public RollPosition(LableCode label, string side, PanelState pnlState, decimal x, decimal y, decimal z, decimal rz)
{
this.LabelCode = label.LCode;
PanelNo = label.PanelNo;
Floor = label.Floor;
Status = label.Status;
FloorIndex = label.FloorIndex;
// 布卷按长度调整板上位置， 以确定坐标偏移。
var adj = AdjustPosByRollLength(x, clsSetting.SplintWidth, label.Length);
//X = x;
//Y = y;
X = x + (side == "B" ? -adj.offsetx : adj.offsetx);
Y = y + (side == "B" ? -adj.offsety : adj.offsety);
Z = z;
Rz = rz;
//
if (robotChangeAngle.Contains(RealLocation))
{
ChangeAngle = x < 0 || y > 0;//3\4\5\9\10\11标签朝外
}
else
{
ChangeAngle = x > 0 || y < 0;
}
RealLocation = label.RealLocation;
ToLocation = label.ToLocation;
diameter = label.Diameter;
// Index = CalculateBaseIndex(label.ToLocation, x, y);
Index = CalculateBaseIndex(RealLocation, x, y);
// LocationNo = int.Parse(label.ToLocation.Substring(1, 2));
// LocationNo改为getLocationNo.
// BaseIndex = 4 * (GetLocationNo() - 1) + Index + 1;
BaseIndex = 4 * (GetRealLocationNo() - 1) + Index + 1;
Side = side;
PnlState = pnlState;
// var tmp = int.Parse(label.ToLocation.Substring(1, 2));
var tmp = GetRealLocationNo();
var origin = RobotParam.GetOrigin(tmp);
var point = RobotParam.GetPoint(tmp, Index);
Base1 = origin.Base;
Base2 = point.Base;
XOffSet = GetXOffSet(origin.Base, point.Base);
X = X + XOffSet;
Origin = new PostionVar(XOffSet, 0, 1700, origin.Rx, origin.Ry, origin.Rz + rz);
Target = new PostionVar(X, Y, Z, origin.Rx, origin.Ry, origin.Rz + rz);
}
/// <summary>
/// 写位置变量
/// </summary>
/// <param name="pv">位置</param>
/// <param name="ptype">todo: describe ptype parameter on SetPostion</param>
/// <param name="pvIndex">todo: describe pvIndex parameter on SetPostion</param>
/// <param name="pt">todo: describe pt parameter on SetPostion</param>
/// <param name="toolNo">todo: describe toolNo parameter on SetPostion</param>
/// <param name="userFrameNo">todo: describe userFrameNo parameter on SetPostion</param>
/// <returns></returns>
public bool SetPostion(PosVarType ptype, PostionVar pv, int pvIndex, PosType pt, int toolNo, int userFrameNo)
{
int nConfig;
nConfig = (int)pt;
nConfig |= (pv.NoFlip ? 1 : 0) << 8;
nConfig |= (pv.LowArm ? 1 : 0) << 9;
nConfig |= (pv.Back ? 1 : 0) << 10;
nConfig |= (pv.RGt180 ? 1 : 0) << 11;
nConfig |= (pv.TGt180 ? 1 : 0) << 12;
nConfig |= toolNo << 16;
nConfig |= userFrameNo << 22;
var cmd = string.Format("cmd={0};usType={1};usIndex={2};nConfig={3};ulValue1={4};ulValue2={5};ulValue3={6};ulValue4={7};ulValue5={8};ulValue6={9};ulValue7={10};ulValue8={11};",
Commands.CMD_MpPutPosVarData, (int)ptype, pvIndex, nConfig,
pv.sOrX, pv.lOrY, pv.uOrZ, pv.bOrRx, pv.rOrRy, pv.tOrRz, 0, 0);
Send(cmd);
var s = ReadSck();
return(s.Contains("OK"));
}