBox2.Controls.Add(this.label15);
+ this.groupBox2.Controls.Add(this.label16);
+ this.groupBox2.Controls.Add(this.label17);
+ this.groupBox2.Location = new System.Drawing.Point(61, 488);
+ this.groupBox2.Name = "groupBox2";
+ this.groupBox2.Size = new System.Drawing.Size(1055, 100);
+ this.groupBox2.TabIndex = 10;
+ this.groupBox2.TabStop = false;
+ this.groupBox2.Text = "点位3";
+ //
+ // label13
+ //
+ this.label13.AutoSize = true;
+ this.label13.Location = new System.Drawing.Point(549, 43);
+ this.label13.Name = "label13";
+ this.label13.Size = new System.Drawing.Size(17, 18);
+ this.label13.TabIndex = 9;
+ this.label13.Text = "0";
+ //
+ // button8
+ //
+ this.button8.Location = new System.Drawing.Point(761, 31);
+ this.button8.Name = "button8";
+ this.button8.Size = new System.Drawing.Size(113, 40);
+ this.button8.TabIndex = 8;
+ this.button8.Text = "保存";
+ this.button8.UseVisualStyleBackColor = true;
+ //
+ // button9
+ //
+ this.button9.Location = new System.Drawing.Point(901, 31);
+ this.button9.Name = "button9";
+ this.button9.Size = new System.Drawing.Size(113, 40);
+ this.button9.TabIndex = 7;
+ this.button9.Text = "开始升温";
+ this.button9.UseVisualStyleBackColor = true;
+ //
+ // textBox4
+ //
+ this.textBox4.Location = new System.Drawing.Point(321, 38);
+ this.textBox4.Name = "textBox4";
+ this.textBox4.Size = new System.Drawing.Size(100, 28);
+ this.textBox4.TabIndex = 8;
+ //
+ // label14
+ //
+ this.label14.AutoSize = true;
+ this.label14.Location = new System.Drawing.Point(458, 42);
+ this.label14.Name = "label14";
+ this.label14.Size = new System.Drawing.Size(98, 18);
+ this.label14.TabIndex = 7;
+ this.label14.Text = "设定温度：";
+ //
+ // label15
+ //
+ this.label15.AutoSize = true;
+ this.label15.Location = new System.Drawing.Point(227, 42);
+ this.label15.Name = "label15";
+ this.label15.Size = new System.Drawing.Size(98, 18);
+ this.label15.TabIndex = 2;
+ this.label15.Text = "调节温度：";
+ //
+ // label16
+ //
+ this.label16.AutoSize = true;
+ this.label16.Location = new System.Drawing.Point(116, 43);
+ this.label16.Name = "label16";
+ this.label16.Size = new System.Drawing.Size(17, 18);
+ this.label16.TabIndex = 1;
+ this.label16.Text = "0";
+ //
+ // label17
+ //
+ this.label17.AutoSize = true;
+ this.label17.Location = new System.Drawing.Point(26, 42);
+ this.label17.Name = "label17";
+ this.label17.Size = new System.Drawing.Size(98, 18);
+ this.label17.TabIndex = 0;
+ this.label17.Text = "实际温度：";
+ //
+ // groupBox3
+ //
+ this.groupBox3.Controls.Add(this.label18);
+ this.groupBox3.Controls.Add(this.button10);
+ this.groupBox3.Controls.Add(this.button11);
+ this.groupBox3.Controls.Add(this.textBox5);
+ this.groupBox3.Controls.Add(this.label19);
+ this.groupBox3.Controls.Add(this.label20);
+ this.groupBox3.Controls.Add(this.label21);
+ this.groupBox3.Controls.Add(this.label22);
+ this.groupBox3.Location = new System.Drawing.Point(61, 615);
+ this.groupBox3.Name = "groupBox3";
+ this.groupBox3.Size = new System.Drawing.Size(1055, 100);
+ this.groupBox3.TabIndex = 11;
+ this.groupBox3.TabStop = false;
+ this.groupBox3.Text = "点位4";
+ //
+ // label18
+ //
+ this.label18.AutoSize = true;
+ this.label18.Location = new System.Drawing.Point(549, 43);
+ this.label18.Name = "label18";
+ this.label18.Size = new System.Drawing.Size(17, 18);
+ this.label18.TabIndex = 9;
+ this.label18.Text = "0";
+ //
+ // button10
+ //
+ this.button10.Location = new System.Drawing.Point(761, 31);
+ this.button10.Name = "button10";
+ this.button10.Size = new System.Drawing.Size(113, 40);
+ this.button10.TabIndex = 8;
+ this.button10.Text = "保存";
+ this.button10.UseVisualStyleBackColor = true;
+ //
+ // button11
+ //
+ this.button11.Location = new System.Drawing.Point(901, 31);
+ this.button11.Name = "button11";
+ this.button11.Size = new System.Drawing.Size(113, 40);
+ this.button11.TabIndex = 7;
+ this.button11.Text = "开始升温";
+ this.button11.UseVisualStyleBackColor = true;
+ //
+ // textBox5
+ //
+ this.textBox5.Location = new System.Drawing.Point(321, 38);
+ this.textBox5.Name = "textBox5";
+ this.textBox5.Size = new System.Drawing.Size(100, 28);
+ this.textBox5.TabIndex = 8;
+ //
+ // label19
+ //
+ this.label19.AutoSize = true;
+ this.label19.Location = new System.Drawing.Point(458, 42);
+ this.label19.Name = "label19";
+ this.label19.Size = new System.Drawing.Size(98, 18);
+ this.label19.TabIndex = 7;
+ this.label19.Text = "设定温度：";
+ //
+ // label20
+ //
+ this.label20.AutoSize = true;
+ this.label20.Location = new System.Drawing.Point(227, 42);
+ this.label20.Name = "label20";
+ this.label20.Size = new System.Drawing.Size(98, 18);
+ this.label20.TabIndex = 2;
+ this.label20.Text = "调节温度：";
+ //
+ // label21
+ //
+ this.label21.AutoSize = true;
+ this.label21.Location = new System.Drawing.Point(116, 43);
+ this.label21.Name = "label21";
+ this.label21.Size = new System.Drawing.Size(17, 18);
+ this.label21.TabIndex = 1;
+ this.label21.Text = "0";
+ //
+ // label22
+ //
+ this.label22.AutoSize = true;
+ this.label22.Location = new System.Drawing.Point(26, 42);
+ this.label22.Name = "label22";
+ this.label22.Size = new System.Drawing.Size(98, 18);
+ this.label22.TabIndex = 0;
+ this.label22.Text = "实际温度：";
//
// ShowForm
//
@@ -1274,7 +1731,18 @@
this.tap_Cam.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit();
+ this.tap_tempCtrl.ResumeLayout(false);
+ this.grb_temport.ResumeLayout(false);
+ this.grb_temport.PerformLayout();
this.panel1.ResumeLayout(false);
+ this.grb_pos1.ResumeLayout(false);
+ this.grb_pos1.PerformLayout();
+ this.groupBox1.ResumeLayout(false);
+ this.groupBox1.PerformLayout();
+ this.groupBox2.ResumeLayout(false);
+ this.groupBox2.PerformLayout();
+ this.groupBox3.ResumeLayout(false);
+ this.groupBox3.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
@@ -1376,6 +1844,47 @@
private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.TextBox textBox1;
private System.Windows.Forms.Label label1;
+ private System.Windows.Forms.TabPage tap_tempCtrl;
+ private System.Windows.Forms.Button button3;
+ private System.Windows.Forms.GroupBox grb_temport;
+ private System.Windows.Forms.Label label2;
+ private System.Windows.Forms.ComboBox comboBox1;
+ private System.Windows.Forms.GroupBox grb_pos1;
+ private System.Windows.Forms.Label label5;
+ private System.Windows.Forms.Label label4;
+ private System.Windows.Forms.Label label3;
+ private System.Windows.Forms.TextBox textBox2;
+ private System.Windows.Forms.Label label6;
+ private System.Windows.Forms.Label label7;
+ private System.Windows.Forms.Button button5;
+ private System.Windows.Forms.Button button4;
+ private System.Windows.Forms.GroupBox groupBox1;
+ private System.Windows.Forms.Label label8;
+ private System.Windows.Forms.Button button6;
+ private System.Windows.Forms.Button button7;
+ private System.Windows.Forms.TextBox textBox3;
+ private System.Windows.Forms.Label label9;
+ private System.Windows.Forms.Label label10;
+ private System.Windows.Forms.Label label11;
+ private System.Windows.Forms.Label label12;
+ private System.Windows.Forms.GroupBox groupBox3;
+ private System.Windows.Forms.Label label18;
+ private System.Windows.Forms.Button button10;
+ private System.Windows.Forms.Button button11;
+ private System.Windows.Forms.TextBox textBox5;
+ private System.Windows.Forms.Label label19;
+ private System.Windows.Forms.Label label20;
+ private System.Windows.Forms.Label label21;
+ private System.Windows.Forms.Label label22;
+ private System.Windows.Forms.GroupBox groupBox2;
+ private System.Windows.Forms.Label label13;
+ private System.Windows.Forms.Button button8;
+ private System.Windows.Forms.Button button9;
+ private System.Windows.Forms.TextBox textBox4;
+ private System.Windows.Forms.Label label14;
+ private System.Windows.Forms.Label label15;
+ private System.Windows.Forms.Label label16;
+ private System.Windows.Forms.Label label17;
}
}
diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs
index ed03a70..0fd6135 100644
--- a/HitBotCSharpDemo/ShowForm.cs
+++ b/HitBotCSharpDemo/ShowForm.cs
@@ -45,31 +45,19 @@ namespace HitBotCSharpDemo
Thread thread_PosMove;
private float[][] cameraPositions;
private string filePath = "Cam_pos_path.txt";
- private string configFilePath = "Camera_config.txt";
-
