/// <summary> /// 写入点位 /// </summary> /// <param name="xeRoot"></param> /// <param name="robotStdPoint"></param> bool WriteMovePoint(XmlElement xeRoot, RobotStdPoint robotStdPoint) { try { Point4D p_Move = robotStdPoint.P_Move; //vel XmlElement xeMove = CreateNewXe(xeRoot, "Move"); xeRoot.AppendChild(xeMove); MoveRobot_enum moveRobot_e = MoveRobot_enum.Stay; moveRobot_e = (MoveRobot_enum)p_Move.DblValue1 - 1; WriteAttribute(xeMove, "Type", moveRobot_e.ToString()); //passCMD Point4D p_passCMD = robotStdPoint.P_PassCMD; XmlElement xePassCMD = CreateNewXe(xeRoot, "PassCMD"); xeRoot.AppendChild(xePassCMD); WriteAttribute(xePassCMD, "Num", p_passCMD.DblValue1.ToString()); TypePosRobot_enum typeZ_e = (TypePosRobot_enum)p_passCMD.DblValue2 - 1; WriteAttribute(xePassCMD, "Z", typeZ_e.ToString()); TypePosRobot_enum typeR_e = (TypePosRobot_enum)p_passCMD.DblValue3 - 1; WriteAttribute(xePassCMD, "R", typeR_e.ToString()); WriteMovePoint(xeRoot, "Here", robotStdPoint.P_Here); WriteMovePoint(xeRoot, "Pass1", robotStdPoint.P_Pass1); WriteMovePoint(xeRoot, "Pass2", robotStdPoint.P_Pass2); WriteMovePoint(xeRoot, "Pass3", robotStdPoint.P_Pass3); //des WriteMovePoint(xeRoot, "Des", robotStdPoint.P_Des); return(true); } catch (Exception ex) { return(false); } }
void ReadMovePos(XmlElement xeRoot, RobotStdPoint robotStdPoint) { try { string typeMove = ReadChildAttributeStr(xeRoot, "Move", "Type", "Stay"); MoveRobot_enum moveRobot_e = (MoveRobot_enum)Enum.Parse(typeof(MoveRobot_enum), typeMove); robotStdPoint.P_Move.DblValue1 = (int)moveRobot_e + 1; robotStdPoint.P_PassCMD.DblValue1 = ReadChildAttributeInt(xeRoot, "PassCMD", "Num", 0); string typeZ = ReadChildAttributeStr(xeRoot, "PassCMD", "Z", "Relative"); if (typeZ == TypePosRobot_enum.Relative.ToString()) { robotStdPoint.P_PassCMD.DblValue2 = 1; } else { robotStdPoint.P_PassCMD.DblValue2 = 2; } string typeR = ReadChildAttributeStr(xeRoot, "PassCMD", "R", "Relative"); if (typeR == TypePosRobot_enum.Relative.ToString()) { robotStdPoint.P_PassCMD.DblValue3 = 1; } else { robotStdPoint.P_PassCMD.DblValue3 = 2; } robotStdPoint.P_Des = ReadMovePos(xeRoot, "Des"); robotStdPoint.P_Here = ReadMovePos(xeRoot, "Here"); robotStdPoint.P_Pass1 = ReadMovePos(xeRoot, "Pass1"); robotStdPoint.P_Pass2 = ReadMovePos(xeRoot, "Pass2"); robotStdPoint.P_Pass3 = ReadMovePos(xeRoot, "Pass3"); } catch (Exception ex) { } }