protected ToolComp toolCompChecker(string par, string tokenInfo)
{
ToolComp comp = ToolComp.None;
if (string.IsNullOrEmpty(par))
{
return(comp);
}
if (par.ToUpper() == "R")
{
comp = ToolComp.Right;
}
else if (par.ToUpper() == "L")
{
comp = ToolComp.Left;
}
else
{
this.isValid = false;
this.writeError(string.Format("机加工指令{0}参数错误,错误值：{1}", tokenInfo, par), false);
}
return(comp);
}
/// <summary>
/// Get the absolute robot coordinates (Used for Line elements: Trigger)
/// </summary>
/// <param name="distance">Distance along the Loc vector (angle of Yaw) </param>
/// <param name="applyToolOffset"> Ad the too offset to adjust for tool moounting position</param>
/// <returns></returns>
public G3DPoint GetRobotLoc(Millimeters distance, bool applyToolOffset)
{
if (Loc.XYYawMode == G3DPoint.eMode.Absolute)
{
double x = distance * Math.Cos(Loc.Yaw);
double y = distance * Math.Sin(Loc.Yaw);
if (Loc.ZMode == G3DPoint.eMode.Absolute)
{
return(new G3DPoint(Loc.X + x, Loc.Y + y, Loc.Z));
}
else
{
return(new G3DPoint(Loc.X + x, Loc.Y + y, 0));
}
}
G3DPoint pt = TransformXY(distance, 0);
if (Loc.ZMode == G3DPoint.eMode.Absolute)
{
pt.Z.Val = Loc.Z;
}
else
{
pt.Z.Val = TransformZ(0);
}
if (applyToolOffset && ToolComp != null)
{
if (_offsetComp == null && _offsetCompCheck == false)
{
_offsetComp = ToolComp.FilterByTypeSingle <G3DCompBase>();
_offsetCompCheck = true;
}
if (_offsetComp != null)
{
pt.X += _offsetComp.Loc.X;
pt.Y += _offsetComp.Loc.Y;
if (Loc.ZMode == G3DPoint.eMode.Relative)
{
pt.Z += _offsetComp.Loc.Z;
}
}
}
return(pt);
}
public override void ToMachining(double AssociatedDist, Entities.ToolFile toolFile)
{
//指令根据板件的1-4个边进行定位
//需要根据面的方位来生成加工的位置
//幸运的是，不需要经过太多的坐标转换
List <Point3d> Points = new List <Point3d>();
ToolComp comp = ToolComp.None;
if (EdgeNumber == 1)
{
Point3d firstPt = new Point3d(StartX, -LeadIn, Depth);
Point3d secondPt = new Point3d(StartX, StartY, Depth);
Point3d thirdPt = new Point3d(EndX, EndY, Depth);
Point3d forthPt = new Point3d(EndX, -LeadIn, Depth);
Points.Add(firstPt);
Points.Add(secondPt);
Points.Add(thirdPt);
Points.Add(forthPt);
comp = ToolComp.Left;
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = Points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
else if (EdgeNumber == 2)
{
//double pl = (Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
double pw = (!Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
Point3d firstPt = new Point3d(StartX, pw + LeadIn, Depth);
Point3d secondPt = new Point3d(StartX, pw - StartY, Depth);
Point3d thirdPt = new Point3d(EndX, pw - EndY, Depth);
Point3d forthPt = new Point3d(EndX, pw + LeadIn, Depth);
Points.Add(firstPt);
Points.Add(secondPt);
Points.Add(thirdPt);
Points.Add(forthPt);
comp = ToolComp.Right;
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = Points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
else if (EdgeNumber == 3)
{
//double pl = (Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
//double pw = (!Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
Point3d firstPt = new Point3d(-LeadIn, StartY, Depth);
Point3d secondPt = new Point3d(StartX, StartY, Depth);
Point3d thirdPt = new Point3d(EndX, EndY, Depth);
