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   源码介绍

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Collections;
using Control_Polishing_System.MODLE;

namespace Control_Polishing_System
{
    public partial class Form_Robotcontrol : Form
    {
        public Form_Robotcontrol()
        {
            InitializeComponent();
        }

        private void btn_RobScan_Click(object sender, EventArgs e)
        {
            DataTable dt = IRC5.GetControllerList();
            cB_Robots.Text = "";
            cB_Robots.Items.Clear();
            for (int i = 0; i < dt.Rows.Count; i  )
            {
                cB_Robots.Items.Add(dt.Rows[i][3].ToString());
            }
            cB_Robots.SelectedIndex = cB_Robots.Items.Count - 1;

            //if (cB_Robots.Items.Count == 1)
            //{
            //    cB_Robots.SelectedIndex = 0;
            //    IRC5_DAL.Connect(cB_Robots.Text);
            //}
        }
        /// <接控制柜>
        /// 连接控制柜，并获得显示各个模快
        /// </接控制柜>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btn_ConnectRob_Click(object sender, EventArgs e)
        {
            if (btn_ConnectRob.Text.ToString()=="连接到机器人")//连接控制器
            {
                if (cB_Robots.Text != "")
                {
                    IRC5.Connect(cB_Robots.Text.ToString());
                    btn_ConnectRob.Text = "与机器人断开";
                }
                else
                {
                    MessageBox.Show("没有找到机器人");
                }
                if (IRC5.IsConnected)//获得该控制器下的模块
                {
                    ArrayList module_ary = IRC5.GetModuleList();
                    cBmodules.Text = "";
                    cBmodules.Items.Clear();
                    for (int i = 0; i < module_ary.Count; i  )
                    {
                        cBmodules.Items.Add(module_ary[i]);
                    }
                }
            }
            else//断开控制器
            {
                IRC5.DisConnect();
                btn_ConnectRob.Text = "连接到机器人";
            }
            
        }

        /// <断开连接>
        /// 断开连接
        /// </断开连接>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btn_disConnectRob_Click(object sender, EventArgs e)
        {
            
        }


        /// <状态监视>
        /// 连接状态监视
        /// </状态监视>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timer1_Tick(object sender, EventArgs e)
        {
            if (IRC5.IsConnected)
            {
                tScon_status.Text = "Robot 已连接";
                tScon_status.ForeColor = Color.Blue;

                //获取示教器日志并显示出来
                dGV_messagelog.Rows.Clear();
                ArrayList ary =IRC5.Geteventlog_infro();
                for (int i = 0; i < ary.Count; i  )
                {
                    string newstring = ary[i].ToString();
                    string[] strs = newstring.Split('{');
                    dGV_messagelog.Rows.Add(strs[0], strs[1], strs[2]);
                }
               
                //获取控制柜的操作模式并显示出来
                tSOperating_Status.Visible = true;
                tSOperating_Status.Text = "控制模式：" IRC5.Getoperation_mode();
                tSOperating_Status.ForeColor = Color.Blue;

                //获取控制柜的状态并显示出来  上下电等
                tSController_states.Visible = true;
                tSController_states.Text = "控制状态："   IRC5.Getcontroller_states();
                tSController_states.ForeColor = Color.Blue;
            }
            else
            {
                tScon_status.Text = "Robot 未连接";
                tScon_status.ForeColor = Color.Red;
                dGV_messagelog.Rows.Clear();

                tSOperating_Status.Visible = false;
                tSController_states.Visible = false;
            }
        }


        private void btstop_Click(object sender, EventArgs e)
        {
            if (btstop.Text.ToString() == "停 止")
            {
                IRC5.DisConnect();
                IRC5.Connect(cB_Robots.Text.ToString());
                IRC5.Stop();
                btstop.Text = "继续运行";
            }
            else
            {
                IRC5.DisConnect();
                IRC5.Connect(cB_Robots.Text.ToString());
                IRC5.RunContinue();
                btstop.Text = "停 止";
            }
        }

        /// <模块事件>
        /// 模快选择事件
        /// </模块事件>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void cBmodules_SelectedValueChanged(object sender, EventArgs e)
        {
            ArrayList routine_ary = IRC5.GetRoutineList(this.cBmodules.Text.ToString());
            cBroutine.Text = "";
            cBroutine.Items.Clear();
            for (int i = 0; i < routine_ary.Count; i  )
            {
                cBroutine.Items.Add(routine_ary[i]);
            }
        }

        private void bt_running_Click(object sender, EventArgs e)
        {
            IRC5.DisConnect();
            IRC5.Connect(cB_Robots.Text.ToString());
            IRC5.RunSelectRoutine(this.cBmodules.Text.ToString(), this.cBroutine.Text.ToString());
            if (tSController_states.Text.ToString() != "控制状态：MotorsOn")
            {
                MessageBox.Show("控制柜未上电");
            }
            btstop.Text = "停 止";
        }

        private void btgohome_Click(object sender, EventArgs e)
        {
            IRC5.DisConnect();
            IRC5.Connect(cB_Robots.Text.ToString());
            IRC5.Gohome();
            btstop.Text = "停 止";
        }

        private void Form_Robotcontrol_Load(object sender, EventArgs e)
        {

        }
    }
}