private bool IsListReady(uint count)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
const uint RTC5_LIST_BUFFER_MAX = 4000;
if ((this.listCount + count) >= RTC5_LIST_BUFFER_MAX)
{
uint busy, position;
busy = position = 0;
RTC5Wrap.n_get_status(this.Index + 1, out busy, out position);
if (0 != busy)
{
RTC5Wrap.n_set_end_of_list(this.Index + 1);
RTC5Wrap.n_execute_list(this.Index + 1, this.listIndex);
this.listIndex = this.listIndex ^ 0x03;
RTC5Wrap.n_set_start_list(this.Index + 1, this.listIndex);
}
else
{
RTC5Wrap.n_set_end_of_list(this.Index + 1);
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
RTC5Wrap.n_auto_change(this.Index + 1);
uint readStatus = 0;
switch (this.listIndex)
{
case 1:
do
{
readStatus = RTC5Wrap.n_read_status(this.Index + 1);
System.Threading.Thread.Sleep(1);
}while (Convert.ToBoolean(readStatus & 0x20));
break;
case 2:
do
{
readStatus = RTC5Wrap.n_read_status(this.Index + 1);
System.Threading.Thread.Sleep(1);
}while (Convert.ToBoolean(readStatus & 0x10));
break;
}
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
this.listIndex = this.listIndex ^ 0x03;
RTC5Wrap.n_set_start_list(this.Index + 1, this.listIndex);
}
this.listCount = count;
}
this.listCount += count;
return(true);
}
/// <summary>
/// 关闭激光，移动激光聚焦点至加工起始位置
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public static void Rtc_Ready(decimal x, decimal y)
{
UInt32 List_No = 1u;
// 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);
//修正当前位置00
RTC5Wrap.jump_abs(-Convert.ToInt32(y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(x * Para_List.Parameter.Rtc_Pos_Reference));
//设置List结束位置
RTC5Wrap.set_end_of_list();
//启动执行
RTC5Wrap.execute_list(List_No);
//Busy 运行等待结束
uint Busy;
do
{
RTC5Wrap.get_status(out Busy, out uint Position);
} while (Busy != 0U);
//goto 指定点
RTC5Wrap.goto_xy(-Convert.ToInt32(y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(x * Para_List.Parameter.Rtc_Pos_Reference));
}
public bool Initialize(double kFactor, LaserMode laserMode, string ctbFileName)
{
Debug.Assert(kFactor > 0);
RTC5Wrap.n_stop_execution(this.Index + 1);
uint error = RTC5Wrap.n_load_program_file(this.Index + 1, string.Empty);
uint cardCnt = RTC5Wrap.rtc5_count_cards();
uint dllVersion = RTC5Wrap.get_dll_version();
uint hexVersion = RTC5Wrap.get_hex_version();
uint rtcVersion = RTC5Wrap.get_rtc_version();
uint lastError = RTC5Wrap.n_get_last_error(this.Index + 1);
uint serialNo = RTC5Wrap.n_get_serial_number(this.Index + 1);
this.kFactor = kFactor;
///active high
RTC5Wrap.n_set_laser_control(this.Index + 1, 0);
if (!this.CtlLoadCorrectionFile(CorrectionTableIndex.Table1, ctbFileName))
{
return(false);
}
if (!this.CtlSelectCorrection(CorrectionTableIndex.Table1))
{
return(false);
}
RTC5Wrap.n_config_list(this.Index + 1, 4_000 * 2, 4_000 * 2);
RTC5Wrap.n_set_laser_mode(this.Index + 1, (uint)laserMode);
RTC5Wrap.n_set_firstpulse_killer(this.Index + 1, 0);
RTC5Wrap.n_set_standby(this.Index + 1, 0, 0);
return(true);
}
/// <summary>
/// XY方向绝对位移
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="Control"></param>
/// <param name="List_No"></param>
public static void Abs_XY(decimal x, decimal y, UInt32 Control, UInt32 List_No)//距离、控制方式、list区域
{
// 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);
//生成数据
if (Control == 4)//jump_rel
{
RTC5Wrap.jump_rel(-Convert.ToInt32(y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(x * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (Control == 6)//mark_rel
{
RTC5Wrap.mark_rel(-Convert.ToInt32(y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(x * Para_List.Parameter.Rtc_Pos_Reference));
}
//设置List结束位置
RTC5Wrap.set_end_of_list();
//启动执行
RTC5Wrap.execute_list(List_No);
//Busy 运行等待结束
uint Busy;
do
{
RTC5Wrap.get_status(out Busy, out uint Position);
} while (Busy != 0U);
}
public bool CtlSelectCorrection(CorrectionTableIndex primaryHeadTableIndex, CorrectionTableIndex secondaryHeadTableIndex = CorrectionTableIndex.TableNone)
