public MultiTracesCmd(RunnableModule runnableModule, MultiTracesCmdLine multiTracesCmdLine, MeasureHeightCmd mhCmd)
: base(runnableModule, multiTracesCmdLine)
{
this.Valve = multiTracesCmdLine.Valve;
var structure = runnableModule.CommandsModule.program.ModuleStructure;
this.multiTracesCmdLine = multiTracesCmdLine;
foreach (var trace in this.multiTracesCmdLine.Traces)
{
TraceBase newTrace = trace.Clone() as TraceBase;
if (newTrace is TraceLine)
{
TraceLine traceLine = newTrace as TraceLine;
traceLine.Start = structure.ToMachine(runnableModule, traceLine.Start);
traceLine.End = structure.ToMachine(runnableModule, traceLine.End);
}
else
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Start = structure.ToMachine(runnableModule, traceArc.Start);
traceArc.Mid = structure.ToMachine(runnableModule, traceArc.Mid);
traceArc.End = structure.ToMachine(runnableModule, traceArc.End);
}
this.traces.Add(newTrace);
}
LineStyle = multiTracesCmdLine.LineStyle;
IsWeightControl = multiTracesCmdLine.IsWeightControl;
wholeWeight = multiTracesCmdLine.WholeWeight;
this.OffsetX = multiTracesCmdLine.OffsetX;
this.OffsetY = multiTracesCmdLine.OffsetY;
this.associatedMeasureHeightCmd = mhCmd;
//this.CheckRepeat();
}
public PointTrace(PointD point, TraceBase trace, int traceIndex, TracePointType pointType)
{
this.Point = point;
this.Trace = trace;
this.TraceIndex = traceIndex;
this.PointType = pointType;
}
private void btnInsert_Click(object sender, EventArgs e)
{
if (this.listBoxPoints.SelectedIndex < 0)
{
return;
}
PointTrace pointTrace = pointsCache[this.listBoxPoints.SelectedIndex];
if (pointTrace.PointType != TracePointType.End)
{
return;
}
int index = this.listBoxPoints.SelectedIndex;
PointTrace pointPrev = pointsCache[this.listBoxPoints.SelectedIndex - 1];
PointD newPoint = (Machine.Instance.Robot.PosXY - origin).ToPoint();
TraceBase trace = this.tracesCache[pointTrace.TraceIndex];
TraceBase tracePrev;
if (pointTrace.TraceIndex == 0)
{
tracePrev = null;
}
else
{
tracePrev = this.tracesCache[pointTrace.TraceIndex - 1];
}
if (this.rbLine.Checked)
{
trace.Start = newPoint.Clone() as PointD;
TraceLine line;
if (tracePrev == null)
{
line = new TraceLine(pointPrev.Point.Clone() as PointD, newPoint.Clone() as PointD);
line.LineStyle = trace.LineStyle;
}
else
{
line = new TraceLine(tracePrev.End.Clone() as PointD, newPoint.Clone() as PointD);
line.LineStyle = trace.LineStyle;
}
this.tracesCache.Insert(pointTrace.TraceIndex, line);
}
else
{
TraceArc arc = new TraceArc(trace.Start, newPoint, trace.End);
arc.LineStyle = trace.LineStyle;
this.tracesCache[pointTrace.TraceIndex] = arc;
}
this.updatePointsCache();
this.LoadLines2ListBox();
this.LoadPoints2ListBox();
this.listBoxPoints.SelectedIndex = index + 1;
}
public MultiTraces(MultiTracesCmd multiTracesCmd, CoordinateCorrector coordinateCorrector)
{
this.RunnableModule = multiTracesCmd.RunnableModule;
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;
}
foreach (var item in multiTracesCmd.Traces)
{
TraceBase newTrace = item.Clone() as TraceBase;
if (newTrace is TraceLine)
{
TraceLine traceLine = newTrace as TraceLine;
traceLine.Start = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceLine.Start, Executor.Instance.Program.ExecutantOriginOffset);
traceLine.End = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceLine.End, Executor.Instance.Program.ExecutantOriginOffset);
}
else
