public bool getJoint(string x_sIdentifier1, char x_sIdentifier2, string[] x_sTargetString, int x_nStartIndex, int x_nEndIndex, out List <DataType.StaubliRobotData.St_JointRx> x_ListJoint)
{
bool l_bResult = false;
x_ListJoint = null;
List <DataType.StaubliRobotData.St_JointRx> l_arrayList = new List <DataType.StaubliRobotData.St_JointRx>();
DataType.StaubliRobotData.St_JointRx l_jJoint = new DataType.StaubliRobotData.St_JointRx();
for (int i = x_nStartIndex + 1; i <= x_nEndIndex - 1; i++)
{
l_bResult = getJoint(x_sIdentifier1, x_sIdentifier2, x_sTargetString[i], ref l_jJoint);
if (l_bResult == true)
{
l_arrayList.Add(l_jJoint);
}
}
if (l_arrayList.Count == 0)
{
l_bResult = false;
}
else
{
x_ListJoint = l_arrayList; l_bResult = true;
}
return(l_bResult);
}
/// <summary>
/// 转换为离线文件标准字符串形式
/// </summary>
/// <returns></returns>
public string Trans2Standard(DataType.StaubliRobotData.St_JointRx x_jJoint, DataType.StaubliRobotData.St_PointRx x_pPoint, string x_sPropertySeparator, string x_sPointSeparator, string x_sMoveType)
{
string l_sString = string.Empty;
string l_sJoint = Joint2String(x_jJoint, x_sPointSeparator);
string l_sPoint = Point2String(x_pPoint, x_sPointSeparator);
l_sString = x_sMoveType + x_sPropertySeparator + l_sJoint + x_sPropertySeparator + l_sPoint + x_sPropertySeparator;
return(l_sString);
}
public string Joint2String(DataType.StaubliRobotData.St_JointRx x_jJoint, string x_sSeparator)
{
string l_sString = string.Empty;
double[] l_nNum = new double[6];
bool l_bResult = Joint2Double(ref l_nNum, x_jJoint);
if (l_bResult == true)
{
l_sString = Double2String(l_nNum, x_sSeparator);
}
return(l_sString);
}
public bool Joint2Double(ref double[] x_nNumber, DataType.StaubliRobotData.St_JointRx x_jJoint)
{
bool l_bOk = false;
if (x_nNumber.Length != 6)
{
l_bOk = false;
}
else
{
x_nNumber[0] = x_jJoint.J1;
x_nNumber[1] = x_jJoint.J2;
x_nNumber[2] = x_jJoint.J3;
x_nNumber[3] = x_jJoint.J4;
x_nNumber[4] = x_jJoint.J5;
x_nNumber[5] = x_jJoint.J6;
l_bOk = true;
}
return(l_bOk);
}
public bool String2Joint(string[] x_sJoint, ref DataType.StaubliRobotData.St_JointRx x_jJoint)
{
bool l_bOk = false;
if (x_sJoint.Length != 6)
{
l_bOk = false;
}
else
{
x_jJoint.J1 = double.Parse(x_sJoint[0]);
x_jJoint.J2 = double.Parse(x_sJoint[1]);
x_jJoint.J3 = double.Parse(x_sJoint[2]);
x_jJoint.J4 = double.Parse(x_sJoint[3]);
x_jJoint.J5 = double.Parse(x_sJoint[4]);
x_jJoint.J6 = double.Parse(x_sJoint[5]);
l_bOk = true;
}
return(l_bOk);
}
public bool getJoint(string x_sIdentifier1, char x_sIdentifier2, string x_sTargetString, ref DataType.StaubliRobotData.St_JointRx x_jJoint)
{
bool l_bOk = false;
List <int> l_nPosition = new List <int>();
l_bOk = FindString(x_sIdentifier1, x_sTargetString, ref l_nPosition);
if (l_bOk == true)
{
try
{
string l_sString = x_sTargetString.Substring(l_nPosition[0] + 1, l_nPosition[1] - l_nPosition[0] - 1);
string[] l_sJoint = l_sString.Split(x_sIdentifier2);
l_bOk = String2Joint(l_sJoint, ref x_jJoint);
}
catch (Exception ex)
{
throw new Exception("Error:getPoint exception: " + ex.Message);
}
}
return(l_bOk);
}
