private void button3_Click(object sender, EventArgs e)
{
foreach (var listBoxItem in listBox_groupPath.Items)
{
String namepath = listBoxItem.ToString();
MessageBox.Show("" + namepath);
LineParams templineparams = findLineParam(namepath);
if (templineparams != null)
{
MessageBox.Show("line");
pathObjectList.Add(new PathObject()
{
flag_lineparam = true, lineParams = templineparams, curveParams = null
});
}
CurveParams tempcurveparams = findCurveParam(namepath);
if (tempcurveparams != null)
{
MessageBox.Show("curve");
pathObjectList.Add(new PathObject()
{
flag_lineparam = false, curveParams = tempcurveparams, lineParams = null
});
}
}
if (pathObjectList.Count > 0)
{
System.Windows.Forms.SaveFileDialog saveFileDialog = new System.Windows.Forms.SaveFileDialog();
if (saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
using (StreamWriter sw = File.CreateText(System.IO.Path.GetFullPath(saveFileDialog.FileName)))
{
sw.WriteLine("// X, Y, Z, W");
for (int i = 0; i < pathObjectList.Count; i++)
{
String path = "";
CreateRobotPathPlan createpath = new CreateRobotPathPlan();
if (pathObjectList[i].flag_lineparam)
{
createpath.linePathPlan(pathObjectList[i].lineParams);
path += createpath.TextLine();
}
else
{
createpath.CurvePathPlan(pathObjectList[i].curveParams);
path += createpath.TextCurveLine();
}
sw.Write(path);
}
}
}
}
}
private CurveParams findCurveParam(String Name)
{
CurveParams curveparam = null;
for (int i = 0; i < curveList.Count; i++)
{
if (curveList[i].Nameobj.Equals(Name))
{
curveparam = curveList[i];
break;
}
}
return(curveparam);
}
private void btn_openlistpath_Click(object sender, EventArgs e)
{
if (openpath())
{
JObject results = JObject.Parse(contents);
foreach (var result in results["Line"])
{
string _Name = (string)result["name"];
listBox_singlepath.Items.Add(_Name);
dynamic startPoint = result["startPoint"];
System.Windows.Point sp = new System.Windows.Point((double)startPoint.X, (double)startPoint.Y);
dynamic endPoint = result["endPoint"];
System.Windows.Point ep = new System.Windows.Point((double)endPoint.X, (double)endPoint.Y);
double _startdir = (double)result["startdir"];
double _enddir = (double)result["enddir"];
double _unitstep = (double)result["unitStep"];
LineParams lineparam = new LineParams()
{
Nameobj = _Name, startpoint = sp, endpoint = ep, startdir = _startdir, enddir = _enddir, unitstep = _unitstep
};
lineList.Add(lineparam);
}
foreach (var result in results["Curve"])
{
string Name = (string)result["name"];
listBox_singlepath.Items.Add(Name);
dynamic startPoint = result["startPoint"];
System.Windows.Point sp = new System.Windows.Point((double)startPoint.X, (double)startPoint.Y);
dynamic middlePoint = result["middlePoint"];
System.Windows.Point mp = new System.Windows.Point((double)middlePoint.X, (double)middlePoint.Y);
dynamic endPoint = result["endPoint"];
System.Windows.Point ep = new System.Windows.Point((double)endPoint.X, (double)endPoint.Y);
double _startdir = (double)result["startdir"];
double _enddir = (double)result["enddir"];
double R = (double)result["radius"];
double dv = (double)result["dv"];
double dw = (double)result["dw"];
CurveParams curveparam = new CurveParams()
{
Nameobj = Name, startpoint = sp, middlepoint = mp, endpoint = ep, startdir = _startdir, enddir = _enddir, R = R, dw = dw, dv = dv
};
curveList.Add(curveparam);
}
}
}
public void Write(EndianBinaryWriter writer)
{
CurveParams.Write(writer);
writer.Write(Q);
}
