CPL
/
banboshi_V2
1
0
Atdalīts 0
Kods Problēmas 0 Izmaiņu pieprasījumi 0 Laidieni 1 Vikivietne Aktivitāte
版博士V2.0程序
Nevar pievienot vairāk kā 25 tēmas Tēmai ir jāsākas ar burtu vai ciparu, tā var saturēt domu zīmes ('-') un var būt līdz 35 simboliem gara.
75 Revīzijas
5 Atzari
6.2 GiB
 
 
 
 
Koks: dfa1d64666
Atzari Tagi
${ item.name }
Izveidot atzaru ${ searchTerm }
no 'dfa1d64666'
${ noResults }
banboshi_V2/halftoneproject-master/BanBoShi/SysUI/DefectPicShow/DebugTestFrm.cs

591 rinda
22 KiB
Neapstrādāts Vainot Vēsture 

  1. using HalconDotNet;

  2. using ImageToolKits;

  3. using MaiMuAOI.SysCtrl;

  4. using MaiMuControl.Device;

  5. using MaiMuControl.Device.AxisDev;

  6. using MaiMuControl.Device.CamDev;

  7. using MaiMuControl.Utils;

  8. using Newtonsoft.Json;

  9. using OpenCvSharp;

  10. using ProductionControl.UI;

  11. using System;

  12. using System.Collections.Generic;

  13. using System.ComponentModel;

  14. using System.Data;

  15. using System.Drawing;

  16. using System.Linq;

  17. using System.Text;

  18. using System.Threading;

  19. using System.Threading.Tasks;

  20. using System.Windows.Forms;

  21. using ToolKits.EnumTool;

  22. using static MaiMuAOI.ImageProcessing.DefectLib;

  23. using static MaiMuAOI.ImageProcessing.SizeLib;

  24. 

  25. namespace MaiMuAOI.SysUI.DefectPicShow

  26. {

  27.     public partial class DebugTestFrm : Form

  28.     {

  29.         private SizeLibProp Sizeprop = new SizeLibProp();

  30.         private DefectLibProp Defectprop = new DefectLibProp(ConfMgr.Instance.SysConfigParams.Defect_CutSize,

  31.             ConfMgr.Instance.SysConfigParams.Defect_ReSize, ConfMgr.Instance.SysConfigParams.Defect_Thresholds);

  32. 

  33.         SynchronizationContext SyncContext1 = null;

  34.         SynchronizationContext SyncContext2 = null;

  35.         public DebugTestFrm()

  36.         {

  37.             InitializeComponent();

  38.             UIStyle.SetUIStyle(this);

  39.             this.uiTitel1.FatherForm = this;

  40.         }

  41. 

  42.         private void DebugTestFrm_Load(object sender, EventArgs e)

  43.         {

  44.             this.Left = 600;

  45.             //显示tS曲线

  46.             cbTS.Items.Clear();

  47.             Type VelType = typeof(VelocityCurveType);

  48.             foreach (object s in Enum.GetValues(VelType))

  49.             {

  50.                 string st = EnumExtension.GetEnumDescription((VelocityCurveType)s);

  51.                 cbTS.Items.Add(st);

  52.             }

  53.             cbTS.Text = cbTS.Items[0].ToString();

  54.             cbTS.SelectedIndex = 0;

  55. 

  56.             cbDir.Items.Clear();

  57.             cbDir.Items.Add("相对运动");

  58.             cbDir.Items.Add("绝对运动");

  59.             cbDir.Text = cbDir.Items[0].ToString();

  60.             cbDir.SelectedIndex = 0;

  61. 

  62.             cbAxisName.Items.Clear();

  63.             cbAxisName.Items.Add("X1轴");

  64.             cbAxisName.Items.Add("X2轴");

  65.             cbAxisName.Items.Add("Y轴");

  66.             cbAxisName.Items.Add("Z轴");

  67.             cbAxisName.Text = cbAxisName.Items[0].ToString();

  68.             cbAxisName.SelectedIndex = 0;

  69. 

  70.             cbCH.Items.Clear();

  71.             Type lightenum = typeof(LightChannelEnum);

  72.             foreach (object s in Enum.GetValues(lightenum))

  73.             {

  74.                 string st = EnumExtension.GetEnumDescription((LightChannelEnum)s);

  75.                 cbCH.Items.Add(st);

  76.             }

  77.             cbCH.Text = cbCH.Items[0].ToString();

  78.             cbCH.SelectedIndex = 0;

  79. 

