diff --git a/HitBotCSharpDemo/CSharpDemo.csproj b/HitBotCSharpDemo/CSharpDemo.csproj index b7c2396..03258d1 100644 --- a/HitBotCSharpDemo/CSharpDemo.csproj +++ b/HitBotCSharpDemo/CSharpDemo.csproj @@ -104,6 +104,12 @@ + + Form + + + ParameterInputForm.cs + Form @@ -113,6 +119,9 @@ + + ParameterInputForm.cs + ShowForm.cs diff --git a/HitBotCSharpDemo/ParameterInputForm.Designer.cs b/HitBotCSharpDemo/ParameterInputForm.Designer.cs new file mode 100644 index 0000000..dcfbb24 --- /dev/null +++ b/HitBotCSharpDemo/ParameterInputForm.Designer.cs @@ -0,0 +1,55 @@ +using System.Drawing; +using System.Windows.Forms; + +namespace HitBotCSharpDemo +{ + partial class ParameterInputForm + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + this.SuspendLayout(); + // + // ParameterInputForm + // + this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(450, 225); + this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog; + this.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4); + this.MaximizeBox = false; + this.MinimizeBox = false; + this.Name = "ParameterInputForm"; + this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent; + this.Text = "参数设置"; + this.Load += new System.EventHandler(this.ParameterInputForm_Load_1); + this.ResumeLayout(false); + + } + + #endregion + } +} \ No newline at end of file diff --git a/HitBotCSharpDemo/ParameterInputForm.cs b/HitBotCSharpDemo/ParameterInputForm.cs new file mode 100644 index 0000000..82c50b3 --- /dev/null +++ b/HitBotCSharpDemo/ParameterInputForm.cs @@ -0,0 +1,120 @@ +using System; +using System.Collections.Generic; +using System.ComponentModel; +using System.Data; +using System.Drawing; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace HitBotCSharpDemo +{ + public partial class ParameterInputForm : Form + { + private TextBox textBoxInput; + private Button buttonSave; + private Button buttonCancel; + private Label labelTitle; + public string InputValue { get; private set; } + public ParameterInputForm(string parameterName, string currentValue) + { + InitializeComponent(); + InitializeCustomComponents(parameterName, currentValue); + } + private void InitializeCustomComponents(string parameterName, string currentValue) + { + // 标题标签 + labelTitle = new Label(); + labelTitle.Text = $"设置 {parameterName}:"; + labelTitle.Location = new Point(20, 20); + labelTitle.Size = new Size(260, 20); + labelTitle.Font = new Font("Microsoft Sans Serif", 9F, FontStyle.Regular); + this.Controls.Add(labelTitle); + // 输入文本框 + textBoxInput = new TextBox(); + textBoxInput.Text = currentValue; + textBoxInput.Location = new Point(20, 50); + textBoxInput.Size = new Size(260, 20); + textBoxInput.Font = new Font("Microsoft Sans Serif", 9F, FontStyle.Regular); + // 自动选中所有文本 + textBoxInput.SelectAll(); + textBoxInput.Focus(); + this.Controls.Add(textBoxInput); + // 保存按钮 + buttonSave = new Button(); + buttonSave.Text = "保存"; + buttonSave.Location = new Point(125, 90); + buttonSave.Size = new Size(75, 25); + buttonSave.DialogResult = DialogResult.OK; + buttonSave.Click += ButtonSave_Click; + this.Controls.Add(buttonSave); + // 取消按钮 + buttonCancel = new Button(); + buttonCancel.Text = "取消"; + buttonCancel.Location = new Point(205, 90); + buttonCancel.Size = new Size(75, 25); + buttonCancel.DialogResult = DialogResult.Cancel; + this.Controls.Add(buttonCancel); + // 设置默认按钮和取消按钮 + this.AcceptButton = buttonSave; + this.CancelButton = buttonCancel; + // 添加Enter键处理 + textBoxInput.KeyPress += TextBoxInput_KeyPress; + } + private void ButtonSave_Click(object sender, EventArgs e) + { + InputValue = textBoxInput.Text.Trim(); + + // 验证输入 + if (string.IsNullOrEmpty(InputValue)) + { + MessageBox.Show("请输入数值", "输入错误", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + textBoxInput.Focus(); + return; + } + if (!double.TryParse(InputValue, out double value)) + { + MessageBox.Show("请输入有效的数字", "输入错误", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + textBoxInput.Focus(); + return; + } + this.DialogResult = DialogResult.OK; + this.Close(); + } + private void TextBoxInput_KeyPress(object sender, KeyPressEventArgs e) + { + // 按Enter键相当于点击保存按钮 + if (e.KeyChar == (char)Keys.Enter) + { + e.Handled = true; + ButtonSave_Click(sender, e); + } + // 按Escape键相当于点击取消按钮 + else if (e.KeyChar == (char)Keys.Escape) + { + e.Handled = true; + this.DialogResult = DialogResult.Cancel; + this.Close(); + } + } + protected override void OnShown(EventArgs e) + { + base.OnShown(e); + // 确保文本框获得焦点并选中所有文本 + textBoxInput.Focus(); + textBoxInput.SelectAll(); + } + private void ParameterInputForm_Load(object sender, EventArgs e) + { + + } + + private void ParameterInputForm_Load_1(object sender, EventArgs e) + { + + } + } +} diff --git a/HitBotCSharpDemo/ParameterInputForm.resx b/HitBotCSharpDemo/ParameterInputForm.resx new file mode 100644 index 0000000..1af7de1 --- /dev/null +++ b/HitBotCSharpDemo/ParameterInputForm.resx @@ -0,0 +1,120 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/HitBotCSharpDemo/RobotControl.cs b/HitBotCSharpDemo/RobotControl.cs new file mode 100644 index 0000000..25599f5 --- /dev/null +++ b/HitBotCSharpDemo/RobotControl.cs @@ -0,0 +1,488 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using ControlBeanExDll; +using TcpserverExDll; +using System.Drawing; +using System.IO; +using System.Threading; +using System.Windows.Forms; + +namespace HitBotCSharpDemo +{ + internal class RobotControl + { + private ControlBeanEx robot; + private bool isInit = false; + private Thread thread_Jog_Move; + private bool moveFlag; + private Button currentButton; + private int offset = 2; // 寸动距离 + private int offset_jog = 2; // 连续移动单次距离 + private static int io_Count = 6; // IO数量 + private int[] io_In = new int[io_Count]; + private int[] io_Out = new int[io_Count]; + private bool[] output_State_Flags = new bool[6] { true, true, true, true, true, true }; + + // 点位相关 + private float[] pos0, pos1, pos2; + private int posHand0, posHand1, posHand2; + private Thread thread_PosMove; + private static object locker_PosMove = new object(); + + // 相机点位相关 + private float[][] cameraPositions; + private string filePath = "Cam_pos_path.txt"; + public bool IsInitialized => isInit; + public ControlBeanEx Robot => robot; + public RobotControl() + { + TcpserverEx.net_port_initial(); + robot = TcpserverEx.get_robot(74); // 替换为自己的机器的id号 + } + public void ScanRobotIDs(ComboBox comboBox) + { + comboBox.Items.Clear(); + for (int i = 0; i < 255; i++) + { + ControlBeanEx tempRobot = TcpserverEx.get_robot(i); + if (tempRobot.is_connected()) + { + comboBox.Items.Add(i.ToString()); + } + } + } + public bool InitializeRobot(string