//第三次拍照结果
public void WriteData3(Point4D point)
{
try
{
//数据超限
if (!BlDataOverFlow(point, 1))
{
return;
}
string cmd = NoCamera.ToString() + "3";//命令
string value = Head
+ point.DblValue1.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue2.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue3.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue4.ToString("f2").PadLeft(7, ' ') + " "
+ "0".PadLeft(7, ' ') + " "
+ cmd.PadLeft(7, ' ');
WriteRobot(value);
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
}
}
bool BlDataOverFlow(Point4D p, int pos)
{
try
{
return(true);
int index = NoCamera * ParCameraWork.P_I[NoCamera] + pos;
if (p.DblValue1 < ParSetRobot.P_I.dataLimitRobot_L[index].DblXMin ||
p.DblValue1 > ParSetRobot.P_I.dataLimitRobot_L[index].DblXMax
|| p.DblValue2 <ParSetRobot.P_I.dataLimitRobot_L[index].DblYMin ||
p.DblValue2> ParSetRobot.P_I.dataLimitRobot_L[index].DblYMax
|| p.DblValue3 <ParSetRobot.P_I.dataLimitRobot_L[index].DblRMin ||
p.DblValue3> ParSetRobot.P_I.dataLimitRobot_L[index].DblRMax
|| p.DblValue4 <ParSetRobot.P_I.dataLimitRobot_L[index].DblTMin ||
p.DblValue4> ParSetRobot.P_I.dataLimitRobot_L[index].DblTMax
)
{
string strStd = ParSetRobot.P_I.dataLimitRobot_L[index].DblXMin.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblXMax.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblYMin.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblYMax.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblRMin.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblRMax.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblTMin.ToString() + ","
+ ParSetRobot.P_I.dataLimitRobot_L[index].DblTMax.ToString();
if (ParSetRobot.P_I.BlDataOverflow)
{
string strError = "Camera" + NoCamera.ToString() + "Pos" + pos.ToString() + ":Error:" + p.strValue + ",Std:" + strStd;
DataError_event(strError);
LogComInterface.L_I.WriteData("Overflow", strError);
return(false);
}
}
return(true);
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
return(false);
}
}
public void SendDataNG93_Camera(Point4D p)
{
try
{
string cmd = NoCamera.ToString() + "93";//命令
string value = Head
+ p.DblValue1.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue2.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue3.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue4.ToString("f2").PadLeft(7, ' ') + " "
+ "0".PadLeft(7, ' ') + " "
+ cmd.PadLeft(7, ' ');
WriteRobot(value);
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
}
}
//NG
public void SendDataNG(Point4D p)
{
try
{
string cmd = NoCamera.ToString() + "9";//命令
string str = Head
+ p.DblValue1.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue2.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue3.ToString("f2").PadLeft(7, ' ') + " "
+ p.DblValue4.ToString("f2").PadLeft(7, ' ') + " "
+ "0".PadLeft(7, ' ') + " "
+ cmd.PadLeft(7, ' ');
g_PortRobotBase.WriteData(str);
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
}
}
public void WriteStdData(int noPos, Point4D point)
{
try
{
string cmd = NoCamera.ToString() + "1";//命令
string value = "PData".PadLeft(7, ' ') + " "
+ noPos.ToString().PadLeft(7, ' ') + " "
+ point.DblValue1.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue2.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue3.ToString("f2").PadLeft(7, ' ') + " "
+ point.DblValue4.ToString("f2").PadLeft(7, ' ') + " "
+ "0".PadLeft(7, ' ') + " "
+ "0".PadLeft(7, ' ');
WriteRobot(value);
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
}
}