  80.             cbLensMotor.SelectedIndex = 8;

  81. 

  82.             timer2.Enabled = true;

  83. 

  84.             if(SysMgr.Instance.QGSts())

  85.                 button5.Text = "气缸松开";

  86.             else

  87.                 button5.Text = "气缸加紧";

  88. 

  89.             if (SysMgr.Instance.ThicknessSts())

  90.                 BtnHeightAck.Text = "高度传感器上升";

  91.             else

  92.                 BtnHeightAck.Text = "高度传感器下降";

  93. 

  94.             this.propertyGrid1.SelectedObject = Sizeprop;

  95.             this.propertyGrid2.SelectedObject = Defectprop;

  96. 

  97.             //Sizeprop.deserialize("");

  98.             this.propertyGrid1.Refresh();

  99.             //DATA 

  100.             SysMgr.Instance.SizeLib.finishEvent += new System.Action<SizeTask>((task) =>

  101.             {

  102.                 Sizeprop.PT1 = task.PT1;

  103.                 Sizeprop.PT2 = task.PT2;

  104.                 Sizeprop.Shanxian = task.Shanxian;

  105.                 //prop.RowP= task.RowP;

  106.                 Sizeprop.Circle_Ymm = task.Circle_Ymm;

  107.                 Sizeprop.Circle_Xmm = task.Circle_Xmm;

  108.                 Sizeprop.offsetX = task.offsetX;

  109.                 Sizeprop.offsetY = task.offsetY;

  110.                 Sizeprop.MarkPointList = task.MarkPointList;

  111.                 Sizeprop.resultInfo = task.isSucceed ? "成功" : task.resultInfo;

  112.                 this.refreshUI1();

  113.             });

  114. 

  115.             //Defectprop.deserialize("");

  116.             this.propertyGrid2.Refresh();

  117.             //DATA 

  118.             SysMgr.Instance.DefectLib.finishEvent += new System.Action<DefectTask>((task) =>

  119.             {

  120.                 DateTime t1 = DateTime.Now;

  121.                 var t2 = t1 - task.nowTime;

  122.                 var t3 = t2.Milliseconds;

  123.                 Defectprop.InformationList = JsonConvert.SerializeObject(task.informationList);

  124.                 Defectprop.resultInfo = task.isSucceed ? "成功" : task.resultInfo;

  125.                 this.refreshUI2();

  126.             });

  127.         }

  128. 

  129.         private void refreshUI1()

  130.         {

  131.             SyncContext1.Post(m =>

  132.             {

  133.                 var result = m as string;

  134.                 propertyGrid1.Refresh();

  135.                 //txtLog.Text = szLog;//不显示 

  136.                 //tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";

  137.                 //tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);

  138.             }, "异步操作完成结果");

  139. 

  140. 

  141.         }

  142.         private void refreshUI2()

  143.         {

  144.             SyncContext2.Post(m =>

  145.             {

  146.                 var result = m as string;

  147.                 propertyGrid2.Refresh();

  148.                 //txtLog.Text = szLog;//不显示 

  149.                 //tbtnJogOnOff.Text = (prop.AxState == AxisState.STA_AX_EXT_JOG) ? "关闭Jog" : "开启Jog";

  150.                 //tbtnLeft.Enabled = tbtnRight.Enabled = (prop.AxState == AxisState.STA_AX_EXT_JOG);

  151.             }, "异步操作完成结果");

  152.         }

  153.         #region 前部相机

  154.         private void btnTrg_Click(object sender, EventArgs e)

  155.         {

  156.             SysMgr.Instance.CamDevFront.ClearImageQueue();

  157.             Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 5000);

  158.             if (acq.GrabStatus != "GrabPass")

  159.             {

  160.                 ;

  161.             }

  162.             //ShowImage(acq.Image.CopyObj(1, -1));

  163.             ShowImage1(acq.Image);

  164.         }

  165. 

