/// <summary>
/// Serialize to XML
/// </summary>
/// <param name="writer"></param>
public virtual void Serialize(XmlWriter writer)
{
writer.WriteStartElement("Scenario");
writer.WriteAttributeString("Type", "FORM");
writer.WriteAttributeString("Version", "1");
writer.WriteAttributeString("Name", Name);
writer.WriteStartElement("Form");
writer.WriteAttributeString("X", PosX.ToString());
writer.WriteAttributeString("Y", PosY.ToString());
writer.WriteAttributeString("W", Width.ToString());
writer.WriteAttributeString("H", Height.ToString());
foreach (string key in Properties.Keys)
{
writer.WriteStartElement("Property");
writer.WriteAttributeString("Name", key);
writer.WriteValue(Properties[key]);
writer.WriteEndElement();
}
// Form
writer.WriteEndElement();
// Scenario
writer.WriteEndElement();
}
private void timer1_Tick(object sender, EventArgs e)
{
// ushort axis = GetAxis(); //轴号
double dcurrent_speedX = 0, dcurrent_speedY = 0, dcurrent_speedZ = 0, dcurrent_speedW = 0; //速度值
// double dunitPosX, dunitPosY, dunitPosZ, dunitPosW; //脉冲当量转换后指令值
int PosX, PosY, PosZ, PosW; //脉冲值
LTDMC.dmc_read_current_speed_unit(_CardID, 0, ref dcurrent_speedX); // 读取轴当前速度
LTDMC.dmc_read_current_speed_unit(_CardID, 1, ref dcurrent_speedY);
LTDMC.dmc_read_current_speed_unit(_CardID, 2, ref dcurrent_speedZ);
LTDMC.dmc_read_current_speed_unit(_CardID, 3, ref dcurrent_speedW);
txtCurrentSpeedX.Text = dcurrent_speedX.ToString();
txtCurrentSpeedY.Text = dcurrent_speedY.ToString();
txtCurrentSpeedZ.Text = dcurrent_speedZ.ToString();
txtCurrentSpeedW.Text = dcurrent_speedW.ToString();
//LTDMC.dmc_get_position_unit(_CardID, 0, ref dunitPosX); //读取指定轴指令位置值
//txtFinalPosY.Text = dunitPosX.ToString();
PosX = LTDMC.dmc_get_position(_CardID, 0);//读取指定轴的脉冲值
PosY = LTDMC.dmc_get_position(_CardID, 1);
PosZ = LTDMC.dmc_get_position(_CardID, 2);
PosW = LTDMC.dmc_get_position(_CardID, 3);
txtCurrentPosX.Text = PosX.ToString();
txtCurrentPosY.Text = PosY.ToString();
txtCurrentPosZ.Text = PosZ.ToString();
txtCurrentPosW.Text = PosW.ToString();
if (LTDMC.dmc_check_done(_CardID, 0) == 0) // 读取指定轴运动状态
{
txtStateX.Text = "运行中";
}
else
{
txtStateX.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 1) == 0) // 读取指定轴运动状态
{
txtStateY.Text = "运行中";
}
else
{
txtStateY.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 2) == 0) // 读取指定轴运动状态
{
txtStateZ.Text = "运行中";
}
else
{
txtStateZ.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 3) == 0) // 读取指定轴运动状态
{
txtStateW.Text = "运行中";
}
else
{
txtStateW.Text = "停止中";
}
}
public override string ToString()
{
string corral = "Corral(" + PosX.ToString() + ", " + PosY.ToString() + ")";
if (HasKid)
{
corral += " <<with " + Kid.ToString() + ">>";
}
return(corral);
}
public void Show()
{
_body_.Visible = true;
Active = true;
_body_.Show();
#if DEBUG
int maxx = PosX + Width;
int maxy = PosY + Height;
_body_.Text = PosX.ToString() + '-' + maxx.ToString() + "::" + PosY.ToString() + '-' + maxy.ToString();
#endif
}
public override void WriteXml(XmlWriter writer)
{
WriteXmlAttributes(writer);
writer.WriteAttributeString("x", PosX.ToString(CultureInfo.InvariantCulture));
writer.WriteAttributeString("y", PosY.ToString(CultureInfo.InvariantCulture));
writer.WriteAttributeString("text-anchor", Anchor.ToString());
writer.WriteAttributeString("dominant-baseline", DominantBaseline.ToString());
writer.WriteAttributeString("font-size", $"{_style.Size.ToString(CultureInfo.InvariantCulture)}px");
writer.WriteAttributeString("font-family", $"{_style.Font}");
writer.WriteValue(Label);
writer.WriteEndElement();
}
public override string ToString()
{
return(String.Format("[{0}][{1}],[{2}],[{3}],[{4}],[{5}],[{6}],[{7}],[{8}],[{9}]", (Frame + 1).ToString().PadLeft(5),
PosX.ToString().ToFixedString(size, ' ').PadRight(padding),
PosY.ToString().ToFixedString(size, ' ').PadRight(padding),
PosZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotX.ToString().ToFixedString(size, ' ').PadRight(padding),
RotY.ToString().ToFixedString(size, ' ').PadRight(padding),
RotZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotW.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaX.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaY.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaZ.ToString().ToFixedString(size, ' ').PadRight(padding)));
}
public override void WriteXml(XmlWriter writer)
{
WriteXmlAttributes(writer);
if (!string.IsNullOrWhiteSpace(Id))
{
writer.WriteAttributeString("id", Id);
}
if (!string.IsNullOrWhiteSpace(Label))
{
writer.WriteAttributeString("label", Label);
}
writer.WriteAttributeString("cx", PosX.ToString(CultureInfo.InvariantCulture));
writer.WriteAttributeString("cy", PosY.ToString(CultureInfo.InvariantCulture));
writer.WriteAttributeString("r", Radius.ToString(CultureInfo.InvariantCulture));
writer.WriteEndElement();
}
public override string ToString()
{
return(string.Format("What={0};ItemId={1};ItemPlayer={2};PosX={3};PosY={4};Units={5}", GetType().ToString(), ItemId, ItemPlayer, PosX.ToString("F"), PosY.ToString("F"), numberOfUnits));
}
public string getResponseString()
{
string responseString = "(" + PosX.ToString() + "," + PosY.ToString() + ")";
return(responseString);
}
private void UpdatePos()
{
transform.localPosition = new Vector3(PosX * offsetX, PosY * offsetY, 0);
transform.name = PosX.ToString() + PosY.ToString();
}
public override string ToString()
{
return("Obstacle(" + PosX.ToString() + ", " + PosY.ToString() + ")");
}
public override string ToString()
{
return("Dirt(" + PosX.ToString() + ", " + PosY.ToString() + ")");
}
public override string ToString()
{
return("Kid<" + Id + ">(" + PosX.ToString() + ", " + PosY.ToString() + ")");
}