- readonly DeviceTLayerType enumTLayerType = DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvUsbDevice
- | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvGenTLCXPDevice | DeviceTLayerType.MvGenTLCameraLinkDevice | DeviceTLayerType.MvGenTLXoFDevice;
- List deviceInfoList = new List();
- IDevice device = null;
- bool isGrabbing = false;
- Thread receiveThread = null;
- private IFrameOut frameForSave;
- private readonly object saveImageLock = new object();
- private float currentExposure = 10000f; // 默认曝光时间
- private float currentGain = 0f; // 默认增益
private TcpClient tcpClient;
private NetworkStream networkStream;
private Thread detectionThread;
private bool isDetectionRunning = false;
private const int SERVER_PORT = 8888; // Python服务器端口
- private const string SERVER_IP = "192.168.124.4"; // 本机IP
+ private const string SERVER_IP = "127.0.0.1"; // 本机IP
private float receivedWidth = 0;
private float receivedHeight = 0;
private bool isCycleRunning = false;
private Thread cycleThread;
- //private string xlsFilePath = Path.Combine(Application.StartupPath, "DetectionResults.xlsx");
+
private List detectionData = new List(); // 存储每轮检测数据
private int currentCycle = 0;
@@ -77,6 +65,9 @@ namespace HitBotCSharpDemo
private int dwellTimeMinutes = 1; // 停留时间（分钟）
private string cycleStartTime = ""; // 循环开始时间
+ private CameraManager cameraManager;
+ private tempControl tempControl;
+
private ControlBeanEx robot;
public ShowForm()
{
@@ -87,272 +78,6 @@ namespace HitBotCSharpDemo
//InitializeCamera(); // 初始化相机
Control.CheckForIllegalCrossThreadCalls = false;
}
- private void InitializeCamera()
- {
- // 枚举设备
- int nRet = DeviceEnumerator.EnumDevices(enumTLayerType, out deviceInfoList);
- if (nRet != MvError.MV_OK)
- {
- MessageBox.Show($"枚举设备失败!,{ nRet}");
- return;
- }
- // 如果有设备，自动连接第一个
- if (deviceInfoList.Count > 0)
- {
- ConnectFirstCamera();
- }
- }
- private void ConnectFirstCamera()
- {
- try
- {
- // 创建设备
- IDeviceInfo deviceInfo = deviceInfoList[0];
- device = DeviceFactory.CreateDevice(deviceInfo);
- // 打开设备
- int result = device.Open();
- if (result != MvError.MV_OK)
- {
- MessageBox.Show($"打开设备失败!,{result}");
- return;
- }
- // GigE设备优化
- if (device is IGigEDevice)
- {
- IGigEDevice gigEDevice = device as IGigEDevice;
- int optionPacketSize;
- result = gigEDevice.GetOptimalPacketSize(out optionPacketSize);
- if (result == MvError.MV_OK)
- {
- device.Parameters.SetIntValue("GevSCPSPacketSize", (long)optionPacketSize);
- }
- }
- // 设置采集模式
- device.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
- device.Parameters.SetEnumValueByString("TriggerMode", "Off");
-
- SetCameraParameters(currentExposure, currentGain);
-
- // 启动图像采集
- StartGrabbing();
- }
- catch (Exception ex)
- {
- MessageBox.Show("连接相机失败: " + ex.Message);
- }
- }
- private void StartGrabbing()
- {
- if (device == null) return;
- try
- {
- isGrabbing = true;
- receiveThread = new Thread(ReceiveThreadProcess);
- receiveThread.Start();
- // 开始采集
- int result = device.StreamGrabber.StartGrabbing();
- if (result != MvError.MV_OK)
- {
- isGrabbing = false;
- receiveThread.Join();
- MessageBox.Show("开始采集失败!" + result);
- return;
- }
- }
- catch (Exception ex)
- {
- MessageBox.Show("启动采集线程失败: " + ex.Message);
- }
- }
- public void ReceiveThreadProcess()
- {
- while (isGrabbing)
- {
- IFrameOut frameOut;
- int nRet = device.StreamGrabber.GetImageBuffer(1000, out frameOut);
-
- if (MvError.MV_OK == nRet)
- {
- // 保存帧信息用于拍照
- lock (saveImageLock)
- {
- if (frameForSave != null)
- {
- frameForSave.Dispose();
- }
- frameForSave = frameOut.Clone() as IFrameOut;
- }
- // 显示图像到PictureBox
- try
- {
- if (cam_feed.IsHandleCreated)
- {
- device.ImageRender.DisplayOneFrame(cam_feed.Handle, frameOut.Image);
- }
- }
- catch (Exception ex)
- {
- // 处理显示异常
- Console.WriteLine("显示图像异常: " + ex.Message);
- }
- device.StreamGrabber.FreeImageBuffer(frameOut);
- }
- else
- {
- Thread.Sleep(5);
- }
- }
- }
- private void LoadCameraConfig()
- {
- try
- {
- if (File.Exists(configFilePath))
- {
- string[] lines = File.ReadAllLines(configFilePath);
- foreach (string line in lines)
- {
- if (line.StartsWith("Exposure="))
- {
- if (float.TryParse(line.Substring(9), out float exposure))
- currentExposure = exposure;
- }
- else if (line.StartsWith("Gain="))
- {
- if (float.TryParse(line.Substring(5), out float gain))
- currentGain = gain;
- }
- }
- }
- }
- catch (Exception ex)
- {
- Console.WriteLine("加载相机配置失败: " + ex.Message);
- }
- }
- private void SaveCameraConfig()
- {
- try
- {
- string[] config = new string[]
- {
- $"Exposure={currentExposure}",
- $"Gain={currentGain}"
- };
- File.WriteAllLines(configFilePath, config);
- }
- catch (Exception ex)
- {
- Console.WriteLine("保存相机配置失败: " + ex.Message);
- }
- }
-
- private void TakePhoto()
- {
- if (frameForSave == null)
- {
- MessageBox.Show("没有可用的图像数据！");
- return;
- }
- try
- {
- string fileName = "Photo_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + ".jpg";
-
- ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
- imageFormatInfo.FormatType = ImageFormatType.Jpeg;
- imageFormatInfo.JpegQuality = 90;
- lock (saveImageLock)
- {
- int result = device.ImageSaver.SaveImageToFile(fileName, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
- if (result == MvError.MV_OK)
- {
- MessageBox.Show($"照片已保存: {fileName}");
- }
- else
- {
- MessageBox.Show("保存照片失败!"+ result);
- }
- }
- }
- catch (Exception ex)
- {
- MessageBox.Show("拍照失败: " + ex.Message);
- }
- }
- private void ShowCameraParameterDialog()
- {
- if (device == null)
- {
- MessageBox.Show("相机未连接！");
- return;
- }
- // 创建参数调整窗体
- using (Form paramForm = new Form())
- {
- paramForm.Text = "相机参数设置";
- paramForm.Size = new Size(300, 200);
- paramForm.StartPosition = FormStartPosition.CenterParent;
- // 曝光时间设置
- Label lblExposure = new Label() { Text = "曝光时间:", Location = new Point(10, 20), Size = new Size(80, 20) };
- TextBox txtExposure = new TextBox() { Location = new Point(100, 18), Size = new Size(100, 20), Text = currentExposure.ToString() };
- // 增益设置
- Label lblGain = new Label() { Text = "增益:", Location = new Point(10, 50), Size = new Size(80, 20) };
- TextBox txtGain = new TextBox() { Location = new Point(100, 48), Size = new Size(100, 20), Text = currentGain.ToString() };
- // 确定按钮
- Button btnOK = new Button() { Text = "应用", Location = new Point(50, 100), Size = new Size(60, 30) };
- btnOK.Click += (s, e) => {
- try
- {
- float exposure = float.Parse(txtExposure.Text);
- float gain = float.Parse(txtGain.Text);
-
- SetCameraParameters(exposure, gain);
- paramForm.Close();
- }
- catch
- {
- MessageBox.Show("请输入正确的数值！");
- }
- };
- // 取消按钮
- Button btnCancel = new Button() { Text = "取消", Location = new Point(130, 100), Size = new Size(60, 30) };
- btnCancel.Click += (s, e) => paramForm.Close();
- paramForm.Controls.AddRange(new Control[] { lblExposure, txtExposure, lblGain, txtGain, btnOK, btnCancel });
- paramForm.ShowDialog(this);
- }
- }
- private void SetCameraParameters(float exposure, float gain)
- {
- if (device == null) return;
- try
- {
- // 设置曝光时间
- device.Parameters.SetEnumValue("ExposureAuto", 0); // 关闭自动曝光
- int result = device.Parameters.SetFloatValue("ExposureTime", exposure);
- if (result != MvError.MV_OK)
- {
- MessageBox.Show("设置曝光时间失败!"+ result);
- return;
- }
- // 设置增益
- device.Parameters.SetEnumValue("GainAuto", 0); // 关闭自动增益
- result = device.Parameters.SetFloatValue("Gain", gain);
- if (result != MvError.MV_OK)
- {
- MessageBox.Show("设置增益失败!"+result);
- return;
- }
- currentExposure = exposure;
- currentGain = gain;
- SaveCameraConfig();
-
- //MessageBox.Show("参数设置成功！");
- }
- catch (Exception ex)
- {
- MessageBox.Show("设置参数失败: " + ex.Message);
- }
- }
protected override void OnFormClosing(FormClosingEventArgs e)
{
// 停止循环检测
@@ -362,35 +87,10 @@ namespace HitBotCSharpDemo
// 恢复控件状态
SetControlsEnabled(true);
}
+ // 停止相机
+ cameraManager?.StopCamera();
- // 停止采集
- if (isGrabbing)
- {
- isGrabbing = false;
- if (receiveThread != null && receiveThread.IsAlive)
- {
- receiveThread.Join();
- }
- }
- // 关闭设备
- if (device != null)
- {
- device.StreamGrabber.StopGrabbing();
- device.Close();
- device.Dispose();
- device = null;
- }
- // 释放帧缓存
- lock (saveImageLock)
- {
- if (frameForSave != null)
- {
- frameForSave.Dispose();
- frameForSave = null;
- }
- }
StopDetection();
-
// 终结SDK
SDKSystem.Finalize();
