public void MoveToPoint(int cmdLineNo, int pointNo)
{
this.model.SelectedCmdLineNo = cmdLineNo;
this.model.SelectedPointNo = pointNo;
this.model.NotifyObserverSelectChanged();
//获得选中的点
CmdLinePoint selcetedPoint = model.GetSelectedPoint();
Machine.Instance.Robot.MovePosXY(selcetedPoint.Point.X + this.model.PatternOrigin.X, selcetedPoint.Point.Y + this.model.PatternOrigin.Y);
}
public void SetSkip(int cmdLineNo, int pointNo, bool skip)
{
CmdLinePoint cmdLinePoint = this.model.GetPointByNo(cmdLineNo, pointNo);
if (cmdLinePoint == null)
{
return;
}
cmdLinePoint.Skip = skip;
this.model.NotifyObserversModelChanged();
}
private void Parse(List <CmdLine> list)
{
for (int i = 0; i < list.Count; i++)
{
if (list[i] is DotCmdLine || list[i] is LineCmdLine || list[i] is ArcCmdLine || list[i] is SnakeLineCmdLine ||
list[i] is StepAndRepeatCmdLine || list[i] is DoCmdLine || list[i] is SymbolLinesCmdLine || list[i] is DoMultiPassCmdLine)
{
for (int j = 0; j < list[i].PointsAndDescrie.Count; j++)
{
CmdLinePoint cmdLineAndPoints = new CmdLinePoint(i, j, list[i].CmdLineName,
list[i].PointsAndDescrie[j].Item1, list[i].PointsAndDescrie[j].Item2);
this.AllCmdPointsList.Add(cmdLineAndPoints);
}
}
}
}
public void TeachPoint(PointD point)
{
CmdLinePoint cmdLinePoint = this.model.GetSelectedPoint();
if (cmdLinePoint == null)
{
return;
}
cmdLinePoint.Point.X = point.X;
cmdLinePoint.Point.Y = point.Y;
//如果是圆弧则要重新计算圆弧中心和弧度
if (cmdLinePoint.CmdLineType == CmdLineType.圆弧或圆环)
{
ArcCmdLine arc = this.model.CmdLineList[cmdLinePoint.CmdLineNo] as ArcCmdLine;
arc.Center = MathUtils.CalculateCircleCenter(arc.Start, arc.Middle, arc.End);
//如果不是圆环，则要重新计算弧度
if (arc.Degree != 360 && arc.Degree != -360)
{
arc.Degree = MathUtils.CalculateDegree(arc.Start, arc.Middle, arc.End, arc.Center);
}
}
this.model.NotifyObserversModelChanged();
if (this.AutoTrack)
{
if (!this.NextTrack())
{
MessageBox.Show("已到最后一个点");
}
}
else
{
this.model.NotifyObserverSelectChanged();
}
}