Point3d forthPt = new Point3d(-LeadIn, EndY, Depth);
Points.Add(firstPt);
Points.Add(secondPt);
Points.Add(thirdPt);
Points.Add(forthPt);
comp = ToolComp.Right;
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = Points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
else if (EdgeNumber == 4)
{
double pl = (Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
//double pw = (!Part.MachinePoint.IsRotated) ? Part.Width : Part.Length;
Point3d firstPt = new Point3d(pl + LeadIn, StartY, Depth);
Point3d secondPt = new Point3d(pl - StartX, StartY, Depth);
Point3d thirdPt = new Point3d(pl - EndX, EndY, Depth);
Point3d forthPt = new Point3d(pl + LeadIn, EndY, Depth);
Points.Add(firstPt);
Points.Add(secondPt);
Points.Add(thirdPt);
Points.Add(forthPt);
comp = ToolComp.Left;
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = Points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
}
public override void ToMachining(double AssociatedDist, Entities.ToolFile toolFile)
{
//先以当前点为坐标系，建立两点坐标
double xydist = System.Math.Sqrt(DistX * DistX + DistY * DistY);
double cos = DistX / xydist;
double sin = DistY / xydist;
Point3d firstPt = new Point3d(DistX + LeadIn * cos, -LeadIn * sin, Depth);
Point3d secondPt = new Point3d(-LeadIn * cos, DistY + LeadIn * sin, Depth);
//把两点坐标，转换为世界坐标，再转为MP坐标系
Point3d pt = Part.GetPartPointByNumber(EdgeNumber.ToString());
Matrix3d matrix1 = Matrix3d.AlignCoordinateSystem(
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis,
pt,
(Part.MachinePoint.IsRotated) ? this.GetPointYAxis(EdgeNumber) : this.GetPointXAxis(EdgeNumber),
(Part.MachinePoint.IsRotated) ? this.GetPointXAxis(EdgeNumber) : this.GetPointYAxis(EdgeNumber),
Vector3d.ZAxis);
Matrix3d matrix2 = Matrix3d.AlignCoordinateSystem(
Part.MPPoint,
Part.MPXAxis,
Part.MPYAxis,
Part.MPZAxis,
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis);
firstPt = firstPt.TransformBy(matrix1).TransformBy(matrix2);
secondPt = secondPt.TransformBy(matrix1).TransformBy(matrix2);
ToolComp comp = ToolComp.None;
if (firstPt.X >= secondPt.X && firstPt.Y >= secondPt.Y)
{
comp = ToolComp.Left;
}
else if (firstPt.X >= secondPt.X && firstPt.Y < secondPt.Y)
{
comp = ToolComp.Right;
}
else if (firstPt.X < secondPt.X && firstPt.Y < secondPt.Y)
{
comp = ToolComp.Left;
}
else if (firstPt.X < secondPt.X && firstPt.Y >= secondPt.Y)
{
comp = ToolComp.Right;
}
List <Point3d> points = new List <Point3d>()
{
firstPt, secondPt
};
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
public override void ToMachining(double AssociatedDist, ToolFile toolFile)
{
//由于这个指令是指定了板件的1-8个点进行定位的，所以要把空间的绝对坐标换算回机加工原点的相对坐标
//matrix1负责把所在点的坐标转换为板件中心的坐标
//matrix2负责把板件中心的坐标，再转换为MP中心的坐标
Point3d pt = Part.GetPartPointByNumber(EdgeNumber.ToString());
Matrix3d matrix1 = Matrix3d.AlignCoordinateSystem(
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis,
pt,
(Part.MachinePoint.IsRotated) ? this.GetPointYAxis(EdgeNumber) : this.GetPointXAxis(EdgeNumber),
(Part.MachinePoint.IsRotated) ? this.GetPointXAxis(EdgeNumber) : this.GetPointYAxis(EdgeNumber),
Vector3d.ZAxis);
Matrix3d matrix2 = Matrix3d.AlignCoordinateSystem(
Part.MPPoint,
Part.MPXAxis,
Part.MPYAxis,
Part.MPZAxis,
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis);