base.OnFormClosing(e);
@@ -502,9 +202,16 @@ namespace HitBotCSharpDemo
{
lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组
lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组
+
LoadCameraPositions();
- LoadCameraConfig();
- InitializeCamera();
+
+ cameraManager = new CameraManager(cam_feed);
+ cameraManager.LoadConfiguration();
+ cameraManager.Initialize();
+
+ Label[] temperatureLabels = new Label[] { label4, label11, label16, label21 };
+ tempControl = new tempControl(temperatureLabels);
+ tempControl.LoadAvailablePorts(comboBox1);
}
private void cob_Robot_ID_Click(object sender, EventArgs e)
@@ -973,12 +680,12 @@ namespace HitBotCSharpDemo
}
private void button1_Click_1(object sender, EventArgs e)
{
- TakePhoto();
+ cameraManager.TakePhoto();
}
private void cam_feed_Click(object sender, EventArgs e)
{
- ShowCameraParameterDialog();
+ cameraManager.ShowParameterDialog();
}
private void button1_Click_2(object sender, EventArgs e)
@@ -1055,7 +762,7 @@ namespace HitBotCSharpDemo
try
{
// 保存当前图像
- string imagePath = SaveCurrentImage();
+ string imagePath = cameraManager.SaveCurrentImageForDetection();
if (!string.IsNullOrEmpty(imagePath))
{
// 发送图像到Python服务器
@@ -1082,35 +789,7 @@ namespace HitBotCSharpDemo
}
}
- // 保存当前图像
- private string SaveCurrentImage()
- {
- if (frameForSave == null) return null;
- try
- {
- string fileName = "temp_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg";
- string fullPath = Path.Combine(Application.StartupPath, fileName);
-
- ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
- imageFormatInfo.FormatType = ImageFormatType.Jpeg;
- imageFormatInfo.JpegQuality = 90;
-
- lock (saveImageLock)
- {
- int result = device.ImageSaver.SaveImageToFile(fullPath, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
- if (result == MvError.MV_OK)
- {
- return fullPath;
- }
- }
- }
- catch (Exception ex)
- {
- MessageBox.Show("保存图像失败: " + ex.Message);
- }
- return null;
- }
// 发送图像到服务器
private void SendImageToServer(string imagePath)
{
@@ -1559,87 +1238,9 @@ namespace HitBotCSharpDemo
private string SaveImageToPositionFolder(int positionIndex)
{
- if (frameForSave == null) return null;
-
- try
- {
- string positionFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Original_{cycleStartTime}");
- if (!Directory.Exists(positionFolder))
- {
- Directory.CreateDirectory(positionFolder);
- }
-
- string fileName = $"Original_Pos{positionIndex + 1}_Cycle{currentCycle}_{DateTime.Now:yyyyMMddHHmmss}.jpg";
- string fullPath = Path.Combine(positionFolder, fileName);
-
- ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
- imageFormatInfo.FormatType = ImageFormatType.Jpeg;
- imageFormatInfo.JpegQuality = 90;
-
- lock (saveImageLock)
- {
- int result = device.ImageSaver.SaveImageToFile(fullPath, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
- if (result == MvError.MV_OK)
- {
- return fullPath;
- }
- }
- }
- catch (Exception ex)
- {
- MessageBox.Show($"保存点位{positionIndex + 1}图像失败: " + ex.Message);
- }
- return null;
+ return cameraManager.SaveImageToPositionFolder(positionIndex, currentCycle, cycleStartTime);
}
- //private void UpdateExcelFile()
- //{
- // try
- // {
- // ExcelPackage.LicenseContext = LicenseContext.NonCommercial; // 设置EPPlus许可证
-
- // FileInfo file = new FileInfo(xlsFilePath);
- // using (ExcelPackage package = new ExcelPackage(file))
- // {
- // ExcelWorksheet worksheet;
-
- // if (package.Workbook.Worksheets.Count == 0)
- // {
- // // 创建新的工作表
- // worksheet = package.Workbook.Worksheets.Add("检测结果");
-
- // // 设置表头
- // worksheet.Cells[1, 1].Value = "循环次数";
- // worksheet.Cells[1, 2].Value = "pos1_width";
- // worksheet.Cells[1, 3].Value = "pos1_height";
- // worksheet.Cells[1, 4].Value = "pos2_width";
- // worksheet.Cells[1, 5].Value = "pos2_height";
- // worksheet.Cells[1, 6].Value = "pos3_width";
- // worksheet.Cells[1, 7].Value = "pos3_height";
- // worksheet.Cells[1, 8].Value = "pos4_width";
- // worksheet.Cells[1, 9].Value = "pos4_height";
- // }
- // else
- // {
- // worksheet = package.Workbook.Worksheets[0];
- // }
- // // 添加数据行
- // int row = worksheet.Dimension?.Rows + 1 ?? 2;
- // float[] lastCycleData = detectionData[detectionData.Count - 1];
-
- // worksheet.Cells[row, 1].Value = currentCycle;
- // for (int i = 0; i < 8 && i < lastCycleData.Length; i++)
- // {
- // worksheet.Cells[row, i + 2].Value = lastCycleData[i];
- // }
- // package.Save();
- // }
- // }
- // catch (Exception ex)
- // {
- // MessageBox.Show("更新Excel文件失败: " + ex.Message);
- // }
- //}
private void StopCycle()
{
isCycleRunning = false;
@@ -1693,5 +1294,50 @@ namespace HitBotCSharpDemo
if (checkBox3.Checked) selectedPositions.Add(2); // 点位3
if (checkBox4.Checked) selectedPositions.Add(3); // 点位4
}
+
+ private void button3_Click_1(object sender, EventArgs e)
+ {
+ tempControl.ToggleSerialPort(button3, comboBox1);
+ }
+
+ private void tabPage1_Click(object sender, EventArgs e)
+ {
+
+ }
+ private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
+ {
+ tempControl.OnComboBoxSelectedIndexChanged(comboBox1, button3);
+ }
+
+ private void Form1_FormClosing(object sender, FormClosingEventArgs e)
+ {
+ tempControl.OnFormClosing();
+ }
+
+ private void groupBox1_Enter(object sender, EventArgs e)
+ {
+
+ }
+
+ private void label6_Click(object sender, EventArgs e)
+ {
+
+ }
+
+ private void textBox2_TextChanged(object sender, EventArgs e)
+ {
+
+ }
+
+ private void groupBox1_Enter_1(object sender, EventArgs e)
+ {
+
+ }
+
+ private void label4_Click(object sender, EventArgs e)
+ {
+
+ }
+
}
}
diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe
index 66af9e5..a7a4cd8 100644
Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ
diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb
index 5274b67..777b9cc 100644
Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb differ
diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_253_2025-06-12.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_253_2025-06-12.hilog
new file mode 100644
index 0000000..2ec75e2
--- /dev/null
+++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_253_2025-06-12.hilog
@@ -0,0 +1,18 @@
+2025-06-12 18:50:26.130 ROBOT_ERROR_CODE = 1101
+2025-06-12 18:50:26.134
+0 : 0 0 0 0 0 0
+1 : 0 0 0 0 0 0
+2 : 0 0 0 0 0 0
+3 : 0 0 0 0 0 0
+4 : 0 0 0 0 0 0
+5 : 0 0 0 0 0 0
+6 : 0 0 0 0 0 0
+7 : 0 0 0 0 0 0
+8 : 0 0 0 0 0 0
+9 : 0 0 0 0 0 0
+10 : 0 0 0 0 0 0
+11 : 0 0 0 0 0 0
+12 : 0 0 0 0 0 0
+13 : 0 0 0 0 0 0
+14 : 0 0 0 0 0 0
+15 : 0 0 0 0 0 0
diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog
index d3539f2..29c10a5 100644
--- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog
+++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog
@@ -2014,3 +2014,410 @@
2025-06-12 17:34:53.150 trail_number1.998897
2025-06-12 17:34:53.150 tcp_distance 199.889740
2025-06-12 17:34:53.151 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-12 17:40:27.016 SDK_VERSION_V2.0.0.29_Release
+2025-06-12 17:40:27.016 robot connected
+2025-06-12 17:40:27.016 26
+2025-06-12 17:40:27.018 current generation=26
+2025-06-12 17:40:27.520 0x1a
+2025-06-12 17:40:28.405 initial joint2 4444931
+2025-06-12 17:40:28.405 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-12 17:40:28.405 robot WritePID
+2025-06-12 17:40:28.712 initial joint1 -1269935
+2025-06-12 17:40:28.757 initial joint2 4444932
+2025-06-12 17:40:28.805 initial joint3 -12991
+2025-06-12 17:40:28.850 initial joint4 -25056187
+2025-06-12 17:40:28.866 initial joint1 -1269935
+2025-06-12 17:40:28.911 initial joint2 4444933
+2025-06-12 17:40:28.958 initial joint3 -12991
+2025-06-12 17:40:29.004 initial joint4 -25056187
+2025-06-12 17:40:29.020 initial joint1 -1269935
+2025-06-12 17:40:29.067 initial joint2 4444934
+2025-06-12 17:40:29.115 initial joint3 -12991
+2025-06-12 17:40:29.161 initial joint4 -25056188
+2025-06-12 17:40:31.399 initial_thread initialized
+2025-06-12 17:40:31.399 servo enable
+2025-06-12 17:40:31.400 brake open
+2025-06-12 17:40:31.400 set_brake_state 0 1
+2025-06-12 17:40:31.614 robot initialized
+2025-06-12 17:40:32.172 get_scara_param -87.199501 152.604797 -4.460100 -1027.919800
+2025-06-12 17:40:32.172 get_scara_real_coor -87.199501 152.604706 -4.460400 -1027.919922
+2025-06-12 17:40:32.172 λɢ
+2025-06-12 17:40:32.173 position -1269934.750000 4444937.000000 -12990.983398 -25056188.000000 -1192152.375000 4246483.500000 -39104.808594 -25018550.000000
