public SymbolLines(SymbolLinesCmd symbolLinesCmd, CoordinateCorrector coordinateCorrector)
{
this.RunnableModule = symbolLinesCmd.RunnableModule;
this.Program = symbolLinesCmd.RunnableModule.CommandsModule.Program;
if (this.RunnableModule.Mode == ModuleMode.AssignMode1 || this.RunnableModule.Mode == ModuleMode.MainMode)
{
this.Valve = ValveType.Valve1;
}
else if (this.RunnableModule.Mode == ModuleMode.DualFallow)
{
this.Valve = ValveType.Both;
}
else
{
this.Valve = ValveType.Valve2;
}
this.symbolLinesCmd = symbolLinesCmd;
this.arcSpeed = this.symbolLinesCmd.ArcSpeed;
this.oriSymbols = symbolLinesCmd.Symbls;
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look)
{
curMeasureHeightValue = Machine.Instance.Robot.CalibPrm.SafeZ;
}
else
{
foreach (SymbolLine item in symbolLinesCmd.Symbls)
{
if (item.MHCmdList.Count > 0)//至少有个首点
{
this.LaserZDelta = item.MHCmdList[0].ZPos - Machine.Instance.Robot.CalibPrm.SafeZ;
curMeasureHeightValue = item.MHCmdList[0].RealHtValue + this.LaserZDelta;
break;
}
}
}
// 校准当前多线段所有轨迹
this.oriSymbols = new List <SymbolLine>();
foreach (SymbolLine item in symbolLinesCmd.Symbls)
{
SymbolLine symbol = item.Clone() as SymbolLine;
symbol.Correct(this.RunnableModule, coordinateCorrector);
symbol.AddOffset();
if (symbol.MHList == null)
{
symbol.MHList = new List <MeasureHeight>();
}
symbol.MHList.Clear();
//校正测高点
foreach (var mhCmd in item.MHCmdList)
{
symbol.MHList.Add(new MeasureHeight(mhCmd, coordinateCorrector));
}
this.oriSymbols.Add(symbol);
}
this.OffsetX = symbolLinesCmd.OffsetX;
this.OffsetY = symbolLinesCmd.OffsetY;
}
public ModifyPoint(SymbolLine symbolLine, int pointNo, SymbolLinesCmd symbolLinesCmd, CoordinateCorrector coordinateCorrector)
{
this.SymbolLine = symbolLine;
this.PointNo = pointNo;
this.SymbolLinesCmd = symbolLinesCmd;
PointD point = new PointD(symbolLine.symbolPoints[pointNo].X, symbolLine.symbolPoints[pointNo].Y);
this.PointWithCorrect = coordinateCorrector.Correct(symbolLinesCmd.RunnableModule, point, Executor.Instance.Program.ExecutantOriginOffset);
}
private void ReadLineSymbols(DataBuffer data, int sectionOffset)
{
data.Position = sectionOffset;
int offset = data.ReadInt32();
int count = data.ReadInt32();
data.Position = sectionOffset + offset;
LineSymbols = new SymbolLine[count];
for (int i = 0; i < count; i++)
{
var sym = new SymbolLine(data);
LineSymbols[i] = sym;
}
}
private static void PrintLineSymbols(Script script, StringBuilder sb)
{
if (script.LineSymbols == null)
{
return;
}
sb.AppendLine("Line Symbols:");
var table = new Table("F0", "F2", "Address");
for (int i = 0; i < script.LineSymbols.Length; i++)
{
SymbolLine item = script.LineSymbols[i];
table.AddRow(item.Field0.ToString(), item.Field2.ToString(), item.Address.ToString("x6"));
}
sb.AppendLine(table.Print());
}
public override Result Execute()
{
Result ret = Result.OK;
