private void ActiveNextMotion()
{
Current_?.Exit();
Index_ = GetNextMotionIndex();
if (Index_ == -1)
{
Current_ = null;
IsEnd = true;
}
else
{
Current_ = SubMotions_[Index_];
}
if (Current_ != null)
{
Current_.Master = Master;
Current_?.Enter();
if (Current_?.IsEnd == true)
{
ActiveNextMotion();
}
}
}
private Color GCodeToColor(BaseMotion motion)
{
if (motion is CoordinatMotion)
{
var cm = (CoordinatMotion)motion;
return(Color.FromRgb(cm.Color.R, cm.Color.G, cm.Color.B));
}
if (motion is RapidMotion)
{
return(Colors.HotPink);
}
return(Colors.HotPink);
}
private void VisualiseGCode(DrawingContext dc)
{
if (Data == null || !(Data is IEnumerable <BaseGCode>) || ((IEnumerable <BaseGCode>)Data).Count() == 0)
{
return;
}
var data = (IList <BaseGCode>)Data;
BaseMotion firstMotion = null;
foreach (BaseGCode item in data)
{
if (!(item is BaseMotion))
{
continue;
}
var curMotion = (BaseMotion)item;
if (firstMotion != null)
{
Point start = VectorToPoint(firstMotion.Position);
Point end = VectorToPoint(curMotion.Position);
dc.DrawLine(new Pen(new SolidColorBrush(GCodeToColor(curMotion)), 1.0), start, end);
if (curMotion is RapidMotion)
{
var dir = (curMotion.Position - firstMotion.Position).Normalize();
var v1 = dir.Rotate(15.0 / 180.0 * Math.PI) * 5;
var v2 = dir.Rotate(-15.0 / 180.0 * Math.PI) * 5;
v1 = curMotion.Position - v1;
v2 = curMotion.Position - v2;
dc.DrawLine(new Pen(new SolidColorBrush(Colors.Magenta), 1.0), end, VectorToPoint(v1));
dc.DrawLine(new Pen(new SolidColorBrush(Colors.Magenta), 1.0), end, VectorToPoint(v2));
}
}
firstMotion = curMotion;
}
DrawArrows(dc);
}
private IEnumerator TransitionToState(MotionState s)
{
if (currentMotion != null)
{
myAnim.SetTrigger("Exit");
/*
* while (myAnim.GetCurrentAnimatorStateInfo(0).normalizedTime % 1 < 0.95f)// myAnim.GetBool("Exit"))
* {
* yield return null;
* }
*/
currentMotion.Stop();
}
currentMotion = availableStates[s];
currentMotion.Start();
currentState = s;
myAnim.SetInteger("MotionState", (int)s);
myAnim.SetTrigger("ChangeMotionState");
yield return(null);
}
public MotionContainer Motion(BaseMotion Motion)
{
MotionList_.Add(Motion);
return(this);
}
public void AbandonMotion(BaseMotion Motion)
{
MotionManager.Abandon(Motion);
}
public BaseMotion ExecuteMotion(string ChildPath, BaseMotion Motion)
{
return(MotionManager.Execute(FindChild(ChildPath), Motion));
}
public BaseMotion ExecuteMotion(BaseMotion Motion)
{
return(MotionManager.Execute(UITransform, Motion));
}