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 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();
}