LineParam param = symbolLinesCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(this.oriSymbols[0].type);
foreach (var item in oriSymbols)
{
if (item.symbolType == SymbolType.Arc)
{
PointD center = MathUtils.CalculateCircleCenter(item.symbolPoints[0], item.symbolPoints[1], item.symbolPoints[2]);
item.symbolPoints[1] = center;
}
}
// 添加倒角轨迹
this.finalSymbols = new List <SymbolLine>();
this.finalSymbols.Add((SymbolLine)oriSymbols[0].Clone());
for (int i = 0; i < oriSymbols.Count - 1; i++)
{
SymbolLine transitionArc = new SymbolLine();
transitionArc.symbolType = SymbolType.Arc;
List <PointD> symbol1Points = oriSymbols[i].symbolPoints;
List <PointD> symbol2Points = oriSymbols[i + 1].symbolPoints;
if (oriSymbols[i].symbolType == SymbolType.Line && oriSymbols[i + 1].symbolType == SymbolType.Line) // 线-线
{
// 添加过渡圆弧
transitionArc.symbolPoints = SymbolLineMathTools.GetLineTransitionArc(symbol1Points[0], symbol1Points[1], symbol2Points[1], oriSymbols[i].transitionR);
this.finalSymbols.Last().symbolPoints[1] = transitionArc.symbolPoints[0];
oriSymbols[i + 1].symbolPoints[0] = transitionArc.symbolPoints[2];
}
else if (oriSymbols[i].symbolType == SymbolType.Line && oriSymbols[i + 1].symbolType == SymbolType.Arc) // 线 - 弧
{
// 添加过渡圆弧
transitionArc.symbolPoints = SymbolLineMathTools.GetLineToArcTransitionArcByR(symbol1Points[0], symbol1Points[1], symbol2Points[1], oriSymbols[i].transitionR, oriSymbols[i + 1].clockwise);
this.finalSymbols.Last().symbolPoints[1] = transitionArc.symbolPoints[0];
oriSymbols[i + 1].symbolPoints[0] = transitionArc.symbolPoints[2];
}
else if (oriSymbols[i].symbolType == SymbolType.Arc && oriSymbols[i + 1].symbolType == SymbolType.Line) // 弧 - 线
{
// 添加过渡圆弧
int clockwise = 0;
if (oriSymbols[i].clockwise == 0)
{
clockwise = 1;
}
transitionArc.symbolPoints = SymbolLineMathTools.GetLineToArcTransitionArcByR(symbol2Points[1], symbol2Points[0], symbol1Points[1], oriSymbols[i].transitionR, clockwise);
transitionArc.symbolPoints.Reverse();
this.finalSymbols.Last().symbolPoints[2] = transitionArc.symbolPoints[0];
oriSymbols[i + 1].symbolPoints[0] = transitionArc.symbolPoints[2];
}//弧到弧不做处理
// 计算过渡圆弧方向
transitionArc.clockwise = SymbolLineMathTools.GetArcDirect(transitionArc.symbolPoints[0], transitionArc.symbolPoints[1], transitionArc.symbolPoints[2]);
this.finalSymbols.Add(transitionArc);
this.finalSymbols.Add((SymbolLine)oriSymbols[i + 1].Clone());
}
// 计算每段轨迹起始角度和结束角度
foreach (SymbolLine item in this.finalSymbols)
{
if (item.symbolType == SymbolType.Line)
{
item.StartAngle = MathUtils.CalculateArc(item.symbolPoints[0], item.symbolPoints[1]);
item.EndAngle = item.StartAngle;
}
else
{
double tempAngle = item.clockwise == 0 ? 90f : -90f;
item.TrackStartAngle = MathUtils.CalculateArc(item.symbolPoints[1], item.symbolPoints[0]);
item.TrackEndAngle = MathUtils.CalculateArc(item.symbolPoints[1], item.symbolPoints[2]);
item.StartAngle = MathUtils.CalculateArc(item.symbolPoints[1], item.symbolPoints[0]) - tempAngle;
