public CircleCmd(RunnableModule runnableModule, CircleCmdLine circleCmdLine, MeasureHeightCmd mhCmd)
: base(runnableModule, circleCmdLine, mhCmd)
{
}
public FinishShotCmd(RunnableModule runnableModule, FinishShotCmdLine dotCmdLine, MeasureHeightCmd mhCmd) : base(runnableModule, dotCmdLine, mhCmd)
{
}
public PurgeCmd(RunnableModule runnableModule, PurgeCmdLine purgeCmdLine) : base(runnableModule, purgeCmdLine)
{
this.Valve = purgeCmdLine.Valve;
}
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;
}
public PassBlockCmd(RunnableModule runnableModule, StartPassCmdLine startPassCmdLine) : this(runnableModule, startPassCmdLine.Index)
{
}
public LoopBlockCmd(RunnableModule runnableModule, LoopPassCmdLine loopPassCmdLine) : base(runnableModule)
{
start = loopPassCmdLine.Start;
end = loopPassCmdLine.End;
}
public MoveAbsXyCmd(RunnableModule runnableModule, MoveAbsXyCmdLine moveAbsXyCmdLine) : base(runnableModule, moveAbsXyCmdLine)
{
MoveType = moveAbsXyCmdLine.MoveType;
position = new PointD(moveAbsXyCmdLine.Position.X, moveAbsXyCmdLine.Position.Y);
}
public NormalTimerCmd(RunnableModule runnableModule, NormalTimerCmdLine timerCmdLine)
: this(runnableModule, timerCmdLine.WaitInMills)
{
}
public TimerCmd(RunnableModule runnableModule, long waitInMills) : base(runnableModule)
{
this.waitInMills = waitInMills;
}
public ConveyorBarcodeCmd(RunnableModule runnableModule, ConveyorBarcodeCmdLine conveyorBarcodeCmdLine)
: base(runnableModule, conveyorBarcodeCmdLine)
{
}
public MoveAbsZCmd(RunnableModule runnableModule, MoveAbsZCmdLine moveAbsZCmdLine) : base(runnableModule, moveAbsZCmdLine)
{
Z = moveAbsZCmdLine.Z;
}
public ChangeSpeedCmd(RunnableModule runnableModule, ChangeSpeedCmdLine changeSpeedCmdLine) : this(runnableModule, changeSpeedCmdLine.Speed, changeSpeedCmdLine.WaitInMills)
{
}
public ChangeSpeedCmd(RunnableModule runnableModule, int speed, int waitInMills) : base(runnableModule)
{
this.speed = speed;
this.waitInMills = waitInMills;
}
/// <summary>
/// 构造方法
/// </summary>
/// <param name="cmdLine">与当前Command对应的CmdLine</param>
public SupportDirectiveCmd(RunnableModule runnableModule, CmdLine cmdLine) : base(runnableModule)
{
this.cmdLine = cmdLine;
this.Tilt = this.cmdLine.Tilt;
}
public DoMultipassCmd(RunnableModule runnableModule, RunnableModule associatedRunnableModule, MeasureHeightCmd mhCmd) : base(runnableModule)
{
this.associatedRunnableModule = associatedRunnableModule;
this.associatedMeasureheightCmd = mhCmd;
}
public NormalTimerCmd(RunnableModule runnableModule, int waitInMills) : base(runnableModule)
{
this.waitInMills = waitInMills;
}
public Command(RunnableModule runnableModule)
{
this.runnableModule = runnableModule;
}
public SetHeightSenseModeCmd(RunnableModule runnableModule, SetHeightSenseModeCmdLine setHeightSenseModeCmdLine) : base(runnableModule)
{
// TODO
}
public PassBlockCmd(RunnableModule runnableModule, int index) : base(runnableModule)
{
this.index = index;
}
