public void StopPlaying()
{
if (isPlaying)
{
StopEvent?.Invoke();
SetPlayState(false);
}
}
public void Stop()
{
if (!IsRunning)
{
return;
}
_isRunning = false;
StopEvent?.Invoke(this, EventArgs.Empty);
}
public void Rotate(Vector3 v, float deltaTime, bool active = false)
{
var speed = acceleration.GetSpeed(deltaTime, rotationSpeed, active);
movement.Rotate(v * speed);
if (previousRotationSpeed < 0.1f && speed != previousRotationSpeed)
{
RotateEvent?.Invoke();
}
else if (previousRotationSpeed > 0.1f && speed == 0)
{
StopEvent?.Invoke();
}
previousRotationSpeed = speed;
}
public void LookRotate(Vector3 v, float deltaTime, bool active = false)
{
var speed = acceleration.GetSpeed(deltaTime, rotationSpeed, active);
currentLookRotation = Vector3.Lerp(currentLookRotation, v, speed);
movement.LookRotate(currentLookRotation);
if (previousLookRotationSpeed < 0.1f && speed != previousLookRotationSpeed)
{
RotateEvent?.Invoke();
}
else if (previousLookRotationSpeed > 0.1f && speed == 0)
{
StopEvent?.Invoke();
}
previousLookRotationSpeed = speed;
}
/// <summary>
/// 停止按钮
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void stop_Click(object sender, EventArgs e)
{
if (running)//运行中
{
StopEvent?.Invoke();
running = false;
pausing = false;
Start.Enabled = true;
pause.Enabled = true;
resume.Enabled = true;
stop.Enabled = true;
SelectMethod.Enabled = true;
}
else
{
return;
}
}
// Старт процесса в режиме удаленного управления
public async Task RemoteStart(IDevice device, string box, DateTime dateTime, bool primaryVerification)
{
try
{
Product = new ProductInfo(device, box, dateTime, primaryVerification);
RemoteStartEvent?.Invoke(this, new EventArgs());
cts = new CancellationTokenSource();
await Task.Run(() => Start(device, primaryVerification, cts.Token));
savingResults.SaveResult(Product, TestResults, dialogService);
StopEvent?.Invoke(this, new EventArgs());
ProcessComplete?.Invoke(this, new EventArgs());
}
catch (OperationCanceledException)
{
StopEvent?.Invoke(this, new EventArgs());
}
}
public static void RecordPath()
{
m_RecordPath = true;
double lastSplitX = -1;
double lastSplitY = -1;
while (m_RecordPath)
{
Api.Sync.WaitOne();
if (Api.PlayerData.Found)
{
double currentX = Api.PlayerData.PlayerXPosition;
double currentY = Api.PlayerData.PlayerYPosition;
uint currentMapId = Api.PlayerData.MapId;
if (lastSplitX == -1)
{
lastSplitX = currentX;
lastSplitY = currentY;
RecordPathEvent?.Invoke(null, new RecordPathEventArgs(new Waypoint(currentMapId, currentX, currentY)));
continue;
}
double splitDistance = Math.Sqrt((currentX - lastSplitX) * (currentX - lastSplitX) + (currentY - lastSplitY) * (currentY - lastSplitY));
if (splitDistance < SplitDistance)
{
continue;
}
lastSplitX = currentX;
lastSplitY = currentY;
RecordPathEvent?.Invoke(null, new RecordPathEventArgs(new Waypoint(currentMapId, currentX, currentY)));
