/// <summary>
/// Returns true during the frame the axis is no longer "pressed", which is if the absolute value of this axis is greater than a certain threshold.
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public bool Released(CAxis axis)
{
bool pressedNow = Mathf.Abs(Axis[(int)axis]) > AxisPressedThreshold;
bool pressedLastFrame = Mathf.Abs(LastAxis[(int)axis]) > AxisPressedThreshold;
return(!pressedNow && pressedLastFrame);
}
private void PlayerColumn(PlayerIndex id, int x)
{
GUI.contentColor = Color.white;
GUI.Label(new Rect(x, 20, 100, 20), "Player " + id);
if (id != PlayerIndex.Any)
{
GUI.Label(new Rect(x, 40, 100, 20), GamePad.GetMapping(id).Controller.name);
}
for (CButton btn = CButton.A; btn <= CButton.RS; btn++)
{
if (GamePad.GetButton(btn, id))
{
GUI.contentColor = Color.green;
}
else
{
GUI.contentColor = Color.white;
}
GUI.Label(new Rect(x, 60 + 20 * (int)btn, 40, 20), btn.ToString());
}
for (CAxis axis = CAxis.LX; axis <= CAxis.DY; axis++)
{
float value = GamePad.GetAxis(axis, id);
if (Mathf.Abs(value) > 0)
{
GUI.contentColor = Color.green;
}
else
{
GUI.contentColor = Color.white;
}
GUI.Label(new Rect(x + 40, 60 + 20 * (int)axis, 80, 20), axis.ToString() + " " + value.ToString("F"));
}
}
/// <summary>
/// Handles the DPad input. If a button was pressed, <see cref="AxisMapping.AxisType.ButtonWrapper2"/> will be used.
/// </summary>
/// <param name="axis"></param>
private void HandleDPad(CAxis axis)
{
AxisMapping mapping = Mapping.Axes[(int)axis];
int index;
// some gamepads only have buttons for the dpad
if (GetButton(out index))
{
if (step == 0)
{
mapping.Axis = index;
}
else
{
mapping.Alternative = index;
}
mapping.Type = AxisMapping.AxisType.ButtonWrapper2;
Next();
}
else if (GetAxis(out index))
{
mapping.Axis = index;
mapping.Invert = Snapshot[index] > 0;
if (axis == CAxis.DY)
{
mapping.Invert = !mapping.Invert;
}
Next();
}
}
private void _appServiceConnection_RequestReceived(AppServiceConnection sender, AppServiceRequestReceivedEventArgs args)
{
if (args.Request.Message.ContainsKey("STATUS"))
{
var msg = args.Request.Message["STATUS"];
Debug.WriteLine("STATUS: " + msg);
}
if (args.Request.Message.ContainsKey("DONE"))
{
var axis = Convert.ToInt32(args.Request.Message["DONE"]);
Debug.WriteLine($"FINISHED {axis}");
switch (axis)
{
case 0: XAxis.Completed(); break;
case 1: YAxis.Completed(); break;
case 2: CAxis.Completed(); break;
case 3: PlaceAxis.Completed(); break;
case 4: SolderAxis.Completed(); break;
}
}
}
public void HandleCommand(GCodeCommand cmd)
{
_curent = cmd;
var movement = cmd as GCodeLine;
if (movement != null)
{
_motorPower.Enable();
XAxis.Move(movement.End.X, Convert.ToDouble(movement.Feed));
YAxis.Move(movement.End.Y, Convert.ToDouble(movement.Feed));
switch (_currentTool)
{
case Tools.CAxis: CAxis.Move(movement.End.Z, Convert.ToDouble(movement.Feed)); break;
case Tools.PasteHead: SolderAxis.Move(movement.End.Z, Convert.ToDouble(movement.Feed)); break;
case Tools.PlaceHead: PlaceAxis.Move(movement.End.Z, Convert.ToDouble(movement.Feed)); break;
}
}
var machine = cmd as MCode;
if (machine != null)
{
switch (machine.Code)
{
case 60: if (machine.Power == 0)
{
_topLight.Off();
}
else
{
_topLight.On();
} break;
case 61: if (machine.Power == 0)
{
_bottomLight.Off();
}
else
{
_bottomLight.On();
} break;
case 62: if (machine.Power == 0)
{
_vacuum.Off();
}
else
{
_vacuum.On();
} break;
}
}
}
/// <summary>
/// Helper method used to invert an axis, providing an undo action.
/// </summary>
/// <param name="axis"></param>
private void AxisToggle(CAxis axis)
{
EditorGUI.BeginChangeCheck();
bool value = EditorGUILayout.ToggleLeft(axis.ToString(), Settings[axis], GUILayout.Width(40));
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(Settings, "Inverted Axis " + axis.ToString());
Settings[axis] = value;
}
}
/// <summary>
/// Returns the <paramref name="axis"/> of player <paramref name="id"/>. The result is in range [-1, 1], except for the two triggers.