item.EndAngle = MathUtils.CalculateArc(item.symbolPoints[1], item.symbolPoints[2]) - tempAngle;
item.EndAngle = -1 * MathUtils.CalculateDegree(item.symbolPoints[0], item.symbolPoints[2], item.symbolPoints[1], item.clockwise);
item.TrackSweep = -1 * MathUtils.CalculateDegree(item.symbolPoints[0], item.symbolPoints[2], item.symbolPoints[1], item.clockwise);
}
}
double currZ = Machine.Instance.Robot.PosZ;
double firstZ = 0;
if (Machine.Instance.Valve1.RunMode != ValveRunMode.Look)
{
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
firstZ = this.Program.RuntimeSettings.BoardZValue + param.DispenseGap;
}
else
{
firstZ = Converter.NeedleBoard2Z(param.DispenseGap, curMeasureHeightValue);
}
}
else
{
firstZ = Machine.Instance.Robot.CalibPrm.SafeZ;
}
PointD offsetP = new PointD(this.OffsetX, this.OffsetY);
// 轨迹动作逻辑
// 胶阀到位置 （XYU三轴同时到位）
// 偏移调整
double z = 0;
if (Machine.Instance.Valve1.RunMode != Drive.ValveSystem.ValveRunMode.Look)
{
//到起点，Z轴到点胶位置
if (currZ > firstZ)
{
// 移动到加速区间起始位置，这里加针嘴上补偿
Log.Dprint("move to position XY : " + this.finalSymbols[0].symbolPoints[0]);
ret = Machine.Instance.Robot.MovePosXYRAndReply(this.finalSymbols[0].symbolPoints[0].ToNeedle(Machine.Instance.Valve1.ValveType) + offsetP, this.finalSymbols[0].StartAngle.ToAxisRPos(),
this.Program.MotionSettings.VelXY,
this.Program.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
// 下降到指定高度
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
z = firstZ;
}
else
{
z = Converter.NeedleBoard2Z(param.DispenseGap, curMeasureHeightValue);
}
Log.Dprint("move down to Z : " + z.ToString("0.000000") + ", DispenseGap=" + param.DispenseGap.ToString("0.000000"));
ret = Machine.Instance.Robot.MovePosZAndReply(z, param.DownSpeed, param.DownAccel);
if (!ret.IsOk)
{
return(ret);
}
}
else
{
// 上升到指定高度
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
z = firstZ;
}
else
{
z = Converter.NeedleBoard2Z(param.DispenseGap, curMeasureHeightValue);
}
Log.Dprint("move up to Z : " + z.ToString("0.000000") + ", DispenseGap=" + param.DispenseGap.ToString("0.000000"));
ret = Machine.Instance.Robot.MovePosZAndReply(z, param.DownSpeed, param.DownAccel);
if (!ret.IsOk)
{
return(ret);
}
// 移动到加速区间起始位置,这里加针嘴上补偿
Log.Dprint("move to position XY : " + this.finalSymbols[0].symbolPoints[0]);
ret = Machine.Instance.Robot.MovePosXYRAndReply(this.finalSymbols[0].symbolPoints[0].ToNeedle(Machine.Instance.Valve1.ValveType) + offsetP, this.finalSymbols[0].StartAngle.ToAxisRPos(),
this.Program.MotionSettings.VelXY,
this.Program.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
}
}
else
{
ret = Machine.Instance.Robot.MoveSafeZAndReply();
ret = Machine.Instance.Robot.MovePosXYAndReply(this.finalSymbols[0].symbolPoints[0],
this.Program.MotionSettings.VelXY,
this.Program.MotionSettings.AccXY);
}
// XYR轴三轴联动后R轴转点位模式
Machine.Instance.Robot.AxisR.Card.Executor.SetMovePos(
