private void UserControl_Loaded(object sender, RoutedEventArgs e)
{
//初始化限位塞
SetLimitSwitch();
userLine1.BarFactHeght = LumbarRobotController.RobotController.PushRodAngle;
if (LimitSwitchChanged == null)
{
LimitSwitchChanged = new EventHandler(RobotController_LimitSwitchChanged);
LumbarRobotController.RobotController.LimitSwitchChanged += LimitSwitchChanged;
}
if (PushRodChanged == null)
{
PushRodChanged = new EventHandler(RobotController_PushRodChanged);
LumbarRobotController.RobotController.PushRodChanged += PushRodChanged;
}
if (AlarmEvent == null)
{
AlarmEvent = new LumbarRobotController.AlarmHandler(RobotController_Alarm);
LumbarRobotController.RobotController.Alarm += AlarmEvent;
}
//上次训练推杆高度
var record = (from r in MySession.Query<Exerciserecord>()
where r.PatientId == ModuleConstant.PatientId
select r).OrderByDescending(x => x.StartTime).Take(1).ToList();
if (record.Count > 0)
{
userLine1.BarHeight = record.First().PushRodValue;
}
//报警信息
if (LumbarRobotController.RobotController.AlarmCode != 0)
{
var args = new LumbarRobotController.AlarmArgs();
args.AlarmCode = LumbarRobotController.RobotController.AlarmCode;
RobotController_Alarm(args);
}
lock (_lock)
{
FitResultList = null;
if (LumbarRobotController.RobotController.IsPause)
{
LumbarRobotController.RobotController.IsPause = false;
}
else
{
if (Mode == EvaluateModeEnum.Strength)
{
sinWpf1.Uint = "牛";
}
else
{
sinWpf1.Uint = "度";
}
sinWpf1.ReSet();
eilelc21.Rest();
if (Move == null)
{
Move = new LumbarRobotController.MoveHandler(RobotController_Move);
LumbarRobotController.RobotController.Move += Move;
}
if (NextTime == null)
{
NextTime = new EventHandler(RobotController_NextTime);
LumbarRobotController.RobotController.NextTime += NextTime;
}
if (StartAction == null)
{
StartAction = new EventHandler(RobotController_StartAction);
LumbarRobotController.RobotController.StartAction += StartAction;
}
if (Mode == EvaluateModeEnum.Strength)
{
if (SetForce == null)
{
SetForce = new SetForceHandler(RobotController_SetForce);
LumbarRobotController.RobotController.SetForce += SetForce;
}
}
SetParam();
}
txtPrompt.Text = "系统正在复位请放松";
//设置当前次数
this.txtTimes.Text = "0/0";
}
}
private void UserControl_Unloaded(object sender, RoutedEventArgs e)
{
LumbarRobotController.RobotController.IsStop = true;
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
if (LimitSwitchChanged != null)
{
LumbarRobotController.RobotController.LimitSwitchChanged -= LimitSwitchChanged;
LimitSwitchChanged = null;
}
if (PushRodChanged != null)
{
LumbarRobotController.RobotController.PushRodChanged -= PushRodChanged;
PushRodChanged = null;
}
if (AlarmEvent != null)
{
LumbarRobotController.RobotController.Alarm -= AlarmEvent;
AlarmEvent = null;
}
if (Move != null)
{
LumbarRobotController.RobotController.Move -= Move;
Move = null;
}
if (NextTime != null)
{
LumbarRobotController.RobotController.NextTime -= NextTime;
NextTime = null;
}
if (StopAction != null)
{
LumbarRobotController.RobotController.StopAction -= StopAction;
StopAction = null;
}
if (SetForce != null)
{
LumbarRobotController.RobotController.SetForce -= SetForce;
SetForce = null;
}
if (StartAction != null)
{
