/// <summary> /// listview显示函数 /// </summary> private void DisplayListView() { this.listView1.Items.Clear(); this.listView1.BeginUpdate(); int step = robot1.Step; int substep = robot1.TransSub(step); int count = robot1.StepWork.Count; int subi = 0; for (int i = 0; i < count; i++) { subi = robot1.TransSub(i); double[] q = new double[6]; for (int j = 0; j < 6; j++) { q[j] = ((double[])robot1.Q[subi])[j]; } ListViewItem p = new ListViewItem(); if (i == step) { p.ForeColor = Color.Red; p.BackColor = Color.LightBlue; } if ((int)(robot1.StepWork[i]) == 0) //为运动情况 { for (int j = 0; j < 6; j++) //转换为角度单位 { q[j] = robot1.TransArcToAngle(q[j]); } p.Text = i.ToString(); p.SubItems.Add((((double)((int)(q[0] * 100))) / 100).ToString()); p.SubItems.Add((((double)((int)(q[1] * 100))) / 100).ToString()); p.SubItems.Add((((double)((int)(q[2] * 100))) / 100).ToString()); p.SubItems.Add((((double)((int)(q[3] * 100))) / 100).ToString()); p.SubItems.Add((((double)((int)(q[4] * 100))) / 100).ToString()); p.SubItems.Add((((double)((int)(q[5] * 100))) / 100).ToString()); this.listView1.Items.Add(p); } else if ((int)(robot1.StepWork[i]) == 1)//为延时的情况 { p.Text = i.ToString(); p.SubItems.Add("延时" + q[0].ToString() + "秒"); this.listView1.Items.Add(p); } else if ((int)(robot1.StepWork[i]) == 2)//为泵操作情况 { p.Text = i.ToString(); if (q[0] == 1) { p.SubItems.Add("吸液" + q[2].ToString() + "ml"); } else { p.SubItems.Add("排液" + q[2].ToString() + "ml"); } this.listView1.Items.Add(p); } else if ((int)(robot1.StepWork[i]) == 3) { p.Text = i.ToString(); p.SubItems.Add("添加样本"); this.listView1.Items.Add(p); } else if ((int)(robot1.StepWork[i]) == 4) { p.Text = i.ToString(); if (q[0] == 1) { p.SubItems.Add("夹紧操作"); } else { p.SubItems.Add("张开操作"); } this.listView1.Items.Add(p); } } this.listView1.EndUpdate(); }