/// <summary>
/// Вывод файла координат
/// </summary>
/// <param name="points">Лист контуров с соответствующим цетром масс для контура</param>
public static void PointToFile(IList <CentroMass.ContourWithMass> points, int timeend)
{
//****Создание экземпляра файла Excel****
// Создаём экземпляр приложения
Excel.Application excelApp = new Excel.Application();
// Создаём экземпляр рабочий книги Excel
Excel.Workbook workBook;
// Создаём экземпляр листа Excel
Excel.Worksheet workSheet;
workBook = excelApp.Workbooks.Add();
workSheet = (Excel.Worksheet)workBook.Worksheets.get_Item(1);
//Внесение в книгу первых строк констант
workSheet.Name = "data1";
workSheet.Range["A2:D10000"].NumberFormat = "0.00E+00"; // установка формата ячеек
workSheet.Cells[1, 1] = "t";
workSheet.Cells[1, 2] = "x";
workSheet.Cells[1, 3] = "y";
workSheet.Cells[1, 4] = "z";
workSheet.Cells[2, 1] = 0 * 1e-3;
workSheet.Cells[2, 4] = 0;
workSheet.Cells[2, 2] = 390;
workSheet.Cells[2, 3] = 686.6;
double TIME = 1 * 1e-3;
int COUNT = 3;
//Интерпритация команды опускания пера манипулятора
var STRUCT = RobotCommand.Start(ref TIME, 687);
for (int i = 0; i < STRUCT.Count; i++)
{
workSheet.Cells[COUNT, 1] = STRUCT[i].time;
workSheet.Cells[COUNT, 4] = STRUCT[i].z;
workSheet.Cells[COUNT, 2] = STRUCT[i].x;
workSheet.Cells[COUNT, 3] = STRUCT[i].y;
COUNT++;
}
STRUCT = null;
STRUCT = RobotCommand.ToTheContourPoint(ref TIME, 202, -52, 500.000025, points[0].Contr[0].X - 100, points[0].Contr[0].Y + 500);
for (int i = 0; i < STRUCT.Count; i++)
{
workSheet.Cells[COUNT, 1] = STRUCT[i].time;
workSheet.Cells[COUNT, 4] = STRUCT[i].z;
workSheet.Cells[COUNT, 2] = STRUCT[i].x;
workSheet.Cells[COUNT, 3] = STRUCT[i].y;
COUNT++;
}
STRUCT = null;
bool flagContourType; // флаг для поднятия
for (int i = 0; i < points.Count; i++) // Коллекция I - ых контуров ( количество найденых 0..n)
{
for (int m = 0; m < points[i].Contr.Count; m++) // Обращение к элементам коллекции points[i].Contr
{
workSheet.Cells[COUNT, 1] = TIME;
workSheet.Cells[COUNT, 4] = points[i].Contr[m].X - 100;
workSheet.Cells[COUNT, 2] = points[i].Contr[m].Y + 500.000025;
workSheet.Cells[COUNT, 3] = 200;
COUNT++;
TIME = 0.001 + TIME;
flagContourType = true; // идем по контуру
}
if (i == points.Count - 1)
{
break;
}
flagContourType = false; // переход
if (flagContourType == false)
{
STRUCT = RobotCommand.PenUp(ref TIME, 200, points[i].Contr[points[i].Contr.Count - 1].X - 100, points[i].Contr[points[i].Contr.Count - 1].Y + 500.000025, 1 * 1e-3);
for (int j = 0; j < STRUCT.Count; j++)
{
workSheet.Cells[COUNT, 1] = STRUCT[j].time;
workSheet.Cells[COUNT, 4] = STRUCT[j].z;
workSheet.Cells[COUNT, 2] = STRUCT[j].x;
workSheet.Cells[COUNT, 3] = STRUCT[j].y;
COUNT++;
}
STRUCT = null;
STRUCT = RobotCommand.PenPause(ref TIME, 215, points[i].Contr[points[i].Contr.Count - 1].X - 100, points[i].Contr[points[i].Contr.Count - 1].Y + 500.000025, points[i + 1].Contr[points[i + 1].Contr.Count - 1].X - 100, points[i + 1].Contr[points[i + 1].Contr.Count - 1].Y + 500.000025);
for (int j = 0; j < STRUCT.Count; j++)
{
workSheet.Cells[COUNT, 1] = STRUCT[j].time;
workSheet.Cells[COUNT, 4] = STRUCT[j].z;
workSheet.Cells[COUNT, 2] = STRUCT[j].x;
workSheet.Cells[COUNT, 3] = STRUCT[j].y;
COUNT++;
}
STRUCT = null;
STRUCT = RobotCommand.PenDown(ref TIME, 215, points[i + 1].Contr[points[i + 1].Contr.Count - 1].X - 100, points[i + 1].Contr[points[i + 1].Contr.Count - 1].Y + 500.000025, 1 * 1e-3);
for (int j = 0; j < STRUCT.Count; j++)
{
workSheet.Cells[COUNT, 1] = STRUCT[j].time;
workSheet.Cells[COUNT, 4] = STRUCT[j].z;
workSheet.Cells[COUNT, 2] = STRUCT[j].x;
workSheet.Cells[COUNT, 3] = STRUCT[j].y;
COUNT++;
}
STRUCT = null;
}
}
STRUCT = RobotCommand.Stop(ref TIME, timeend, points[points.Count - 1].Contr[points[points.Count - 1].Contr.Count - 1].X - 100, points[points.Count - 1].Contr[points[points.Count - 1].Contr.Count - 1].Y + 500.000025, 200);
for (int j = 0; j < STRUCT.Count; j++)
{
workSheet.Cells[COUNT, 1] = STRUCT[j].time;
workSheet.Cells[COUNT, 4] = STRUCT[j].z;
workSheet.Cells[COUNT, 2] = STRUCT[j].x;
workSheet.Cells[COUNT, 3] = STRUCT[j].y;
COUNT++;
}
//Обработка ошибки сохранения
try
{
