using?System;
using?System.Collections.Generic;
using?System.ComponentModel;
using?System.Data;
using?System.Drawing;
using?System.Linq;
using?System.Text;
using?System.Windows.Forms;


//調用外部類
using?Files;
using?URDate;
using?URControl;

namespace?UR_點動控制器
{
????public?partial?class?Form1?:?Form
????{
????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????????Form.CheckForIllegalCrossThreadCalls?=?false;
????????}


????????//主程序不應該關心細枝末節，只要知道問誰要到數據，還有要把數據給誰
????????URDateHandle?URDateCollector?=?new?URDateHandle（）;
????????URControlHandle?URController?=?new?URControlHandle（）;

????????//聲明全局的速度和加速度控制條
????????public?double?SpeedRate;
????????public?double?AccelerationRate;

????????//這五個參數做成全局的會比較好用
????????public?double?BasicSpeed;
????????public?double?BasicAcceleration;
????????public?string?Target_IP;
????????public?int?Control_Port;
????????public?int?DataRefreshRate;

????????public?double[]?PreviousAngles?=?new?double[6];
????????public?bool?CurrentRunningState?=?false;

????????//把所需要的圖像也在初始化的時候就全部得到
????????public?Bitmap?RobotState_Poweroff;
????????public?Bitmap?RobotState_Ready;
????????public?Bitmap?RobotState_SecurityStopped;
????????public?Bitmap?RobotState_EmergencyStoped;
????????public?Bitmap?RobotState_Teaching;

????????public?Bitmap?RobotJog_XYZLeftClick;
????????public?Bitmap?RobotJog_XYZLeftNormal;
????????public?Bitmap?RobotJog_XYZRightClick;
????????public?Bitmap?RobotJog_XYZRightNormal;
????????public?Bitmap?RobotJog_XYZBackClick;
????????public?Bitmap?RobotJog_XYZBackNormal;
????????public?Bitmap?RobotJog_XYZForwardClick;
????????public?Bitmap?RobotJog_XYZForwardNormal;
????????public?Bitmap?RobotJog_XYZUpClick;
????????public?Bitmap?RobotJog_XYZUpNormal;
????????public?Bitmap?RobotJog_XYZDownClick;
????????public?Bitmap?RobotJog_XYZDownNormal;
????????public?Bitmap?RobotJog_RotateLeftClick;
????????public?Bitmap?RobotJog_RotateLeftNormal;
????????public?Bitmap?RobotJog_RotateRightClick;
????????public?Bitmap?RobotJog_RotateRightNormal;

????????//聲明默認的配置文件路徑
????????public?string?DefaultINIPath?=?Convert.ToString（System.AppDomain.CurrentDomain.baseDirectory）??+?“Config.ini“;

????????private?void?Form1_Load（object?sender?EventArgs?e）
????????{
????????????
????????????//執行委托的綁定
????????????URDateCollector.OnGetPositionSuccess?+=?new?URDateHandle.GetPositionSuccess（UpdatePositionsValue）;
????????????URDateCollector.OnGetAngleSuccess?+=?new?URDateHandle.GetAngleSuccess（UpdateAnglesValue）;
????????????URDateCollector.OnGetRobotStateSuccess?+=?new?URDateHandle.GetRobotStateSuccess（UpdateRobotState）;
????????????URDateCollector.OnGetRobotSpeedSuccess?+=?new?URDateHandle.GetRobotSpeedSuccess（UpdateRobotSpeed）;

????????????//這里直接讀取配置文件是否啟用了自動連接
????????????FilesINI?ConfigController?=?new?FilesINI（）;
????????????string?AutoConnection?=?ConfigController.INIRead（“UR控制參數“?“IfAutoConnect“?DefaultINIPath）;


????????????//

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-12-01?00:17??URController?V1.7\
?????目錄???????????0??2014-12-01?00:16??URController?V1.7\0?文件窗口\
?????文件????????4294??2014-03-03?12:29??URController?V1.7\0?文件窗口\Config.cs
?????文件???????13663??2014-03-03?12:29??URController?V1.7\0?文件窗口\Config.Designer.cs
?????文件???????31552??2014-03-03?12:29??URController?V1.7\0?文件窗口\Config.resx
?????目錄???????????0??2014-12-01?00:16??URController?V1.7\1?常用工具窗口\
?????文件???????32432??2014-09-01?10:51??URController?V1.7\1?常用工具窗口\CameraCalibration.cs
?????文件???????29744??2014-06-26?10:42??URController?V1.7\1?常用工具窗口\CameraCalibration.Designer.cs
?????文件????????6429??2014-06-26?10:42??URController?V1.7\1?常用工具窗口\CameraCalibration.resx
?????文件???????48407??2014-09-01?10:51??URController?V1.7\1?常用工具窗口\Gcode.cs
?????文件???????44600??2014-08-08?17:01??URController?V1.7\1?常用工具窗口\Gcode.Designer.cs
?????文件???????31755??2014-08-08?17:01??URController?V1.7\1?常用工具窗口\Gcode.resx
?????文件????????2088??2014-03-03?12:30??URController?V1.7\1?常用工具窗口\IPChange.cs
?????文件????????8722??2014-03-03?12:30??URController?V1.7\1?常用工具窗口\IPChange.Designer.cs
?????文件???????31552??2014-03-03?12:30??URController?V1.7\1?常用工具窗口\IPChange.resx
?????文件???????14841??2014-10-13?10:49??URController?V1.7\1?常用工具窗口\Teach.cs
?????文件???????23228??2014-10-13?10:47??URController?V1.7\1?常用工具窗口\Teach.Designer.cs
?????文件????????6015??2014-10-13?10:47??URController?V1.7\1?常用工具窗口\Teach.resx
?????目錄???????????0??2014-12-01?00:16??URController?V1.7\2?測試工具窗口\
?????文件????????6784??2014-08-19?14:52??URController?V1.7\2?測試工具窗口\Dashboard.cs
?????文件???????17397??2014-08-19?14:50??URController?V1.7\2?測試工具窗口\Dashboard.Designer.cs
?????文件???????31757??2014-08-19?14:50??URController?V1.7\2?測試工具窗口\Dashboard.resx
?????文件???????10379??2014-07-24?21:21??URController?V1.7\2?測試工具窗口\Painting.cs
?????文件????????8823??2014-07-24?21:04??URController?V1.7\2?測試工具窗口\Painting.Designer.cs
?????文件????????6602??2014-07-24?21:04??URController?V1.7\2?測試工具窗口\Painting.resx
?????文件????????2474??2014-09-01?10:50??URController?V1.7\2?測試工具窗口\Register.cs
?????文件???????13357??2014-03-03?12:30??URController?V1.7\2?測試工具窗口\Register.Designer.cs
?????文件???????31552??2014-03-03?12:30??URController?V1.7\2?測試工具窗口\Register.resx
?????文件???????15055??2014-09-16?16:17??URController?V1.7\2?測試工具窗口\Torso.cs
?????文件???????25501??2014-09-16?16:17??URController?V1.7\2?測試工具窗口\Torso.Designer.cs
?????文件????????5817??2014-09-16?16:17??URController?V1.7\2?測試工具窗口\Torso.resx
............此處省略204個文件信息