private readonly cVision vision; //接收视觉结果
public void ConectToVision()
{
string notes;
vision.initRcv();
RcvThread = new Thread(new ThreadStart(delegate
{
while (true)
{
vision.ReciveData();
notes = " X = " + vision.hitPar[1].ToString() +
"\n Y = " + vision.hitPar[2].ToString() +
"\n Z = " + vision.hitPar[3].ToString() +
"\n Vx = " + vision.hitPar[4].ToString() +
"\n Vy = " + vision.hitPar[5].ToString() +
"\n Vz = " + vision.hitPar[6].ToString() +
"\n tg = " + vision.hitPar[12].ToString();
if (vision.hitPar[0] == 1)
{
double[] padPar;
SlovePadPram(vision.hitPar, out padPar);
notes += "\n PadV = " + padPar[3].ToString() +
"\n PadS = " + padPar[4].ToString();
SetNotes(notes);
Control_Arm.Recv4Vision(vision.hitPar);
ZSPCt.SetZSP((int)vision.hitPar[3], (int)(padPar[4]), 127);
}
Thread.Sleep(50);
}
}
));
RcvThread.Start();
}
void System.Windows.Markup.IComponentConnector.Connect(int connectionId, object target)
{
switch (connectionId)
{
case 1:
#line 5 "..\..\MainWindow.xaml"
((TabletennisCln.MainWindow)(target)).Closed += new System.EventHandler(this.Window_Closed);
#line default
#line hidden
return;
case 2:
this.Control_Arm = ((PMAC_Communicate.UserControl1)(target));
return;
case 3:
#line 14 "..\..\MainWindow.xaml"
((System.Windows.Controls.Button)(target)).Click += new System.Windows.RoutedEventHandler(this.Button_Click);
#line default
#line hidden
return;
case 4:
this.TBK_VisionOut = ((System.Windows.Controls.TextBlock)(target));
return;
case 5:
this.ZSPCt = ((TabletennisCln.ZSPCt)(target));
return;
case 6:
this.TB_lambda = ((System.Windows.Controls.TextBox)(target));
return;
case 7:
#line 18 "..\..\MainWindow.xaml"
((System.Windows.Controls.Button)(target)).Click += new System.Windows.RoutedEventHandler(this.Button_Click_1);
#line default
#line hidden
return;
}
this._contentLoaded = true;
}
//=======================================
private void Window_Closed(object sender, EventArgs e)
{
if (RcvThread != null && RcvThread.IsAlive)
{
if (vision != null)
{
vision.newsock.Close();
}
RcvThread.Abort();
}
ZSPCt.UserControl_Unloaded(this, null);
Thread.Sleep(100);
}
public MainWindow()
{
InitializeComponent();
vision = new cVision();
ZSPCt.BTC_WaitZSP(this, null);//自动打开端口，等待ZSP连接
}
void System.Windows.Markup.IComponentConnector.Connect(int connectionId, object target) {
switch (connectionId)
{
case 1:
#line 5 "..\..\MainWindow.xaml"
((TabletennisCln.MainWindow)(target)).Closed += new System.EventHandler(this.Window_Closed);
#line default
#line hidden
return;
case 2:
this.Control_Arm = ((PMAC_Communicate.UserControl1)(target));
return;
case 3:
#line 14 "..\..\MainWindow.xaml"
((System.Windows.Controls.Button)(target)).Click += new System.Windows.RoutedEventHandler(this.Button_Click);
#line default
#line hidden
return;
case 4:
this.TBK_VisionOut = ((System.Windows.Controls.TextBlock)(target));
return;
case 5:
this.ZSPCt = ((TabletennisCln.ZSPCt)(target));
return;
case 6:
this.TB_lambda = ((System.Windows.Controls.TextBox)(target));
return;
case 7:
#line 18 "..\..\MainWindow.xaml"
((System.Windows.Controls.Button)(target)).Click += new System.Windows.RoutedEventHandler(this.Button_Click_1);
#line default
#line hidden
return;
}
this._contentLoaded = true;
}