/// They are in range [0, 1].
/// </summary>
/// <param name="axis"></param>
/// <param name="id"></param>
/// <returns></returns>
public static float GetAxis(CAxis axis, PlayerIndex id = PlayerIndex.Any)
{
if (!IsInitialized)
{
Initialize();
}
if (Settings[axis])
{
return(-GetAxisRaw(axis, id));
}
return(GetAxisRaw(axis, id));
}
/// <inheritdoc />
public bool Equals([AllowNull] Ternary other)
{
if (other == null)
{
return(false);
}
if (ReferenceEquals(this, other))
{
return(true);
}
return
((
Domain == other.Domain ||
Domain != null &&
Domain.Equals(other.Domain)
) &&
(
BgColor == other.BgColor ||
BgColor != null &&
BgColor.Equals(other.BgColor)
) &&
(
Sum == other.Sum ||
Sum != null &&
Sum.Equals(other.Sum)
) &&
(
AAxis == other.AAxis ||
AAxis != null &&
AAxis.Equals(other.AAxis)
) &&
(
BAxis == other.BAxis ||
BAxis != null &&
BAxis.Equals(other.BAxis)
) &&
(
CAxis == other.CAxis ||
CAxis != null &&
CAxis.Equals(other.CAxis)
) &&
(
UiRevision == other.UiRevision ||
UiRevision != null &&
UiRevision.Equals(other.UiRevision)
));
}
public override int GetHashCode()
{
unchecked // Overflow is fine, just wrap
{
int hashCode = 41;
if (Domain != null)
{
hashCode = hashCode * 59 + Domain.GetHashCode();
}
if (BgColor != null)
{
hashCode = hashCode * 59 + BgColor.GetHashCode();
}
if (Sum != null)
{
hashCode = hashCode * 59 + Sum.GetHashCode();
}
if (AAxis != null)
{
hashCode = hashCode * 59 + AAxis.GetHashCode();
}
if (BAxis != null)
{
hashCode = hashCode * 59 + BAxis.GetHashCode();
}
if (CAxis != null)
{
hashCode = hashCode * 59 + CAxis.GetHashCode();
}
if (UiRevision != null)
{
hashCode = hashCode * 59 + UiRevision.GetHashCode();
}
return(hashCode);
}
}
/// <summary>
/// Handles left/right trigger. If a button was pressed, <see cref="AxisMapping.AxisType.ButtonWrapper"/> will be used.
/// </summary>
/// <param name="axis"></param>
private void HandleTrigger(CAxis axis)
{
AxisMapping mapping = Mapping.Axes[(int)axis];
int index;
if (GetButton(out index)) // wrapper
{
mapping.Axis = index;
mapping.Type = AxisMapping.AxisType.ButtonWrapper;
mapping.Min = 0;
mapping.Max = 1;
Next();
}
else if (GetAxis(out index))
{
mapping.Axis = index;
Next();
}
}
private static float GetAxisRaw(CAxis axis, PlayerIndex id)
{
if (id == PlayerIndex.Any)
{
switch (settings.Behaviour)
{
case AnyBehaviour.UseControllerOne: return(PlayerMappings[1].GetAxis(axis));
case AnyBehaviour.CheckAll:
for (int i = 1; i < CarbonController.PlayerIndices; i++)
{
float value = PlayerMappings[i].GetAxis(axis);
if (Mathf.Abs(value) > 0.02f)
{
return(value);
}
}
return(0f);
}
}
return(PlayerMappings[(int)id].GetAxis(axis));
}
/// <summary>
/// Returns the value of the given axis.