  166.         private void ShowImage1(HObject image)

  167.         {

  168.             lock (this)

  169.             {

  170.                 Mat img = CamDev.HImageToMat(image);

  171.                 //imageBox1.ColorName = "red";

  172.                 imageBox1.SetInteractive(false);

  173.                 if (imageBox1.Image == null)

  174.                     imageBox1.RefreshWindow(img, ImageBox.ImageModeEnum.Zoom);//可以不显示区域

  175.                 else

  176.                     imageBox1.RefreshWindow(img, ImageBox.ImageModeEnum.Part);//可以不显示区域

  177.                 imageBox1.SetInteractive(true);

  178.                 //imageBox1.ColorName = "green";

  179.             }

  180.         }

  181.         private void btnGrab_Click(object sender, EventArgs e)

  182.         {

  183.             if (this.btnGrab.Text == "连续拍照")

  184.             {

  185.                 this.btnTrg.Enabled = false;

  186.                 this.btnGrab.Text = "停止拍照";

  187.                 timer1.Enabled = true;

  188.             }

  189.             else

  190.             {

  191.                 this.btnTrg.Enabled = true;

  192.                 this.btnGrab.Text = "连续拍照";

  193.                 timer1.Enabled = false;

  194. 

  195.             }

  196.         }

  197. 

  198.         private void timer1_Tick(object sender, EventArgs e)

  199.         {

  200.             SysMgr.Instance.CamDevFront.ClearImageQueue();

  201.             Acquisition acq = SysMgr.Instance.CamDevFront.Snap(1, 100);

  202.             if (acq.GrabStatus != "GrabPass")

  203.             {

  204.                 return;

  205. 

  206.                 //MessageBox.Show( "获取图片失败！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);

  207.             }

  208.             //ShowImage(acq.Image.CopyObj(1, -1));

  209.             ShowImage1(acq.Image);

  210.             System.GC.Collect();

  211.         }

  212. 

  213.         private void button2_Click(object sender, EventArgs e)

  214.         {

  215.             if (!SysMgr.Instance.CamDevFront.SetExposure((double)numExposure.Value))

  216.             {

  217.                 stslog.Text = "曝光设置失败！";

  218.                 return;

  219.             }

  220.             if (!SysMgr.Instance.CamDevFront.SetGain((double)numGain.Value))

  221.             {

  222.                 stslog.Text = "增益设置失败！";

  223.                 return;

  224.             }

  225.             stslog.Text = "曝光-增益-帧率设置成功";

  226.         }

  227.         private void button6_Click(object sender, EventArgs e)

  228.         {

  229.             SysMgr.Instance.CamDevFront.CloseCamera();

  230.             button2.Enabled = false;

  231.             btnTrg.Enabled = false;

  232.             btnGrab.Enabled = false;

  233.         }

  234. 

  235.         private void button7_Click(object sender, EventArgs e)

  236.         {

  237.             try

  238.             {

  239.                 Sizeprop.resultInfo = "";

  240.                 SysMgr.Instance.SizeLib.add(new SizeTask()

  241.                 {

  242.                     engineName = Sizeprop.EngineName,

  243.                     file_path = Sizeprop.BmpPath,

  244.                     //bmp =read2Bmp(prop.BmpPath),

  245.                     index = Sizeprop.Index,

  246.                     //finishEvent = (res) =>

  247.                     //{ 

  248.                     //}

  249.                 });

  250.             }

  251.             catch (Exception ex)

  252.             {

  253.                 MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);

  254.             }

  255.         }

  256.         #endregion

  257. 

  258.         #region 后部相机

  259.         private void ShowImage2(HObject image)

  260.         {

  261.             lock (this)

  262.             {

  263.                 Mat img = CamDev.HImageToMat(image);

  264.                 imageBox2.SetInteractive(false);

  265.                 if (imageBox2.Image == null)

  266.                     imageBox2.RefreshWindow(img, ImageBox.ImageModeEnum.Zoom);//可以不显示区域

  267.                 else

  268.                     imageBox2.RefreshWindow(img, ImageBox.ImageModeEnum.Part);//可以不显示区域

  269.                 imageBox2.SetInteractive(true);

  270.             }

  271.         }

  272.         private void btnTrg2_Click(object sender, EventArgs e)

  273.         {

  274.             SysMgr.Instance.CamDevBack.ClearImageQueue();

  275.             Acquisition acq = SysMgr.Instance.CamDevBack.Snap(1, 5000);

  276.             if (acq.GrabStatus != "GrabPass")

  277.             {

  278.                 ;

  279.             }

  280.             ShowImage2(acq.Image);

  281.         }

  282. 