+2025-06-12 17:40:32.173 speed 5340.891602 6813.359863 8965.470703 1550.637817
+2025-06-12 17:40:32.173 set_first_position_after_initial
+2025-06-12 17:40:32.173 movej_old start_pos: -87.199501 152.604797 -4.460100 -1027.919800 end_pos: -87.199501 152.604797 -4.460100 -1027.919800 org_sp 10.000000 end_sp 10.000000
+2025-06-12 17:40:32.481 J3 Belt Meilage=40.911091km
+2025-06-12 17:41:24.274 30 30 30 30
+2025-06-12 17:41:24.275 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:41:24.276 goal_angle -44.911705 98.661697
+2025-06-12 17:41:24.276 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:41:24.276 z1 -4.460100 z2 -75.466103
+2025-06-12 17:41:24.276 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.460100 r1 -1027.919800
+2025-06-12 17:41:24.277 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:41:24.277 speed 100.000000
+2025-06-12 17:41:24.277 tcp_distance 200.024445
+2025-06-12 17:41:24.277 new_end_speed 100.000000 j1_acc_t 1.000122 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246586
+2025-06-12 17:41:24.277 new_end_speed 100.000000 j2_acc_t 1.000122 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.993004
+2025-06-12 17:41:24.277 new_end_speed 100.000000 j3_acc_t 1.000122 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.653259
+2025-06-12 17:41:24.278 new_end_speed 100.000000 j4_acc_t 1.000122 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.276962
+2025-06-12 17:41:24.278 end_speed 100.000000
+2025-06-12 17:41:24.278 trail_number2.000244
+2025-06-12 17:41:24.278 tcp_distance 200.024445
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+2025-06-12 17:49:54.899 trail_number2.887374
+2025-06-12 17:49:54.900 tcp_distance 288.737366
+2025-06-12 17:49:54.901 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-12 17:52:09.217 SDK_VERSION_V2.0.0.29_Release
+2025-06-12 17:52:09.217 robot connected
+2025-06-12 17:52:09.217 26
+2025-06-12 17:52:09.217 current generation=26
+2025-06-12 17:52:09.726 0x1a
+2025-06-12 17:52:10.624 initial joint2 4444931
+2025-06-12 17:52:10.624 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-12 17:52:10.624 robot WritePID
+2025-06-12 17:52:10.935 initial joint1 -1269935
+2025-06-12 17:52:10.983 initial joint2 4444932
+2025-06-12 17:52:11.029 initial joint3 -12993
+2025-06-12 17:52:11.090 initial joint4 -25056187
+2025-06-12 17:52:11.121 initial joint1 -1269935
+2025-06-12 17:52:11.168 initial joint2 4444932
+2025-06-12 17:52:11.215 initial joint3 -12993
+2025-06-12 17:52:11.262 initial joint4 -25056188
+2025-06-12 17:52:11.277 initial joint1 -1269935
+2025-06-12 17:52:11.322 initial joint2 4444933
+2025-06-12 17:52:11.368 initial joint3 -12993
+2025-06-12 17:52:11.413 initial joint4 -25056189
+2025-06-12 17:52:13.557 initial_thread initialized
+2025-06-12 17:52:13.557 servo enable
+2025-06-12 17:52:13.557 brake open
+2025-06-12 17:52:13.557 set_brake_state 0 1
+2025-06-12 17:52:13.761 robot initialized
+2025-06-12 17:52:14.332 get_scara_param -87.199501 152.604797 -4.461100 -1027.919922
+2025-06-12 17:52:14.332 get_scara_real_coor -87.199501 152.604706 -4.461100 -1027.920044
+2025-06-12 17:52:14.333 λɢ
+2025-06-12 17:52:14.333 position -1269934.750000 4444937.000000 -12993.895508 -25056190.000000 -160242.156250 2449945.250000 -219810.953125 -25369358.000000
+2025-06-12 17:52:14.333 speed 76196.546875 68492.601563 71005.007813 12902.124023
+2025-06-12 17:52:14.333 set_first_position_after_initial
+2025-06-12 17:52:14.334 movej_old start_pos: -87.199501 152.604797 -4.461100 -1027.919922 end_pos: -87.199501 152.604797 -4.461100 -1027.919922 org_sp 10.000000 end_sp 10.000000
+2025-06-12 17:52:14.623 J3 Belt Meilage=40.911598km
+2025-06-12 17:52:23.059 30 30 30 30
+2025-06-12 17:52:23.059 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:52:23.059 goal_angle -63.500324 35.083988
+2025-06-12 17:52:23.061 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:52:23.061 z1 -4.461100 z2 -75.466103
+2025-06-12 17:52:23.061 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.461100 r1 -1027.919922
+2025-06-12 17:52:23.061 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:52:23.061 speed 100.000000
+2025-06-12 17:52:23.062 tcp_distance 347.515656
+2025-06-12 17:52:23.062 new_end_speed 100.000000 j1_acc_t 1.737578 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917871
+2025-06-12 17:52:23.062 new_end_speed 100.000000 j2_acc_t 1.737578 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
+2025-06-12 17:52:23.062 new_end_speed 100.000000 j3_acc_t 1.737578 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695370
+2025-06-12 17:52:23.062 new_end_speed 100.000000 j4_acc_t 1.737578 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973507
+2025-06-12 17:52:23.062 end_speed 100.000000
+2025-06-12 17:52:23.063 trail_number3.475157
+2025-06-12 17:52:23.063 tcp_distance 347.515656
+2025-06-12 17:52:23.063 angle1_1 = -87.199501 angle2_1 = 152.604797 z1 = -4.461100 r1 = -1027.919922 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 17:53:03.721 30 30 30 30
+2025-06-12 17:53:03.721 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
+2025-06-12 17:53:03.721 goal_angle -87.199585 152.604431
+2025-06-12 17:53:03.722 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
+2025-06-12 17:53:03.723 z1 -75.466103 z2 -4.457100
+2025-06-12 17:53:03.723 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
+2025-06-12 17:53:03.723 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-12 17:53:03.723 speed 100.000000
+2025-06-12 17:53:03.723 tcp_distance 346.692505
+2025-06-12 17:53:03.724 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
+2025-06-12 17:53:03.724 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
+2025-06-12 17:53:03.724 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
+2025-06-12 17:53:03.724 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
+2025-06-12 17:53:03.724 end_speed 100.000000
+2025-06-12 17:53:03.724 trail_number3.466925
+2025-06-12 17:53:03.724 tcp_distance 346.692505
+2025-06-12 17:53:03.725 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-12 17:53:08.981 30 30 30 30
+2025-06-12 17:53:08.981 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:53:08.982 goal_angle -63.500324 35.083988
+2025-06-12 17:53:08.982 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:53:08.982 z1 -4.457100 z2 -75.466103
+2025-06-12 17:53:08.982 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
+2025-06-12 17:53:08.982 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:53:08.983 speed 100.000000
+2025-06-12 17:53:08.983 tcp_distance 347.514679
+2025-06-12 17:53:08.983 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
+2025-06-12 17:53:08.983 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
+2025-06-12 17:53:08.983 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
+2025-06-12 17:53:08.983 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
+2025-06-12 17:53:08.984 end_speed 100.000000
+2025-06-12 17:53:08.984 trail_number3.475147
+2025-06-12 17:53:08.984 tcp_distance 347.514679
+2025-06-12 17:53:08.985 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 17:54:17.439 30 30 30 30
+2025-06-12 17:54:17.440 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:54:17.440 goal_angle -67.226128 86.401024
+2025-06-12 17:54:17.440 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:54:17.440 z1 -75.466103 z2 -75.466103
+2025-06-12 17:54:17.440 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
+2025-06-12 17:54:17.441 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:54:17.441 speed 100.000000
+2025-06-12 17:54:17.441 tcp_distance 158.906982
+2025-06-12 17:54:17.441 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
+2025-06-12 17:54:17.441 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
+2025-06-12 17:54:17.442 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 17:54:17.442 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 17:54:17.442 end_speed 100.000000
+2025-06-12 17:54:17.442 trail_number1.589070
+2025-06-12 17:54:17.442 tcp_distance 158.906982
+2025-06-12 17:54:17.443 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 17:55:23.941 30 30 30 30
+2025-06-12 17:55:23.942 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:55:23.942 goal_angle -44.911705 98.661697