}
}
StopEvent?.Invoke(null, new EventArgs());
}
/// <summary>
/// 终止运行
/// </summary>
public void ThreadStop()
{
//置位退出标志
stop = true;
//检测是否在暂停中
if (on_off)
{
ThreadResume();
}
do
{
Thread.Sleep(100);
}while(thread.IsAlive);
//清除标志位
on_off = false;
stop = false;
//加工结束 响应的动作
StopEvent?.Invoke();
}
void Start()
{
StartEvent.Invoke();
UpdateEvent.Invoke();
StopEvent.Invoke();
}
public void Update(GameTime gameTime, bool enableMove)
{
if (_isActive && enableMove)
{
Vector3 translateScaleLocal = Vector3.Zero;
Vector3 translateScaleWorld = Vector3.Zero;
Matrix rotationLocal = Matrix.Identity;
Matrix rotationWorld = Matrix.Identity;
if (_mouse.IsMouseButtonDown(Input.MouseButton.Left) && ActiveAxis != GizmoAxis.None)
{
if (_mouse.LastState().LeftButton == ButtonState.Released)
{
StartEvent?.Invoke();
}
switch (ActiveMode)
{
case GizmoMode.UniformScale:
case GizmoMode.NonUniformScale:
case GizmoMode.Translate:
HandleTranslateAndScale(_mouse.Position(), out translateScaleLocal, out translateScaleWorld);
break;
case GizmoMode.Rotate:
HandleRotation(gameTime, out rotationLocal, out rotationWorld);
break;
}
}
else
{
if (_mouse.LastState().LeftButton == ButtonState.Pressed && _mouse.State().LeftButton == ButtonState.Released)
{
StopEvent?.Invoke();
}
ResetDeltas();
if (_mouse.State().LeftButton == ButtonState.Released && _mouse.State().RightButton == ButtonState.Released)
{
SelectAxis(_mouse.Position());
}
}
UpdateGizmoPosition();
// -- Trigger Translation, Rotation & Scale events -- //
if (_mouse.IsMouseButtonDown(Input.MouseButton.Left))
{
if (translateScaleWorld != Vector3.Zero)
{
if (ActiveMode == GizmoMode.Translate)
{
foreach (var entity in Selection)
{
OnTranslateEvent(entity, translateScaleWorld, translateScaleLocal);
}
}
else
{
foreach (var entity in Selection)
{
OnScaleEvent(entity, translateScaleWorld);
}
}
}
if (rotationWorld != Matrix.Identity)
{
foreach (var entity in Selection)
{
OnRotateEvent(entity, rotationWorld, rotationLocal);
}
}
}
}
if (Selection.Count == 0)
{
_isActive = false;
ActiveAxis = GizmoAxis.None;
return;
}
// helps solve visual lag (1-frame-lag) after selecting a new entity
if (!_isActive)
{
UpdateGizmoPosition();
}
_isActive = true;
// -- Scale Gizmo to fit on-screen -- //
Vector3 vLength = _camera.Position - _position;
const float scaleFactor = 25;
_screenScale = vLength.Length() / scaleFactor;
var screenScaleMatrix = Matrix.CreateScale(new Vector3(_screenScale * ScaleModifier));
_localForward = Vector3.Transform(Vector3.Forward, Matrix.CreateFromQuaternion(Selection[0].Orientation)); //Selection[0].Forward;
_localUp = Vector3.Transform(Vector3.Up, Matrix.CreateFromQuaternion(Selection[0].Orientation)); //Selection[0].Up;
// -- Vector Rotation (Local/World) -- //
_localForward.Normalize();
_localRight = Vector3.Cross(_localForward, _localUp);
_localUp = Vector3.Cross(_localRight, _localForward);
