public override void HandleSpeedInfo(MotorInfoMap <double> speedInfo)
{
base.HandleSpeedInfo(speedInfo);
bool need = SystemContext.Hardware.IsLaserOn;
if (need)
{
//TODO: Adjust power base on speed
double speed = Math.Sqrt(Math.Pow(speedInfo[AxisTypes.AxisX], 2) + Math.Pow(speedInfo[AxisTypes.AxisY], 2));
this.laserController.Adjust(speed / this.layerPara.CutSpeed * 100.0);
}
}
public static byte[] CreatePosInfoCmd(MotorInfoMap <MotorInfoUnit> posInfo)
{
var part1 = new List <uint>();
var part2 = new List <uint>();
foreach (var m in Protocol.Axises)
{
part1.Add((uint)posInfo[m].Counter);
part2.Add((uint)posInfo[m].Encoder);
}
part1.AddRange(part2);
return(Protocol.CreateRequest(Commands.SetMotorStatus, part1.ToArray()));
}
private bool HandlePosInfo(MotorInfoMap <double> posInfo)
{
bool valid = false;
//Update len of dataprovider
float x = (float)posInfo[AxisTypes.AxisX];
float y = (float)posInfo[AxisTypes.AxisY];
PointF p1 = new PointF(x, y);
//if (!string.IsNullOrEmpty(this.figureId))
//{
// OperationEngine.Instance.NotityMarkPathAdd(this.figureId, p1);
//}
double len = MathEx.GetDistance(p1, this.point);
if (len > MIN_SAMPLE_DISTANCE)
{
valid = true;
this.point = p1;
bool condition1 = SystemContext.MachineControlPara.OperationType == OperationTypes.Step;
bool condition2 = SystemContext.MachineControlPara.Step < 0;
if (condition1 && condition2)
{
this.data.CurrentLen -= len;
}
else
{
this.data.CurrentLen += len;
}
//Report len, update mark
OperationEngine.Instance.NotifyMarkPointChanged(p1);
if (!string.IsNullOrEmpty(this.figureId))
{
OperationEngine.Instance.NotityMarkPathAdd(this.figureId, p1);
}
OperationEngine.Instance.ReportMotorPos(posInfo);
OperationEngine.Instance.ReportProgress(this.data.CurrentLen / totalLen);
}
return(valid);
}
public static MotorInfoMap <MotorInfoUnit> GetMotorStatus(byte[] response)
{
var content = Protocol.GetResponseContent(Protocol.GetList(response));
var result = new MotorInfoMap <MotorInfoUnit>();
foreach (var m in Protocol.Axises)
{
int index = (int)m;
result[m].Counter = (int)content[index];
index += 9;
result[m].Encoder = (int)content[index];
index += 9;
result[m].Status = (int)content[index];
index += 9;
result[m].Speed = (int)content[index];
}
return(result);
}
private void Engine_OnMotorSpeedReport(MotorInfoMap <double> speedInfo)
{
this.XSpeed = speedInfo[AxisTypes.AxisX];
this.YSpeed = speedInfo[AxisTypes.AxisY];
this.Speed = Math.Sqrt(Math.Pow(this.XSpeed, 2) + Math.Pow(this.YSpeed, 2));
}
private void Engine_OnMotorPosReport(MotorInfoMap <double> posInfo)
{
this.XPos = posInfo[AxisTypes.AxisX];
this.YPos = posInfo[AxisTypes.AxisY];
this.ZPos = posInfo[AxisTypes.AxisZ];
}
public void ReportMotorSpeed(MotorInfoMap <double> speedInfo)
{
this.OnMotorSpeedReport?.Invoke(speedInfo);
}
public void ReportMotorPos(MotorInfoMap <double> posInfo)
{
this.OnMotorPosReport?.Invoke(posInfo);
}
public virtual void HandleSpeedInfo(MotorInfoMap <double> speedInfo)
{
OperationEngine.Instance.ReportMotorSpeed(speedInfo);
}
private void HandleMotorInfo(MotorInfoMap <double> posInfo, MotorInfoMap <double> speedInfo)
{
OperationEngine.Instance.ReportMotorPos(posInfo);
OperationEngine.Instance.ReportMotorSpeed(speedInfo);
OperationEngine.Instance.NotifyMarkPointChanged(new PointF((float)posInfo[AxisTypes.AxisX], (float)posInfo[AxisTypes.AxisY]));
}
