public G0(Axis6.AxisStruct stop)
{
message = "快速定位到点";
sour = LastStruct;
dest = stop;
drawhandle = Axis6.DrawArcLine(sour.angle, dest.angle);
LastStruct = dest;
redraw = true;
}
static public void Clear()
{
LastStruct = Axis6.DefStruct;
foreach (ModeObject m in LogicList)
{
m.remove();
}
LogicList.Clear();
}
public G1(Axis6.AxisStruct stop)
{
message = "直线插补到点";
sour = LastStruct;
dest = stop;
drawhandle = Axis6.DrawLine(sour, dest);
LastStruct = dest;
count = docount = 0;
bcount = -1;
redraw = true;
this.r = rg;
}
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);
}
}
}
static public void Start()
{
if (isRun)
{
return;
}
Index = 0;
First = true;
//ModeObject start=null;
RunLastStruct = Axis6.DefStruct;
if (!isRun)
{
isRun = true;
new Task(() =>
{
while (isRun)
{
//Thread.Sleep(100);
if (Index >= LogicList.Count)
{
if (looprun)
{
Index = 0;
Thread.Sleep(200);
}
else
{
Stop();
}
First = false;
//TaskThread = true;
continue;
}
try
{
LogicList[Index++].run();
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show("运行错误:\r\n" + ex.ToString());
StopLogic();
return;
}
}
}).Start();
}
}
void getdata()
{
Axis6.AxisStruct G = dest;
Axis6.AxisStruct LastG = sour;
double[] v = new double[6];
double[] d = new double[6];
double[] lastag = G.angle;
List <double[]> anglelist = new List <double[]>();
v[0] = LastG.X;
v[1] = LastG.Y;
v[2] = LastG.Z;
v[3] = v[4] = v[5] = 0;
d[0] = G.X;
d[1] = G.Y;
d[2] = G.Z;
d[3] = d[4] = d[5] = 0;
Line.Setup(v, d, rg);
if (Line.Count == 1)
{
v[0] = v[1] = v[2] = 0;
d[0] = d[1] = d[2] = 0;
v[3] = LastG.N;
v[4] = LastG.O;
v[5] = LastG.A;
d[3] = G.N;
d[4] = G.O;
d[5] = G.A;
Line.Setup(v, d, 1.0);
v[0] = LastG.X;
v[1] = LastG.Y;
v[2] = LastG.Z;
d[0] = G.X;
d[1] = G.Y;
d[2] = G.Z;
}
v[3] = LastG.N;
v[4] = LastG.O;
v[5] = LastG.A;
d[3] = G.N;
d[4] = G.O;
d[5] = G.A;
count = Line.Count + 1;
startpos = v;
stoppos = d;
}
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 static void UpdateLine(List <ModeObject> Modules = null)
{
if (Modules == null)
{
Modules = LogicList;
}
LastStruct = Axis6.DefStruct;
foreach (ModeObject o in Modules)
{
if (o is G0)
{
((G0)o).sour = LastStruct;
LastStruct = ((G0)o).dest;
o.line();
}
else if (o is G1)
{
((G1)o).sour = LastStruct;
LastStruct = ((G1)o).dest;
o.line();
}
}
}
static public void Add(ModeObject obj)
{
LastStruct = (obj is G0) ? ((G0)obj).dest : (obj is G1) ? ((G1)obj).dest : LastStruct;
LogicList.Add(obj);
}