Machine.Instance.Robot.AxisR.CardId,
Machine.Instance.Robot.AxisR.AxisId,
Machine.Instance.Robot.AxisR.ConvertPos2Card(Machine.Instance.Robot.AxisR.Pos), 5, 5, 5);
// 使用symbols生成对应数据段对象数组
List <CrdSymbolLine> finalCrdData = new List <CrdSymbolLine>();
foreach (SymbolLine item in this.finalSymbols)
{
if (item.symbolType == SymbolType.Arc)
{
CrdSymbolLine temp = new CrdSymbolLine();
temp.Type = (int)item.symbolType;
temp.Points = item.symbolPoints;
temp.StartAngle = item.StartAngle;
temp.EndAngle = item.EndAngle;
temp.TrackStartAngle = item.TrackStartAngle;
temp.TrackEndAngle = item.TrackEndAngle;
temp.TrackSweep = item.TrackSweep;
temp.Clockwise = item.clockwise;
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look)
{
temp.EndZ = Machine.Instance.Robot.CalibPrm.SafeZ;
}
else
{
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
temp.EndZ = firstZ;
}
else
{
if (finalCrdData.Count == 0) //
{
temp.EndZ = Converter.NeedleBoard2Z(param.DispenseGap, item.MHCmdList.Last().RealHtValue + this.LaserZDelta);
}
else
{
temp.EndZ = finalCrdData[finalCrdData.Count - 1].EndZ;
}
}
}
finalCrdData.Add(temp);
}
else
{
// 根据测高点数拆分长直线
// 首条轨迹有可能有2个测高但不需要拆分
if ((item.MHCount > 1 && finalCrdData.Count != 0) || (item.MHCount > 2 && finalCrdData.Count == 0))
{
CrdSymbolLine temp = new CrdSymbolLine();
temp.Points.Add(new PointD());
temp.Points.Add(new PointD());
temp.Type = (int)item.symbolType;
temp.Points[0].X = item.symbolPoints[0].X;
temp.Points[0].Y = item.symbolPoints[0].Y;
//temp.Points[1].X = item.MHCmdList[0].Position.X;
//temp.Points[1].Y = item.MHCmdList[0].Position.Y;
temp.Points[1].X = item.MHList[0].Position.X;
temp.Points[1].Y = item.MHList[0].Position.Y;
temp.StartAngle = item.StartAngle;
temp.EndAngle = item.EndAngle;
temp.TrackStartAngle = item.TrackStartAngle;
temp.TrackEndAngle = item.TrackEndAngle;
temp.TrackSweep = item.TrackSweep;
temp.Clockwise = item.clockwise;
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look)
{
temp.EndZ = Machine.Instance.Robot.CalibPrm.SafeZ;
}
else
{
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
temp.EndZ = firstZ;
}
else
{
temp.EndZ = Converter.NeedleBoard2Z(param.DispenseGap, item.MHCmdList[0].RealHtValue + this.LaserZDelta);
}
}
finalCrdData.Add(temp);
for (int i = 1; i < item.MHCmdList.Count; i++)
{
CrdSymbolLine temp1 = new CrdSymbolLine();
temp1.Points.Add(new PointD());
temp1.Points.Add(new PointD());
temp1.Type = (int)item.symbolType;
//temp1.Points[0].X = item.MHCmdList[i - 1].Position.X;
//temp1.Points[0].Y = item.MHCmdList[i - 1].Position.Y;
//temp1.Points[1].X = item.MHCmdList[i].Position.X;
//temp1.Points[1].Y = item.MHCmdList[i].Position.Y;
temp1.Points[0].X = item.MHList[i - 1].Position.X;
temp1.Points[0].Y = item.MHList[i - 1].Position.Y;
temp1.Points[1].X = item.MHList[i].Position.X;
temp1.Points[1].Y = item.MHList[i].Position.Y;
temp1.StartAngle = item.StartAngle;
