public override void del()
{
if (linehandl != null)
{
Axis6.removeLine(linehandl);
}
}
public override void line()
{
if (drawhandle != null)
{
Axis6.removeLine(drawhandle);
}
drawhandle = Axis6.DrawLine(sour, dest);
}
public override void line()
{
if (drawhandle != null)
{
Axis6.removeLine(drawhandle);
}
drawhandle = Axis6.DrawArcLine(sour.angle, dest.angle);
}
public G0(Axis6.AxisStruct stop)
{
message = "快速定位到点";
sour = LastStruct;
dest = stop;
drawhandle = Axis6.DrawArcLine(sour.angle, dest.angle);
LastStruct = dest;
redraw = true;
}
public override void remove()
{
if (linehandl != null)
{
Axis6.removeLine(linehandl);
}
if (drawhandle != null)
{
Axis6.removeLine(drawhandle);
}
linehandl = drawhandle = null;
}
public G1(Axis6.AxisStruct stop)
{
message = "直线插补到点";
sour = LastStruct;
dest = stop;
drawhandle = Axis6.DrawLine(sour, dest);
LastStruct = dest;
count = docount = 0;
bcount = -1;
redraw = true;
this.r = rg;
}
void sumdata(bool ext)
{
docount = 0;
if (count == 0)
{
getdata();
}
if (bcount < count)
{
getdata();
Line.Setup(startpos, stoppos, count - 1);
bcount = 0;
AngleList = new double[count + inoutcount * 2][];
Axis6.AxisStruct LastG = LastStruct;
double[] lastag = LastStruct.angle;
new Task(() =>
{
Parallel.For(0, count - 1, (int index) =>
{
if (!ext)
{
if (!isRun)
{
return;
}
}
Axis6.AxisStruct G = new Axis6.AxisStruct();
G.X = Line.pls[0] + Line.inc[0] * index;
G.Y = Line.pls[1] + Line.inc[1] * index;
G.Z = Line.pls[2] + Line.inc[2] * index;
G.N = Line.pls[3] + Line.inc[3] * index;
G.O = Line.pls[4] + Line.inc[4] * index;
G.A = Line.pls[5] + Line.inc[5] * index;
AngleList[index] = Axis6.PosToAngle(LastG, G);
});
AngleList[count - 1] = dest.angle;
bcount = count;
}).Start();
}
if (ext)
{
while (bcount < count)
{
Thread.Sleep(1);
}
}
}
public static bool Init()
{
try
{
Axis = new Class1();
Axis.show_init(0.01);
double[] pos = Axis6.AngleToPosArray(Axis6.StartAngle);
DefStruct.X = pos[0];
DefStruct.Y = pos[1];
DefStruct.Z = pos[2];
DefStruct.N = 0;
DefStruct.O = 90;
DefStruct.A = 0;
return(true);
}
catch { }
return(false);
}
public GList(double[] Xl, double[] Yl, double[] Zl, Axis6.AxisStruct last)
{
poslist = new double[3][];
poslist[0] = Xl;
poslist[1] = Yl;
poslist[2] = Zl;
count = Xl.Length;
bcount = 1;
docount = 0;
N = last.N;
O = last.O;
A = last.A;
destangle = new double[count][];
destangle[0] = Axis6.PosToAngle(LastStruct.angle, last.X, last.Y, last.Z, N, O, A);
if (destangle[0] != null)
{
LastStruct.angle = destangle[0];
}
linehandl = Axis6.DrawLineList(Xl, Yl, Zl);
}
public override void run()
{
new Task(() => {
while (isRun)
{
if (bcount < count)
{
double[] value;
destangle[bcount] = value = Axis6.PosToAngle(LastStruct.angle, poslist[0][bcount], poslist[1][bcount], poslist[2][bcount], N, O, A);
if (value == null)
{
destangle[bcount] = destangle[bcount - 1];
}
bcount++;
}
else
{
break;
}
}
}).Start();
while (isRun)
{
if (Motor.IsReady || !Motor.Enable)
{
if (docount < bcount)
{
Motor.MotorRun(destangle[docount]);
Axis6.MoveToAngle(destangle[docount]);
docount++;
}
}
Thread.Sleep(1);
}
LastStruct.angle = destangle[count - 1];
//Axis6.AxisStruct last = new Axis6.AxisStruct();
}
public override void run()
{
if (!isRun)
{
return;
}
//while (isRun && !Motor.IsReady) Thread.Sleep(1);
if (Motor.Enable)
{
Motor.MotorRun(dest.angle);
}
if (sumlot)
{
if (First)
{
linehandl = Axis6.MoveArc(sour.angle, dest.angle, 'b', 2, 15, true);
}
else
{
Axis6.MoveArc(LastStruct.angle, dest.angle, 'b', 2, 15, false);
}
}
if (Motor.Enable)
{
while (isRun && !Motor.IsReady)
{
Thread.Sleep(1);
}
}
LastStruct = dest;
//while (isRun && !Motor.IsReady)
//{
// Thread.Sleep(1);
//}
//Thread.Sleep(DefDelay);
}
public override void run()
{
int f, s, d;
if (rg != r)
{
r = rg;
bcount = 0;
}
f = Motor.Frequency;
s = Motor.StartSpeed;
d = Motor.SpeedTime;
Motor.Frequency = (Motor.Frequency > 5000) ? 5000 : Motor.Frequency;
Motor.SetInfo(Motor.Frequency, Motor.Frequency, 1);
sumdata(false);
if (sumlot)
{
if (First)
{
linehandl = Axis6.DrawLine(sour, dest, 'b', 2);
}
}
LastStruct = dest;
if (bcount < count)
{
while (isRun)
{
if (Motor.IsReady || !Motor.Enable)
{
if (docount < count)
{
if (AngleList[docount] == null)
{
continue;
}
if (AngleList[docount] == LastStruct.angle)
{
docount++;
if (docount >= count)
{
if (inoutcount != 0)
{
StartInOut();
}
}
continue;
}
Axis6.MoveToAngle(AngleList[docount]);
//Motor.MotorRun(AngleList[docount]);
docount++;
if (docount >= count)
{
if (inoutcount != 0)
{
StartInOut();
}
}
}
else
{
break;
}
}
Thread.Sleep(1);
}
}
else
{
Axis6.PointToPointMove(AngleList);
}
if (!isRun)
{
return;
}
Motor.MotorRunList(AngleList);
while (isRun && !Motor.IsReady)
{
Thread.Sleep(1);
}
if (!isRun)
{
return;
}
Motor.SetInfo(s, f, d);
while (isRun && !Motor.IsReady)
{
Thread.Sleep(1);
}
//Axis6.AxisStruct last = new Axis6.AxisStruct();
//if(AngleList==null)
//{
// AngleList = Axis6.PointToPointLineAngle(sour, dest, rg);
// lineObj = Axis6.AngleListToObject(AngleList);
//}
//Motor.MotorRunList(AngleList);
//Thread.Sleep(DefDelay);
}