+2025-06-12 17:55:23.942 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:55:23.942 z1 -75.466103 z2 -75.466103
+2025-06-12 17:55:23.942 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 17:55:23.943 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:55:23.943 speed 100.000000
+2025-06-12 17:55:23.943 tcp_distance 144.069748
+2025-06-12 17:55:23.943 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
+2025-06-12 17:55:23.943 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
+2025-06-12 17:55:23.944 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 17:55:23.944 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 17:55:23.944 end_speed 100.000000
+2025-06-12 17:55:23.944 trail_number1.440697
+2025-06-12 17:55:23.945 tcp_distance 144.069748
+2025-06-12 17:55:23.945 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 17:56:30.348 30 30 30 30
+2025-06-12 17:56:30.349 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-12 17:56:30.349 goal_angle -11.002804 84.112190
+2025-06-12 17:56:30.349 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-12 17:56:30.349 z1 -75.466103 z2 -75.466103
+2025-06-12 17:56:30.349 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
+2025-06-12 17:56:30.350 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 17:56:30.350 speed 100.000000
+2025-06-12 17:56:30.350 tcp_distance 144.322098
+2025-06-12 17:56:30.350 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
+2025-06-12 17:56:30.350 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
+2025-06-12 17:56:30.350 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 17:56:30.350 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 17:56:30.351 end_speed 100.000000
+2025-06-12 17:56:30.351 trail_number1.443221
+2025-06-12 17:56:30.351 tcp_distance 144.322098
+2025-06-12 17:56:30.351 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 17:57:16.229 30 30 30 30
+2025-06-12 17:57:16.229 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
+2025-06-12 17:57:16.230 goal_angle -87.199585 152.604431
+2025-06-12 17:57:16.230 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
+2025-06-12 17:57:16.230 z1 -75.466103 z2 -4.457100
+2025-06-12 17:57:16.230 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 17:57:16.231 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-12 17:57:16.231 speed 100.000000
+2025-06-12 17:57:16.231 tcp_distance 288.737366
+2025-06-12 17:57:16.231 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
+2025-06-12 17:57:16.231 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
+2025-06-12 17:57:16.231 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
+2025-06-12 17:57:16.232 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
+2025-06-12 17:57:16.232 end_speed 100.000000
+2025-06-12 17:57:16.232 trail_number2.887374
+2025-06-12 17:57:16.232 tcp_distance 288.737366
+2025-06-12 17:57:16.233 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-12 18:50:28.157 ROBOT_ERROR_CODE = 1001
+2025-06-12 18:50:28.158
+0 : 9999 9999 9999 9999 10000 0
+1 : 9999 9999 9999 9999 10000 0
+2 : 9999 9999 9999 9999 10000 0
+3 : 9999 9999 9999 9999 10000 0
+4 : 9999 9999 9999 9999 10000 0
+5 : 9999 9999 9999 9999 10000 0
+6 : 9999 9999 9999 9999 10000 0
+7 : 9999 9999 9999 9999 10000 0
+8 : 9999 9999 9999 9999 10000 0
+9 : 9999 9999 9999 9999 10000 0
+10 : 9999 9999 9999 9999 10000 0
+11 : 9999 9999 9999 9999 10000 0
+12 : 9999 9999 9999 9999 10000 0
+13 : 9999 9999 9999 9999 10000 0
+14 : 9999 9999 9999 9999 10000 0
+15 : 9999 9999 9999 9999 10000 0
diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-13.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-13.hilog
new file mode 100644
index 0000000..a9d15ec
--- /dev/null
+++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-13.hilog
@@ -0,0 +1,338 @@
+2025-06-13 09:45:56.614 ROBOT_ERROR_CODE = 1004
+2025-06-13 09:45:56.614
+0 : 0 0 0 0 0 0
+1 : 0 0 0 0 0 0
+2 : 0 0 0 0 0 0
+3 : 0 0 0 0 0 0
+4 : 0 0 0 0 0 0
+5 : 0 0 0 0 0 0
+6 : 0 0 0 0 0 0
+7 : 0 0 0 0 0 0
+8 : 0 0 0 0 0 0
+9 : 0 0 0 0 0 0
+10 : 0 0 0 0 0 0
+11 : 0 0 0 0 0 0
+12 : 0 0 0 0 0 0
+13 : 0 0 0 0 0 0
+14 : 0 0 0 0 0 0
+15 : 9999 9999 9999 9999 9999 0
+2025-06-13 09:46:03.052 SDK_VERSION_V2.0.0.29_Release
+2025-06-13 09:46:03.052 robot connected
+2025-06-13 09:46:03.053 26
+2025-06-13 09:46:03.053 current generation=26
+2025-06-13 09:46:03.618 0x1a
+2025-06-13 09:46:04.542 initial joint2 4434858
+2025-06-13 09:46:04.543 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-13 09:46:04.543 robot WritePID
+2025-06-13 09:46:04.854 initial joint1 -1265142
+2025-06-13 09:46:04.900 initial joint2 4434858
+2025-06-13 09:46:04.946 initial joint3 -13276
+2025-06-13 09:46:04.992 initial joint4 -25059016
+2025-06-13 09:46:05.008 initial joint1 -1265141
+2025-06-13 09:46:05.054 initial joint2 4434858
+2025-06-13 09:46:05.100 initial joint3 -13276
+2025-06-13 09:46:05.147 initial joint4 -25059016
+2025-06-13 09:46:05.162 initial joint1 -1265156
+2025-06-13 09:46:05.209 initial joint2 4434858
+2025-06-13 09:46:05.270 initial joint3 -13276
+2025-06-13 09:46:05.331 initial joint4 -25059016
+2025-06-13 09:46:07.474 initial_thread initialized
+2025-06-13 09:46:07.474 servo enable
+2025-06-13 09:46:07.474 brake open
+2025-06-13 09:46:07.475 set_brake_state 0 1
+2025-06-13 09:46:07.688 robot initialized
+2025-06-13 09:46:08.238 get_scara_param -86.871300 152.258804 -4.557900 -1027.915771
+2025-06-13 09:46:08.239 get_scara_real_coor -86.871300 152.258804 -4.557900 -1027.915771
+2025-06-13 09:46:08.239 λɢ
+2025-06-13 09:46:08.240 position -1265155.000000 4434859.000000 -13275.845703 -25059018.000000 0.000000 0.000000 0.000000 0.000000
+2025-06-13 09:46:08.240 speed 86871.296875 152258.796875 4557.899902 1032399.750000
+2025-06-13 09:46:08.240 set_first_position_after_initial
+2025-06-13 09:46:08.242 movej_old start_pos: -86.871300 152.258804 -4.557900 -1027.915771 end_pos: -86.871300 152.258804 -4.557900 -1027.915771 org_sp 10.000000 end_sp 10.000000
+2025-06-13 09:46:08.547 J3 Belt Meilage=40.912121km
+2025-06-13 09:46:22.800 30 30 30 30
+2025-06-13 09:46:22.802 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-13 09:46:22.802 goal_angle -63.500324 35.083988
+2025-06-13 09:46:22.803 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-13 09:46:22.803 z1 -4.557900 z2 -75.466103
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+2025-06-13 09:46:28.000 30 30 30 30
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+2025-06-13 09:46:28.003 tcp_distance 346.692505
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+2025-06-13 09:50:24.244 30 30 30 30
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+2025-06-13 09:51:32.946 30 30 30 30
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+2025-06-13 09:51:32.949 tcp_distance 158.906982
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+2025-06-13 09:52:35.169 SDK_VERSION_V2.0.0.29_Release
+2025-06-13 09:52:35.169 robot connected
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+2025-06-13 09:52:36.555 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-13 09:52:36.556 robot WritePID
+2025-06-13 09:52:36.864 initial joint1 -1269935
+2025-06-13 09:52:36.911 initial joint2 4444930
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+2025-06-13 09:52:40.253 get_scara_real_coor -87.199501 152.604797 -4.461800 -1027.920044
+2025-06-13 09:52:40.253 λɢ
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+2025-06-13 09:52:40.553 J3 Belt Meilage=40.912525km
+2025-06-13 10:09:14.293 SDK_VERSION_V2.0.0.29_Release
+2025-06-13 10:09:14.294 robot connected
+2025-06-13 10:09:14.294 26
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+2025-06-13 10:09:15.716 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-13 10:09:15.717 robot WritePID
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+2025-06-13 10:09:19.490 get_scara_real_coor -87.199303 152.605194 -4.463500 -1027.919800
+2025-06-13 10:09:19.490 λɢ
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+2025-06-13 10:09:19.783 J3 Belt Meilage=40.912582km
+2025-06-13 10:20:44.817 30 30 30 30
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+2025-06-13 10:20:44.823 tcp_distance 347.517059
