/// <summary>
/// 计算普通线段上每个点胶位置
/// </summary>
/// <param name="line"></param>
/// <returns></returns>
private PointD[] calNormalLinePoints(LineCoordinate line, double speed, out double intervalSec)
{
double totalTime = line.CalculateDistance() / speed;
// 计算点胶时间 (需要将微秒单位转换成秒）
double dispenseTime = Machine.Instance.Valve1.SpraySec;
intervalSec = dispenseTime;
PointD[] points = null;
// Control Mode: 控制模式，一共有四种：
// 1. Pos-based spacing: 指定两滴胶水之间的间距长度值
// 2. Time-based spacing: 相邻两滴胶水喷胶开始时间的最小时间间隔，单位：秒，如果该参数值为s，本次喷胶开始时间距离上次喷胶开始时间为d,
// 如果d < s，则还需要等待（s-d）秒，否则无需等待。
// 3. Total # of dots: 指定一条线上一共有几个点
// 4. No dispense: 只运动不喷胶
if (line.Param.ControlMode == LineParam.CtrlMode.POS_BASED_SPACING)
{
points = calFixedTotalOfDots(line, (int)(line.CalculateDistance() / line.Param.Spacing) + 1);
intervalSec = totalTime / (points.Length - 1);
if (intervalSec < dispenseTime)
{
intervalSec = dispenseTime;
points = calFixedTotalOfDots(line, (int)(totalTime / intervalSec) + 1);
}
}
else if (line.Param.ControlMode == LineParam.CtrlMode.TIME_BASED_SPACING)
{
intervalSec = line.Param.ShotTimeInterval / 1000.0 < dispenseTime ? dispenseTime : line.Param.ShotTimeInterval / 1000.0;
points = calFixedTotalOfDots(line, (int)(totalTime / intervalSec) + 1);
}
else if (line.Param.ControlMode == LineParam.CtrlMode.TOTAL_OF_DOTS && line.Param.TotalOfDots > 0)
{
intervalSec = totalTime / (line.Param.TotalOfDots - 1);
if (intervalSec < dispenseTime)
{
intervalSec = dispenseTime;
points = calFixedTotalOfDots(line, (int)(totalTime / intervalSec) + 1);
}
else
{
points = calFixedTotalOfDots(line, line.Param.TotalOfDots);
}
}
else
{
points = new PointD[0];
}
return(points);
}
/// <summary>
/// 计算在所有模式下，执行重量线或胶量模式时线命令所需要的参数
/// </summary>
private void CalculateWtLineParam(LineCoordinate line, Line directiveLine, out PointD accStartPoint, out PointD decelEndPoint, out double runSpeed, out PointD[] linePoints, out double fluidIntervalSec)
{
double accDistance = 0, decelDistance = 0;
double lineDistance = line.CalculateDistance();
// 计算点胶数量
int shots = 0;
if (directiveLine.LineCmd.lineCmdLine.IsWholeWtMode && directiveLine.LineCmd.lineCmdLine.LineMethod != LineMethod.Single)
{
shots = line.Dots;
}
else
{
shots = (int)((decimal)line.Weight / (decimal)directiveLine.Program.RuntimeSettings.SingleDropWeight);
}
// 计算时间 (需要将微秒单位转换成秒）
double totalTime = Machine.Instance.Valve1.SpraySec * shots;
// 计算速度
double wtSpeed = lineDistance / totalTime;
if (line.Param.WtCtrlSpeedValueType != LineParam.ValueType.COMPUTE)
{
wtSpeed = line.Param.WtCtrlSpeed > wtSpeed ? wtSpeed : line.Param.WtCtrlSpeed;
}
// 运动速度不能超过设定的最大速度
wtSpeed = wtSpeed > FluidProgram.Current.MotionSettings.WeightMaxVel ? FluidProgram.Current.MotionSettings.WeightMaxVel : wtSpeed;
Log.Dprint(string.Format("lineDistance={0}, weight={1} totalTime={2}, param.WtCtrlSpeedValueType={3}, param.WtCtrlSpeed={4}, wtSpeed={5}",
lineDistance, line.Weight, totalTime, line.Param.WtCtrlSpeedValueType, line.Param.WtCtrlSpeed, wtSpeed));
// 计算加速区间距离
if (line.Param.AccelDistanceValueType == LineParam.ValueType.COMPUTE)
{
accDistance = MathUtils.CalculateDistance(0, wtSpeed, Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.Current.MotionSettings.WeightAcc));
Log.Dprint("Acc Distance COMPUTE wtSpeed=" + wtSpeed + ", WeightAcc=" + FluidProgram.Current.MotionSettings.WeightAcc
+ ", distance=" + accDistance);
}
else
{
accDistance = line.Param.AccelDistance;
}
// 计算减速区间距离
if (line.Param.DecelDistanceValueType == LineParam.ValueType.COMPUTE)
{
decelDistance = MathUtils.CalculateDistance(wtSpeed, 0, -Machine.Instance.Robot.AxisX.ConvertAcc2Mm(FluidProgram.Current.MotionSettings.WeightAcc));
Log.Dprint("Decel Distance COMPUTE wtSpeed=" + wtSpeed + ", WeightAcc=" + FluidProgram.Current.MotionSettings.WeightAcc
+ ", distance=" + decelDistance);
}
else
{
decelDistance = line.Param.DecelDistance;
}
// 计算加速区间起始位置和减速区间结束位置
PointD accStart = calAccStartPosition(line, accDistance);
PointD decelEnd = calDecelEndPosition(line, decelDistance);
// 计算点胶位置
PointD[] points = calFixedTotalOfDots(line, shots);
//基于时间控制
totalTime = lineDistance / wtSpeed;
double intervalSec = totalTime / (shots - 1);
double dispenseSec = Machine.Instance.Valve1.SpraySec;
if (intervalSec < dispenseSec)
{
intervalSec = dispenseSec;
points = calFixedTotalOfDots(line, (int)(totalTime / intervalSec) + 1);
}
accStartPoint = accStart;
decelEndPoint = decelEnd;
runSpeed = wtSpeed;
linePoints = points;
fluidIntervalSec = intervalSec;
}