LumbarRobotController.RobotController.StartAction -= StartAction;
StartAction = null;
}
if (msgBox != null)
{
msgBox.Close();
}
}
/// <summary>
/// 开始
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void playBtn_PlayClick(object sender, EventArgs e)
{
if (LumbarRobotController.RobotController.IsPause)
{
LumbarRobotController.RobotController.Continue();
}
else
{
SetParam();
if (Action == EvaluateActionEnum.RangeBend || Action == EvaluateActionEnum.RangeProtrusive)
{
//判断限位塞是否有效
var limitSwitchs = LumbarRobotController.RobotController.LimitSwitch;
bool minFlag = false;
bool maxFlag = false;
int minAngle = int.MinValue;
int maxAngle = int.MaxValue;
foreach (var ls in limitSwitchs)
{
var limitAngle = GetLimitSwitchAngle(ls);
if (LumbarRobotController.RobotController.CurrentBendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle) < limitAngle)
{
if (limitAngle < maxAngle)
{
maxAngle = limitAngle;
}
maxFlag = true;
}
else
{
if (limitAngle > minAngle)
{
minAngle = limitAngle;
}
minFlag = true;
}
}
if (!(minFlag && maxFlag))
{
playBtn.Init(1, 1);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "限位塞还未设置或设置错误！";
dialog.ShowDialog();
return;
}
//判断设置角度是否大于限位栓角度
if (LumbarRobotController.RobotController.IsConnected)
{
if (InitialPosition < minAngle)
{
playBtn.Init(1, 1);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "初始角度不能小于限位塞角度！";
dialog.ShowDialog();
return;
}
if (InitialPosition > maxAngle)
{
playBtn.Init(1, 1);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "初始角度不能大于限位塞角度！";
dialog.ShowDialog();
return;
}
}
}
this.playBtn.imgStop.IsEnabled = true;
this.playBtn.imgNext.IsEnabled = false;
this.playBtn.imgPrev.IsEnabled = false;
ControlIsEnabled(false);
if (Mode == EvaluateModeEnum.Strength)
{
sinWpf1.Uint = "牛";
}
else
{
sinWpf1.Uint = "度";
}
sinWpf1.ReSet();
eilelc21.Rest();
if (Move == null)
{
Move = new LumbarRobotController.MoveHandler(RobotController_Move);
LumbarRobotController.RobotController.Move += Move;
}
if (StopAction == null)
{
StopAction = new EventHandler(RobotController_StopAction);
LumbarRobotController.RobotController.StopAction += StopAction;
}
if (SetForce == null)
{
SetForce = new SetForceHandler(RobotController_SetForce);
LumbarRobotController.RobotController.SetForce += SetForce;
}
if (StartAction == null)
{
StartAction = new EventHandler(RobotController_StartAction);
LumbarRobotController.RobotController.StartAction += StartAction;
}
if (Mode == EvaluateModeEnum.Range)
{
SetTargetLine(Time, InitialPosition, Angle);
}
else
{
SetTargetLine(Time, 0, Power);
}
LumbarRobotController.RobotController.DoEvaluateAction(Action, Mode);
txtPrompt.Text = "系统正在复位请放松";
//禁用fit按钮
btnActionFree.IsEnabled = false;
}
}
private void Stop(bool isShowDialog = true)
{
var record = LumbarRobotController.RobotController.GetEvaluteResult();
ControlIsEnabled(true);
if (Move != null)
{
LumbarRobotController.RobotController.Move -= Move;
Move = null;
}
if (NextTime != null)
{
LumbarRobotController.RobotController.NextTime -= NextTime;
NextTime = null;
}
if (StopAction != null)
{
LumbarRobotController.RobotController.StopAction -= StopAction;
StopAction = null;
}
if (SetForce != null)
{