+2025-06-13 10:20:44.823 angle1_1 = -87.199303 angle2_1 = 152.605194 z1 = -4.463500 r1 = -1027.919800 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-13 10:21:53.749 30 30 30 30
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+2025-06-13 10:21:53.753 tcp_distance 158.906982
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+2025-06-13 10:23:00.752 30 30 30 30
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+2025-06-13 10:23:00.752 goal_angle -44.911705 98.661697
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+2025-06-13 10:23:00.753 z1 -75.466103 z2 -75.466103
+2025-06-13 10:23:00.753 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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+2025-06-13 10:23:00.753 speed 100.000000
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+2025-06-13 10:23:00.754 end_speed 100.000000
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+2025-06-13 10:23:00.755 tcp_distance 144.069748
+2025-06-13 10:23:00.755 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
+2025-06-13 10:24:07.687 30 30 30 30
+2025-06-13 10:24:07.687 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-13 10:24:07.688 goal_angle -11.002804 84.112190
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+2025-06-13 10:24:07.688 z1 -75.466103 z2 -75.466103
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+2025-06-13 10:24:07.689 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-13 10:24:07.689 speed 100.000000
+2025-06-13 10:24:07.689 tcp_distance 144.322098
+2025-06-13 10:24:07.689 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
+2025-06-13 10:24:07.689 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
+2025-06-13 10:24:07.689 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-13 10:24:07.690 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-13 10:24:07.690 end_speed 100.000000
+2025-06-13 10:24:07.690 trail_number1.443221
+2025-06-13 10:24:07.691 tcp_distance 144.322098
+2025-06-13 10:24:07.691 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-13 10:25:15.075 30 30 30 30
+2025-06-13 10:25:15.075 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-13 10:25:15.075 goal_angle -63.500324 35.083988
+2025-06-13 10:25:15.076 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-13 10:25:15.076 z1 -75.466103 z2 -75.466103
+2025-06-13 10:25:15.076 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-13 10:25:15.076 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
+2025-06-13 10:25:15.077 speed 100.000000
+2025-06-13 10:25:15.077 tcp_distance 482.199493
+2025-06-13 10:25:15.077 new_end_speed 100.000000 j1_acc_t 2.410997 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.815506
+2025-06-13 10:25:15.077 new_end_speed 100.000000 j2_acc_t 2.410997 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.241650
+2025-06-13 10:25:15.077 new_end_speed 100.000000 j3_acc_t 2.410997 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-13 10:25:15.078 new_end_speed 100.000000 j4_acc_t 2.410997 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-13 10:25:15.078 end_speed 100.000000
+2025-06-13 10:25:15.078 trail_number4.821995
+2025-06-13 10:25:15.078 tcp_distance 482.199493
+2025-06-13 10:25:15.079 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-13 10:25:25.937 30 30 30 30
+2025-06-13 10:25:25.937 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
+2025-06-13 10:25:25.937 goal_angle -87.199585 152.604431
+2025-06-13 10:25:25.938 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
+2025-06-13 10:25:25.938 z1 -75.466103 z2 -4.457100
+2025-06-13 10:25:25.938 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
+2025-06-13 10:25:25.938 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-13 10:25:25.939 speed 100.000000
+2025-06-13 10:25:25.939 tcp_distance 346.692505
+2025-06-13 10:25:25.939 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
+2025-06-13 10:25:25.939 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
+2025-06-13 10:25:25.939 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
+2025-06-13 10:25:25.940 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
+2025-06-13 10:25:25.940 end_speed 100.000000
+2025-06-13 10:25:25.940 trail_number3.466925
+2025-06-13 10:25:25.940 tcp_distance 346.692505
+2025-06-13 10:25:25.941 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-13 10:56:01.430 30 30 30 30
+2025-06-13 10:56:01.431 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-13 10:56:01.433 goal_angle -63.500324 35.083988
+2025-06-13 10:56:01.433 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-13 10:56:01.433 z1 -4.457100 z2 -75.466103
+2025-06-13 10:56:01.433 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
+2025-06-13 10:56:01.435 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
+2025-06-13 10:56:01.435 speed 100.000000
+2025-06-13 10:56:01.435 tcp_distance 347.514679
+2025-06-13 10:56:01.435 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
+2025-06-13 10:56:01.436 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
+2025-06-13 10:56:01.436 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
+2025-06-13 10:56:01.436 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
+2025-06-13 10:56:01.436 end_speed 100.000000
+2025-06-13 10:56:01.436 trail_number3.475147
+2025-06-13 10:56:01.436 tcp_distance 347.514679
+2025-06-13 10:56:01.437 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-13 10:56:40.940 30 30 30 30
+2025-06-13 10:56:40.940 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
+2025-06-13 10:56:40.941 goal_angle -87.199585 152.604431
+2025-06-13 10:56:40.942 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
+2025-06-13 10:56:40.942 z1 -75.466103 z2 -4.457100
+2025-06-13 10:56:40.942 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
+2025-06-13 10:56:40.942 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-13 10:56:40.942 speed 100.000000
+2025-06-13 10:56:40.943 tcp_distance 346.692505
+2025-06-13 10:56:40.943 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
+2025-06-13 10:56:40.943 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
+2025-06-13 10:56:40.943 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
+2025-06-13 10:56:40.943 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
+2025-06-13 10:56:40.943 end_speed 100.000000
+2025-06-13 10:56:40.944 trail_number3.466925
+2025-06-13 10:56:40.944 tcp_distance 346.692505
+2025-06-13 10:56:40.946 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-16.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-16.hilog
new file mode 100644
index 0000000..ecd3dbc
--- /dev/null
+++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-16.hilog
@@ -0,0 +1,118 @@
+2025-06-16 16:46:43.024 ROBOT_ERROR_CODE = 1004
+2025-06-16 16:46:43.024
+0 : 0 0 0 0 0 0
+1 : 0 0 0 0 0 0
+2 : 0 0 0 0 0 0
+3 : 0 0 0 0 0 0
+4 : 0 0 0 0 0 0
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+6 : 0 0 0 0 0 0
+7 : 0 0 0 0 0 0
+8 : 0 0 0 0 0 0
+9 : 0 0 0 0 0 0
+10 : 0 0 0 0 0 0
+11 : 0 0 0 0 0 0
+12 : 0 0 0 0 0 0
+13 : 0 0 0 0 0 0
+14 : 0 0 0 0 0 0
+15 : 9999 9999 9999 9999 9999 0
+2025-06-16 16:47:00.542 SDK_VERSION_V2.0.0.29_Release
+2025-06-16 16:47:00.542 robot connected
+2025-06-16 16:47:00.542 26
+2025-06-16 16:47:00.542 current generation=26
+2025-06-16 16:47:01.125 0x1a
+2025-06-16 16:47:01.968 initial joint2 4432239
+2025-06-16 16:47:01.969 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-16 16:47:01.969 robot WritePID
+2025-06-16 16:47:02.275 initial joint1 -1248502
+2025-06-16 16:47:02.323 initial joint2 4432240
+2025-06-16 16:47:02.379 initial joint3 -13281
+2025-06-16 16:47:02.423 initial joint4 -25060087
+2025-06-16 16:47:02.440 initial joint1 -1248503
+2025-06-16 16:47:02.492 initial joint2 4432238
+2025-06-16 16:47:02.539 initial joint3 -13281
+2025-06-16 16:47:02.588 initial joint4 -25060089
+2025-06-16 16:47:02.622 initial joint1 -1248502
+2025-06-16 16:47:02.663 initial joint2 4432239
+2025-06-16 16:47:02.706 initial joint3 -13281
+2025-06-16 16:47:02.754 initial joint4 -25060089
+2025-06-16 16:47:04.876 initial_thread initialized
+2025-06-16 16:47:04.876 servo enable
+2025-06-16 16:47:04.877 brake open
+2025-06-16 16:47:04.880 set_brake_state 0 1
+2025-06-16 16:47:05.093 robot initialized
+2025-06-16 16:47:05.652 get_scara_param -85.727798 152.168793 -4.559600 -1026.870483
