/// <summary>
/// 生成一个新的MotorTrack
/// </summary>
/// <param name="backgroundColor"></param>
/// <param name="motorIndex"></param>
/// <param name="motorName"></param>
/// <param name="defaultStart"></param>
/// <returns></returns>
public MotorTrackBase GetNewMotorTrack(Color backgroundColor, int motorIndex, string motorName, float defaultStart)
{
MotorTrackBase obj = null;
//判断需要哪个模块显示
if (motorIndex == 12)
{
obj = new LightTrack(motorIndex);
}
else if (motorIndex == 10 || motorIndex == 11 || motorIndex == 13)
{
//行进电机
obj = new TravelTrack(motorIndex);
}
else
{
//旋转电机
short min = -50;
short max = 50;
//尝试查找配置的临界值
if (RevolveAngleLimitDict.ContainsKey(motorIndex))
{
min = RevolveAngleLimitDict[motorIndex].Min;
max = RevolveAngleLimitDict[motorIndex].Max;
}
obj = new RevolveTrack(motorIndex, min, max);
}
//设置属性
obj.BackgroundColor = backgroundColor;
obj.DisplayText = motorName;
obj.MotorName = motorName;
obj.Start = defaultStart;
obj.End = obj.Start + 160;
return(obj);
}
protected override void OnLoad(EventArgs e)
{
base.OnLoad(e);
tbCode.Text = Guid.NewGuid().ToString();
if (Object != null)
{
tbCode.Text = Object.Code;
tbName.Text = Object.Name;
aceConditionControl.SetConditionString(Object.Condition);
List <Robot_Steps> stepList = DBInstance.DbHelper.table("Robot_Steps").where ("ActionId=?", new object[] { Object.Id }).select("*").getList <Robot_Steps>(new Robot_Steps());
if (stepList != null)
{
float defaultStart = 40;
List <MotorTrackBase> motorList = new List <MotorTrackBase>();
foreach (Robot_Steps step in stepList)
{
Control[] labels = adcActionControl.FindDesignLabel((int)step.MotorIndex);
if (labels != null && labels.Length >= 1)
{
Color backgroundColor = labels[0].BackColor;
MotorTrackBase mt = adcActionControl.GetNewMotorTrack(backgroundColor, (int)step.MotorIndex, labels[0].Text.Replace(step.MotorIndex + ",", string.Empty), defaultStart);
defaultStart = mt.End + 10;
//Sleep
mt.BeforeSleep = (int)step.BeforeSleep;
mt.AfterSleep = (int)step.AfterSleep;
if (step.MotorType == 0)
{
//旋转电机
RevolveTrack rt = (RevolveTrack)mt;
rt.Angle = (short)step.Value;
}
else if (step.MotorType == 1)
{
//航行电机
TravelTrack tt = (TravelTrack)mt;
switch (step.Value)
{
case 0:
tt.TravelActionType = TravelActionTypes.C_停止;
break;
case 1:
tt.TravelActionType = TravelActionTypes.C_前进;
break;
case 2:
tt.TravelActionType = TravelActionTypes.C_后退;
break;
}
}
else
{
//呼吸灯
LightTrack lt = (LightTrack)mt;
switch (step.Value)
{
case 0:
lt.LightStateType = LightStateType.C_灭;
break;
case 1:
lt.LightStateType = LightStateType.C_红灯;
break;
case 2:
lt.LightStateType = LightStateType.C_绿灯;
break;
case 3:
lt.LightStateType = LightStateType.C_蓝灯;
break;
}
}
motorList.Add(mt);
}
}
//显示动作
adcActionControl.FillTracks(motorList.ToArray());
}
}
}