if (LeadIn > 0)
{
double rRadius = LeadIn;
Point3d firstPt = new Point3d(Radius + rRadius, -rRadius, Depth);
Point3d secondPt = new Point3d(Radius, 0, Depth);
Point3d thirdPt = new Point3d(0, Radius, Depth);
Point3d forthPt = new Point3d(-rRadius, Radius + rRadius, Depth);
firstPt = firstPt.TransformBy(matrix1).TransformBy(matrix2);
secondPt = secondPt.TransformBy(matrix1).TransformBy(matrix2);
thirdPt = thirdPt.TransformBy(matrix1).TransformBy(matrix2);
forthPt = forthPt.TransformBy(matrix1).TransformBy(matrix2);
double firstBulge = -0.414214;
ToolComp comp = ToolComp.None;
if (firstPt.X >= thirdPt.X && firstPt.Y >= thirdPt.Y)
{
comp = ToolComp.Left;
firstBulge *= -1;
}
else if (firstPt.X >= thirdPt.X && firstPt.Y < thirdPt.Y)
{
comp = ToolComp.Right;
}
else if (firstPt.X < thirdPt.X && firstPt.Y < thirdPt.Y)
{
comp = ToolComp.Left;
firstBulge *= -1;
}
else if (firstPt.X < thirdPt.X && firstPt.Y >= thirdPt.Y)
{
comp = ToolComp.Right;
}
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = new List <Point3d>()
{
firstPt, secondPt, thirdPt, forthPt
};
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, firstBulge, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
}
public override void ToMachining(double AssociatedDist, Entities.ToolFile toolFile)
{
//由于这个指令是指定了板件的1-8个点进行定位的，所以要把空间的绝对坐标换算回机加工原点的相对坐标
//matrix1负责把所在点的坐标转换为板件中心的坐标
//matrix2负责把板件中心的坐标，再转换为MP中心的坐标
Point3d pt = Part.GetPartPointByNumber(EdgeNumber.ToString());
Matrix3d matrix1 = Matrix3d.AlignCoordinateSystem(
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis,
pt,
(Part.MachinePoint.IsRotated) ? this.GetPointYAxis(EdgeNumber) : this.GetPointXAxis(EdgeNumber),
(Part.MachinePoint.IsRotated) ? this.GetPointXAxis(EdgeNumber) : this.GetPointYAxis(EdgeNumber),
Vector3d.ZAxis);
Matrix3d matrix2 = Matrix3d.AlignCoordinateSystem(
Part.MPPoint,
Part.MPXAxis,
Part.MPYAxis,
Part.MPZAxis,
Point3d.Origin,
Vector3d.XAxis,
Vector3d.YAxis,
Vector3d.ZAxis);
//板件如果旋转，则生成的坐标点是不一样的
List <Point3d> Points = new List <Point3d>();
Point3d firstPt = new Point3d(XDist, -LeadIn, Depth);
Point3d secondPt = new Point3d(XDist, YDist, Depth);
Point3d thirdPt = new Point3d(-LeadIn, YDist, Depth);
firstPt = firstPt.TransformBy(matrix1).TransformBy(matrix2);
secondPt = secondPt.TransformBy(matrix1).TransformBy(matrix2);
thirdPt = thirdPt.TransformBy(matrix1).TransformBy(matrix2);
Points.Add(new Point3d(firstPt.X, firstPt.Y, Depth));
Points.Add(new Point3d(secondPt.X, secondPt.Y, Depth));
Points.Add(new Point3d(thirdPt.X, thirdPt.Y, Depth));
//判断刀补的方向
ToolComp comp = ToolComp.None;
if (firstPt.X >= thirdPt.X && firstPt.Y >= thirdPt.Y)
{
comp = ToolComp.Left;
}
else if (firstPt.X >= thirdPt.X && firstPt.Y < thirdPt.Y)
{
comp = ToolComp.Right;
}
else if (firstPt.X < thirdPt.X && firstPt.Y < thirdPt.Y)
{
comp = ToolComp.Left;
}
else if (firstPt.X < thirdPt.X && firstPt.Y >= thirdPt.Y)
{
comp = ToolComp.Right;
}
Machinings.Routing route = new Machinings.Routing();
route.ToolName = ToolName;
route.Points = Points;
route.Part = Part;
route.ToolComp = comp;
route.Bulges = (new double[] { 0, 0, 0 }).ToList();
if (FaceNumber == 5)
{
route.OnFace5 = true;
}
else
{
route.OnFace5 = false;
}
Part.Routings.Add(route);
}