temp1.EndAngle = item.EndAngle;
temp.TrackStartAngle = item.TrackStartAngle;
temp.TrackEndAngle = item.TrackEndAngle;
temp.TrackSweep = item.TrackSweep;
temp1.Clockwise = item.clockwise;
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look)
{
temp1.EndZ = Machine.Instance.Robot.CalibPrm.SafeZ;
}
else
{
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
temp1.EndZ = firstZ;
}
else
{
temp1.EndZ = Converter.NeedleBoard2Z(param.DispenseGap, item.MHCmdList[i].RealHtValue + this.LaserZDelta);
}
}
finalCrdData.Add(temp1);
}
}
else
{
CrdSymbolLine temp = new CrdSymbolLine();
temp.Type = (int)item.symbolType;
temp.Points = item.symbolPoints;
temp.StartAngle = item.StartAngle;
temp.EndAngle = item.EndAngle;
temp.TrackStartAngle = item.TrackStartAngle;
temp.TrackEndAngle = item.TrackEndAngle;
temp.TrackSweep = item.TrackSweep;
temp.Clockwise = item.clockwise;
if (Machine.Instance.Valve1.RunMode == ValveRunMode.Look)
{
temp.EndZ = Machine.Instance.Robot.CalibPrm.SafeZ;
}
else
{
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
temp.EndZ = firstZ;
}
else if (item.MHCount == 0) //当前直线轨迹没有测高，用前一个测高值
{
temp.EndZ = Converter.NeedleBoard2Z(param.DispenseGap, curMeasureHeightValue);
}
else
{
temp.EndZ = Converter.NeedleBoard2Z(param.DispenseGap, item.MHCmdList.Last().RealHtValue + this.LaserZDelta);
}
}
finalCrdData.Add(temp);
}
if (Machine.Instance.Valve1.RunMode != ValveRunMode.Look)
{
}
}
}
double lastZPos = 0;
for (int i = 0; i < finalCrdData.Count; i++)
{
double temp = finalCrdData[i].EndZ;
if (i == 0)
{
finalCrdData[i].EndZ = finalCrdData[i].EndZ - firstZ;
}
else
{
finalCrdData[i].EndZ = finalCrdData[i].EndZ - lastZPos;
}
lastZPos = temp;
}
//设置进行点胶需要的各种参数（Edit By 肖旭）
GearValveFluidSymbolLinesPrm fluidPrm = new GearValveFluidSymbolLinesPrm
{
Vel = this.symbolLinesCmd.LineParam.Speed,
StopSprayDistance = this.symbolLinesCmd.LineParam.ShutOffDistance,
StartSprayDelay = this.symbolLinesCmd.LineParam.PreMoveDelay,
EndPosDelay = this.symbolLinesCmd.LineParam.Dwell,
PressDistance = this.symbolLinesCmd.LineParam.PressDistance,
PressVel = this.symbolLinesCmd.LineParam.PressSpeed,
PressAcc = this.symbolLinesCmd.LineParam.PressAccel,
PressTime = this.symbolLinesCmd.LineParam.PressTime,
RaiseDistance = this.symbolLinesCmd.LineParam.RaiseDistance,
RaiseVel = this.symbolLinesCmd.LineParam.RaiseSpeed,
RaiseAcc = this.symbolLinesCmd.LineParam.RaiseAccel,
ArcSpeed = this.symbolLinesCmd.ArcSpeed,
BacktrackEndPos = this.symbolLinesCmd.LineParam.BacktrackEndGap + z,
BacktrackDistance = this.symbolLinesCmd.LineParam.BacktrackDistance,
BacktrackGap = this.symbolLinesCmd.LineParam.BacktrackGap,
BacktrackSpeed = this.symbolLinesCmd.LineParam.BacktrackSpeed,
BacktrackEndGap = this.symbolLinesCmd.LineParam.BacktrackEndGap,
BackGap = this.symbolLinesCmd.LineParam.BackGap
};
// 将插补数据传递到valve对象中