string outpath = Environment.CurrentDirectory + "/";
workBook.SaveAs(@outpath + "end_position1.xlsx");
workBook.Close();
excelApp.Quit();
}
catch (Exception ex)
{
workBook.Close();
excelApp.Quit();
System.Windows.Forms.MessageBox.Show(ex.Message + "Ошибка сохранения. Файл остался в прежнем состоянии. Ресурсы освобождены.");
}
}
/// <summary>
/// Интерпритация команд для робота (вычисление траекторий)
/// </summary>
/// <param name="points">Входной лист точек всего контура</param>
/// <param name="Zplot">Высота на которой находится раб.обл</param>
/// <param name="ZplotPause">Высота на которой будет происходить перемещение с контура на контур</param>
/// <returns></returns>
public static IEnumerable <RobotCommand.RobotPosition> InterpretationOfCommands(IList <CentroMass.ContourWithMass> points, double Zplot, double ZplotPause)
{
TimeAll Times = new TimeAll();
Times.Time = 1 * 1e-3;
///Манипулятор из точки (0,390,687) будет медленно опускаться в первую точку контура (x1,y1,z0)
var STRUCT = RobotCommand.Start(Times.Time, Constants.StartZ, Constants.StartY, points[0].Contr[0].X - 100, points[0].Contr[0].Y + Constants.StartYPlot, Zplot);
foreach (var position in STRUCT)
{
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.x = position.x;
result.y = position.y;
result.z = position.z;
result.time = position.time;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
for (int i = 0; i < points.Count; i++) // Коллекция I - ых контуров ( количество найденых 0..n)
{
for (int m = 0; m < points[i].Contr.Count; m++) // Обращение к элементам коллекции points[i].Contr
{
///рисуем контур на плоскости
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.time = Times.Time;
result.z = points[i].Contr[m].X - 100;
result.x = points[i].Contr[m].Y + Constants.StartYPlot;
result.y = Zplot;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
///если контур последний , выход из цикла рисования
if (i == points.Count - 1)
{
break;
}
else
{
///поднятие рабочего органа манипулятора в точке
STRUCT = RobotCommand.PenUp(Times.Time, Zplot, points[i].Contr[points[i].Contr.Count - 1].X - 100, points[i].Contr[points[i].Contr.Count - 1].Y + Constants.StartYPlot, Constants.timeUp, Zplot, ZplotPause);
foreach (var position in STRUCT)
{
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.x = position.x;
result.y = position.y;
result.z = position.z;
result.time = position.time;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
///вычисление тракетории перемещения из (x1,y1,z0) в (x2,y2,z0)
STRUCT = RobotCommand.PenPause(Times.Time, ZplotPause, points[i].Contr[points[i].Contr.Count - 1].X - 100, points[i].Contr[points[i].Contr.Count - 1].Y + Constants.StartYPlot, points[i + 1].Contr[points[i + 1].Contr.Count - 1].X - 100, points[i + 1].Contr[points[i + 1].Contr.Count - 1].Y + Constants.StartYPlot);
foreach (var position in STRUCT)
{
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.x = position.x;
result.y = position.y;
result.z = position.z;
result.time = position.time;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
///опускание рабочего органа манипулятора в точке
STRUCT = RobotCommand.PenDown(Times.Time, ZplotPause, points[i + 1].Contr[points[i + 1].Contr.Count - 1].X - 100, points[i + 1].Contr[points[i + 1].Contr.Count - 1].Y + Constants.StartYPlot, Constants.timeUp, Zplot);
foreach (var position in STRUCT)
{
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.x = position.x;
result.y = position.y;
result.z = position.z;
result.time = position.time;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
}
}
///поднятие рабочего органа манипулятора
STRUCT = RobotCommand.Stop(Times.Time, Constants.StartZ, Constants.StartY, points[points.Count - 1].Contr[points[points.Count - 1].Contr.Count - 1].X - 100, points[points.Count - 1].Contr[points[points.Count - 1].Contr.Count - 1].Y + Constants.StartYPlot, Zplot, Constants.timeUp);
foreach (var position in STRUCT)
{
RobotCommand.RobotPosition result = new RobotCommand.RobotPosition();
result.x = position.x;
result.y = position.y;
result.z = position.z;
result.time = position.time;
Times.Time = 0.001 + Times.Time;
yield return(result);
}
AllTime = Times;
AllTime.Time = Times.Time;
}
