/// <summary>
/// 开始直线插补运动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btStartLiner_Click(object sender, EventArgs e)
{
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("请设置差补运动的轴数量");
return;
}
List <int> axisIDs = new List <int>();
List <double> trgtPoses = new List <double>();
for (int i = 0; i < dgvLinePos.Rows.Count; i++)
{
string axisIDText = dgvLinePos.Rows[i].Cells[0].Value as string;
if (string.IsNullOrEmpty(axisIDText))
{
MessageBox.Show("请设置差补轴" + (i + 1) + " 的轴序号");
return;
}
int axisID = Convert.ToInt32(axisIDText);
axisIDs.Add(axisID);
string trgtPos = dgvLinePos.Rows[i].Cells[1].Value as string;
if (string.IsNullOrEmpty(trgtPos))
{
MessageBox.Show("请设置差补轴" + (i + 1) + " 的目标位置");
return;
}
double dVal = 0;
if (!double.TryParse(trgtPos, out dVal))
{
MessageBox.Show("差补轴" + (i + 1) + " 的目标位置不是一个数字，请重新输入");
return;
}
if (!_IsAxisCanMove(axisID))
{
return;
}
trgtPoses.Add(dVal);
}
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("请设置差补运动的轴数量");
return;
}
object omp = null;
if (!ucLineParam.GetParamValue(out omp))
{
MessageBox.Show("未能获取运动参数，请检查输入");
return;
}
JFMotionParam mp = (JFMotionParam)omp;
if (!_isMotionParamValid(mp))
{
return;
}
int err = 0;
if (chkAbsLine.Checked)
{
err = _module.AbsLine_P(axisIDs.ToArray(), trgtPoses.ToArray(), mp);
}
else
{
err = _module.RelLine_P(axisIDs.ToArray(), trgtPoses.ToArray(), mp);
}
if (err != 0)
{
MessageBox.Show("操作失败:" + _module.GetErrorInfo(err));
}
else
{
ShowTips("开始插补运动");
}
}