ret = Machine.Instance.Valve1.FluidSymbolLines(finalCrdData, fluidPrm, FluidProgram.Current.MotionSettings.WeightAcc, this.OffsetX, this.OffsetY
);
return(ret);
}
public SymbolItem(SymbolLine symbolLine)
{
this.symbolLine = symbolLine;
this.Points = symbolLine.symbolPoints;
this.Type = symbolLine.symbolType;
}
//private void btnCreateSymbols_Click(object sender, EventArgs e)
//{
// List<List<PointItem>> temp = new List<List<PointItem>>();
// //一段一段圆弧按顺序分开
// List<PointItem> curItems = new List<PointItem>();
// bool curIsArc = false;
// for (int i = 0; i < this.SymbolPoints.Count;i++)
// {
// if (curItems.Count < 1)
// {
// if (this.SymbolPoints[i].Type == PointType.Arc)
// {
// curIsArc = true;
// }
// curItems.Add(this.SymbolPoints[i]);
// continue;
// }
// if (curIsArc)
// {
// if (this.SymbolPoints[i].Type != PointType.Arc || curItems.Count > 2)
// {
// MessageBox.Show(string.Format("第{0}点数据异常，无法生成轨迹",i));
// return;
// }
// curItems.Add(this.SymbolPoints[i]);
// if (curItems.Count == 3)
// {
// curIsArc = false;
// List<PointItem> points = new List<PointItem>();
// foreach (PointItem item in curItems)
// {
// points.Add(item);
// }
// temp.Add(points);
// curItems.Clear();
// }
// }
// else
// {
// if (this.SymbolPoints[i].Type != PointType.Line)
// {
// List<PointItem> points = new List<PointItem>();
// foreach (PointItem item in curItems)
// {
// points.Add(item);
// }
// temp.Add(points);
// curItems.Clear();
// curIsArc = true;
// curItems.Add(this.SymbolPoints[i]);
// }
// else
// {
// curItems.Add(this.SymbolPoints[i]);
// }
// }
// }
// if (curItems.Count != 0)
// {
// if (curItems.Last().Type != curItems[0].Type || (curItems.Last().Type == PointType.Arc && curItems.Count < 3))
// {
// MessageBox.Show(string.Format("末段数据异常，无法生成轨迹"));
// return;
// }
// else
// {
// temp.Add(curItems);
// }
// }
// this.SymbolLinesCache.Clear();
// //数据分段完成,将分段数据按照类型连接起来
// for (int i = 0; i < temp.Count; i++)
// {
// if (i != 0) //不是首段轨迹，与上一段最后一点相连
// {
// SymbolLine symbolLine1 = new SymbolLine();
// symbolLine1.symbolType = SymbolType.Line;
// symbolLine1.symbolPoints.Add(temp[i - 1][temp[i - 1].Count - 1].Point);
// symbolLine1.symbolPoints.Add(temp[i][0].Point);
// this.SymbolLinesCache.Add(symbolLine1);
// }
// if (temp[i][0].Type == PointType.Arc)//生成当前集合的圆弧段(每个圆弧点集中只有三个圆弧点)
// {
// SymbolLine symbolLine2 = new SymbolLine();
// symbolLine2.symbolType = SymbolType.Arc;
// symbolLine2.symbolPoints.Add(temp[i][0].Point);
// symbolLine2.symbolPoints.Add(temp[i][1].Point);
// symbolLine2.symbolPoints.Add(temp[i][2].Point);
// PointD center = MathUtils.CalculateCircleCenter(temp[i][0].Point, temp[i][1].Point, temp[i][2].Point);
// double degree = MathUtils.CalculateCircleDegree(temp[i][0].Point, temp[i][1].Point, temp[i][2].Point, center);
// symbolLine2.clockwise = degree > 0 ? 1 : 0;
// this.SymbolLinesCache.Add(symbolLine2);
// }
// else
// {
// if (temp[i].Count > 1) // 直线集合中可能包含多段
// {