  283.         private void timer3_Tick(object sender, EventArgs e)

  284.         {

  285.             SysMgr.Instance.CamDevBack.ClearImageQueue();

  286.             Acquisition acq = SysMgr.Instance.CamDevBack.Snap(1, 100);

  287.             if (acq.GrabStatus != "GrabPass")

  288.             {

  289.                 return;

  290.             }

  291.    

  292.             ShowImage2(acq.Image);

  293.             System.GC.Collect();

  294.         }

  295.         private void BtnGrab2_Click(object sender, EventArgs e)

  296.         {

  297.             if (this.BtnGrab2.Text == "连续拍照")

  298.             {

  299.                 this.btnTrg2.Enabled = false;

  300.                 this.BtnGrab2.Text = "停止拍照";

  301.                 timer3.Enabled = true;

  302.             }

  303.             else

  304.             {

  305.                 this.btnTrg2.Enabled = true;

  306.                 this.BtnGrab2.Text = "连续拍照";

  307.                 timer3.Enabled = false;

  308. 

  309.             }

  310.         }

  311.         private void BtnSet2_Click(object sender, EventArgs e)

  312.         {

  313.             if (!SysMgr.Instance.CamDevBack.SetExposure((double)numExp2.Value))

  314.             {

  315.                 stslog.Text = "曝光设置失败！";

  316.                 return;

  317.             }

  318.             if (!SysMgr.Instance.CamDevBack.SetGain((double)numGain2.Value))

  319.             {

  320.                 stslog.Text = "增益设置失败！";

  321.                 return;

  322.             }

  323.             stslog.Text = "曝光-增益-帧率设置成功";

  324.         }

  325.         private void BtnDisCam2_Click(object sender, EventArgs e)

  326.         {

  327.             SysMgr.Instance.CamDevBack.CloseCamera();

  328.             BtnGrab2.Enabled = false;

  329.             btnTrg2.Enabled = false;

  330.             BtnSet2.Enabled = false;

  331.         }

  332.         private bool verifyThresholdsCount(string szThresholdsClass, int iThresholdsClassCount)

  333.         {

  334.             return szThresholdsClass.Trim().TrimEnd(new char[] { ',', ';' })

  335.                 .Split(new char[] { ',', ';' }).Count() == iThresholdsClassCount;

  336. 

  337.         }

  338.         private void button8_Click(object sender, EventArgs e)

  339.         {

  340.             if (!Util.IsNumber(Defectprop.ThresholdsClass.Replace("-", "").Replace(",", "").Replace(";", "").Replace(".", "")))

  341.             {

  342.                 MessageBox.Show("输入种类阀值与数量不一致！", "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);

  343.                 return;

  344.             }

  345.             if (!verifyThresholdsCount(Defectprop.ThresholdsClass, Defectprop.ThresholdsClassCount))

  346.             {

  347.                 MessageBox.Show("输入种类阀值与数量不一致！", "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);

  348.                 return;

  349.             }

  350.             try

  351.             {

  352.                 SysMgr.Instance.DefectLib.loadModelFile(Defectprop.ModelPath);

  353. 

  354.                 Defectprop.resultInfo = "";

  355.                 SysMgr.Instance.DefectLib.add(new DefectTask()

  356.                 {

  357.                     nowTime = DateTime.Now,

  358.                     bmp = new Mat(Defectprop.BmpPath),

  359.                     cut_size = Defectprop.CutSize,

  360.                     resize = Defectprop.Resize,

  361.                     thresholds = Defectprop.Thresholds,

  362.                     thresholdsClass = Defectprop.ThresholdsClass,

  363.                     //finishEvent = (res) =>

  364.                     //{ 

  365.                     //}

  366.                 });

  367.             }

  368.             catch (Exception ex)

  369.             {

  370.                 MessageBox.Show(ex.Message, "失败", MessageBoxButtons.OK, MessageBoxIcon.Error);

  371.             }

  372.         }

  373.         #endregion

  374. 

