public void LoacateBreakPoint()
{
var point = this.provider.Locate(ref this.currentLen);
this.provider.CurrentLen = this.currentLen;
if (point == null)
{
return;
}
var para = new ManualParameter
{
Speed = GlobalModel.Params.LayerConfig.EmptyMoveSpeed,
Acceleration = GlobalModel.Params.LayerConfig.EmptyMoveAcceleratedSpeed,
TargetPoint = point.Value
};
this.NotifyStatusChanged("BreakPointLocate");
this.lastOperation = "BreakPointLocate";
Messenger.Default.Send <object>(OperationStatus.Running, "OperStatusChanged");
this.AddSysLog("定位", Color.FromArgb(128, 0, 0));
this.AddSysLog("停止-->定位", Color.Black);
OperationEngine.Instance.MakeManualMovementAsync(para).ContinueWith(x =>
{
Messenger.Default.Send <object>(OperationStatus.Idle, "OperStatusChanged");
this.AddSysLog("定位-->暂停", Color.Black);
this.NotifyStatusChanged("Pause");
this.lastOperation = "Pause";
this.provider.CurrentLen = this.currentLen;
});
}
private void ReturnMark()
{
this.UpdateReturnPoint();
var retPoint = SystemContext.MachineControlPara.ReturnPoint;
if (retPoint != null)
{
var para = new ManualParameter
{
Speed = GlobalModel.Params.LayerConfig.EmptyMoveSpeed,
Acceleration = GlobalModel.Params.LayerConfig.EmptyMoveAcceleratedSpeed,
TargetPoint = retPoint.Value
};
this.lastOperation = "Stopping";
this.NotifyStatusChanged("Stopping");
this.AddSysLog("正在加工-->回停靠", Color.Black);
OperationEngine.Instance.MakeManualMovementAsync(para).Wait();
this.AddSysLog("回停靠-->停止", Color.Black);
}
this.NotifyStatusChanged("Idle");
this.lastOperation = "Idle";
SystemContext.MachineControlPara.MachiningCnt = 1;
SystemContext.MachineControlPara.MachiningIntervalSeconds = 0;
Messenger.Default.Send <object>(true, "CanvasStatusChanged");
Messenger.Default.Send <object>(false, "MenuInfoDisChanged");
Messenger.Default.Send <object>(null, "ClearMark");
}
public void MoveToMarkPoint()
{
var coordinatePara = SystemContext.CoordinatePara;
var p = coordinatePara.MarkSeries[coordinatePara.MarkIndex];
var para = new ManualParameter
{
Speed = this.Speed,
Acceleration = GlobalModel.Params.LayerConfig.EmptyMoveAcceleratedSpeed,
Step = double.NaN,
TargetPoint = p
};
Messenger.Default.Send <bool>(true, "OnManualMovement"); //this => Machining ViewModel
this.running = true;
this.NotityStatusChanged("Running");
string msg = $"会标记点{coordinatePara.MarkIndex + 1},坐标({p.X.ToString("0.###")},{p.Y.ToString("0.###")})mm";
this.AddSysLog(msg, Color.FromArgb(0, 128, 0));
Messenger.Default.Send <object>("ReturnMark", "UpdateOperation");
OperationEngine.Instance.MakeManualMovementAsync(para).ContinueWith(x =>
{
Messenger.Default.Send <bool>(false, "OnManualMovement"); //this => Machining ViewModel
this.running = false;
this.NotityStatusChanged("Idle");
this.AddSysLog("回标记点-->停止", Color.Black);
Messenger.Default.Send <object>("Idle", "UpdateOperation");
});
}
public Task MakeManualMovementAsync(ManualParameter para)
{
return(this.machiningTask = Task.Factory.StartNew(() =>
{
this.cancellation = new CancellationTokenSource();
this.Status = EngineStatus.Running;
var broker = new PointMoveBroker(para);
broker.Execute(this.cancellation.Token);
this.Status = EngineStatus.Idle;
}));
}
private Task MoveToZeroAsync()
{
var zeroIndex = SystemContext.CoordinatePara.RefZeroIndex;
var zeroPoint = SystemContext.CoordinatePara.RefZeroSeries[zeroIndex];
var para = new ManualParameter
{
Speed = GlobalModel.Params.LayerConfig.EmptyMoveSpeed,
Acceleration = GlobalModel.Params.LayerConfig.EmptyMoveAcceleratedSpeed,
TargetPoint = zeroPoint
};
return(OperationEngine.Instance.MakeManualMovementAsync(para));
}
public void MakeMovement(Tuple <AxisTypes, double> info)
{
var para = new ManualParameter
{
Speed = this.Speed,
Acceleration = GlobalModel.Params.LayerConfig.EmptyMoveAcceleratedSpeed,
Step = this.IsStepMove ? this.Step * info.Item2 : MAX_DISTANCE * info.Item2,
Axis = info.Item1,
IsPointMoveCut = this.IsPointMoveCut
};
this.UpdateStep(para);
if (para.Step == 0)
{
return;
}
//Update UI before movement
if (this.IsStepMove)
{
this.running = true;
this.NotityStatusChanged("Running");
}
Messenger.Default.Send <bool>(true, "OnManualMovement"); //this => Machining ViewModel
this.AddSysLog("停止-->点动", Color.Black);
Messenger.Default.Send <object>("PointMove", "UpdateOperation");
OperationEngine.Instance.MakeManualMovementAsync(para).ContinueWith(x =>
{
Messenger.Default.Send <bool>(false, "OnManualMovement"); //this => Machining ViewModel
if (this.IsStepMove)
{
this.running = false;
this.NotityStatusChanged("Idle");
}
if (this.IsPointMoveCut)
{
DispatcherService.BeginInvoke(() => this.IsPointMoveCut = false);
}
this.AddSysLog("点动-->停止", Color.Black);
Messenger.Default.Send <object>("Idle", "UpdateOperation");
});
}
private void UpdateStep(ManualParameter para)
{
if (SystemContext.MachineControlPara.SoftwareLimitEnabled && (para.Axis == AxisTypes.AxisX || para.Axis == AxisTypes.AxisY))
{
var current = SystemContext.Hardware.GetCurrentPosition();
var rect = SystemContext.SystemPara.GetMachiningRegion();
if (para.Axis == AxisTypes.AxisX)
{
#region AxisX soft limit
if (para.Step > 0)
{
if (current.X < rect.Right)
{
float xDiff = rect.Right - current.X;
if (para.Step > xDiff)
{
para.Step = xDiff;
}
}
else
{
para.Step = 0;
}
}
else
{
if (current.X > rect.Left)
{
float xDiff = rect.Left - current.X;
if (para.Step < xDiff)
{
para.Step = xDiff;
}
}
else
{
para.Step = 0;
}
}
#endregion
}
else
{
#region AxisY soft limit
if (para.Step > 0)
{
if (current.Y < rect.Bottom)
{
float yDiff = rect.Bottom - current.Y;
if (para.Step > yDiff)
{
para.Step = yDiff;
}
}
else
{
para.Step = 0;
}
}
else
{
if (current.Y > rect.Top)
{
float yDiff = rect.Top - current.Y;
if (para.Step < yDiff)
{
para.Step = yDiff;
}
}
else
{
para.Step = 0;
}
}
#endregion
}
}
}
public PointMoveBroker(ManualParameter para)
{
this.manualPara = para;
this.pointMovePara = GlobalModel.Params.LayerConfig.PointMoveCut;
}
