/// <summary>
/// jump跳刀
/// </summary>
/// <param name="Rtc_Datas"></param>
/// <param name="List_No"></param>
public static void Draw_Jump_Correct(List <Interpolation_Data> Rtc_Datas, UInt32 List_No)
{
//定义处理的变量
Vector Tmp_Point = new Vector();
decimal Tmp_End_X = 0.0m;
decimal Tmp_End_Y = 0.0m;
#if !DEBUG
// wait list List_No to be not busy
// load_list( List_No, 0) returns 1 if successful, otherwise 0
//执行到POS 0
do
{
}while (RTC5Wrap.load_list(List_No, 0u) == 0);
// Transmit the following list commands to the list buffer.
RTC5Wrap.set_start_list(List_No);
#endif
//生成数据
foreach (var o in Rtc_Datas)
{
//Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Correct_Rtc_Axes(o.End_x, o.End_y));
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Correct_Rtc_Axes_Angle(o.End_x, o.End_y));
Tmp_End_X = Tmp_Point.X;
Tmp_End_Y = Tmp_Point.Y;
#if !DEBUG
if (o.Type == 13)//jump_abs
{
RTC5Wrap.jump_abs(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 14)//jump_rel
{
RTC5Wrap.jump_rel(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
#endif
}
#if !DEBUG
//结束Jump到启动点位
//RTC5Wrap.jump_abs(0, 0);
//设置List结束位置
RTC5Wrap.set_end_of_list();
//启动执行
RTC5Wrap.execute_list(1u);
//Busy 运行等待结束
uint Busy;
do
{
RTC5Wrap.get_status(out Busy, out uint Position);
} while (Busy != 0U);
#endif
}
/// <summary>
/// 执行 数据采样矫正后的数据 矩阵补偿
/// </summary>
/// <param name="Rtc_Datas"></param>
/// <param name="List_No"></param>
public static void Draw_Matrix_Correct(List <Interpolation_Data> Rtc_Datas, UInt32 List_No)
{
//定义处理的变量
Vector Tmp_Point = new Vector();
decimal Tmp_R0_X = 0.0m;
decimal Tmp_R0_Y = 0.0m;
decimal Tmp_End_X = 0.0m;
decimal Tmp_End_Y = 0.0m;
decimal Tmp_Center_X = 0.0m;
decimal Tmp_Center_Y = 0.0m;
#if !DEBUG
// wait list List_No to be not busy
// load_list( List_No, 0) returns 1 if successful, otherwise 0
//执行到POS 0
do
{
}while (RTC5Wrap.load_list(List_No, 0u) == 0);
// Transmit the following list commands to the list buffer.
RTC5Wrap.set_start_list(List_No);
#endif
if (Para_List.Parameter.Rtc_Affinity_Type == 2)
{
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Line_Fit_Coordinate(Rtc_Datas[0].Rtc_x, Rtc_Datas[0].Rtc_y, Fit_Matrices));
Tmp_R0_X = Tmp_Point.X;
Tmp_R0_Y = Tmp_Point.Y;
}
else
{
//获取数据落点
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Affinity_Point(0, Rtc_Datas[0].Rtc_x, Rtc_Datas[0].Rtc_y, affinity_Matrices));
Tmp_R0_X = Tmp_Point.X;
Tmp_R0_Y = Tmp_Point.Y;
}
#if !DEBUG
//初始Jump到启动点位
RTC5Wrap.jump_abs(Convert.ToInt32(-Tmp_R0_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_R0_X * Para_List.Parameter.Rtc_Pos_Reference));
#endif
//生成数据
foreach (var o in Rtc_Datas)
{
if (Para_List.Parameter.Rtc_Affinity_Type == 2)
{
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Line_Fit_Coordinate(o.End_x, o.End_y, Fit_Matrices));
Tmp_End_X = Tmp_Point.X;
Tmp_End_Y = Tmp_Point.Y;
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Line_Fit_Coordinate(o.Center_x, o.Center_y, Fit_Matrices));
Tmp_Center_X = Tmp_Point.X;
Tmp_Center_Y = Tmp_Point.Y;
}
else
{
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Affinity_Point(0, o.End_x, o.End_y, affinity_Matrices));
Tmp_End_X = Tmp_Point.X;
Tmp_End_Y = Tmp_Point.Y;
Tmp_Point = new Vector(Rtc_Cal_Data_Resolve.Get_Affinity_Point(0, o.Center_x, o.Center_y, affinity_Matrices));
Tmp_Center_X = Tmp_Point.X;
Tmp_Center_Y = Tmp_Point.Y;
}
#if !DEBUG
if (o.Type == 11)//arc_abs 绝对圆弧
{
RTC5Wrap.arc_abs(Convert.ToInt32(-Tmp_Center_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_Center_X * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToDouble(o.Angle));
}
else if (o.Type == 12)//arc_rel
{
RTC5Wrap.arc_rel(Convert.ToInt32(-Tmp_Center_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_Center_X * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToDouble(o.Angle));
}
else if (o.Type == 13)//jump_abs
{
RTC5Wrap.jump_abs(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 14)//jump_rel
{
RTC5Wrap.jump_rel(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 15)//mark_abs
{
RTC5Wrap.mark_abs(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 16)//mark_rel
{
RTC5Wrap.mark_rel(Convert.ToInt32(-Tmp_End_Y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Tmp_End_X * Para_List.Parameter.Rtc_Pos_Reference));
}
#endif
}
#if !DEBUG
//结束Jump到启动点位
//RTC5Wrap.jump_abs(0, 0);
//设置List结束位置
RTC5Wrap.set_end_of_list();
//启动执行
RTC5Wrap.execute_list(1u);
//Busy 运行等待结束
uint Busy;
do
{
RTC5Wrap.get_status(out Busy, out uint Position);
} while (Busy != 0U);
#endif
}