  375.         #region 轴移动

  376.         private void btnMove_Click(object sender, EventArgs e)

  377.         {

  378.             if (SysMgr.Instance.AxisDev != null)

  379.             {

  380.                 //测厚气缸缩回

  381.                 if(!SysMgr.Instance.ThicknessIsSafe())

  382.                 {

  383.                     stslog.Text = "高度传感器不在安全位置";

  384.                     return;

  385.                 }

  386.                 VelocityCurveParams _VelParams = new VelocityCurveParams();

  387.                 int axisNo = cbAxisName.SelectedIndex;

  388.                 _VelParams.Acc = (double)numAcc.Value;

  389.                 _VelParams.Dec = (double)numDec.Value;

  390.                 _VelParams.StartVel = (double)numST.Value;

  391.                 _VelParams.RunVel = (double)numET.Value;

  392.                 _VelParams.JerkT_S = cbTS.SelectedIndex;

  393.                 _VelParams.MM2PulseNum = SysMgr.Instance.GetMMtoPlus((AxisName)axisNo);

  394.                 if (cbDir.Text == "绝对运动")

  395.                 {

  396.                     stslog.Text = "绝对运动:" + numDist.Value.ToString();

  397.                     SysMgr.Instance.AxisDev.MoveAbsValue(axisNo, _VelParams, (double)numDist.Value);

  398.                 }

  399.                 else if (cbDir.Text == "相对运动")

  400.                 {

  401.                     stslog.Text = "相对运动:" + numDist.Value.ToString();

  402.                     SysMgr.Instance.AxisDev.MoveRelValue(axisNo, _VelParams, (double)numDist.Value);

  403.                 }

  404.             }

  405.         }

  406.         private void btnJogP_MouseDown(object sender, MouseEventArgs e)

  407.         {

  408.             if (!SysMgr.Instance.ThicknessIsSafe())

  409.             {

  410.                 stslog.Text = "高度传感器不在安全位置";

  411.                 return;

  412.             }

  413.             Button btn = sender as Button;

  414.             int axisNo = cbAxisName.SelectedIndex;

  415.             double val = 50;

  416.             VelocityCurveParams velocityCurveParams = new VelocityCurveParams(100, 100, 0, 100, 1, SysMgr.Instance.GetMMtoPlus((AxisName)axisNo));

  417.             if (btn.Name == "btnJogP")

  418.                 val = 50;

  419.             else

  420.                 val = -50;

  421.             SysMgr.Instance.AxisDev.MoveRelValue(axisNo, velocityCurveParams, val);

  422.         }

  423. 

  424.         private void btnJogP_MouseUp(object sender, MouseEventArgs e)

  425.         {

  426.             int axisNo = cbAxisName.SelectedIndex;

  427.             SysMgr.Instance.AxisDev.DecelStop(axisNo);

  428.         }

  429.         private void timer2_Tick(object sender, EventArgs e)

  430.         {

  431.             int axisNo = cbAxisName.SelectedIndex;

  432.             try

  433.             {

  434.                 numericUpDown1.Value = (decimal)SysMgr.Instance.AxisDev.GetFeedbackPos(axisNo) / SysMgr.Instance.GetMMtoPlus((AxisName)axisNo);

  435.             }

  436.             catch

  437.             {

  438.                 numericUpDown1.Value = 0;

  439.             }

  440.         }

  441.         #endregion

  442. 

  443.         #region 光源控制

  444.         private void button4_Click(object sender, EventArgs e)

  445.         {

  446.             int ch = cbCH.SelectedIndex + 1;

  447.             SysMgr.Instance.LightDev.SetLightDigitalValue(ch, (int)numericUpDown3.Value);

  448.         }

  449. 

  450.         private void button1_Click(object sender, EventArgs e)

  451.         {

  452.             int ch = cbCH.SelectedIndex + 1;

  453.             SysMgr.Instance.LightDev.OpenLight(ch);

  454.         }

  455. 

  456.         private void button3_Click(object sender, EventArgs e)

  457.         {

  458.             int ch = cbCH.SelectedIndex + 1;

  459.             SysMgr.Instance.LightDev.CloseLight(ch);

  460.         }

  461.         #endregion

  462. 

  463.         #region 产品加紧

  464.         private void button5_Click(object sender, EventArgs e)

  465.         {

  466.             if (button5.Text == "气缸加紧")

  467.             {

  468.                 button5.Text = "气缸松开";

  469.                 SysMgr.Instance.RunQG(true);

  470.             }

  471.             else

  472.             {

  473.                 button5.Text = "气缸加紧";

  474.                 SysMgr.Instance.RunQG(false);

  475.             }

  476.         }

  477. 

  478.         #endregion

  479. 