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Start = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.Start, Executor.Instance.Program.ExecutantOriginOffset);
traceArc.Mid = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.Mid, Executor.Instance.Program.ExecutantOriginOffset);
traceArc.End = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.End, Executor.Instance.Program.ExecutantOriginOffset);
}
//newTrace.Param = multiTracesCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(newLine.LineStyle);
this.traces.Add(newTrace);
Log.Dprint(string.Format("{0}: {1}", item.GetType(), item));
}
//param = multiTracesCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(multiTracesCmd.LineStyle);
isWeightControl = multiTracesCmd.IsWeightControl;
wholeWeight = multiTracesCmd.WholeWeight;
this.OffsetX = multiTracesCmd.OffsetX;
this.OffsetY = multiTracesCmd.OffsetY;
Program = multiTracesCmd.RunnableModule.CommandsModule.Program;
this.multiTracesCmd = multiTracesCmd;
if (multiTracesCmd.AssociatedMeasureHeightCmd != null)
{
curMeasureHeightValue = multiTracesCmd.AssociatedMeasureHeightCmd.RealHtValue;
}
else
{
curMeasureHeightValue = this.RunnableModule.MeasuredHt;
}
}
/// <summary>
/// 获取副阀的AB轴的移动轨迹
/// </summary>
/// <param name="multiTraces"></param>
/// <param name="trace"></param>
/// <returns></returns>
private TraceBase getSimulTraces(MultiTraces multiTraces, TraceBase trace)
{
TraceBase newTrace = trace.Clone() as TraceBase;
newTrace.Start = this.getSimulPos(multiTraces, newTrace.Start);
newTrace.End = this.getSimulPos(multiTraces, newTrace.End);
if (newTrace is TraceArc)
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Mid = this.getSimulPos(multiTraces, traceArc.Mid);
}
return(newTrace);
}
/// <summary>
/// 螺杆阀Wet和Dry模式下的运行逻辑
/// </summary>
/// <param name="points"></param>
/// <returns></returns>
private Result SvValveWetAndDryLogic(MultiTraces multiTraces)
{
Result ret = Result.OK;
//主阀轨迹
List <TraceBase> primaryTraces = new List <TraceBase>();
//副阀轨迹
List <TraceBase> simulTraces = new List <TraceBase>();
//将相机坐标位置转换为阀的位置
foreach (var trace in multiTraces.Traces)
{
TraceBase newTrace = trace.Clone() as TraceBase;
newTrace.Start = newTrace.Start.ToNeedle(multiTraces.Valve);
newTrace.End = newTrace.End.ToNeedle(multiTraces.Valve);
if (newTrace is TraceArc)
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Mid = traceArc.Mid.ToNeedle(multiTraces.Valve);
}
primaryTraces.Add(newTrace);
}
//为主阀的坐标点进行偏移调整
foreach (var trace in primaryTraces)
{
trace.TranslateBy(multiTraces.OffsetX, multiTraces.OffsetY);
}
//生成副阀的坐标点
for (int i = 0; i < primaryTraces.Count; i++)
{
simulTraces.Add(this.getSimulTraces(multiTraces, primaryTraces[i]));
}
ret = this.SvValveTracesLogic(multiTraces, primaryTraces, simulTraces);
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
private void btnTeachEnd_Click(object sender, EventArgs e)
{
tbEndX.Text = (Machine.Instance.Robot.PosX - origin.X).ToString("0.000");
tbEndY.Text = (Machine.Instance.Robot.PosY - origin.Y).ToString("0.000");
if (!tbEndX.IsValid || !tbEndY.IsValid)
{
//MessageBox.Show("Please input valid values.");
MessageBox.Show("请输入正确的值.");
return;
}
//机械坐标->系统坐标
this.tempEndPoint = pattern.SystemRel(tbEndX.Value, tbEndY.Value);
if (hasSamePoints())
{
MessageBox.Show("存在相同点，请检查.");
return;
}
TraceBase newTrace = null;
if (this.rbLine.Checked)
{
newTrace = new TraceLine(this.tempStartPoint.Clone() as PointD, this.tempEndPoint.Clone() as PointD);
}
else
{
