public void AddPoint(string key, AxisUnitPoint value)
{
if (axisUnitPoints.ContainsKey(key))
{
throw new Exception($"the keyname {key} is already exist");
}
axisUnitPoints.Add(key, value);
}
public void MoveToPoint(string PointName)
{
foreach (var mem in logicAxisS)
{
if (mem.Value.Motor.Busy)
{
MessageBox.Show("Axis is busy");
return;
}
}
AxisUnitPoint axisUnitPoint = axisUnitPoints[PointName];
if (axisUnitPoint != null)
{
uint maxIndex = axisUnitPoint.AxisPoints.Max(x => x.MoveIndex);
uint minIndex = axisUnitPoint.AxisPoints.Min(x => x.MoveIndex);
for (uint i = minIndex; i < maxIndex + 1; i++)
{
List <AxisPoint> axisPoints = axisUnitPoint.AxisPoints.FindAll(x => x.MoveIndex == i);
if (axisPoints == null)
{
continue;
}
Task[] tasks = new Task[axisPoints.Count];
for (int m = 0; m < axisPoints.Count; m++)
{
logicAxisS[axisPoints[m].LogicAxisName].Motor.MoveVM = axisPoints[m].Speed;
tasks[m] = logicAxisS[axisPoints[m].LogicAxisName].Motor.AbsMoveAsync((int)axisPoints[m].Position);
}
Task.WaitAll(tasks);
}
}
else
{
throw new KeyNotFoundException($"not exist the point named as {PointName}");
}
}
