/// <summary>
/// 写入点位
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteMovePoint(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
Point4D p_Move = robotStdPoint.P_Move;
//vel
XmlElement xeMove = CreateNewXe(xeRoot, "Move");
xeRoot.AppendChild(xeMove);
MoveRobot_enum moveRobot_e = MoveRobot_enum.Stay;
moveRobot_e = (MoveRobot_enum)p_Move.DblValue1 - 1;
WriteAttribute(xeMove, "Type", moveRobot_e.ToString());
//passCMD
Point4D p_passCMD = robotStdPoint.P_PassCMD;
XmlElement xePassCMD = CreateNewXe(xeRoot, "PassCMD");
xeRoot.AppendChild(xePassCMD);
WriteAttribute(xePassCMD, "Num", p_passCMD.DblValue1.ToString());
TypePosRobot_enum typeZ_e = (TypePosRobot_enum)p_passCMD.DblValue2 - 1;
WriteAttribute(xePassCMD, "Z", typeZ_e.ToString());
TypePosRobot_enum typeR_e = (TypePosRobot_enum)p_passCMD.DblValue3 - 1;
WriteAttribute(xePassCMD, "R", typeR_e.ToString());
WriteMovePoint(xeRoot, "Here", robotStdPoint.P_Here);
WriteMovePoint(xeRoot, "Pass1", robotStdPoint.P_Pass1);
WriteMovePoint(xeRoot, "Pass2", robotStdPoint.P_Pass2);
WriteMovePoint(xeRoot, "Pass3", robotStdPoint.P_Pass3);
//des
WriteMovePoint(xeRoot, "Des", robotStdPoint.P_Des);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
void ReadMovePos(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
string typeMove = ReadChildAttributeStr(xeRoot, "Move", "Type", "Stay");
MoveRobot_enum moveRobot_e = (MoveRobot_enum)Enum.Parse(typeof(MoveRobot_enum), typeMove);
robotStdPoint.P_Move.DblValue1 = (int)moveRobot_e + 1;
robotStdPoint.P_PassCMD.DblValue1 = ReadChildAttributeInt(xeRoot, "PassCMD", "Num", 0);
string typeZ = ReadChildAttributeStr(xeRoot, "PassCMD", "Z", "Relative");
if (typeZ == TypePosRobot_enum.Relative.ToString())
{
robotStdPoint.P_PassCMD.DblValue2 = 1;
}
else
{
robotStdPoint.P_PassCMD.DblValue2 = 2;
}
string typeR = ReadChildAttributeStr(xeRoot, "PassCMD", "R", "Relative");
if (typeR == TypePosRobot_enum.Relative.ToString())
{
robotStdPoint.P_PassCMD.DblValue3 = 1;
}
else
{
robotStdPoint.P_PassCMD.DblValue3 = 2;
}
robotStdPoint.P_Des = ReadMovePos(xeRoot, "Des");
robotStdPoint.P_Here = ReadMovePos(xeRoot, "Here");
robotStdPoint.P_Pass1 = ReadMovePos(xeRoot, "Pass1");
robotStdPoint.P_Pass2 = ReadMovePos(xeRoot, "Pass2");
robotStdPoint.P_Pass3 = ReadMovePos(xeRoot, "Pass3");
}
catch (Exception ex)
{
}
}