newTrace = new TraceArc(this.tempStartPoint.Clone() as PointD, this.tempMidPoint.Clone() as PointD, this.tempEndPoint.Clone() as PointD);
}
newTrace.LineStyle = this.comboBoxLineType.SelectedIndex;
this.tracesCache.Add(newTrace);
this.updatePointsCache();
this.LoadLines2ListBox();
this.LoadPoints2ListBox();
listBoxLines.SelectedIndex = listBoxLines.Items.Count - 1;
listBoxPoints.SelectedIndex = listBoxPoints.Items.Count - 1;
// 本段终点为下一段轨迹的起点
this.tempStartPoint.X = this.tempEndPoint.X;
this.tempStartPoint.Y = this.tempEndPoint.Y;
this.tbStartX.Text = this.tempStartPoint.X.ToString("0.000");
this.tbStartY.Text = this.tempStartPoint.Y.ToString("0.000");
this.tbMidX.Text = this.tempMidPoint.X.ToString("0.000");
this.tbMidY.Text = this.tempMidPoint.Y.ToString("0.000");
}
private void btnDelete_Click(object sender, EventArgs e)
{
if (this.listBoxPoints.SelectedIndex < 0)
{
return;
}
PointTrace pointTrace = pointsCache[this.listBoxPoints.SelectedIndex];
TraceBase trace = this.tracesCache[pointTrace.TraceIndex];
TraceBase traceNext = null;
TraceBase traceNew = null;
if (pointTrace.PointType == TracePointType.End)
{
// 删除连接点，则同时删除2条相邻轨迹，用一条直线轨迹替代
if (this.tracesCache.Count - 1 >= pointTrace.TraceIndex + 1)
{
traceNext = this.tracesCache[pointTrace.TraceIndex + 1];
traceNew = new TraceLine(trace.Start, traceNext.End);
traceNew.LineStyle = trace.LineStyle;
}
this.tracesCache.Remove(trace);
if (traceNext != null)
{
this.tracesCache.Remove(traceNext);
this.tracesCache.Insert(pointTrace.TraceIndex, traceNew);
}
}
else if (pointTrace.PointType == TracePointType.Mid)
{
traceNew = new TraceLine(trace.Start, trace.End);
traceNew.LineStyle = trace.LineStyle;
this.tracesCache.Remove(trace);
this.tracesCache.Insert(pointTrace.TraceIndex, traceNew);
}
this.updatePointsCache();
this.LoadLines2ListBox();
this.LoadPoints2ListBox();
}
/// <summary>
/// 根据轨迹集合生成插补列表
/// </summary>
/// <param name="traces"></param>
/// <param name="vels"></param>
/// <param name="acc"></param>
/// <returns></returns>
public static List <ICrdable> GetCrdsBy(List <TraceBase> traces, double[] vels, double acc)
{
List <ICrdable> crdList = new List <ICrdable>();
for (int i = 0; i < traces.Count; i++)
{
TraceBase trace = traces[i];
if (trace is TraceLine)
{
CrdLnXY crd = new CrdLnXY()
{
EndPosX = trace.End.X,
EndPosY = trace.End.Y,
Vel = vels[i],
Acc = acc,
VelEnd = i == (traces.Count - 1) ? 0 : vels[i + 1]
};
crdList.Add(crd);
}
else if (trace is TraceArc)
{
CrdArcXYC crd = new CrdArcXYC()
{
EndPosX = trace.End.X,
EndPosY = trace.End.Y,
CenterX = (trace as TraceArc).Center.X - trace.Start.X,
CenterY = (trace as TraceArc).Center.Y - trace.Start.Y,
Clockwise = (short)((trace as TraceArc).Degree > 0 ? 1 : 0),
Vel = vels[i],
Acc = acc,
VelEnd = i == (traces.Count - 1) ? 0 : vels[i + 1]
};
crdList.Add(crd);
}
}
return(crdList);
}
/// <summary>
/// 获取线参数
/// </summary>
/// <param name="multiTraces"></param>
/// <param name="lineStyle"></param>
/// <returns></returns>
private LineParam getLineParam(MultiTraces multiTraces, TraceBase trace)
{
return(multiTraces.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam((LineStyle)trace.LineStyle));
}
public static void ClassCleanup()
{
TraceBase.InitClass("DebugTrace");
}
public static void ClassInit(TestContext context)
{
TraceBase.InitClass("DebugTrace_PropertyV1Test");
}
public LineParam GetLineStyle(TraceBase trace)
{
return(this.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam((LineStyle)trace.LineStyle));
}