// for (int j = 1; j < temp[i].Count; j++)
// {
// SymbolLine symbolLine3 = new SymbolLine();
// symbolLine3.symbolType = SymbolType.Line;
// symbolLine3.symbolPoints.Add(temp[i][j-1].Point);
// symbolLine3.symbolPoints.Add(temp[i][j].Point);
// this.SymbolLinesCache.Add(symbolLine3);
// }
// }
// }
// }
// this.LoadLines2ListBox();
//}
private void btnCreateSymbols_Click(object sender, EventArgs e)
{
List <List <PointItem> > temp = new List <List <PointItem> >();
//一段一段圆弧按顺序分开
List <PointItem> curItems = new List <PointItem>();
//添加首点
curItems.Add(this.SymbolPoints[0]);
for (int i = 1; i < this.SymbolPoints.Count; i++)
{
if (this.SymbolPoints[i].Type == PointType.Arc)
{
if (temp.Count > 0 && temp.Last()[1].Type == PointType.Arc)//上一段也是圆弧，两段轨迹都是圆弧，没有过渡处理，不允许圆弧-圆弧的轨迹
{
MessageBox.Show(string.Format("第{0}点数据异常，不支持生成两段连续圆弧", i - 1));
this.listBoxPoints.SelectedIndex = i - 2;
return;
}
if (curItems.Count > 2)
{
MessageBox.Show(string.Format("第{0}点数据异常，无法生成轨迹", i - 1));
this.listBoxPoints.SelectedIndex = i - 2;
return;
}
curItems.Add(this.SymbolPoints[i]);
if (curItems.Count == 3)
{
List <PointItem> points = new List <PointItem>();
foreach (PointItem item in curItems)
{
points.Add(item);
}
temp.Add(points);
curItems.Clear();
//清空上一组，并将尾点保存
curItems.Add(this.SymbolPoints[i]);
}
}
else
{
if (curItems.Count > 1) // 上一个点是圆弧点才回报错
{
MessageBox.Show(string.Format("第{0}点数据异常，无法生成轨迹", i));
this.listBoxPoints.SelectedIndex = i - 1;
return;
}
curItems.Add(this.SymbolPoints[i]);
if (curItems.Count == 2)
{
List <PointItem> points = new List <PointItem>();
foreach (PointItem item in curItems)
{
points.Add(item);
}
temp.Add(points);
curItems.Clear();
//清空上一组，并将尾点保存
curItems.Add(this.SymbolPoints[i]);
}
}
}
if (curItems.Count != 1)
{
DialogResult result = MessageBox.Show(this, "末尾有多余拾取点位，是否忽略，继续生成轨迹", "提示", MessageBoxButtons.OKCancel);
if (result == DialogResult.Cancel)
{
return;
}
}
this.SymbolLinesCache.Clear();
//数据分段完成,将分段数据按照类型连接起来
for (int i = 0; i < temp.Count; i++)
{
if (temp[i][1].Type == PointType.Arc)
{
SymbolLine symbolLine2 = new SymbolLine();
symbolLine2.symbolType = SymbolType.Arc;
symbolLine2.symbolPoints.Add(temp[i][0].Point);
symbolLine2.symbolPoints.Add(temp[i][1].Point);
symbolLine2.symbolPoints.Add(temp[i][2].Point);
symbolLine2.needOffset.Add(temp[i][0].ModifyEnable);
symbolLine2.needOffset.Add(temp[i][1].ModifyEnable);
symbolLine2.needOffset.Add(temp[i][2].ModifyEnable);
PointD center = MathUtils.CalculateCircleCenter(temp[i][0].Point, temp[i][1].Point, temp[i][2].Point);
double degree = MathUtils.CalculateCircleDegree(temp[i][0].Point, temp[i][1].Point, temp[i][2].Point, center);
symbolLine2.clockwise = degree > 0 ? 1 : 0;
this.SymbolLinesCache.Add(symbolLine2);
if (i == 0)
{
temp[i][0].TraceIndex = i;
}
temp[i][1].TraceIndex = i;
temp[i][2].TraceIndex = i;
}
else
{
SymbolLine symbolLine3 = new SymbolLine();
symbolLine3.symbolType = SymbolType.Line;