robotId, RichTextBox coordTextBox) + { + coordTextBox.Clear(); + if (robot == null) return false; + + robot = TcpserverEx.get_robot(int.Parse(robotId)); + robot.check_joint(4, false); + + if (robot.is_connected()) + { + int ret = robot.initial(1, 240); // 修改自己机器的型号 + if (ret == 1) + { + robot.unlock_position(); + isInit = true; + MessageBox.Show("robot 初始化完成"); + return true; + } + else + { + MessageBox.Show("robot 初始化失败，返回值 = " + ret.ToString()); + return false; + } + } + else + { + MessageBox.Show("robot 未连接"); + return false; + } + } + public void HandleJogMove(Button button, CheckBox inchingCheckBox) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + currentButton = button; + + if (inchingCheckBox.Checked) // 寸动模式 + { + ExecuteInchingMove(button); + } + // 连续移动由MouseDown事件处理 + } + public void StartJogMove(Button button) + { + currentButton = button; + if (currentButton == null) return; + + thread_Jog_Move = new Thread(ExecuteContinuousMove); + thread_Jog_Move.IsBackground = true; + thread_Jog_Move.Start(); + } + public void StopJogMove(CheckBox inchingCheckBox) + { + if (robot != null && !inchingCheckBox.Checked) + { + robot.new_stop_move(); + } + currentButton = null; + moveFlag = false; + } + public void GetJointState(ComboBox jointComboBox, RichTextBox displayTextBox) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + + int jointNumber = int.Parse(jointComboBox.SelectedItem.ToString()); + int ret = robot.get_joint_state(jointNumber); + + displayTextBox.Clear(); + switch (ret) + { + case 1: + displayTextBox.SelectedText = "关节" + jointNumber + "正常"; + break; + default: + displayTextBox.SelectedText = "关节" + jointNumber + "异常！异常代码：" + ret + ".（详情请查看API文档）"; + break; + } + } + public void UpdateIOAndCoordinates(RichTextBox coordTextBox, Label[] inputLabels, Label[] outputLabels) + { + if (!isInit) return; + + robot.get_scara_param(); + coordTextBox.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + // 更新IO状态 + for (int i = 0; i < io_Count; i++) + { + io_In[i] = robot.get_digital_in(i); + io_Out[i] = robot.get_digital_out(i); + } + // 更新输入标签颜色 + for (int i = 0; i < io_Count; i++) + { + Color newColor = GetIOColor(io_In[i]); + if (inputLabels[i].BackColor != newColor) + inputLabels[i].BackColor = newColor; + } + // 更新输出标签颜色 + for (int i = 0; i < io_Count; i++) + { + Color newColor = GetIOColor(io_Out[i]); + if (outputLabels[i].BackColor != newColor) + outputLabels[i].BackColor = newColor; + } + } + public void ToggleDigitalOutput(Label outputLabel, Label[] allOutputLabels) + { + int outputNum = GetOutputNumber(outputLabel, allOutputLabels); + if (outputNum >= 0) + { + robot.set_digital_out(outputNum, output_State_Flags[outputNum]); + output_State_Flags[outputNum] = !output_State_Flags[outputNum]; + } + } + public void SetPosition(int positionIndex, RichTextBox displayTextBox) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + robot.get_scara_param(); + displayTextBox.Clear(); + displayTextBox.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + switch (positionIndex) + { + case 0: + pos0 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand0 = robot.get_lr(); + break; + case 1: + pos1 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand1 = robot.get_lr(); + break; + case 2: + pos2 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand2 = robot.get_lr(); + break; + } + } + public void StartPositionLoop(Button pauseBtn, Button resumeBtn) + { + pauseBtn.Enabled = true; + resumeBtn.Enabled = true; + + if (pos0 == null || pos1 == null || pos2 == null) + { + MessageBox.Show("请先设置3个点位！"); + return; + } + + thread_PosMove = new Thread(ExecutePositionLoop); + thread_PosMove.IsBackground = false; + thread_PosMove.Start(); + } + public void PauseMove(Button stopBtn) + { + stopBtn.Enabled = false; + robot.pause_move(); + } + public void ResumeMove(Button stopBtn) + { + stopBtn.Enabled = true; + robot.resume_move(); + } + public void StopMove(Button pauseBtn, Button resumeBtn) + { + pauseBtn.Enabled = false; + resumeBtn.Enabled = false; + robot.new_stop_move(); + thread_PosMove.Abort(); + } + public void HomeJoint(Button jointButton) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + int jointNumber = GetJointNumber(jointButton); + if (jointNumber > 0) + { + robot.joint_home(jointNumber); + } + } + //public void LoadCameraPositions() + //{ + // try + // { + // if (File.Exists(filePath)) + // { + // string[] lines = File.ReadAllLines(filePath); + // cameraPositions = new float[5][]; // 存储5个点位 + // int positionIndex = 0; + // foreach (string line in lines) + // { + // // 跳过注释行（以#开头）和空行 + // 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; + // } + // } + // positionIndex++; + // } + // else + // { + // MessageBox.Show($"第{positionIndex + 1}行坐标格式错误，应该包含4个值(X,Y,Z,R)"); + // return; + // } + // } + // } + // } + // else + // { + // MessageBox.Show($"未找到文件：{filePath}"); + // } + // } + // catch (Exception ex) + // { + // MessageBox.Show($"加载点位文件时出错：{ex.Message}"); + // } + //} + public void MoveToCameraPosition(int positionIndex) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + + if (cameraPositions == null || positionIndex >= cameraPositions.Length || cameraPositions[positionIndex] == null) + { + MessageBox.Show($"点位{positionIndex + 1}数据未加载或无效"); + return; + } + + try + { + // 获取当前位置参数 + robot.get_scara_param(); + int currentHand = robot.get_lr(); // 使用当前手系 + float x = cameraPositions[positionIndex][0]; + float y = cameraPositions[positionIndex][1]; + float z = cameraPositions[positionIndex][2]; + float r = cameraPositions[positionIndex][3]; + // 设置运动参数 + robot.new_set_acc(30, 30, 30, 30); + // 移动到指定位置 + int result = robot.new_movej_xyz_lr(x, y, z, r, 100, 0, currentHand); + if (result != 1) + { + MessageBox.Show($"移动到点位{positionIndex + 1}失败，返回值：{result}"); + } + } + catch (Exception ex) + { + MessageBox.Show($"移动到点位{positionIndex + 1}时出错：{ex.Message}"); + } + } + public void WaitForRobotStop() + { + if (!isInit) return; + while (true) + { + robot.get_scara_param(); + if (!robot.move_flag) // 机械臂处于静止状态 + { + break; + } + Thread.Sleep(100); // 每100ms检查一次 + } + } + private void ExecuteInchingMove(Button button) + { + robot.get_scara_param(); + int hand = robot.get_lr(); + float speed = 2; + robot.new_set_acc(30, 30, 30, 30); + string buttonName = button.Name; + + switch (buttonName) + { + case "btn_XP": + robot.new_movej_xyz_lr(robot.x + offset, robot.y, robot.z, robot.rotation, speed, 0, hand); + break; + case "btn_XN": + robot.new_movej_xyz_lr(robot.x - offset, robot.y, robot.z, robot.rotation, speed, 0, hand); + break; + case "btn_YP": + robot.new_movej_xyz_lr(robot.x, robot.y + offset, robot.z, robot.rotation, speed, 0, hand); + break; + case "btn_YN": + robot.new_movej_xyz_lr(robot.x, robot.y - offset, robot.z, robot.rotation, speed, 0, hand); + break; + case "btn_ZP": + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z + offset, robot.rotation, speed, 0, hand); + break; + case "btn_ZN": + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z - offset, robot.rotation, speed, 0, hand); + break; + case "btn_RP": + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation + offset, speed, 0, hand); + break; + case "btn_RN": + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation - offset, speed, 0, hand); + break; + } + } + private void ExecuteContinuousMove() + { + moveFlag = true; + while (moveFlag && currentButton != null) + { + string buttonName = currentButton.Name; + + switch (buttonName) + { + case "btn_XP": + robot.jog_move2(offset_jog, 0, 0, 0, 1); + break; + case "btn_XN": + robot.jog_move2(-offset_jog, 0, 0, 0, 1); + break; + case "btn_YP": + robot.jog_move2(0, offset_jog, 0, 0, 1); + break; + case "btn_YN": + robot.jog_move2(0, -offset_jog, 0, 0, 1); + break; + case "btn_ZP": + robot.jog_move2(0, 0, offset_jog, 0, 1); + break; + case "btn_ZN": + robot.jog_move2(0, 0, -offset_jog, 0, 1); + break; + case "btn_RP": + robot.jog_move2(0, 0, 0, offset_jog, 1); + break; + case "btn_RN": + robot.jog_move2(0, 0, 0, -offset_jog, 1); + break; + } + Thread.Sleep(200); + } + robot.wait_stop(); + } + private void ExecutePositionLoop() + { + lock (locker_PosMove) + { + while (true) + { + robot.resume_move(); + robot.get_scara_param(); + robot.new_movej_xyz_lr(pos0[0], pos0[1], pos0[2], pos0[3], 50, 0, posHand0); + robot.wait_stop(); + robot.new_movej_xyz_lr(pos1[0], pos1[1], pos1[2], pos1[3], 50, 0, posHand1); + robot.wait_stop(); + robot.new_movej_xyz_lr(pos2[0], pos2[1], pos2[2], pos2[3], 50, 0, posHand2); + robot.wait_stop(); + } + } + } + private Color GetIOColor(int ioState) + { + switch (ioState) + { + case -1: + case 3: + return Color.Gray; + case 0: + return Color.Green; + case 1: + return Color.Red; + default: + return Color.Gray; + } + } + private int GetOutputNumber(Label outputLabel, Label[] allOutputLabels) + { + for (int i = 0; i < allOutputLabels.Length; i++) + { + if (outputLabel == allOutputLabels[i]) + { + return i; + } + } + return -1; + } + private int GetJointNumber(Button jointButton) + { + string buttonName = jointButton.Name; + switch (buttonName) + { + case "btn_joint1": + return 1; + case "btn_joint2": + return 2; + case "btn_joint3": + return 3; + case "btn_joint4": + return 4; + default: + return -1; + } + } + } +} diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 4933d5d..81aa3b5 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -120,6 +120,50 @@ 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.groupBox3 = new System.Windows.Forms.GroupBox(); + this.textBox9 = new System.Windows.Forms.TextBox(); + this.label26 = new System.Windows.Forms.Label(); + 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.groupBox2 = new System.Windows.Forms.GroupBox(); + this.textBox8 = new System.Windows.Forms.TextBox(); + this.label25 = new System.Windows.Forms.Label(); + 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.groupBox1 = new System.Windows.Forms.GroupBox(); + this.textBox7 = new System.Windows.Forms.TextBox(); + this.label24 = new System.Windows.Forms.Label(); + 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.grb_pos1 = new System.Windows.Forms.GroupBox(); + this.textBox6 = new System.Windows.Forms.TextBox(); + this.label23 = new System.Windows.Forms.Label(); + this.label7 = new System.Windows.Forms.Label(); + this.button5 = new System.Windows.Forms.Button(); + this.button4 = new System.Windows.Forms.Button(); + this.textBox2 = new System.Windows.Forms.TextBox(); + this.label6 = new System.Windows.Forms.Label(); + this.label5 = new System.Windows.Forms.Label(); + this.label4 = new System.Windows.Forms.Label(); + this.label3 = new System.Windows.Forms.Label(); this.grb_temport = new System.Windows.Forms.GroupBox(); this.comboBox1 = new System.Windows.Forms.ComboBox(); this.label2 = new System.Windows.Forms.Label(); @@ -129,42 +173,6 @@ 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.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(); @@ -181,12 +189,12 @@ ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit(); this.tap_tempCtrl.SuspendLayout(); + this.groupBox3.SuspendLayout(); + this.groupBox2.SuspendLayout(); + this.groupBox1.SuspendLayout(); + this.grb_pos1.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 @@ -1250,6 +1258,436 @@ this.tap_tempCtrl.UseVisualStyleBackColor = true; this.tap_tempCtrl.Click += new System.EventHandler(this.tabPage1_Click); // + // groupBox3 + // + this.groupBox3.Controls.Add(this.textBox9); + this.groupBox3.Controls.Add(this.label26); + 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(1094, 100); + this.groupBox3.TabIndex = 11; + this.groupBox3.TabStop = false; + this.groupBox3.Text = "点位4"; + // + // textBox9 + // + this.textBox9.Location = new System.Drawing.Point(730, 39); + this.textBox9.Name = "textBox9"; + this.textBox9.Size = new System.Drawing.Size(100, 28); + this.textBox9.TabIndex = 15; + // + // label26 + // + this.label26.AutoSize = true; + this.label26.Location = new System.Drawing.Point(642, 44); + this.label26.Name = "label26"; + this.label26.Size = new System.Drawing.Size(98, 18); + this.label26.TabIndex = 14; + this.label26.Text = "温度限速："; + this.label26.Click += new System.EventHandler(this.label26_Click); + // + // label18 + // + this.label18.AutoSize = true; + this.label18.Location = new System.Drawing.Point(540, 45); + 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(980, 32); + this.button10.Name = "button10"; + this.button10.Size = new System.Drawing.Size(97, 40); + this.button10.TabIndex = 8; + this.button10.Text = "保存"; + this.button10.UseVisualStyleBackColor = true; + // + // button11 + // + this.button11.Location = new System.Drawing.Point(866, 34); + this.button11.Name = "button11"; + this.button11.Size = new System.Drawing.Size(92, 40); + this.button11.TabIndex = 7; + this.button11.Text = "开始升温"; + this.button11.UseVisualStyleBackColor = true; + this.button11.Click += new System.EventHandler(this.button11_Click); + // + // textBox5 + // + this.textBox5.Location = new System.Drawing.Point(309, 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(449, 44); + 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(215, 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："; + // + // groupBox2 + // + this.groupBox2.Controls.Add(this.textBox8); + this.groupBox2.Controls.Add(this.label25); + 