_localRight.Normalize();
_localUp.Normalize();
// -- Create Both World Matrices -- //
_objectOrientedWorld = screenScaleMatrix * Matrix.CreateWorld(_position, _localForward, _localUp);
_axisAlignedWorld = screenScaleMatrix * Matrix.CreateWorld(_position, SceneWorld.Forward, SceneWorld.Up);
// Assign World
if (GizmoDisplaySpace == TransformSpace.World ||
//ActiveMode == GizmoMode.Rotate ||
//ActiveMode == GizmoMode.NonUniformScale ||
ActiveMode == GizmoMode.UniformScale)
{
_gizmoWorld = _axisAlignedWorld;
// align lines, boxes etc. with the grid-lines
_rotationMatrix.Forward = SceneWorld.Forward;
_rotationMatrix.Up = SceneWorld.Up;
_rotationMatrix.Right = SceneWorld.Right;
}
else
{
_gizmoWorld = _objectOrientedWorld;
// align lines, boxes etc. with the selected object
_rotationMatrix.Forward = _localForward;
_rotationMatrix.Up = _localUp;
_rotationMatrix.Right = _localRight;
}
// -- Reset Colors to default -- //
ApplyColor(GizmoAxis.X, _axisColors[0]);
ApplyColor(GizmoAxis.Y, _axisColors[1]);
ApplyColor(GizmoAxis.Z, _axisColors[2]);
// -- Apply Highlight -- //
ApplyColor(ActiveAxis, _highlightColor);
}
protected void OnStop()
{
StopEvent?.Invoke(this);
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
StopEvent.Invoke(sender, e);
}
private void stopToolStripMenuItem_Click(object sender, EventArgs e)
{
StopEvent?.Invoke(this, e);
}
protected virtual void OnStopEvent()
{
StopEvent?.Invoke(this, EventArgs.Empty);
}
private static void Shutdown()
{
StopEvent?.Invoke();
Bootstrap.Dispose();
}
/// <summary>
/// Mark坐标定位 试矫正
/// </summary>
private void Mark_AFF_Correction()
{
if (Calibration.Calibrate_Mark(0))
{
//解析DXF文件
ResolveData();
//判断是否存在加工轨迹偏移轨迹
if (File_Entity_Datas.LayerSectionDatas.Count <= 0)
{
StopEvent?.Invoke();
return;
}
//Mark定位 检测是否Mark是否在相机视野
//重新梳理定位Mark信息
if (MarkType == 1) // 1 - 整块板定位(取4角)
{
File_Entity_Datas.PlatformMarkInfo.Clear(); //清空平台Mark坐标
foreach (var o in File_Entity_Datas.DxfMarkInfo)
{
File_Entity_Datas.PlatformMarkInfo.Add(new Vector(o.X + File_Entity_Datas.Mark.X, o.Y + File_Entity_Datas.Mark.Y));
}
}
else if (MarkType == 2)// 2 - 阵列文件定位(小分区取4角)；
{
for (int i = 0; i < File_Entity_Datas.LayerSectionDatas.Count; i++)
{
for (int j = 0; j < File_Entity_Datas.LayerSectionDatas[i].SectionEntityDatas.Count; j++)
{
File_Entity_Datas.LayerSectionDatas[i].SectionEntityDatas[j].PlatformMarkInfo.Clear();//清空平台Mark坐标
foreach (var o in File_Entity_Datas.LayerSectionDatas[i].SectionEntityDatas[j].DxfMarkInfo)
{
File_Entity_Datas.LayerSectionDatas[i].SectionEntityDatas[j].PlatformMarkInfo.Add(new Vector(o.X + File_Entity_Datas.Mark.X, o.Y + File_Entity_Datas.Mark.Y));
}
}
}
}
//验证视野是否存在Mark图形
if (MarkType == 1)// 1 - 整块板定位(取4角)
{
//Mark点位数量异常
if ((File_Entity_Datas.PlatformMarkInfo.Count < 3) || (File_Entity_Datas.DxfMarkInfo.Count < 3))
{