symbolLine3.symbolPoints.Add(temp[i][0].Point);
symbolLine3.symbolPoints.Add(temp[i][1].Point);
symbolLine3.needOffset.Add(temp[i][0].ModifyEnable);
symbolLine3.needOffset.Add(temp[i][1].ModifyEnable);
this.SymbolLinesCache.Add(symbolLine3);
if (i == 0)
{
temp[i][0].TraceIndex = i;
}
temp[i][1].TraceIndex = i;
}
}
this.LoadLines2ListBox();
}
public SymbolLinesCmd(RunnableModule runnableModule, SymbolLinesCmdLine symbolLinesCmdLine /*, MeasureHeightCmd mhCmd*/) : base(runnableModule, symbolLinesCmdLine)
{
this.Valve = symbolLinesCmdLine.Valve;
var structure = runnableModule.CommandsModule.program.ModuleStructure;
this.symbols = new List <SymbolLine>();
this.arcSpeed = symbolLinesCmdLine.ArcSpeed;
foreach (SymbolLine symbolLine in symbolLinesCmdLine.Symbols)
{
//此处计算轨迹旋转角没用，轨迹执行时再计算每段轨迹的起始角度和结束角度
SymbolLine newSymbolLine = symbolLine.Clone() as SymbolLine;
for (int i = 0; i < newSymbolLine.symbolPoints.Count; i++)
{
newSymbolLine.symbolPoints[i] = structure.ToMachine(runnableModule, newSymbolLine.symbolPoints[i]);
}
this.symbols.Add(newSymbolLine);
}
// 添加每一段需要的测高
for (int i = 0; i < this.symbols.Count; i++)
{
////轨迹首点测高
//if (i == 0)
//{
// MeasureHeightCmd mhCmd = new MeasureHeightCmd(runnableModule, symbolLinesCmdLine.BindMHCmdLine);
// mhCmd.Position.X = this.symbols[i].symbolPoints[0].X;
// mhCmd.Position.Y = this.symbols[i].symbolPoints[0].Y;
// this.symbols[i].MHCmdList.Add(mhCmd);
//}
//if (this.symbols[i].symbolType != SymbolType.Arc)
//{
// for (int j = 0; j < this.symbols[i].MHCount; j++)
// {
// PointD newPosition = SymbolLineMathTools.GetScalePointOnLine(this.symbols[i].symbolPoints[0], this.symbols[i].symbolPoints[1], (double)(j+1) / this.symbols[i].MHCount);
// MeasureHeightCmd mhCmd = new MeasureHeightCmd(runnableModule, symbolLinesCmdLine.BindMHCmdLine);
// mhCmd.Position.X = newPosition.X;
// mhCmd.Position.Y = newPosition.Y;
// this.symbols[i].MHCmdList.Add(mhCmd);
// }
//}
//圆弧测高只测圆弧的中点
if (this.symbols[i].symbolType == SymbolType.Arc)
{
MeasureHeightCmd mhCmd = new MeasureHeightCmd(runnableModule, symbolLinesCmdLine.BindMHCmdLine);
mhCmd.Position.X = this.symbols[i].symbolPoints[1].X;
mhCmd.Position.Y = this.symbols[i].symbolPoints[1].Y;
this.symbols[i].MHCmdList.Add(mhCmd);
}
else
{
for (int j = 0; j < this.symbols[i].MHCount; j++)
{
PointD newPosition = SymbolLineMathTools.GetScalePointOnLine(this.symbols[i].symbolPoints[0], this.symbols[i].symbolPoints[1], (double)(j + 1) / (this.symbols[i].MHCount + 1));
MeasureHeightCmd mhCmd = new MeasureHeightCmd(runnableModule, symbolLinesCmdLine.BindMHCmdLine);
mhCmd.Position.X = newPosition.X;
mhCmd.Position.Y = newPosition.Y;
this.symbols[i].MHCmdList.Add(mhCmd);
}
}
}
this.LineParam = this.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(symbolLinesCmdLine.LineStyle);
this.OffsetX = symbolLinesCmdLine.OffsetX;
this.OffsetY = symbolLinesCmdLine.OffsetY;
}