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(1094, 100); + this.groupBox2.TabIndex = 10; + this.groupBox2.TabStop = false; + this.groupBox2.Text = "点位3"; + // + // textBox8 + // + this.textBox8.Location = new System.Drawing.Point(730, 38); + this.textBox8.Name = "textBox8"; + this.textBox8.Size = new System.Drawing.Size(100, 28); + this.textBox8.TabIndex = 14; + // + // label25 + // + this.label25.AutoSize = true; + this.label25.Location = new System.Drawing.Point(642, 43); + this.label25.Name = "label25"; + this.label25.Size = new System.Drawing.Size(98, 18); + this.label25.TabIndex = 14; + this.label25.Text = "温度限速："; + // + // label13 + // + this.label13.AutoSize = true; + this.label13.Location = new System.Drawing.Point(540, 42); + 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(980, 32); + this.button8.Name = "button8"; + this.button8.Size = new System.Drawing.Size(97, 40); + this.button8.TabIndex = 8; + this.button8.Text = "保存"; + this.button8.UseVisualStyleBackColor = true; + // + // button9 + // + this.button9.Location = new System.Drawing.Point(866, 32); + this.button9.Name = "button9"; + this.button9.Size = new System.Drawing.Size(92, 40); + this.button9.TabIndex = 7; + this.button9.Text = "开始升温"; + this.button9.UseVisualStyleBackColor = true; + this.button9.Click += new System.EventHandler(this.button9_Click); + // + // textBox4 + // + this.textBox4.Location = new System.Drawing.Point(309, 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(449, 41); + 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(215, 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："; + // + // groupBox1 + // + this.groupBox1.Controls.Add(this.textBox7); + this.groupBox1.Controls.Add(this.label24); + 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(1094, 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); + // + // textBox7 + // + this.textBox7.Location = new System.Drawing.Point(730, 39); + this.textBox7.Name = "textBox7"; + this.textBox7.Size = new System.Drawing.Size(100, 28); + this.textBox7.TabIndex = 13; + // + // label24 + // + this.label24.AutoSize = true; + this.label24.Location = new System.Drawing.Point(642, 43); + this.label24.Name = "label24"; + this.label24.Size = new System.Drawing.Size(98, 18); + this.label24.TabIndex = 13; + this.label24.Text = "温度限速："; + // + // label8 + // + this.label8.AutoSize = true; + this.label8.Location = new System.Drawing.Point(540, 44); + 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(980, 33); + this.button6.Name = "button6"; + this.button6.Size = new System.Drawing.Size(97, 40); + this.button6.TabIndex = 8; + this.button6.Text = "保存"; + this.button6.UseVisualStyleBackColor = true; + // + // button7 + // + this.button7.Location = new System.Drawing.Point(866, 33); + this.button7.Name = "button7"; + this.button7.Size = new System.Drawing.Size(92, 40); + this.button7.TabIndex = 7; + this.button7.Text = "开始升温"; + this.button7.UseVisualStyleBackColor = true; + this.button7.Click += new System.EventHandler(this.button7_Click); + // + // textBox3 + // + this.textBox3.Location = new System.Drawing.Point(309, 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(449, 43); + 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(215, 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："; + // + // grb_pos1 + // + this.grb_pos1.Controls.Add(this.textBox6); + this.grb_pos1.Controls.Add(this.label23); + 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(1094, 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); + // + // textBox6 + // + this.textBox6.Location = new System.Drawing.Point(730, 39); + this.textBox6.Name = "textBox6"; + this.textBox6.Size = new System.Drawing.Size(100, 28); + this.textBox6.TabIndex = 12; + // + // label23 + // + this.label23.AutoSize = true; + this.label23.Location = new System.Drawing.Point(642, 43); + this.label23.Name = "label23"; + this.label23.Size = new System.Drawing.Size(98, 18); + this.label23.TabIndex = 12; + this.label23.Text = "温度限速："; + // + // label7 + // + this.label7.AutoSize = true; + this.label7.Location = new System.Drawing.Point(540, 43); + this.label7.Name = "label7"; + this.label7.Size = new System.Drawing.Size(17, 18); + this.label7.TabIndex = 9; + this.label7.Text = "0"; + // + // button5 + // + this.button5.Location = new System.Drawing.Point(980, 32); + this.button5.Name = "button5"; + this.button5.Size = new System.Drawing.Size(97, 40); + this.button5.TabIndex = 8; + this.button5.Text = "保存"; + this.button5.UseVisualStyleBackColor = true; + // + // button4 + // + this.button4.Location = new System.Drawing.Point(866, 32); + this.button4.Name = "button4"; + this.button4.Size = new System.Drawing.Size(92, 40); + this.button4.TabIndex = 7; + this.button4.Text = "开始升温"; + this.button4.UseVisualStyleBackColor = true; + this.button4.Click += new System.EventHandler(this.button4_Click_1); + // + // textBox2 + // + this.textBox2.Location = new System.Drawing.Point(309, 39); + 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); + // + // label6 + // + this.label6.AutoSize = true; + this.label6.Location = new System.Drawing.Point(449, 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); + // + // label5 + // + this.label5.AutoSize = true; + this.label5.Location = new System.Drawing.Point(215, 43); + this.label5.Name = "label5"; + this.label5.Size = new System.Drawing.Size(98, 18); + this.label5.TabIndex = 2; + this.label5.Text = "调节温度："; + // + // 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); + // + // 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："; + // // grb_temport // this.grb_temport.Controls.Add(this.comboBox1); @@ -1336,359 +1774,6 @@ this.rit_Coord.Text = ""; this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); // - // grb_pos1 - // - 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 // this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F); @@ -1732,17 +1817,17 @@ ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit(); this.tap_tempCtrl.ResumeLayout(false); + this.groupBox3.ResumeLayout(false); + this.groupBox3.PerformLayout(); + this.groupBox2.ResumeLayout(false); + this.groupBox2.PerformLayout(); + this.groupBox1.ResumeLayout(false); + this.groupBox1.PerformLayout(); + this.grb_pos1.ResumeLayout(false); + this.grb_pos1.PerformLayout(); 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(); @@ -1885,6 +1970,14 @@ private System.Windows.Forms.Label label15; private System.Windows.Forms.Label label16; private System.Windows.Forms.Label label17; + private System.Windows.Forms.Label