LumbarRobotController.RobotController.SetForce -= SetForce;
SetForce = null;
}
if (StartAction != null)
{
LumbarRobotController.RobotController.StartAction -= StartAction;
StartAction = null;
}
SaveTrainRecord(record);
//sinWpf1.ReSet();
//eilelc21.Rest();
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
txtPrompt.Text = "当前评测结束！";
if (isShowDialog)
{
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "当前评测结束！";
dialog.Topmost = true;
dialog.ShowDialog();
}
}
/// <summary>
/// 开始
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void playBtn_PlayClick(object sender, EventArgs e)
{
if (LumbarRobotController.RobotController.IsPause)
{
LumbarRobotController.RobotController.Continue();
}
else
{
ItemDemo item = ActionList[MyActionListBox.SelectedIndex] as ItemDemo;
item.MaxAngle = this.setControlMaxAngle.Value;
ComboBoxItem cbi = (ComboBoxItem)this.CboAction.SelectedItem;
item.ActionName = cbi.Content.ToString();
ComboBoxItem cbMode = (ComboBoxItem)this.CboMode.SelectedItem;
item.ModeName = cbMode.Content.ToString();
item.MinAngle = this.setControlMinAngle.Value;
item.Mode = this.CboMode.SelectedIndex;
item.ActionId = this.CboAction.SelectedIndex;
item.Speed = this.setControlSpeed.Value;
item.Times = this.setControlTimes.Value;
item.Force = this.setControlForce.Value;
item.Position = this.setControlPosition.Value;
item.PicturePath = "/images/prescribe.png";
item.GroupTimes = this.setControlGroup.Value;
MyActionListBox_SelectionChanged(null, null);
//设置当前次数
this.txtTimes.Text = (LumbarRobotController.RobotController.CurrentTimes + 1).ToString();
if (ActionList != null && ActionList.Count > CurrentIndex)
{
this.txtTimes.Text += "/" + ActionList[CurrentIndex].Times * ActionList[CurrentIndex].GroupTimes;
}
if ((ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.Bend ||
(ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.Protrusive ||
(ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.ProtrusiveOrBend)
{
UPLable.Content = "前屈";
Downlabel.Content = "后伸";
//判断限位塞是否有效
var limitSwitchs = LumbarRobotController.RobotController.LimitSwitch;
bool minFlag = false;
bool maxFlag = false;
int minAngle = int.MinValue;
int maxAngle = int.MaxValue;
foreach (var ls in limitSwitchs)
{
var limitAngle = GetLimitSwitchAngle(ls);
if (LumbarRobotController.RobotController.CurrentBendStretchAngle - (LumbarRobotController.RobotController.HomingAngle - LumbarRobotController.RobotController.PushRodAngle) < limitAngle)
{
if (limitAngle < maxAngle)
{
maxAngle = limitAngle;
}
maxFlag = true;
}
else
{
if (limitAngle > minAngle)
{
minAngle = limitAngle;
}
minFlag = true;
}
}
if (!(minFlag && maxFlag))
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "限位塞还未设置或设置错误！";
dialog.ShowDialog();
return;
}
//判断设置角度是否大于限位栓角度
if (LumbarRobotController.RobotController.IsConnected)
{
if (ActionList[CurrentIndex].MinAngle < minAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最小角度不能小于限位塞角度！";
dialog.ShowDialog();
return;
}
if (ActionList[CurrentIndex].MaxAngle > maxAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最大角度不能大于限位塞角度！";
dialog.ShowDialog();
return;
}
}
//判断初始位置是否大于或小于最大值和最小值
if ((ModeEnum)ActionList[CurrentIndex].Mode != ModeEnum.IsotonicA