{
RTC5Wrap.n_select_cor_table(this.Index + 1,
Convert.ToUInt32(primaryHeadTableIndex),
Convert.ToUInt32(secondaryHeadTableIndex));
return(true);
}
/// <summary>
/// 执行 未经任何矫正的数据，包括坐标系匹配，用于原始振镜坐标系输出，进行桶形矫正
/// </summary>
/// <param name="Rtc_Datas"></param>
/// <param name="List_No"></param>
public static void Draw_Cal(List <Interpolation_Data> Rtc_Datas, UInt32 List_No)
{
// 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);
//初始Jump到启动点位
RTC5Wrap.jump_abs(Convert.ToInt32(Rtc_Datas[0].Rtc_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(Rtc_Datas[0].Rtc_y * Para_List.Parameter.Rtc_Pos_Reference));
//生成数据
foreach (var o in Rtc_Datas)
{
if (o.Type == 11)//arc_abs 绝对圆弧
{
RTC5Wrap.arc_abs(Convert.ToInt32(o.Center_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.Center_y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToDouble(o.Angle));
}
else if (o.Type == 12)//arc_rel
{
RTC5Wrap.arc_rel(Convert.ToInt32(o.Center_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.Center_y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToDouble(o.Angle));
}
else if (o.Type == 13)//jump_abs
{
RTC5Wrap.jump_abs(Convert.ToInt32(o.End_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.End_y * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 14)//jump_rel
{
RTC5Wrap.jump_rel(Convert.ToInt32(o.End_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.End_y * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 15)//mark_abs
{
RTC5Wrap.mark_abs(Convert.ToInt32(o.End_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.End_y * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 16)//mark_rel
{
RTC5Wrap.mark_rel(Convert.ToInt32(o.End_x * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.End_y * Para_List.Parameter.Rtc_Pos_Reference));
}
}
//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);
}
public bool ListEnd()
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
RTC5Wrap.n_set_end_of_list(this.Index + 1);
return(true);
}
public bool ListBegin()
{
Debug.Assert(this.CtlGetStatus(RtcStatus.NotBusy));
this.listIndex = 1;
this.listCount = 0;
this.aborted = false;
RTC5Wrap.n_set_start_list(this.Index + 1, this.listIndex);
return(true);
}
public bool CtlMove(Vector2 vPosition)
{
Vector2 v = Vector2.Transform(vPosition, this.Matrix.Calculate);
int xBits = Convert.ToInt32(v.X * this.kFactor);
int yBits = Convert.ToInt32(v.Y * this.kFactor);
RTC5Wrap.n_goto_xy(this.Index + 1, xBits, yBits);
return(true);
}
public bool CtlGetStatus(RtcStatus status)
{
bool result = false;
uint busy, position;
busy = position = 0;
switch (status)
{
case RtcStatus.Busy:
RTC5Wrap.n_get_status(this.Index + 1, out busy, out position);
result = Convert.ToBoolean(busy > 0);
break;
case RtcStatus.NotBusy:
result = !this.CtlGetStatus(RtcStatus.Busy);
break;
case RtcStatus.List1Busy:
uint l1Status = RTC5Wrap.n_read_status(this.Index + 1);
result = Convert.ToBoolean(l1Status & 0x0F);
break;
case RtcStatus.List2Busy:
uint l2Status = RTC5Wrap.n_read_status(this.Index + 1);
result = Convert.ToBoolean(l2Status & 0x10);
break;
case RtcStatus.NoError:
bool aborted = this.CtlGetStatus(RtcStatus.Aborted);
uint lastError = RTC5Wrap.n_get_last_error(this.Index + 1);
bool error = 0 != lastError;
result = !aborted && !error;
break;
case RtcStatus.Aborted:
result = this.aborted;
break;
case RtcStatus.PositionAckOK:
uint posAckStatus = RTC5Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(posAckStatus & 0x0F + posAckStatus & 0x10);
break;
case RtcStatus.PowerOK:
uint powStatus = RTC5Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(powStatus & 0x80);
break;
case RtcStatus.TempOK:
uint tempStatus = RTC5Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(tempStatus & 0x40);
break;
}
return(result);
}
/// <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
}
public bool CtlBusyWait()
{
uint busy, position;
do
{
System.Threading.Thread.Sleep(1);