MessageBox.Show("Mark定位点位数据异常！！！");
return;
}
//验证
for (int i = 0; i < File_Entity_Datas.PlatformMarkInfo.Count; i++)
{
//定位到Mark点
Program.SystemContainer.GTS_Fun.Gts_Ready_Correct(File_Entity_Datas.PlatformMarkInfo[i]);
//调用相机，获取对比的坐标信息
Thread.Sleep(50); //延时50ms
Cam = new Vector(Program.SystemContainer.T_Client.Get_Cam_Deviation_Coordinate_Correct(Program.SystemContainer.SysPara.Camera_Mark_Type)); //触发拍照
if (Cam.Length == 0)
{
MessageBox.Show("相机坐标提取失败，请检查！！！");
return(null);
}
}
}
else if (MarkType == 2)// 2 - 阵列文件定位(小分区取4角)；
{
//处理数据
for (int i = 0; i < File_Entity_Datas.LayerSectionDatas.Count; i++)
{
for (int j = 0; j < File_Entity_Datas.LayerSectionDatas[i].SectionEntityDatas.Count; j++)
{
//验证
}
}
}
appendInfo("Mark点矫正完成！！！");
return;
}
else
{
appendInfo("Mark点矫正失败！！！");
return;
}
}
/// <summary>
/// 循环结构
/// </summary>
public void Runtime()
{
/****************启动前检测***************/
//判断坐标系建立是否破坏
if ((Program.SystemContainer.IO.Axis01_mode != 5) || (Program.SystemContainer.IO.Axis01_mode != 5))
{
Info("检测到平台坐标系未建立，请重新回零！！！");
//非强制退出
if (!stop)
{
//加工结束 响应的动作
StopEvent?.Invoke();
}
return;
}
/****************加工方式选择***************/
//选择加工方式
this.Invoke((EventHandler) delegate
{
Work_Type_No = Array.IndexOf(Methods_List, Work_Type_Select_List.SelectedItem.ToString());
});
switch (Work_Type_No)
{
case 0: //振镜空白和平台未补偿
break;
case 1: //振镜仿射和平台未补偿
break;
case 2: //振镜仿射和平台已补偿
//解析DXF文件
ResolveData();
//判断是否存在加工轨迹偏移轨迹
if (File_Entity_Datas.LayerSectionDatas.Count <= 0)
{
StopEvent?.Invoke();
return;
}
//Mark定位 矫正偏转
if (!CalibrateFileData(File_Entity_Datas))
{
StopEvent?.Invoke();
return;
}
//加工指定文件
PushDataToController(File_Entity_Datas); //从这里指定加判断
break;
case 3: //振镜旋转和平台已补偿
break;
case 4: //振镜矩阵和平台已补偿
break;
case 5: //振镜桶形畸变图形加工
Rtc_Barrel_Distortion_Figure_Sculpture();
break;
case 6: //振镜桶形畸变数据采集
Rtc_Barrel_Distortion_Figure_Data_Acquisition();
break;
case 7: //振镜仿射矩阵图形加工
break;
case 8: //振镜仿射矩阵数据采集
break;
case 9: //Mark坐标定位矫正
Mark_AFF_Correction();
break;
case 10: //Mark坐标定位重矫正 移除，不再使用
break;
case 11: //相机坐标系标定(打标)
Calibration_Camera_Axes_Mark();
break;
case 12: //相机坐标系标定(标定板)
Calibration_Camera_Axes_Board();
break;
case 13: //矫正振镜坐标系偏转角
Calibration_Rtc_Axes_AFF_Angle();
break;
case 14: //振镜与ORG距离校准
Calibration_Rtc_Gts_ORG_Distance();
break;
case 15: //坐标系原点坐标校准
Clabration_ORG_Align();
break;
case 16: //计算标定板旋转参数
Calibration_Board_Angle();
break;
case 17: //标定板原始校准数据
Calibration_Original_Data_Collect();
break;
case 18: //标定板二次校准验证
Calibration_Second_Data_Collect();
break;
case 19: //振镜空白和平台已补偿
break;
case 20: //标定板多次校准验证
break;
default:
break;
}
/************非强制退出************/
//非强制退出
if (!stop)
{
//加工结束 响应的动作
StopEvent?.Invoke();
}
}
private void StopButtonClicked(object sender, RoutedEventArgs e)
{
StopEvent.Invoke(sender, e);
}
public void StopGame()
{
_score.TrySaveBest(_player);
StopEvent?.Invoke();
}