  480.         #region 厚度

  481.         private void BtnHeightAck_Click(object sender, EventArgs e)

  482.         {

  483.             if (BtnHeightAck.Text == "高度传感器下降")

  484.             {

  485.                 BtnHeightAck.Text = "高度传感器上升";

  486.                 SysMgr.Instance.RunThickness(true);

  487.             }

  488.             else

  489.             {

  490.                 BtnHeightAck.Text = "高度传感器下降";

  491.                 SysMgr.Instance.RunThickness(false);

  492.             }

  493.         }

  494.         private void BtnReadHeight_Click(object sender, EventArgs e)

  495.         {

  496.             double val = SysMgr.Instance.ThicknessDev.GetValue();

  497.             numHeightValue.Value = (decimal)val;

  498.         }

  499.         #endregion

  500. 

  501.         #region 张力

  502.         private void btnReadTension_Click(object sender, EventArgs e)

  503.         {

  504.             double val = SysMgr.Instance.TensionDev.GetValue();

  505.             numTensionValue.Value = (decimal)val;

  506.         }

  507.         #endregion

  508. 

  509.         #region 变焦

  510.         private void btnLens_Click(object sender, EventArgs e)

  511.         {

  512.             int val = (int)SmallAxCmdPos.倍率0_58X;

  513.             switch(cbLensMotor.SelectedIndex)

  514.             {

  515.                 case 0:

  516.                     val = (int)SmallAxCmdPos.倍率0_58X;

  517.                     break;

  518.                 case 1:

  519.                     val = (int)SmallAxCmdPos.倍率1_0X;

  520.                     break;

  521.                 case 2:

  522.                     val = (int)SmallAxCmdPos.倍率1_5X;

  523.                     break;

  524.                 case 3:

  525.                     val = (int)SmallAxCmdPos.倍率2_0X;

  526.                     break;

  527.                 case 4:

  528.                     val = (int)SmallAxCmdPos.倍率2_5X;

  529.                     break;

  530.                 case 5:

  531.                     val = (int)SmallAxCmdPos.倍率3_0X;

  532.                     break;

  533.                 case 6:

  534.                     val = (int)SmallAxCmdPos.倍率3_5X;

  535.                     break;

  536.                 case 7:

  537.                     val = (int)SmallAxCmdPos.倍率4_0X;

  538.                     break;

  539.                 case 8:

  540.                     val = (int)SmallAxCmdPos.倍率4_5X;

  541.                     break;

  542.                 case 9:

  543.                     val = (int)SmallAxCmdPos.倍率5_0X;

  544.                     break;

  545.                 case 10:

  546.                     val = (int)SmallAxCmdPos.倍率5_5X;

  547.                     break;

  548.                 case 11:

  549.                     val = (int)SmallAxCmdPos.倍率6_0X;

  550.                     break;

  551.                 case 12:

  552.                     val = (int)SmallAxCmdPos.倍率6_5X;

  553.                     break;

  554.                 case 13:

  555.                     val = (int)SmallAxCmdPos.倍率7_0X;

  556.                     break;

  557.                 case 14:

  558.                     val = (int)SmallAxCmdPos.倍率7_5X;

  559.                     break;

  560.             }

  561.             int ret = SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), val);

  562.             if (ret == -1)

  563.                 MessageBox.Show("电机初始化出错", "镜头电机报警", MessageBoxButtons.OK, MessageBoxIcon.Error);

  564.             if (ret == -2)

  565.                 MessageBox.Show("电机行程超限！", "镜头电机报警", MessageBoxButtons.OK, MessageBoxIcon.Error);

  566.             //SysMgr.Instance.LensMotorDev.CheckDone(0, 10000);

  567.         }

  568. 

  569.         private void btnLensM_Click(object sender, EventArgs e)

  570.         {

  571.             int val = (int)numLensPlus.Value;

  572.             int ret = SysMgr.Instance.LensMotorDev.MoveAbsPulse(0, new VelocityCurveParams(), val);

  573.             if (ret == -1)

  574.                 MessageBox.Show("电机初始化出错", "镜头电机报警", MessageBoxButtons.OK, MessageBoxIcon.Error);

  575.             if (ret == -2)

  576.                 MessageBox.Show("电机行程超限！", "镜头电机报警", MessageBoxButtons.OK, MessageBoxIcon.Error);

  577.         }

  578. 

  579. 

  580.         #endregion

  581. 

  582.         private void DebugTestFrm_FormClosing(object sender, FormClosingEventArgs e)

  583.         {

  584.             timer1.Enabled = false;

  585.             timer2.Enabled = false;

  586.             timer3.Enabled = false;

  587.             System.GC.Collect();

  588.         }

  589.     }

  590. }