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public float GetAxis(CAxis axis)
{
return(Axis[(int)axis]);
}
private void btnLoadAxisPara_Click(object sender, EventArgs e)
{
// DMC2610卡的函数调用
nCard = Dmc2610.d2610_board_init(); //'为控制卡分配系统资源，并初始化控制卡。
if (nCard <= 0) //DMC1000控制卡初始化
{
MessageBox.Show("未找到DMC2610控制卡!", "警告");
return;//退出当前程序
}
string connectionString = @"Data Source=.\AOI;Initial Catalog=aoi5sys;Integrated Security=True";
SqlConnection connection = new SqlConnection(connectionString);
//string sql=@"SELECT * FROM AXIS_PARAM WHERE NAME='#1HOST'";
string sql = @"SELECT [NAME]
,[AXIS]
,[AXIS_ID]
,[PULSE_MODE]
,[MAX_DIST]
,[ORG_POSITION]
,[RESET_SPEED]
,[START_SPEED]
,[MAX_SPEED]
,[ADD_SPEED]
,[ADD_MODE]
,[PULSE_PER_MM]
FROM [aoi5sys].[dbo].[AXIS_PARAM]
WHERE NAME='#1HOST'";
try
{
connection.Open();
SqlCommand cmd = new SqlCommand(sql, connection);
SqlDataReader dataReader = cmd.ExecuteReader();
AxisGroup = new List <Axis>();
while (dataReader.Read())
{
string tempstr = dataReader.GetValue(1).ToString();
AxisPulseOutMode PoutMode = dataReader.GetInt32(3) == 0
? AxisPulseOutMode.PM_PLDL
: AxisPulseOutMode.PM_PHDHPHDH;
double pulseOfMilMeter = Convert.ToDouble(dataReader.GetValue(11).ToString());
long maxRouterDistance = Convert.ToInt64(dataReader.GetValue(4));
long logicOrgPosition = Convert.ToInt64(dataReader.GetValue(5));
AxisINPSIG axisInpsig = AxisINPSIG.Enable;
double ResetVelocity = Convert.ToDouble(dataReader.GetValue(6));
double startVelocity = Convert.ToDouble(dataReader.GetValue(7));
double maxVelocity = Convert.ToDouble(dataReader.GetValue(8));
double accVelocity = Convert.ToDouble(dataReader.GetValue(9));
double decVelocity = Convert.ToDouble(dataReader.GetValue(9));
float scale = (float)0.75;
if (tempstr.Contains("X_"))
{
this.XAxis = new Axis(AxisID.XAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
XAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
XAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
XAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
XAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// XAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(XAxis);
}
if (tempstr.Contains("Y_"))
{
this.YAxis = new Axis(AxisID.YAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
YAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
YAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
YAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
YAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// YAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(YAxis);
}
if (tempstr.Contains("C_"))
{
this.CAxis = new Axis(AxisID.ZAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
CAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
CAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
CAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
CAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
//CAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(CAxis);
}
if (tempstr.Contains("L_"))
{
this.LAxis = new Axis(AxisID.UAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
LAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
LAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
LAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
LAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// LAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(LAxis);
}
}
timer1.Enabled = true;
}
catch (DataException dataException)
{
MessageBox.Show(dataException.ToString());
}
finally
{
connection.Close();
this.btnLoadAxisPara.Enabled = false;
}
for (int i = 0; i < 2; i++)
{
InputinitStatus[i] = Motion2610Control.ReadInputKey((ushort)(i + 1));
InputiskeyDown[i] = InputinitStatus[i];
}
}
/// <summary>
/// Returns true while the axis is "pressed", which is if the absolute value of this axis is greater than a certain threshold.
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public bool Button(CAxis axis)
{
return(Mathf.Abs(Axis[(int)axis]) > AxisPressedThreshold);
}
/// <summary>
/// Gets or sets the value of the given axis.
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public float this[CAxis axis] {
get { return(axisMap[(int)axis]); }
set { axisMap[(int)axis] = value; }
}
/// <summary>
/// Gets or sets the given axis to be inverted or not.
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public bool this[CAxis axis] {
get { return(InvertedAxis[(int)axis]); }
set { InvertedAxis[(int)axis] = value; }
}
/// <summary>
/// Returns the value of the virtual axis of player <paramref name="id"/> identified by the <paramref name="axis"/> parameter;
/// </summary>
/// <param name="axis"></param>
/// <param name="id"></param>
/// <returns></returns>
public virtual float GetAxis(CAxis axis, int id)
{
AxisMapping mapping = Axes[(int)axis];
float result = 0;
switch (mapping.Type)
{
case AxisMapping.AxisType.Default:
result = Input.GetAxis(AxisNames[id, mapping.Axis]);
break;
case AxisMapping.AxisType.ButtonWrapper:
result = Input.GetKey(KeyCode.JoystickButton0 + id * JoystickButtonCount + mapping.Axis) ? mapping.Max : mapping.Min;
break;
case AxisMapping.AxisType.KeyWrapper:
bool key1 = Input.GetKey(mapping.Key1);
bool key2 = Input.GetKey(mapping.Key2);
if (key1 && !key2)
{
result = -1;
}
else if (!key1 && key2)
{
result = 1;
}
else
{
result = 0;
}
break;
case AxisMapping.AxisType.Clamped:
result = Mathf.Clamp(Input.GetAxis(AxisNames[id, mapping.Axis]), mapping.Min, mapping.Max);
break;
case AxisMapping.AxisType.ButtonWrapper2:
key1 = Input.GetKey(KeyCode.JoystickButton0 + id * JoystickButtonCount + mapping.Axis);
key2 = Input.GetKey(KeyCode.JoystickButton0 + id * JoystickButtonCount + mapping.Alternative);
if (key1 && !key2)
{
result = -1;
}
else if (!key1 && key2)
{
result = 1;
}
else
{
result = 0;
}
break;
case AxisMapping.AxisType.TriggerLimiter:
result = (Input.GetAxis(AxisNames[id, mapping.Axis]) + 1f) / 2f;
break;
}
if (mapping.Invert)
{
return(-result);
}
return(result);
}
public override float GetAxis(CAxis axis, int id)
{
return(this[axis]);
}
public float GetAxis(CAxis axis)
{
return(Controller.GetAxis(axis, Index));
}