label26; + private System.Windows.Forms.Label label25; + private System.Windows.Forms.Label label24; + private System.Windows.Forms.TextBox textBox6; + private System.Windows.Forms.Label label23; + private System.Windows.Forms.TextBox textBox9; + private System.Windows.Forms.TextBox textBox8; + private System.Windows.Forms.TextBox textBox7; } } diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index 0fd6135..d7d7b7d 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -67,7 +67,6 @@ namespace HitBotCSharpDemo private CameraManager cameraManager; private tempControl tempControl; - private ControlBeanEx robot; public ShowForm() { @@ -210,10 +209,79 @@ namespace HitBotCSharpDemo cameraManager.Initialize(); Label[] temperatureLabels = new Label[] { label4, label11, label16, label21 }; - tempControl = new tempControl(temperatureLabels); + Label[] setting_temperatureLabels = new Label[] { label7, label8, label13, label18 }; + + tempControl = new tempControl(temperatureLabels, setting_temperatureLabels); tempControl.LoadAvailablePorts(comboBox1); + + textBox6.Click += TextBox_Click; + textBox7.Click += TextBox_Click; + textBox8.Click += TextBox_Click; + textBox9.Click += TextBox_Click; + } - + + private void TextBox_Click(object sender, EventArgs e) + { + TextBox textBox = sender as TextBox; + if (textBox == null) return; + // 检查串口是否打开 + if (tempControl == null || !tempControl.IsSerialPortOpen()) + { + MessageBox.Show("串口未打开，无法设置参数"); + return; + } + // 根据控件名称确定下位机编号和显示名称 + int deviceNumber = -1; + string parameterName = ""; + switch (textBox.Name) + { + case "textBox6": + deviceNumber = 0; + parameterName = "下位机1 RAMPSPEED"; + break; + case "textBox7": + deviceNumber = 1; + parameterName = "下位机2 RAMPSPEED"; + break; + case "textBox8": + deviceNumber = 2; + parameterName = "下位机3 RAMPSPEED"; + break; + case "textBox9": + deviceNumber = 3; + parameterName = "下位机4 RAMPSPEED"; + break; + } + if (deviceNumber >= 0) + { + // 创建并显示输入窗口 + ParameterInputForm inputForm = new ParameterInputForm(parameterName, textBox.Text); + if (inputForm.ShowDialog(this) == DialogResult.OK) + { + // 用户点击了保存按钮 + string newValue = inputForm.InputValue; + + // 检查输入是否为有效数字 + if (double.TryParse(newValue, out double inputValue)) + { + // 更新textbox显示 + textBox.Text = newValue; + + // 构建并发送命令 + string command = $"TC1:TCRAMPSPEED={inputValue}@{deviceNumber}\r"; + tempControl.SendCommand(command); + } + else + { + MessageBox.Show("请输入有效的数字", "输入错误", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + } + } + inputForm.Dispose(); + } + } + private void cob_Robot_ID_Click(object sender, EventArgs e) { cob_Robot_ID.Items.Clear(); @@ -1339,5 +1407,29 @@ namespace HitBotCSharpDemo } + private void button4_Click_1(object sender, EventArgs e) + { + + } + + private void button7_Click(object sender, EventArgs e) + { + + } + + private void button9_Click(object sender, EventArgs e) + { + + } + + private void button11_Click(object sender, EventArgs e) + { + + } + + private void label26_Click(object sender, EventArgs e) + { + + } } } diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index a7a4cd8..4582efa 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 777b9cc..1945f9a 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_74_2025-06-17.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-17.hilog index 6bc415c..75269c8 100644 --- 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 @@ -204,3 +204,185 @@ 2025-06-17 16:15:05.190 trail_number1.443221 2025-06-17 16:15:05.190 tcp_distance 144.322098 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 +2025-06-17 19:20:28.265 SDK_VERSION_V2.0.0.29_Release +2025-06-17 19:20:28.266 robot connected +2025-06-17 19:20:28.266 26 +2025-06-17 19:20:28.268 current generation=26 +2025-06-17 19:20:28.784 0x1a +2025-06-17 19:20:29.673 initial joint2 2449950 +2025-06-17 19:20:29.674 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-17 19:20:29.674 robot WritePID +2025-06-17 19:20:29.982 initial joint1 -160236 +2025-06-17 19:20:30.028 initial joint2 2449948 +2025-06-17 19:20:30.074 initial joint3 -219816 +2025-06-17 19:20:30.136 initial joint4 -25369363 +2025-06-17 19:20:30.152 initial joint1 -160236 +2025-06-17 19:20:30.198 initial joint2 2449949 +2025-06-17 19:20:30.244 initial joint3 -219816 +2025-06-17 19:20:30.291 initial joint4 -25369363 +2025-06-17 19:20:30.306 initial joint1 -160230 +2025-06-17 19:20:30.352 initial joint2 2449950 +2025-06-17 19:20:30.398 initial joint3 -219818 +2025-06-17 19:20:30.444 initial joint4 -25369364 +2025-06-17 19:20:32.668 initial_thread initialized +2025-06-17 19:20:32.668 servo enable +2025-06-17 19:20:32.668 brake open +2025-06-17 19:20:32.669 set_brake_state 0 1 +2025-06-17 19:20:32.870 robot initialized +2025-06-17 19:20:33.454 get_scara_param -11.002300 84.112396 -75.469200 -1005.720520 +2025-06-17 19:20:33.454 get_scara_real_coor -11.002100 84.112396 -75.468803 -1005.720398 +2025-06-17 19:20:33.454 λɢ +2025-06-17 19:20:33.455 position -160232.609375 2449951.000000 -219819.984375 -25369366.000000 -1124228.875000 4073196.000000 -61915.968750 -24985686.000000 +2025-06-17 19:20:33.455 speed 66192.367188 55729.695313 54212.039063 15807.129883 +2025-06-17 19:20:33.455 set_first_position_after_initial +2025-06-17 19:20:33.456 movej_old start_pos: -11.002300 84.112396 -75.469200 -1005.720520 end_pos: -11.002300 84.112297 -75.469200 -1005.720520 org_sp 10.000000 end_sp 0.729016 +2025-06-17 19:20:33.744 J3 Belt Meilage=40.923592km +2025-06-17 19:20:35.251 30 30 30 30 +2025-06-17 19:20:35.253 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-17 19:20:35.253 goal_angle -63.500324 35.083988 +2025-06-17 19:20:35.253 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-17 19:20:35.253 z1 -75.469200 z2 -75.466103 +2025-06-17 19:20:35.253 angle1_1 -11.002300 angle2_1 84.112297 z1 -75.469200 r1 -1005.720520 +2025-06-17 19:20:35.254 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008 +2025-06-17 19:20:35.254 speed 100.000000 +2025-06-17 19:20:35.254 tcp_distance 482.202667 +2025-06-17 19:20:35.255 new_end_speed 100.000000 j1_acc_t 2.411013 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.815603 +2025-06-17 19:20:35.255 new_end_speed 100.000000 j2_acc_t 2.411013 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.241575 +2025-06-17 19:20:35.255 new_end_speed 100.000000 j3_acc_t 2.411013 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.001405 +2025-06-17 19:20:35.256 new_end_speed 100.000000 j4_acc_t 2.411013 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000222 +2025-06-17 19:20:35.256 end_speed 100.000000 +2025-06-17 19:20:35.256 trail_number4.822027 +2025-06-17 19:20:35.256 tcp_distance 482.202667 +2025-06-17 19:20:35.256 angle1_1 = -11.002300 angle2_1 = 84.112297 z1 = -75.469200 r1 = -1005.720520 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-17 19:20:40.259 30 30 30 30 +2025-06-17 19:20:40.261 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-17 19:20:40.261 goal_angle -44.911705 98.661697 +2025-06-17 19:20:40.261 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-17 19:20:40.261 z1 -75.466103 z2 -75.466103 +2025-06-17 19:20:40.261 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008 +2025-06-17 19:20:40.261 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-17 19:20:40.262 speed 100.000000 +2025-06-17 19:20:40.262 tcp_distance 318.237030 +2025-06-17 19:20:40.262 new_end_speed 100.000000 j1_acc_t 1.591185 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 12.777455 +2025-06-17 19:20:40.262 new_end_speed 100.000000 j2_acc_t 1.591185 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.702080 +2025-06-17 19:20:40.262 new_end_speed 100.000000 j3_acc_t 1.591185 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-17 19:20:40.262 new_end_speed 100.000000 j4_acc_t 1.591185 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-17 19:20:40.263 end_speed 100.000000 +2025-06-17 19:20:40.263 trail_number3.182370 +2025-06-17 19:20:40.263 tcp_distance 318.237030 +2025-06-17 19:20:40.264 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 +2025-06-17 19:20:44.988 30 30 30 30 +2025-06-17 19:20:44.989 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-17 19:20:44.989 goal_angle -11.002804 84.112190 +2025-06-17 19:20:44.989 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-17 19:20:44.989 z1 -75.466103 z2 -75.466103 +2025-06-17 19:20:44.990 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-17 19:20:44.990 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-17 19:20:44.990 speed 100.000000 +2025-06-17 19:20:44.990 tcp_distance 144.322098 +2025-06-17 19:20:44.990 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 +2025-06-17 19:20:44.990 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 +2025-06-17 19:20:44.991 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 19:20:44.991 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 +2025-06-17 19:20:44.991 end_speed 100.000000 +2025-06-17 19:20:44.991 trail_number1.443221 +2025-06-17 19:20:44.991 tcp_distance 144.322098 +2025-06-17 19:20:44.992 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 19:20:47.596 30 30 30 30 +2025-06-17 19:20:47.596 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-17 19:20:47.598 goal_angle -87.199585 152.604431 +2025-06-17 19:20:47.598 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-17 19:20:47.598 z1 -75.466103 z2 -4.457100 +2025-06-17 19:20:47.598 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-17 19:20:47.598 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-17 19:20:47.599 speed 100.000000 +2025-06-17 19:20:47.599 tcp_distance 288.737366 +2025-06-17 19:20:47.599 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 +2025-06-17 19:20:47.599 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 +2025-06-17 19:20:47.599 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 +2025-06-17 19:20:47.599 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 +2025-06-17 19:20:47.600 end_speed 100.000000 +2025-06-17 19:20:47.600 trail_number2.887374 +2025-06-17 19:20:47.600 tcp_distance 288.737366 +2025-06-17 19:20:47.601 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 +2025-06-17 20:42:24.041 SDK_VERSION_V2.0.0.29_Release +2025-06-17 20:42:24.042 robot connected +2025-06-17 20:42:24.042 26 +2025-06-17 20:42:24.042 current generation=26 +2025-06-17 20:42:24.556 0x1a +2025-06-17 20:42:25.419 initial joint2 4444930 +2025-06-17 20:42:25.420 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-17 20:42:25.420 robot WritePID +2025-06-17 20:42:25.728 initial joint1 -1269936 +2025-06-17 20:42:25.790 initial joint2 4444931 +2025-06-17 20:42:25.836 initial joint3 -12992 +2025-06-17 20:42:25.881 initial joint4 -25056188 +2025-06-17 20:42:25.896 initial joint1 -1269936 +2025-06-17 20:42:25.942 initial joint2 4444931 +2025-06-17 20:42:25.988 initial joint3 -12992 +2025-06-17 20:42:26.048 initial joint4 -25056189 +2025-06-17 20:42:26.078 initial joint1 -1269936 +2025-06-17 20:42:26.123 initial joint2 4444934 +2025-06-17 20:42:26.169 initial joint3 -12992 +2025-06-17 20:42:26.215 initial joint4 -25056190 +2025-06-17 20:42:28.535 initial_thread initialized +2025-06-17 20:42:28.535 servo enable +2025-06-17 20:42:28.536 brake open +2025-06-17 20:42:28.536 set_brake_state 0 1 +2025-06-17 20:42:28.750 robot initialized +2025-06-17 20:42:29.320 get_scara_param -87.199501 152.604797 -4.460400 -1027.920044 +2025-06-17 20:42:29.321 get_scara_real_coor -87.199501 152.604797 -4.460400 -1027.920044 +2025-06-17 20:42:29.321 set_first_position_after_initial +2025-06-17 20:42:29.322 movej_old start_pos: -87.199501 152.604797 -4.460400 -1027.920044 end_pos: -87.199501 152.604797 -4.460400 -1027.920044 org_sp 10.000000 end_sp 10.000000 +2025-06-17 20:42:29.612 J3 Belt Meilage=40.924110km +2025-06-17 20:42:31.857 30 30 30 30 +2025-06-17 20:42:31.858 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-17 20:42:31.858 goal_angle -44.911705 98.661697 +2025-06-17 20:42:31.859 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-17 20:42:31.860 z1 -4.460400 z2 -75.466103 +2025-06-17 20:42:31.860 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.460400 r1 -1027.920044 +2025-06-17 20:42:31.860 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-17 20:42:31.860 speed 100.000000 +2025-06-17 20:42:31.860 tcp_distance 200.024323 +2025-06-17 20:42:31.861 new_end_speed 100.000000 j1_acc_t 1.000122 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246613 +2025-06-17 20:42:31.861 new_end_speed 100.000000 j2_acc_t 1.000122 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.993038 +2025-06-17 20:42:31.863 new_end_speed 100.000000 j3_acc_t 1.000122 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.652977 +2025-06-17 20:42:31.863 new_end_speed 100.000000 j4_acc_t 1.000122 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277243 +2025-06-17 20:42:31.863 end_speed 100.000000 +2025-06-17 20:42:31.863 trail_number2.000243 +2025-06-17 20:42:31.863 tcp_distance 200.024323 +2025-06-17 20:42:31.864 angle1_1 = -87.199501 angle2_1 = 152.604797 z1 = -4.460400 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-17 20:42:35.087 30 30 30 30 +2025-06-17 20:42:35.087 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-17 20:42:35.088 goal_angle -11.002804 