RTC5Wrap.n_get_status(this.Index + 1, out busy, out position);
}while (0 != busy);
return(true);
}
public bool CtlReset()
{
uint lastError = RTC5Wrap.n_get_last_error(this.Index + 1);
if (0 != lastError)
{
RTC5Wrap.n_reset_error(this.Index + 1, lastError);
}
this.aborted = false;
return(true);
}
public bool CtlLoadCorrectionFile(CorrectionTableIndex tableIndex, string ctbFileName)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
this.ctbFileName[(uint)tableIndex] = ctbFileName;
uint error = RTC5Wrap.n_load_correction_file(this.Index + 1,
ctbFileName, Convert.ToUInt32(tableIndex), 2);
return(true);
}
public bool ListLaserOff()
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(1))
{
return(false);
}
RTC5Wrap.n_laser_signal_off_list(this.Index + 1);
return(true);
}
public bool CtlSpeed(double jump, double mark)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
double jump_bitperms = jump / (double)1.0e3 * this.kFactor;
double mark_bitperms = mark / (double)1.0e3 * this.kFactor;
RTC5Wrap.n_set_jump_speed_ctrl(this.Index + 1, jump_bitperms);
RTC5Wrap.n_set_mark_speed_ctrl(this.Index + 1, mark_bitperms);
return(true);
}
public bool ListLaserOn(double msec)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(1))
{
return(false);
}
RTC5Wrap.n_laser_on_list(this.Index + 1, (uint)(msec / 100.0));
return(true);
}
public bool ListWait(double msec)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (msec * 1.0e3 >= 10)
{
if (!this.IsListReady(1))
{
return(false);
}
RTC5Wrap.n_long_delay(this.Index + 1, (uint)(msec * 100.0));
}
return(true);
}
/// <summary>
/// jump跳刀
/// </summary>
/// <param name="Rtc_Datas"></param>
/// <param name="List_No"></param>
public static void Draw_Jump(List <Interpolation_Data> Rtc_Datas, UInt32 List_No)
{
#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)
{
#if !DEBUG
if (o.Type == 13)//jump_abs
{
RTC5Wrap.jump_abs(Convert.ToInt32(-o.End_y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.End_x * Para_List.Parameter.Rtc_Pos_Reference));
}
else if (o.Type == 14)//jump_rel
{
RTC5Wrap.jump_rel(Convert.ToInt32(-o.End_y * Para_List.Parameter.Rtc_Pos_Reference), Convert.ToInt32(o.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
}
public bool ListSpeed(double jump, double mark)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
double jump_bitperms = jump / (double)1.0e3 * this.kFactor;
double mark_bitperms = mark / (double)1.0e3 * this.kFactor;
if (!this.IsListReady(2))
{
return(false);
}
RTC5Wrap.n_set_jump_speed(this.Index + 1, jump_bitperms);
RTC5Wrap.n_set_mark_speed(this.Index + 1, mark_bitperms);
return(true);
}
public bool ListJump(Vector2 vPosition)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
Vector2 v = Vector2.Transform(vPosition, this.Matrix.Calculate);
int xBits = (int)(v.X * this.kFactor);
int yBits = (int)(v.Y * this.kFactor);
if (!this.IsListReady(1))
{
return(false);
}
RTC5Wrap.n_jump_abs(this.Index + 1, xBits, yBits);
return(true);
}
public bool ListFrequency(double frequency, double pulseWidth)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
double period = 1.0f / frequency * (double)1.0e6;
double halfPeriod = period / 2.0f;
if (!this.IsListReady(1))
{
return(false);
}
RTC5Wrap.n_set_laser_timing(this.Index + 1,
(uint)(halfPeriod * 64.0),
(uint)(pulseWidth * 64.0),
0, 0);
return(true);
}
public bool CtlFrequency(double frequency, double pulseWidth)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
double period = 1.0f / frequency * (double)1.0e6;
double halfPeriod = period / 2.0f;
RTC5Wrap.n_set_start_list(this.Index + 1, 1);
RTC5Wrap.n_set_laser_timing(this.Index + 1,
(uint)(halfPeriod * 64.0),
(uint)(pulseWidth * 64.0),
0,
0);
RTC5Wrap.n_set_end_of_list(this.Index + 1);
RTC5Wrap.n_execute_list(this.Index + 1, 1);
this.CtlBusyWait();
return(true);
}
public bool CtlDelay(double laserOn, double laserOff, double scannerJump, double scannerMark, double scannerPolygon)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
RTC5Wrap.n_set_start_list(this.Index + 1, 1);
RTC5Wrap.n_set_scanner_delays(this.Index + 1,
(uint)(scannerJump / 10.0),
(uint)(scannerMark / 10.0),
(uint)(scannerPolygon / 10.0)
);
RTC5Wrap.n_set_laser_delays(this.Index + 1,
(int)(laserOn * 2.0),
(uint)(laserOff * 2.0)
);
RTC5Wrap.n_set_end_of_list(this.Index + 1);
RTC5Wrap.n_execute_list(this.Index + 1, 1);
this.CtlBusyWait();
return(true);
}
public bool ListDelay(double laserOn, double laserOff, double scannerJump, double scannerMark, double scannerPolygon)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(2))
{
return(false);
}
RTC5Wrap.n_set_scanner_delays(this.Index + 1,
(uint)(scannerJump / 10.0),
(uint)(scannerMark / 10.0),
(uint)(scannerPolygon / 10.0)
);
RTC5Wrap.n_set_laser_delays(this.Index + 1,
(int)(laserOn * 2.0),
(uint)(laserOff * 2.0)
);
return(true);
}
public bool ListArc(Vector2 center, double sweepAngle)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
Vector2 v = Vector2.Transform(center, this.Matrix.Calculate);
int quot = (int)(Math.Abs(sweepAngle) / 360.0);
double rem = sweepAngle - Math.Sign(sweepAngle) * 360.0f * quot;
if (!this.IsListReady((uint)(quot + 1)))
{
return(false);
}
for (int i = 0; i < quot; i++)
{
RTC5Wrap.n_arc_abs(this.Index + 1, (int)(center.X * this.kFactor), (int)(center.Y * this.kFactor), Math.Sign(sweepAngle) * -360.0);
}
RTC5Wrap.n_arc_abs(this.Index + 1, (int)(center.X * this.kFactor), (int)(center.Y * this.kFactor), -rem);
return(true);
}
/// <summary>
/// 修改参数
/// </summary>
public static void Change_Para()
{
// 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(1u, 0u) == 0);
// Timing, delay and speed preset.
// Transmit the following list commands to the list buffer.
RTC5Wrap.set_start_list(1u);
// Wait for Para_List.Parameter.Warmup_Time seconds
//RTC5Wrap.long_delay(Convert.ToUInt32(Para_List.Parameter.Warmup_Time / Para_List.Parameter.Scanner_Delay_Reference));
RTC5Wrap.set_laser_pulses(
Convert.ToUInt32(Para_List.Parameter.Laser_Half_Period * Para_List.Parameter.Rtc_Period_Reference), // half of the laser signal period.
Convert.ToUInt32(Para_List.Parameter.Laser_Pulse_Width * Para_List.Parameter.Rtc_Period_Reference)); // pulse widths of signal LASER1.
RTC5Wrap.set_scanner_delays(
Convert.ToUInt32(Para_List.Parameter.Jump_Delay / Para_List.Parameter.Scanner_Delay_Reference), // jump delay, in 10 microseconds.
Convert.ToUInt32(Para_List.Parameter.Mark_Delay / Para_List.Parameter.Scanner_Delay_Reference), // mark delay, in 10 microseconds.
Convert.ToUInt32(Para_List.Parameter.Polygon_Delay / Para_List.Parameter.Scanner_Delay_Reference)); // polygon delay, in 10 microseconds.
RTC5Wrap.set_laser_delays(
Convert.ToInt32(Para_List.Parameter.Laser_On_Delay * Para_List.Parameter.Laser_Delay_Reference), // laser on delay, in microseconds.
Convert.ToUInt32(Para_List.Parameter.Laser_Off_Delay * Para_List.Parameter.Laser_Delay_Reference)); // laser off delay, in microseconds.
// jump speed in bits per milliseconds.
RTC5Wrap.set_jump_speed(Para_List.Parameter.Jump_Speed);
// marking speed in bits per milliseconds.
RTC5Wrap.set_mark_speed(Para_List.Parameter.Mark_Speed);
RTC5Wrap.set_end_of_list();
RTC5Wrap.execute_list(1u);
//Pump source warming up ,wait!!!
uint Busy;
do
{
RTC5Wrap.get_status(out Busy, out uint Position);
} while (Busy != 0U);
}
public bool ListExecute(bool busyWait = true)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
uint busy, position;
busy = position = 0;
RTC5Wrap.n_get_status(this.Index + 1, out busy, out position);
if (busy > 0)
{
RTC5Wrap.n_auto_change(this.Index + 1);
}
if (busyWait)
{
this.CtlBusyWait();
}
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
return(true);
}
/// <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
}
/// <summary>
/// 振镜加工终止
/// </summary>
public static void Draw_Stop()
{
//终止运行
RTC5Wrap.stop_execution();
}
