public PosXYZ Scale(PosXYZ scaleFactor)
{
var p = new PosXYZ();
p.Index = p.Index;
p.Name = p.Name;
p.Description = p.Description;
p.X = scaleFactor.X * X;
p.Y = scaleFactor.Y * Y;
p.Z = scaleFactor.Z * Z;
return(p);
}
public PosXYZ Translate(PosXYZ offset)
{
var p = new PosXYZ();
p.Index = p.Index;
p.Name = p.Name;
p.Description = p.Description;
p.X = offset.X + X;
p.Y = offset.Y + Y;
p.Z = offset.Z + Z;
return(p);
}
public void LoadPts(string file)
{
using (var fs = new FileStream(file, FileMode.Open))
{
using (var sr = new StreamReader(fs))
{
//find platform pos start line
var line = sr.ReadLine();
if (line != null && line.StartsWith(Name))
{
var propCount = PosType.GetProperties().Length;
//start read pos lines
line = sr.ReadLine();
while (!string.IsNullOrEmpty(line))
{
var data = line.Split(',');
if (data.Length == propCount)
{
if (PosType == typeof(PosXYZ))
{
Positions.Add(PosXYZ.Create(line));
}
else if (PosType == typeof(PosXYZU))
{
Positions.Add(PosXYZU.Create(line));
}
else if (PosType == typeof(PosXYZUVW))
{
Positions.Add(PosXYZUVW.Create(line));
}
else
{
//pos type error
}
}
else
{
//pos prop length error
MessageBox.Show($"{line} Props Count Error");
}
line = sr.ReadLine();
}
}
}
}
}
public override void TeachPos(string name)
{
var curpos = new PosXYZ(CurPos);
if (Positions.Exists(p => p.Name == name))
{
var teachpos = Positions.FirstOrDefault(p => p.Name == name);
teachpos?.Update(curpos.Data());
}
else
{
curpos.Name = name;
Positions.Add(curpos);
}
}
/// <summary>
/// 2d rotation
/// </summary>
/// <param name="center"></param>
/// <param name="angle"></param>
/// <returns></returns>
public PosXYZ RotateAt(PosXYZ center, double angle)
{
var dx = X - center.X;
var dy = Y - center.Y;
var theta = angle / 360 * Math.PI;
var rotDx = Math.Cos(theta) * dx - Math.Sin(theta) * dy;
var rotDy = Math.Sin(theta) * dx + Math.Cos(theta) * dy;
var p = new PosXYZ();
p.X = center.X + rotDx;
p.Y = center.Y + rotDy;
p.Z = Z;
return(p);
}
public static PosXYZ Create(string posStr)
{
var data = posStr.Split(',');
int i = 0;
var p = new PosXYZ();
p.Index = int.Parse(data[i++]);
p.Name = data[i++];
p.X = double.Parse(data[i++]);
p.Y = double.Parse(data[i++]);
p.Z = double.Parse(data[i++]);
p.OffsetX = double.Parse(data[i++]);
p.OffsetY = double.Parse(data[i++]);
p.OffsetZ = double.Parse(data[i++]);
p.Status = bool.Parse(data[i++]);
p.Description = data[i++];
p.Flag1 = int.Parse(data[i++]);
p.Flag2 = int.Parse(data[i++]);
p.Flag3 = int.Parse(data[i++]);
return(p);
}