84.112190 +2025-06-17 20:42:35.088 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-17 20:42:35.088 z1 -75.466103 z2 -75.466103 +2025-06-17 20:42:35.089 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-17 20:42:35.089 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-17 20:42:35.089 speed 100.000000 +2025-06-17 20:42:35.089 tcp_distance 144.322098 +2025-06-17 20:42:35.089 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 +2025-06-17 20:42:35.090 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 +2025-06-17 20:42:35.090 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 20:42:35.090 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 +2025-06-17 20:42:35.090 end_speed 100.000000 +2025-06-17 20:42:35.090 trail_number1.443221 +2025-06-17 20:42:35.091 tcp_distance 144.322098 +2025-06-17 20:42:35.091 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 20:42:37.761 30 30 30 30 +2025-06-17 20:42:37.761 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-17 20:42:37.761 goal_angle -87.199585 152.604431 +2025-06-17 20:42:37.761 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-17 20:42:37.762 z1 -75.466103 z2 -4.457100 +2025-06-17 20:42:37.762 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-17 20:42:37.762 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-17 20:42:37.762 speed 100.000000 +2025-06-17 20:42:37.762 tcp_distance 288.737366 +2025-06-17 20:42:37.762 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 +2025-06-17 20:42:37.763 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 +2025-06-17 20:42:37.763 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 +2025-06-17 20:42:37.763 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 +2025-06-17 20:42:37.763 end_speed 100.000000 +2025-06-17 20:42:37.763 trail_number2.887374 +2025-06-17 20:42:37.764 tcp_distance 288.737366 +2025-06-17 20:42:37.764 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 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-18.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-18.hilog new file mode 100644 index 0000000..94a7a4a --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-18.hilog @@ -0,0 +1,51 @@ +2025-06-18 10:34:31.782 ROBOT_ERROR_CODE = 1004 +2025-06-18 10:34:31.782 +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 +2025-06-18 11:15:52.792 SDK_VERSION_V2.0.0.29_Release +2025-06-18 11:15:52.794 robot connected +2025-06-18 11:15:52.794 26 +2025-06-18 11:15:52.794 current generation=26 +2025-06-18 11:15:53.368 0x1a +2025-06-18 11:15:54.234 initial joint2 4435335 +2025-06-18 11:15:54.234 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-18 11:15:54.234 robot WritePID +2025-06-18 11:15:54.541 initial joint1 -1267505 +2025-06-18 11:15:54.601 initial joint2 4435335 +2025-06-18 11:15:54.646 initial joint3 -13307 +2025-06-18 11:15:54.692 initial joint4 -25058597 +2025-06-18 11:15:54.707 initial joint1 -1267485 +2025-06-18 11:15:54.754 initial joint2 4435335 +2025-06-18 11:15:54.800 initial joint3 -13307 +2025-06-18 11:15:54.847 initial joint4 -25058598 +2025-06-18 11:15:54.862 initial joint1 -1267485 +2025-06-18 11:15:54.908 initial joint2 4435334 +2025-06-18 11:15:54.954 initial joint3 -13307 +2025-06-18 11:15:54.999 initial joint4 -25058597 +2025-06-18 11:15:57.166 initial_thread initialized +2025-06-18 11:15:57.167 servo enable +2025-06-18 11:15:57.167 brake open +2025-06-18 11:15:57.168 set_brake_state 0 1 +2025-06-18 11:15:57.381 robot initialized +2025-06-18 11:15:57.951 get_scara_param -87.030098 152.275101 -4.568500 -1028.047607 +2025-06-18 11:15:57.951 get_scara_real_coor -87.030197 152.275101 -4.568500 -1028.047607 +2025-06-18 11:15:57.953 λɢ +2025-06-18 11:15:57.953 position -1267467.625000 4435333.500000 -13306.720703 -25058600.000000 -206213.781250 2532595.750000 -211242.203125 -25356388.000000 +2025-06-18 11:15:57.953 speed 72870.523438 65325.320313 67955.757813 12268.488281 +2025-06-18 11:15:57.953 set_first_position_after_initial +2025-06-18 11:15:57.954 movej_old start_pos: -87.030098 152.275085 -4.568500 -1028.047607 end_pos: -87.030098 152.275009 -4.568500 -1028.047607 org_sp 10.000000 end_sp 0.558927 +2025-06-18 11:15:58.244 J3 Belt Meilage=40.924805km diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache index 6f6d7c3..04d0121 100644 --- a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache +++ b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache @@ -1 +1 @@ -5c4765cc5751b3038bbbfc77461925fc32c32c7429e0f32c686d1470e388eeb2 +2e053c921742f81621ab65b09d7f7c29b32f8c9095d4d6c6b15c9b1eb3d7c317 diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt index c31855e..bd05180 100644 --- a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt +++ b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt @@ -137,3 +137,4 @@ C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDe C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\OfficeOpenXml.Extension.AspNetCore.dll C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\EPPlus.xml C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.SuggestedBindingRedirects.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.ParameterInputForm.resources diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache index d7c7697..e44d616 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache and b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ParameterInputForm.resources b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ParameterInputForm.resources new file mode 100644 index 0000000..6c05a97 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ParameterInputForm.resources differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe index a7a4cd8..4582efa 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb index 777b9cc..1945f9a 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/tempControl.cs b/HitBotCSharpDemo/tempControl.cs index cc8d854..b1d906e 100644 --- a/HitBotCSharpDemo/tempControl.cs +++ b/HitBotCSharpDemo/tempControl.cs @@ -1,9 +1,10 @@ using System; using System.Collections.Generic; +using System.IO.Ports; using System.Linq; using System.Text; +using System.Threading; using System.Threading.Tasks; -using System.IO.Ports; using System.Windows.Forms; namespace HitBotCSharpDemo @@ -12,20 +13,34 @@ namespace HitBotCSharpDemo { private SerialPort serialPort; private System.Windows.Forms.Timer temperatureTimer; + private System.Windows.Forms.Timer settingTemperatureTimer; private string[] temperatureCommands = { "TC1:TCACTUALTEMP?@0\r", "TC1:TCACTUALTEMP?@1\r", "TC1:TCACTUALTEMP?@2\r", "TC1:TCACTUALTEMP?@3\r" }; + private string[] settingtempCommands = + { + "TC1:TCSETTEMP?