+2025-06-16 16:47:05.652 get_scara_real_coor -85.727898 152.168900 -4.559600 -1026.870483
+2025-06-16 16:47:05.652 λɢ
+2025-06-16 16:47:05.654 position -1248501.500000 4432237.500000 -13280.796875 -25060090.000000 0.000000 0.000000 0.000000 0.000000
+2025-06-16 16:47:05.654 speed 85727.796875 152168.796875 4559.600098 1032443.937500
+2025-06-16 16:47:05.654 set_first_position_after_initial
+2025-06-16 16:47:05.654 movej_old start_pos: -85.727798 152.168793 -4.559600 -1026.870483 end_pos: -85.727798 152.168701 -4.559600 -1026.870483 org_sp 10.000000 end_sp 0.660932
+2025-06-16 16:47:05.951 J3 Belt Meilage=40.917797km
+2025-06-16 16:49:10.728 SDK_VERSION_V2.0.0.29_Release
+2025-06-16 16:49:10.728 robot connected
+2025-06-16 16:49:10.728 26
+2025-06-16 16:49:10.728 current generation=26
+2025-06-16 16:49:11.237 0x1a
+2025-06-16 16:49:12.043 initial joint2 4432242
+2025-06-16 16:49:12.044 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-16 16:49:12.044 robot WritePID
+2025-06-16 16:49:12.347 initial joint1 -1248500
+2025-06-16 16:49:12.393 initial joint2 4432242
+2025-06-16 16:49:12.440 initial joint3 -13281
+2025-06-16 16:49:12.485 initial joint4 -25060091
+2025-06-16 16:49:12.501 initial joint1 -1248500
+2025-06-16 16:49:12.548 initial joint2 4432243
+2025-06-16 16:49:12.588 initial joint3 -13281
+2025-06-16 16:49:12.636 initial joint4 -25060092
+2025-06-16 16:49:12.651 initial joint1 -1248500
+2025-06-16 16:49:12.708 initial joint2 4432245
+2025-06-16 16:49:12.755 initial joint3 -13281
+2025-06-16 16:49:12.793 initial joint4 -25060093
+2025-06-16 16:49:14.903 initial_thread initialized
+2025-06-16 16:49:14.903 servo enable
+2025-06-16 16:49:14.903 brake open
+2025-06-16 16:49:14.903 set_brake_state 0 1
+2025-06-16 16:49:15.126 robot initialized
+2025-06-16 16:49:15.705 get_scara_param -85.727600 152.169098 -4.559600 -1026.870361
+2025-06-16 16:49:15.705 get_scara_real_coor -85.727699 152.169098 -4.559600 -1026.870483
+2025-06-16 16:49:15.705 λɢ
+2025-06-16 16:49:15.706 position -1248498.625000 4432246.000000 -13280.796875 -25060098.000000 0.000000 0.000000 0.000000 0.000000
+2025-06-16 16:49:15.706 speed 85727.593750 152169.093750 4559.600098 1032444.250000
+2025-06-16 16:49:15.706 set_first_position_after_initial
+2025-06-16 16:49:15.707 movej_old start_pos: -85.727600 152.169098 -4.559600 -1026.870361 end_pos: -85.727600 152.169098 -4.559600 -1026.870361 org_sp 10.000000 end_sp 10.000000
+2025-06-16 16:49:16.015 J3 Belt Meilage=40.917816km
+2025-06-16 16:49:25.932 30 30 30 30
+2025-06-16 16:49:25.934 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-16 16:49:25.934 goal_angle -67.226128 86.401024
+2025-06-16 16:49:25.935 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
+2025-06-16 16:49:25.935 z1 -4.559600 z2 -75.466103
+2025-06-16 16:49:25.935 angle1_1 -85.727600 angle2_1 152.169098 z1 -4.559600 r1 -1026.870361
+2025-06-16 16:49:25.935 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-16 16:49:25.935 speed 100.000000
+2025-06-16 16:49:25.935 tcp_distance 217.840149
+2025-06-16 16:49:25.937 new_end_speed 100.000000 j1_acc_t 1.089201 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 18.578747
+2025-06-16 16:49:25.937 new_end_speed 100.000000 j2_acc_t 1.089201 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.042763
+2025-06-16 16:49:25.937 new_end_speed 100.000000 j3_acc_t 1.089201 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.202652
+2025-06-16 16:49:25.937 new_end_speed 100.000000 j4_acc_t 1.089201 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 21.237688
+2025-06-16 16:49:25.937 end_speed 100.000000
+2025-06-16 16:49:25.938 trail_number2.178401
+2025-06-16 16:49:25.938 tcp_distance 217.840149
+2025-06-16 16:49:25.938 angle1_1 = -85.727600 angle2_1 = 152.169098 z1 = -4.559600 r1 = -1026.870361 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-16 16:49:37.836 30 30 30 30
+2025-06-16 16:49:37.836 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
+2025-06-16 16:49:37.837 goal_angle -87.199585 152.604431
+2025-06-16 16:49:37.837 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
+2025-06-16 16:49:37.837 z1 -75.466103 z2 -4.457100
+2025-06-16 16:49:37.837 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-16 16:49:37.837 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-16 16:49:37.837 speed 100.000000
+2025-06-16 16:49:37.837 tcp_distance 218.265945
+2025-06-16 16:49:37.838 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
+2025-06-16 16:49:37.838 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
+2025-06-16 16:49:37.838 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
+2025-06-16 16:49:37.838 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
+2025-06-16 16:49:37.838 end_speed 100.000000
+2025-06-16 16:49:37.838 trail_number2.182659
+2025-06-16 16:49:37.839 tcp_distance 218.265945
+2025-06-16 16:49:37.839 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-17.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-17.hilog
new file mode 100644
index 0000000..6bc415c
--- /dev/null
+++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-17.hilog
@@ -0,0 +1,206 @@
+2025-06-17 10:26:55.925 ROBOT_ERROR_CODE = 1004
+2025-06-17 10:26:55.925
+0 : 0 0 0 0 0 0
+1 : 0 0 0 0 0 0
+2 : 0 0 0 0 0 0
+3 : 0 0 0 0 0 0
+4 : 0 0 0 0 0 0
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+10 : 0 0 0 0 0 0
+11 : 0 0 0 0 0 0
+12 : 0 0 0 0 0 0
+13 : 0 0 0 0 0 0
+14 : 0 0 0 0 0 0
+15 : 9999 9999 9999 9999 9999 0
+2025-06-17 14:55:40.251 ROBOT_ERROR_CODE = 1004
+2025-06-17 14:55:40.252
+0 : 0 0 0 0 0 0
+1 : 0 0 0 0 0 0
+2 : 0 0 0 0 0 0
+3 : 0 0 0 0 0 0
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+13 : 0 0 0 0 0 0
+14 : 0 0 0 0 0 0
+15 : 9999 9999 9999 9999 9999 0
+2025-06-17 16:14:21.376 ROBOT_ERROR_CODE = 1004
+2025-06-17 16:14:21.377
+0 : 0 0 0 0 0 0
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+12 : 0 0 0 0 0 0
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+14 : 0 0 0 0 0 0
+15 : 9999 9999 9999 9999 9999 0
+2025-06-17 16:14:29.575 SDK_VERSION_V2.0.0.29_Release
+2025-06-17 16:14:29.576 robot connected
+2025-06-17 16:14:29.577 26
+2025-06-17 16:14:29.577 current generation=26
+2025-06-17 16:14:30.205 0x1a
+2025-06-17 16:14:31.083 initial joint2 4433675
+2025-06-17 16:14:31.084 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-17 16:14:31.084 robot WritePID
+2025-06-17 16:14:31.387 initial joint1 -1267890
+2025-06-17 16:14:31.433 initial joint2 4433677
+2025-06-17 16:14:31.479 initial joint3 -13279
+2025-06-17 16:14:31.525 initial joint4 -25059762
+2025-06-17 16:14:31.541 initial joint1 -1267892
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+2025-06-17 16:14:31.696 initial joint1 -1267900
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+2025-06-17 16:14:31.851 initial joint4 -25059762
+2025-06-17 16:14:34.062 initial_thread initialized
+2025-06-17 16:14:34.062 servo enable
+2025-06-17 16:14:34.063 brake open
+2025-06-17 16:14:34.063 set_brake_state 0 1
+2025-06-17 16:14:34.277 robot initialized
+2025-06-17 16:14:34.847 get_scara_param -87.060097 152.218201 -4.558900 -1028.159668
+2025-06-17 16:14:34.848 get_scara_real_coor -87.060097 152.218094 -4.558900 -1028.159668
+2025-06-17 16:14:34.848 λɢ
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+2025-06-17 16:14:34.849 speed 87060.093750 152218.203125 4558.899902 1032430.500000
+2025-06-17 16:14:34.849 set_first_position_after_initial
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+2025-06-17 16:14:35.138 J3 Belt Meilage=40.921722km
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+2025-06-17 16:14:44.009 angle1_1 = -87.059998 angle2_1 = 152.218201 z1 = -4.558900 r1 = -1028.159668 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
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+2025-06-17 16:14:47.996 tcp_distance 318.237030
+2025-06-17 16:14:47.997 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
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+2025-06-17 16:14:51.589 z1 -75.466103 z2 -75.466103
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+2025-06-17 16:14:51.590 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-17 16:14:51.590 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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+2025-06-17 16:14:51.591 tcp_distance 144.322098
+2025-06-17 16:14:51.592 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-17 16:14:55.998 30 30 30 30
+2025-06-17 16:14:55.998 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
+2025-06-17 16:14:55.998 goal_angle -44.911705 98.661697
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+2025-06-17 16:14:55.998 z1 -75.466103 z2 -75.466103
+2025-06-17 16:14:55.998 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-17 16:14:55.999 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
+2025-06-17 16:14:55.999 speed 100.000000
+2025-06-17 16:14:55.999 tcp_distance 144.406967
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+2025-06-17 16:14:56.000 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-17 16:14:56.000 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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+2025-06-17 16:14:56.000 tcp_distance 144.406967
+2025-06-17 16:14:56.001 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
+2025-06-17 16:14:58.547 30 30 30 30
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+2025-06-17 16:14:58.549 end_speed 100.000000
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+2025-06-17 16:14:58.550 tcp_distance 199.889740
+2025-06-17 16:14:58.550 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-17 16:15:01.023 30 30 30 30
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+2025-06-17 16:15:01.025 tcp_distance 200.024658
+2025-06-17 16:15:01.025 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
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+2025-06-17 16:15:05.190 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
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--- a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache
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@@ -1 +1 @@
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+5c4765cc5751b3038bbbfc77461925fc32c32c7429e0f32c686d1470e388eeb2
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diff --git a/HitBotCSharpDemo/tempControl.cs b/HitBotCSharpDemo/tempControl.cs
new file mode 100644
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--- /dev/null
+++ b/HitBotCSharpDemo/tempControl.cs
@@ -0,0 +1,270 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.IO.Ports;
+using System.Windows.Forms;
+
+namespace HitBotCSharpDemo
+{
+ internal class tempControl
+ {
+ private SerialPort serialPort;
+ private System.Windows.Forms.Timer temperatureTimer;
+ private string[] temperatureCommands = {
+ "TC1:TCACTUALTEMP?@0\r",
+ "TC1:TCACTUALTEMP?@1\r",
+ "TC1:TCACTUALTEMP?@2\r",
+ "TC1:TCACTUALTEMP?@3\r"
+ };
+ private Label[] temperatureLabels;
+ private int currentCommandIndex = 0;
+ private string receivedData = "";
+ public tempControl(Label[] labels)
+ {
+ temperatureLabels = labels;
+ InitializeSerialPort();
+ InitializeTemperatureTimer();
+ }
+ public void LoadAvailablePorts(ComboBox comboBox)
+ {
+ try
+ {
+ comboBox.Items.Clear();
+ string[] ports = SerialPort.GetPortNames();
+ if (ports.Length > 0)
+ {
+ foreach (string port in ports)
+ {
+ comboBox.Items.Add(port);
+ }
+ // 默认选择第一个串口
+ comboBox.SelectedIndex = 0;
+ }
+ else
+ {
+ MessageBox.Show("系统中没有找到可用的串口！", "提示",
+ MessageBoxButtons.OK, MessageBoxIcon.Information);
+ }
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"获取串口列表时发生错误: {ex.Message}", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ }
+ public void ToggleSerialPort(Button button, ComboBox comboBox)
+ {
+ try
+ {
+ if (serialPort.IsOpen)
+ {
+ // 串口已打开，执行关闭操作
+ temperatureTimer.Stop(); // 停止温度查询定时器
+ serialPort.Close();
+ UpdateUIStatus(false, button, comboBox);
+ MessageBox.Show("串口已关闭", "提示",
+ MessageBoxButtons.OK, MessageBoxIcon.Information);
+ }
+ else
+ {
+ // 串口未打开，执行打开操作
+ if (string.IsNullOrEmpty(serialPort.PortName))
+ {
+ MessageBox.Show("请先选择一个串口！", "提示",
+ MessageBoxButtons.OK, MessageBoxIcon.Warning);
+ return;
+ }
+ serialPort.Open();
+ temperatureTimer.Start(); // 启动温度查询定时器
+ UpdateUIStatus(true, button, comboBox);
+ MessageBox.Show($"串口 {serialPort.PortName} 已成功打开", "提示",
+ MessageBoxButtons.OK, MessageBoxIcon.Information);
+ }
+ }
+ catch (UnauthorizedAccessException)
+ {
+ MessageBox.Show("串口访问被拒绝，可能已被其他程序占用！", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ catch (ArgumentException)
+ {
+ MessageBox.Show("串口名称无效！", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ catch (InvalidOperationException)
+ {
+ MessageBox.Show("串口已经处于打开状态！", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"操作串口时发生错误: {ex.Message}", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ }
+ public void OnComboBoxSelectedIndexChanged(ComboBox comboBox, Button button)
+ {
+ if (serialPort != null && serialPort.IsOpen)
+ {
+ try
+ {
+ temperatureTimer.Stop(); // 停止温度查询定时器
+ serialPort.Close();
+ UpdateUIStatus(false, button, comboBox);
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"关闭串口时发生错误: {ex.Message}", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ }
+ // 设置新选择的串口名称
+ if (comboBox.SelectedItem != null)
+ {
+ serialPort.PortName = comboBox.SelectedItem.ToString();
+ }
+ }
+ public void OnFormClosing()
+ {
+ try
+ {
+ temperatureTimer?.Stop();
+ temperatureTimer?.Dispose();
+ if (serialPort != null && serialPort.IsOpen)
+ {
+ serialPort.Close();
+ }
+ serialPort?.Dispose();
+ }
+ catch (Exception ex)
+ {
+ MessageBox.Show($"关闭串口时发生错误: {ex.Message}", "错误",
+ MessageBoxButtons.OK, MessageBoxIcon.Error);
+ }
+ }
+ private void InitializeSerialPort()
+ {
+ serialPort = new SerialPort();
+ serialPort.BaudRate = 57600; // 波特率
+ serialPort.DataBits = 8; // 数据位
+ serialPort.StopBits = StopBits.One; // 停止位
+ serialPort.Parity = Parity.None; // 奇偶校验
+ // 可选：添加数据接收事件处理
+ serialPort.DataReceived += SerialPort_DataReceived;
+ }
+ private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
+ {
+ try
+ {
+ string newData = serialPort.ReadExisting();
+ receivedData += newData;
+ // 检查是否接收到完整的数据（以\r结尾）
+ if (receivedData.Contains("\r"))
+ {
+ string[] messages = receivedData.Split('\r');
+ for (int i = 0; i < messages.Length - 1; i++)
+ {
+ if (!string.IsNullOrEmpty(messages[i]))
+ {
+ ProcessTemperatureData(messages[i]);
+ }
+ }
+ // 保留最后一部分未完整的数据
+ receivedData = messages[messages.Length - 1];
+ }
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"处理串口接收数据时发生错误: {ex.Message}");
+ }
+ }
+ private void ProcessTemperatureData(string data)
+ {
+ try
+ {
+ // 匹配温度数据格式: TC1:TCACTUALTEMP=25.94@0
+ if (data.StartsWith("TC1:TCACTUALTEMP="))
+ {
+ // 解析地址和温度值
+ string[] parts = data.Split('@');
+ if (parts.Length == 2)
+ {
+ string temperaturePart = parts[0];
+ string addressPart = parts[1];
+ // 提取温度值
+ string[] tempParts = temperaturePart.Split('=');
+ if (tempParts.Length == 2)
+ {
+ string temperatureValue = tempParts[1];
+ int address = int.Parse(addressPart);
+ // 更新对应标签的温度显示
+ UpdateTemperatureLabel(address, temperatureValue);
+ }
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"解析温度数据时发生错误: {ex.Message}");
+ }
+ }
+ private void UpdateTemperatureLabel(int address, string temperature)
+ {
+ if (address >= 0 && address < temperatureLabels.Length)
+ {
+ // 使用Invoke确保在UI线程中更新界面
+ if (temperatureLabels[address].InvokeRequired)
+ {
+ temperatureLabels[address].Invoke(new Action(() =>
+ {
+ temperatureLabels[address].Text = $"{temperature}°C";
+ }));
+ }
+ else
+ {
+ temperatureLabels[address].Text = $"{temperature}°C";
+ }
+ }
+ }
+ private void InitializeTemperatureTimer()
+ {
+ temperatureTimer = new System.Windows.Forms.Timer();
+ temperatureTimer.Interval = 1000; // 1秒间隔
+ temperatureTimer.Tick += TemperatureTimer_Tick;
+ }
+ private void TemperatureTimer_Tick(object sender, EventArgs e)
+ {
+ if (serialPort != null && serialPort.IsOpen)
+ {
+ try
+ {
+ // 发送当前索引对应的温度查询命令
+ serialPort.Write(temperatureCommands[currentCommandIndex]);
+ // 更新索引，循环发送四个命令
+ currentCommandIndex = (currentCommandIndex + 1) % temperatureCommands.Length;
+ }
+ catch (Exception ex)
+ {
+ // 可以记录日志或显示错误信息
+ Console.WriteLine($"发送温度查询命令时发生错误: {ex.Message}");
+ }
+ }
+ }
+ private void UpdateUIStatus(bool isPortOpen, Button button, ComboBox comboBox)
+ {
+ if (isPortOpen)
+ {
+ button.Text = "关闭串口";
+ comboBox.Enabled = false; // 串口打开时禁用选择框
+ }
+ else
+ {
+ button.Text = "打开串口";
+ comboBox.Enabled = true; // 串口关闭时启用选择框
+ }
+ }
+ }
+
+}