&& (ModeEnum)ActionList[CurrentIndex].Mode != ModeEnum.IsotonicB)
{
if (ActionList[CurrentIndex].Position > ActionList[CurrentIndex].MaxAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "起始位置不能大于最大角度！";
dialog.ShowDialog();
return;
}
if (ActionList[CurrentIndex].Position < ActionList[CurrentIndex].MinAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "起始位置不能小于最小角度！";
dialog.ShowDialog();
return;
}
}
//加载Fit结果
var fit = (from f in MySession.Query<FitRecord>()
where f.PatientID == ModuleConstant.PatientId && f.ModeID == (int)Common.Enums.FitModeEnum.ProtrusiveOrBendFit
select f).OrderByDescending(x => x.CreateTime).Take(1).ToList();
if (fit != null && fit.Count > 0)
{
eilelc21.FltMinusValue = fit[0].MinAngle;
eilelc21.FltValu = fit[0].MaxAngle;
}
else
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "还未测试！请先测试后再进行训练！";
dialog.ShowDialog();
return;
}
//判断设置角度是否大于fit角度
if (ActionList[CurrentIndex].MinAngle < fit[0].MinAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最小角度不能小于FIT角度！";
dialog.ShowDialog();
return;
}
if (ActionList[CurrentIndex].MaxAngle > fit[0].MaxAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最大角度不能大于FIT角度！";
dialog.ShowDialog();
return;
}
}
else
{
UPLable.Content = "左";
Downlabel.Content = "右";
//加载Fit结果
var fit = (from f in MySession.Query<FitRecord>()
where f.PatientID == ModuleConstant.PatientId && f.ModeID == (int)Common.Enums.FitModeEnum.RotationFit
select f).OrderByDescending(x => x.CreateTime).Take(1).ToList();
if (fit != null && fit.Count > 0)
{
eilelc21.FltMinusValue = fit[0].MinAngle;
eilelc21.FltValu = fit[0].MaxAngle;
}
else
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "还未测试！请先测试后再进行训练！";
dialog.ShowDialog();
return;
}
//判断设置角度是否大于fit角度
if (ActionList[CurrentIndex].MinAngle < fit[0].MinAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最小角度不能小于FIT角度！";
dialog.ShowDialog();
return;
}
if (ActionList[CurrentIndex].MaxAngle > fit[0].MaxAngle)
{
playBtn.Init(MyActionListBox.SelectedIndex, ActionList.Count);
AlarmDialog dialog = new AlarmDialog();
dialog.lblTitle.Text = "提示信息";
dialog.lblMsg.Text = "最大角度不能大于FIT角度！";
dialog.ShowDialog();
return;
}
}
this.playBtn.imgStop.IsEnabled = true;
this.playBtn.imgNext.IsEnabled = false;
this.playBtn.imgPrev.IsEnabled = false;
MyActionListBox.IsEnabled = false;
SetIsEnabled();
ControlIsEnabled(false);
if (LumbarRobotController.RobotController.IsPause)
{
LumbarRobotController.RobotController.IsPause = false;
}
else
{
if ((ModeEnum)ActionList[CurrentIndex].Mode == ModeEnum.IsotonicA
|| (ModeEnum)ActionList[CurrentIndex].Mode == ModeEnum.IsotonicB
|| (ModeEnum)ActionList[CurrentIndex].Mode == ModeEnum.StrengthEvaluation)
{
sinWpf1.Uint = "牛";
}
else
{
sinWpf1.Uint = "度";
}
if (LumbarRobotController.RobotController.IsPause)
{
sinWpf1.ReSet(false);
}
else
{
sinWpf1.ReSet();
}
eilelc21.Rest();
//设置当前次数
this.txtTimes.Text = (LumbarRobotController.RobotController.CurrentTimes + 1).ToString();
if (ActionList != null && ActionList.Count > CurrentIndex)
{
this.txtTimes.Text += "/" + ActionList[CurrentIndex].Times * ActionList[CurrentIndex].GroupTimes;
}
if (ActionList != null && ActionList.Count > CurrentIndex)
{
if (Move == null)
{
Move = new LumbarRobotController.MoveHandler(RobotController_Move);
LumbarRobotController.RobotController.Move += Move;
}
if (NextTime == null)
{
NextTime = new EventHandler(RobotController_NextTime);
LumbarRobotController.RobotController.NextTime += NextTime;
}
if (StopAction == null)
{
StopAction = new EventHandler(RobotController_StopAction);
LumbarRobotController.RobotController.StopAction += StopAction;
}
if (SetForce == null)
{
SetForce = new SetForceHandler(RobotController_SetForce);
LumbarRobotController.RobotController.SetForce += SetForce;
}
if (StartAction == null)
{
StartAction = new EventHandler(RobotController_StartAction);
LumbarRobotController.RobotController.StartAction += StartAction;
}
SetParam();
if ((ModeEnum)ActionList[CurrentIndex].Mode == ModeEnum.IsotonicA)
{
//设置预设目标
if ((ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.Protrusive)
{
SetTargetLineByForce(ActionList[CurrentIndex].Speed, 0, ActionList[CurrentIndex].Force, ActionList[CurrentIndex].Times, ActionList[CurrentIndex].GroupTimes, 0);
}
else if ((ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.Bend)
{
SetTargetLineByForce(ActionList[CurrentIndex].Speed, -1 * ActionList[CurrentIndex].Force,0, ActionList[CurrentIndex].Times, ActionList[CurrentIndex].GroupTimes, 0);
}
else if ((ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.ProtrusiveOrBend
|| (ActionEnum)ActionList[CurrentIndex].ActionId == ActionEnum.Rotation)
{
SetTargetLineByForce(ActionList[CurrentIndex].Speed, -1 * ActionList[CurrentIndex].Force, ActionList[CurrentIndex].Force, ActionList[CurrentIndex].Times, ActionList[CurrentIndex].GroupTimes, 0);
}
}
else if ((ModeEnum)ActionList[CurrentIndex].Mode == ModeEnum.IsotonicB)
{
SetTargetLineByForce2((ActionEnum)ActionList[CurrentIndex].ActionId, ActionList[CurrentIndex].Speed, ActionList[CurrentIndex].Force, ActionList[CurrentIndex].Times, ActionList[CurrentIndex].GroupTimes, 0);
}
else
{
if ((ModeEnum)ActionList[CurrentIndex].Mode != ModeEnum.Guided
&& (ModeEnum)ActionList[CurrentIndex].Mode != ModeEnum.Fit)
{
//设置预设目标
SetTargetLine(ActionList[CurrentIndex].Speed, ActionList[CurrentIndex].MaxAngle, ActionList[CurrentIndex].MinAngle, ActionList[CurrentIndex].Times, ActionList[CurrentIndex].GroupTimes, ActionList[CurrentIndex].Position);
}
}
LumbarRobotController.RobotController.DoAction((ModeEnum)ActionList[CurrentIndex].Mode, (ActionEnum)ActionList[CurrentIndex].ActionId);
}
}
txtPrompt.Text = "系统正在复位请放松";
//禁用fit按钮
btnRotationFit.IsEnabled = false;
btnPBFit.IsEnabled = false;
btnActionFree.IsEnabled = false;
}
}
private void UserControl_Loaded(object sender, RoutedEventArgs e)
{
if (ActionList.Count == 1)
{
this.playBtn.IsPlayNextValid = false;
this.playBtn.IsPlayPrevValid = false;
}
else
{
this.playBtn.IsPlayPrevValid = false;
this.playBtn.IsPlayNextValid = true;
}
//初始化限位塞
SetLimitSwitch();
userLine1.BarFactHeght = LumbarRobotController.RobotController.PushRodAngle;
if (LimitSwitchChanged == null)
{
LimitSwitchChanged = new EventHandler(RobotController_LimitSwitchChanged);
LumbarRobotController.RobotController.LimitSwitchChanged += LimitSwitchChanged;
}
if (PushRodChanged == null)
{
PushRodChanged = new EventHandler(RobotController_PushRodChanged);
LumbarRobotController.RobotController.PushRodChanged += PushRodChanged;
}
if (AlarmEvent == null)
{
AlarmEvent = new LumbarRobotController.AlarmHandler(RobotController_Alarm);
LumbarRobotController.RobotController.Alarm += AlarmEvent;
}
//上次训练推杆高度
var record = (from r in MySession.Query<Exerciserecord>()
where r.PatientId == ModuleConstant.PatientId
select r).OrderByDescending(x => x.StartTime).Take(1).ToList();
if (record.Count > 0)
{
userLine1.BarHeight = record.First().PushRodValue;
}
//报警信息
if (LumbarRobotController.RobotController.AlarmCode != 0)
{
var args = new LumbarRobotController.AlarmArgs();
args.AlarmCode = LumbarRobotController.RobotController.AlarmCode;
RobotController_Alarm(args);
}
if (fitType != LumbarRobot.FitType.None)
{
lock (_lock)
{
FitResultList = null;
if (LumbarRobotController.RobotController.IsPause)
{
LumbarRobotController.RobotController.IsPause = false;
}
else
{
if (fitType == LumbarRobot.FitType.BendStretchStrength
|| fitType == LumbarRobot.FitType.RotateStrength)
{
sinWpf1.Uint = "牛";
}
else
{
sinWpf1.Uint = "度";
}
sinWpf1.ReSet();
eilelc21.Rest();
if (Move == null)
{
Move = new LumbarRobotController.MoveHandler(RobotController_Move);
LumbarRobotController.RobotController.Move += Move;
}
if (NextTime == null)
{
NextTime = new EventHandler(RobotController_NextTime);
LumbarRobotController.RobotController.NextTime += NextTime;
}
//StopAction = new EventHandler(RobotController_StopAction);
//LumbarRobotController.RobotController.StopAction += StopAction;
if (StartAction == null)
{
StartAction = new EventHandler(RobotController_StartAction);
LumbarRobotController.RobotController.StartAction += StartAction;
}
if (fitType == LumbarRobot.FitType.BendStretchStrength
|| fitType == LumbarRobot.FitType.RotateStrength)
{
if (SetForce == null)
{
SetForce = new SetForceHandler(RobotController_SetForce);
LumbarRobotController.RobotController.SetForce += SetForce;
}
}
SetParam();
if (fitType == LumbarRobot.FitType.BendStretchRange)
{
LumbarRobotController.RobotController.DoAction(ModeEnum.Fit, ActionEnum.ProtrusiveOrBend);
}
else if (fitType == LumbarRobot.FitType.BendStretchStrength)
{
LumbarRobotController.RobotController.DoAction(ModeEnum.StrengthEvaluation, ActionEnum.ProtrusiveOrBend);
}
else if (fitType == LumbarRobot.FitType.RotateRange)
{
LumbarRobotController.RobotController.DoAction(ModeEnum.Fit, ActionEnum.Rotation);
}
else
{
LumbarRobotController.RobotController.DoAction(ModeEnum.StrengthEvaluation, ActionEnum.Rotation);
}
//LimitSwitchChanged = new EventHandler(RobotController_LimitSwitchChanged);
//LumbarRobotController.RobotController.LimitSwitchChanged += LimitSwitchChanged;
}
txtPrompt.Text = "系统正在复位请放松";
if (fitType == LumbarRobot.FitType.BendStretchStrength)
{
txtMsg.Text = "正在进行屈伸力量测试，完成后点击确定！";
}
else if (fitType == LumbarRobot.FitType.RotateStrength)
{
txtMsg.Text = "正在进行旋转力量测试，完成后点击确定！";
}
else if (fitType == LumbarRobot.FitType.BendStretchRange)
{
txtMsg.Text = "正在进行屈伸Fit，完成后点击确定！";
}
else
{
txtMsg.Text = "正在进行旋转Fit，完成后点击确定！";
}
//设置当前次数
this.txtTimes.Text = "0/0";
}
}
}