@0\r", + "TC1:TCSETTEMP?@1\r", + "TC1:TCSETTEMP?@2\r", + "TC1:TCSETTEMP?@3\r" + }; private Label[] temperatureLabels; + private Label[] settingTemperatureLabels; private int currentCommandIndex = 0; + private int currentSettingCommandIndex = 0; + private string receivedData = ""; - public tempControl(Label[] labels) + + public tempControl(Label[] labels, Label[] setting_labels) { temperatureLabels = labels; + settingTemperatureLabels = setting_labels; InitializeSerialPort(); InitializeTemperatureTimer(); + InitializeSettingTemperatureTimer(); } public void LoadAvailablePorts(ComboBox comboBox) { @@ -62,6 +77,7 @@ namespace HitBotCSharpDemo { // 串口已打开，执行关闭操作 temperatureTimer.Stop(); // 停止温度查询定时器 + settingTemperatureTimer.Stop(); // 停止设定温度查询定时器 serialPort.Close(); UpdateUIStatus(false, button, comboBox); MessageBox.Show("串口已关闭", "提示", @@ -78,6 +94,8 @@ namespace HitBotCSharpDemo } serialPort.Open(); temperatureTimer.Start(); // 启动温度查询定时器 + StartSettingTemperatureTimerWithDelay();// 延迟200ms启动设定温度查询定时器 + UpdateUIStatus(true, button, comboBox); MessageBox.Show($"串口 {serialPort.PortName} 已成功打开", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); @@ -111,6 +129,7 @@ namespace HitBotCSharpDemo try { temperatureTimer.Stop(); // 停止温度查询定时器 + settingTemperatureTimer.Stop(); // 停止设定温度查询定时器 serialPort.Close(); UpdateUIStatus(false, button, comboBox); } @@ -131,7 +150,9 @@ namespace HitBotCSharpDemo try { temperatureTimer?.Stop(); + settingTemperatureTimer?.Stop(); // 停止设定温度定时器 temperatureTimer?.Dispose(); + settingTemperatureTimer?.Dispose(); // 释放设定温度定时器 if (serialPort != null && serialPort.IsOpen) { serialPort.Close(); @@ -151,8 +172,7 @@ namespace HitBotCSharpDemo 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; + serialPort.DataReceived += SerialPort_DataReceived; //添加数据接收事件处理 } private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e) { @@ -204,6 +224,30 @@ namespace HitBotCSharpDemo } } } + else if (data.StartsWith("TC1:TCSETTEMP=")) + { + string[] parts = data.Split('@'); + if (parts.Length == 2) + { + string temperaturePart = parts[0]; + string addressPart = parts[1]; + string[] tempParts = temperaturePart.Split('='); + if (tempParts.Length == 2) + { + string temperatureValue = tempParts[1]; + int address = int.Parse(addressPart); + UpdateSettingTemperatureLabel(address, temperatureValue); + } + } + } + //else if (data.StartsWith("TC1:TCRAMPSPEED=")) + //{ + // ProcessRampSpeedData(data); + //} + else if (data.StartsWith("CMD:REPLY=")) + { + ProcessCommandReply(data); + } } catch (Exception ex) { @@ -228,12 +272,120 @@ namespace HitBotCSharpDemo } } } + + private void ProcessCommandReply(string data) + { + try + { + // 解析格式：CMD:REPLY=1@3 + string[] parts = data.Split('@'); + if (parts.Length == 2) + { + string replyPart = parts[0]; + string addressPart = parts[1]; + + string[] replyParts = replyPart.Split('='); + if (replyParts.Length == 2) + { + int errorCode = int.Parse(replyParts[1]); + int address = int.Parse(addressPart); + + // 处理错误码 + string message = GetErrorMessage(errorCode); + + // 在UI线程中显示消息 + if (temperatureLabels[0].InvokeRequired) + { + temperatureLabels[0].Invoke(new Action(() => + { + ShowCommandResult(address, errorCode, message); + })); + } + else + { + ShowCommandResult(address, errorCode, message); + } + } + } + } + catch (Exception ex) + { + Console.WriteLine($"解析命令回复时发生错误: {ex.Message}"); + } + } + // 获取错误码对应的消息 + private string GetErrorMessage(int errorCode) + { + switch (errorCode) + { + case 0: + return "未找到子模块名称或参数名称"; + case 1: + return "设定命令正确执行"; + case 2: + return "未找到参数名称"; + case 3: + return "命令被禁止"; + case 4: + return "参数值超范围"; + case 5: + return "其它或未知错误"; + case 6: + return "命令格式语法错误"; + case 7: + return "通讯命令里有校验错误"; + case 8: + return "保存正确执行"; + default: + return $"未知错误码: {errorCode}"; + } + } + private void ShowCommandResult(int address, int errorCode, string message) + { + if (errorCode == 1) + { + // 设置成功，显示成功消息 + MessageBox.Show($"下位机{address + 1}号 RAMPSPEED设置成功", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Information); + } + else + { + // 设置失败，显示错误消息 + MessageBox.Show($"下位机{address + 1}号 RAMPSPEED设置失败\n错误码: {errorCode}\n错误信息: {message}", + "错误", MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + + private void UpdateSettingTemperatureLabel(int address, string temperature) + { + if (address >= 0 && address < settingTemperatureLabels.Length) + { + // 使用Invoke确保在UI线程中更新界面 + if (settingTemperatureLabels[address].InvokeRequired) + { + settingTemperatureLabels[address].Invoke(new Action(() => + { + settingTemperatureLabels[address].Text = $"{temperature}°C"; + })); + } + else + { + settingTemperatureLabels[address].Text = $"{temperature}°C"; + } + } + } private void InitializeTemperatureTimer() { temperatureTimer = new System.Windows.Forms.Timer(); - temperatureTimer.Interval = 1000; // 1秒间隔 + temperatureTimer.Interval = 500; // 0.5秒间隔 temperatureTimer.Tick += TemperatureTimer_Tick; } + private void InitializeSettingTemperatureTimer() + { + settingTemperatureTimer = new System.Windows.Forms.Timer(); + settingTemperatureTimer.Interval = 500; // 0.5秒间隔，与实际温度错开 + settingTemperatureTimer.Tick += SettingTemperatureTimer_Tick; + } private void TemperatureTimer_Tick(object sender, EventArgs e) { if (serialPort != null && serialPort.IsOpen) @@ -252,6 +404,32 @@ namespace HitBotCSharpDemo } } } + private void SettingTemperatureTimer_Tick(object sender, EventArgs e) + { + if (serialPort != null && serialPort.IsOpen) + { + try + { + // 发送当前索引对应的设定温度查询命令 + serialPort.Write(settingtempCommands[currentSettingCommandIndex]); + // 更新索引，循环发送四个命令 + currentSettingCommandIndex = (currentSettingCommandIndex + 1) % settingtempCommands.Length; + } + catch (Exception ex) + { + Console.WriteLine($"发送设定温度查询命令时发生错误: {ex.Message}"); + } + } + } + private async void StartSettingTemperatureTimerWithDelay() + { + await Task.Delay(200); // 延迟200ms + if (serialPort != null && serialPort.IsOpen) + { + settingTemperatureTimer.Start(); + } + } + private void UpdateUIStatus(bool isPortOpen, Button button, ComboBox comboBox) { if (isPortOpen) @@ -265,6 +443,30 @@ namespace HitBotCSharpDemo comboBox.Enabled = true; // 串口关闭时启用选择框 } } + public bool IsSerialPortOpen() + { + return serialPort != null && serialPort.IsOpen; + } + public void SendCommand(string command) + { + if (serialPort != null && serialPort.IsOpen) + { + try + { + serialPort.Write(command); + } + catch (Exception ex) + { + MessageBox.Show($"发送命令失败: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + else + { + MessageBox.Show("串口未打开", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + } + } } }