static void Main()
{
Console.WriteLine(10 < 20);
Console.WriteLine(10.CompareTo(20)); // if 10 > 20 : -1, same : 0, 10 < 20 : 1
string s1 = "AA", s2 = "BB";
// Console.WriteLine(s1 < s2); error, relational operator only used for numeric associate type
Console.WriteLine(s1.CompareTo(s2)); // almost type, enable to compare
Point p1 = new Point(1, 1);
Point p2 = new Point(2, 2);
Console.WriteLine(p1.CompareTo2(p2));
// apply c# interface 2.0
cPoint p3 = new cPoint(1, 1);
cPoint p4 = new cPoint(2, 2);
Console.WriteLine(p3.CompareTo(p4));
object o2 = new cPoint(2, 2);
Console.WriteLine(p3.CompareTo(o2));
}
public void SetGlobalPoint(int index, cPoint p)
{
if (!m_IsConnected)
{
return;
}
m_Robot.SetGlobalPoint(index, p);
}
public void EndContinuousMovP(cPoint p)
{
if (!m_IsConnected)
{
return;
}
m_Robot.EndContinuousMovP(p);
}
public void MovP(cPoint p)
{
if (!m_IsConnected)
{
return;
}
m_Robot.MovP(p);
}
//定时读取机械臂的信息
private void timer_Robot_Tick(object sender, EventArgs e)
{
if (m_RobotDevice != null)
{
cPoint pos = m_RobotDevice.GetPos();
textBox_CurX.Text = (pos[eAxisName.X] / 1000).ToString("0.000");
textBox_CurY.Text = (pos[eAxisName.Y] / 1000).ToString("0.000");
textBox_CurZ.Text = (pos[eAxisName.Z] / 1000).ToString("0.000");
textBox_CurRZ.Text = (pos[eAxisName.RZ] / 1000).ToString("0.000");
}
}
private void CBtnRobotTestMoveToPoint_MouseDown(object sender, MouseEventArgs e)
{
if (m_ManualRobot.IsConnected())
{
cPoint point = new cPoint();
point = m_ManualRobot.GetGlobalPoint(m_ManualRobotGlobalPointIndex);
if (point != null)
{
m_ManualRobot.GotoMovP(point);
}
}
}
public void SetGrapPointCoords(int PointIndex, float x, float y, float z, float rz)
{
if (m_UniqueRobot != null)
{
cPoint TempPoint = m_UniqueRobot.GetGlobalPoint(PointIndex);
if (TempPoint != null)
{
TempPoint[eAxisName.X] = x * 1000;
TempPoint[eAxisName.Y] = y * 1000;
TempPoint[eAxisName.Z] = z * 1000;
TempPoint[eAxisName.RZ] = rz * 1000;
m_UniqueRobot.SetGlobalPoint(PointIndex, TempPoint);
}
}
}
private void button_RobotRun_Click(object sender, EventArgs e)
{
if (m_RobotDevice.HasAlarm())
{
m_RobotDevice.ResetAlarm();
MessageBox.Show("HasAlarm And ResetAlarm");
return;
}
m_RobotDevice.RunSelectProgram(3);
if (m_MovePoint == null)
{
m_MovePoint = m_RobotDevice.GetGlobalPoint(300);
}
}
/*加载并显示当前行的全局点位*/
private void GetRobotGlobalPoint(RobotBase robot, DataGridView dgv, int index)
{
cPoint pointData = robot.GetGlobalPoint(index);
try
{
dgv[0, index].Value = pointData.Name;
dgv[1, index].Value = pointData[eAxisName.X] / 1000;
dgv[2, index].Value = pointData[eAxisName.Y] / 1000;
dgv[3, index].Value = pointData[eAxisName.Z] / 1000;
dgv[4, index].Value = pointData[eAxisName.RZ] / 1000;
dgv[5, index].Value = pointData.Info.Hand;
dgv[6, index].Value = pointData.Info.UserFrame;
dgv[7, index].Value = pointData.Info.ToolFrame;
dgv.Rows[index].HeaderCell.Value = String.Format("{0}", index + 1);
}
catch { };
}
public void SetPoints(int PointIndex, PointMeas GarptPoint, PointMeas PutPoint)
{
if (m_MovePoint == null)
{
m_MovePoint = m_RobotDevice.GetGlobalPoint(300); //300是原点
}
const int Z_distance = 50;
if (m_MovePoint != null)
{
m_MovePoint[eAxisName.X] = GarptPoint.X * 1000;
m_MovePoint[eAxisName.Y] = GarptPoint.Y * 1000;
m_MovePoint[eAxisName.Z] = (GarptPoint.Z + Z_distance) * 1000;
m_MovePoint[eAxisName.RZ] = GarptPoint.RZ * 1000;
m_RobotDevice.SetGlobalPoint(PointIndex, m_MovePoint);
m_MovePoint[eAxisName.X] = GarptPoint.X * 1000;
m_MovePoint[eAxisName.Y] = GarptPoint.Y * 1000;
m_MovePoint[eAxisName.Z] = (GarptPoint.Z) * 1000;
m_MovePoint[eAxisName.RZ] = GarptPoint.RZ * 1000;
