private Result executeMark(Pattern pattern, MarkCmdLine markCmdLine)
{
Log.Print("begin to execute Mark cmdline");
//系统坐标->机械坐标
markCmdLine.ModelFindPrm.PosInMachine = pattern.MachineAbs(markCmdLine.PosInPattern);
//(markCmdLine.PosInPattern + pattern.GetOriginSys()).ToMachine();
Log.Print("move to position : " + markCmdLine.ModelFindPrm.PosInMachine);
// 移动到安全高度
Result ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
// 移动到拍照位置
ret = Machine.Instance.Robot.MovePosXYAndReply(markCmdLine.ModelFindPrm.PosInMachine,
FluidProgram.Current.MotionSettings.VelXY,
FluidProgram.Current.MotionSettings.AccXY);
if (!ret.IsOk)
{
return(ret);
}
Log.Print("capture mark");
// 拍照并获取mark点位置
ret = Machine.Instance.CaptureMark(markCmdLine.ModelFindPrm);
if (!ret.IsOk)
{
return(ret);
}
Log.Print("mark real position : " + markCmdLine.ModelFindPrm.TargetInMachine);
return(ret);
}
/// <summary>
/// 寻找mark点命令在所有启用（Enabled==true）且不是注释的命令行中所处的索引位置
/// </summary>
/// <param name="markCmdLine"></param>
/// <returns></returns>
private int findMarkCmdLineIndex(IEnumerable <CmdLine> cmdLineList, MarkCmdLine markCmdLine)
{
int index = 0;
foreach (CmdLine cmdLine in cmdLineList)
{
if (cmdLine.Enabled)
{
if (cmdLine is MarkCmdLine)
{
if (cmdLine == markCmdLine)
{
return(index);
}
else
{
index++;
}
}
else if (!(cmdLine is CommentCmdLine))
{
// Mark点命令被限制添加在最前面，所以如果遇到其他命令，则后续不必再判断
break;
}
}
}
return(index);
}