m_RobotDevice.SetGlobalPoint(PointIndex + 1, m_MovePoint);
m_MovePoint[eAxisName.X] = PutPoint.X * 1000;
m_MovePoint[eAxisName.Y] = PutPoint.Y * 1000;
m_MovePoint[eAxisName.Z] = (PutPoint.Z + Z_distance) * 1000;
m_MovePoint[eAxisName.RZ] = PutPoint.RZ * 1000;
m_RobotDevice.SetGlobalPoint(PointIndex + 2, m_MovePoint);
m_MovePoint[eAxisName.X] = PutPoint.X * 1000;
m_MovePoint[eAxisName.Y] = PutPoint.Y * 1000;
m_MovePoint[eAxisName.Z] = (PutPoint.Z) * 1000;
m_MovePoint[eAxisName.RZ] = PutPoint.RZ * 1000;
m_RobotDevice.SetGlobalPoint(PointIndex + 3, m_MovePoint);
}
}
// vec2_LineStart = cVector_2d.MakeVector(aptDefinitionPoints[iLast].x,aptDefinitionPoints[iLast].y);
// vec2_LineEnd = cVector_2d.MakeVector(aptDefinitionPoints[i].x,aptDefinitionPoints[i].y);
// vec2_Point = cVector_2d.MakeVector(cptPointToAdd.x,cptPointToAdd.y);
// nDistance = cVector_2d.DistanceOfPointToLine(vec2_Point, vec2_LineStart, vec2_LineEnd);
// vec2_VecLine = cVector_2d.VectorSubtract(vec2_LineStart, vec2_LineEnd);
// cptIntersectionPoint = cVector_2d.GetPointVerticalIntersection(aptDefinitionPoints[i], vec2_VecLine, cptPointToAdd);
// cVector_2d.GetPointVerticalIntersection(aptDefinitionPoints[i], vec2_VecLine, cptPointToAdd);
// vecInputLine: vector/line between two polygon points
// cptPointQ: Origin of vector vecInputLine, one of the two polygon points
// cpPointP: Click point
// Schnittpunkt zwischen Normale zu vecInputLine und cpPointP auf vecInputLine
public static cPoint GetPointVerticalIntersection(cPoint cptPointQ, cVector_2d vecInputLine, cPoint cpPointP)
{
// Q: Line start/endpoint
// P + a * vecNormalVector = Intersection = Q + b * vecInputLine
// a = (-(Px*vy-Py*vx-Qx*vy+Qy*vx))/(nx*vy-ny*vx)
// b = (-(Px*ny-Py*nx-Qx*ny+Qy*nx))/(nx*vy-ny*vx)
cVector_2d vecNormalVector = GetNormalVector(vecInputLine);
double nDenominator = vecNormalVector.x * vecInputLine.y - vecNormalVector.y * vecInputLine.x;
cPoint cptIntersectionPoint = new cPoint();
if (nDenominator == 0)
{
// no intersection
cptIntersectionPoint.bHasInterSection = false;
return(cptIntersectionPoint);
}
double a = (-(cpPointP.x * vecInputLine.y - cpPointP.y * vecInputLine.x - cptPointQ.x * vecInputLine.y + cptPointQ.y * vecInputLine.x)) / nDenominator;
double b = (-(cpPointP.x * vecNormalVector.y - cpPointP.y * vecNormalVector.x - cptPointQ.x * vecNormalVector.y + cptPointQ.y * vecNormalVector.x)) / nDenominator;
cptIntersectionPoint.bHasInterSection = true;
cptIntersectionPoint.x = cpPointP.x + a * vecNormalVector.x;
cptIntersectionPoint.y = cpPointP.y + a * vecNormalVector.y;
return(cptIntersectionPoint);
}
public MouseStickEventArgs(int Magnitude, cPoint Direction)
{
dir = Direction;
mag = Magnitude;
}
private void UserControl1_MouseMove(object sender, System.Windows.Forms.MouseEventArgs e)
{
if (isActive)
{
int x_Val,y_Val;
//Translating mouse motion on the control
//To a 30 x 30 cartesian grid.
y_Val = (e.Y * 31 / this.Height) - 15;
x_Val = (e.X * 31 / this.Width) - 15;
y_Val = -y_Val;
//Setting up to raise the MouseStickMoved Event
direction = GetDirection(x_Val, y_Val);
if (previousdirection != direction)
{
previousdirection = direction;
MouseDirectionChanged(this, new MouseStickEventArgs(this.magnitude, this.direction));
}
magnitude = (int)Math.Sqrt(y_Val * y_Val + x_Val * x_Val);
// if (magnitude > 15) magnitude = 15;
magnitude = 15;
mousePoint.X = e.X;
mousePoint.Y = e.Y;
}
else
{
magnitude = 0;
mousePoint.X = this.Width/2;
mousePoint.Y = this.Height/2;
}
if(MouseStickMoved != null)
MouseStickMoved(this, new MouseStickEventArgs(this.magnitude, this.direction));
}
