public MultiTracesCmd(RunnableModule runnableModule, MultiTracesCmdLine multiTracesCmdLine, MeasureHeightCmd mhCmd)
: base(runnableModule, multiTracesCmdLine)
{
this.Valve = multiTracesCmdLine.Valve;
var structure = runnableModule.CommandsModule.program.ModuleStructure;
this.multiTracesCmdLine = multiTracesCmdLine;
foreach (var trace in this.multiTracesCmdLine.Traces)
{
TraceBase newTrace = trace.Clone() as TraceBase;
if (newTrace is TraceLine)
{
TraceLine traceLine = newTrace as TraceLine;
traceLine.Start = structure.ToMachine(runnableModule, traceLine.Start);
traceLine.End = structure.ToMachine(runnableModule, traceLine.End);
}
else
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Start = structure.ToMachine(runnableModule, traceArc.Start);
traceArc.Mid = structure.ToMachine(runnableModule, traceArc.Mid);
traceArc.End = structure.ToMachine(runnableModule, traceArc.End);
}
this.traces.Add(newTrace);
}
LineStyle = multiTracesCmdLine.LineStyle;
IsWeightControl = multiTracesCmdLine.IsWeightControl;
wholeWeight = multiTracesCmdLine.WholeWeight;
this.OffsetX = multiTracesCmdLine.OffsetX;
this.OffsetY = multiTracesCmdLine.OffsetY;
this.associatedMeasureHeightCmd = mhCmd;
//this.CheckRepeat();
}
private void btnInsert_Click(object sender, EventArgs e)
{
if (this.listBoxPoints.SelectedIndex < 0)
{
return;
}
PointTrace pointTrace = pointsCache[this.listBoxPoints.SelectedIndex];
if (pointTrace.PointType != TracePointType.End)
{
return;
}
int index = this.listBoxPoints.SelectedIndex;
PointTrace pointPrev = pointsCache[this.listBoxPoints.SelectedIndex - 1];
PointD newPoint = (Machine.Instance.Robot.PosXY - origin).ToPoint();
TraceBase trace = this.tracesCache[pointTrace.TraceIndex];
TraceBase tracePrev;
if (pointTrace.TraceIndex == 0)
{
tracePrev = null;
}
else
{
tracePrev = this.tracesCache[pointTrace.TraceIndex - 1];
}
if (this.rbLine.Checked)
{
trace.Start = newPoint.Clone() as PointD;
TraceLine line;
if (tracePrev == null)
{
line = new TraceLine(pointPrev.Point.Clone() as PointD, newPoint.Clone() as PointD);
line.LineStyle = trace.LineStyle;
}
else
{
line = new TraceLine(tracePrev.End.Clone() as PointD, newPoint.Clone() as PointD);
line.LineStyle = trace.LineStyle;
}
this.tracesCache.Insert(pointTrace.TraceIndex, line);
}
else
{
TraceArc arc = new TraceArc(trace.Start, newPoint, trace.End);
arc.LineStyle = trace.LineStyle;
this.tracesCache[pointTrace.TraceIndex] = arc;
}
this.updatePointsCache();
this.LoadLines2ListBox();
this.LoadPoints2ListBox();
this.listBoxPoints.SelectedIndex = index + 1;
}
public MultiTraces(MultiTracesCmd multiTracesCmd, CoordinateCorrector coordinateCorrector)
{
this.RunnableModule = multiTracesCmd.RunnableModule;
if (this.RunnableModule.Mode == ModuleMode.AssignMode1 || this.RunnableModule.Mode == ModuleMode.MainMode)
{
this.Valve = ValveType.Valve1;
}
else if (this.RunnableModule.Mode == ModuleMode.DualFallow)
{
this.Valve = ValveType.Both;
}
else
{
this.Valve = ValveType.Valve2;
}
foreach (var item in multiTracesCmd.Traces)
{
TraceBase newTrace = item.Clone() as TraceBase;
if (newTrace is TraceLine)
{
TraceLine traceLine = newTrace as TraceLine;
traceLine.Start = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceLine.Start, Executor.Instance.Program.ExecutantOriginOffset);
traceLine.End = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceLine.End, Executor.Instance.Program.ExecutantOriginOffset);
}
else
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Start = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.Start, Executor.Instance.Program.ExecutantOriginOffset);
traceArc.Mid = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.Mid, Executor.Instance.Program.ExecutantOriginOffset);
traceArc.End = coordinateCorrector.Correct(multiTracesCmd.RunnableModule, traceArc.End, Executor.Instance.Program.ExecutantOriginOffset);
}
//newTrace.Param = multiTracesCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(newLine.LineStyle);
this.traces.Add(newTrace);
Log.Dprint(string.Format("{0}: {1}", item.GetType(), item));
}
//param = multiTracesCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetLineParam(multiTracesCmd.LineStyle);
isWeightControl = multiTracesCmd.IsWeightControl;
wholeWeight = multiTracesCmd.WholeWeight;
this.OffsetX = multiTracesCmd.OffsetX;
this.OffsetY = multiTracesCmd.OffsetY;
Program = multiTracesCmd.RunnableModule.CommandsModule.Program;
this.multiTracesCmd = multiTracesCmd;
if (multiTracesCmd.AssociatedMeasureHeightCmd != null)
{
curMeasureHeightValue = multiTracesCmd.AssociatedMeasureHeightCmd.RealHtValue;
}
else
{
curMeasureHeightValue = this.RunnableModule.MeasuredHt;
}
}
/// <summary>
/// 获取副阀的AB轴的移动轨迹
/// </summary>
/// <param name="multiTraces"></param>
/// <param name="trace"></param>
/// <returns></returns>
private TraceBase getSimulTraces(MultiTraces multiTraces, TraceBase trace)
{
TraceBase newTrace = trace.Clone() as TraceBase;
newTrace.Start = this.getSimulPos(multiTraces, newTrace.Start);
newTrace.End = this.getSimulPos(multiTraces, newTrace.End);
if (newTrace is TraceArc)
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Mid = this.getSimulPos(multiTraces, traceArc.Mid);
}
return(newTrace);
}
/// <summary>
/// 螺杆阀Wet和Dry模式下的运行逻辑
/// </summary>
/// <param name="points"></param>
/// <returns></returns>
private Result SvValveWetAndDryLogic(MultiTraces multiTraces)
{
Result ret = Result.OK;
//主阀轨迹
List <TraceBase> primaryTraces = new List <TraceBase>();
//副阀轨迹
List <TraceBase> simulTraces = new List <TraceBase>();
//将相机坐标位置转换为阀的位置
foreach (var trace in multiTraces.Traces)
{
TraceBase newTrace = trace.Clone() as TraceBase;
newTrace.Start = newTrace.Start.ToNeedle(multiTraces.Valve);
newTrace.End = newTrace.End.ToNeedle(multiTraces.Valve);
if (newTrace is TraceArc)
{
TraceArc traceArc = newTrace as TraceArc;
traceArc.Mid = traceArc.Mid.ToNeedle(multiTraces.Valve);
}
primaryTraces.Add(newTrace);
}
//为主阀的坐标点进行偏移调整
foreach (var trace in primaryTraces)
{
trace.TranslateBy(multiTraces.OffsetX, multiTraces.OffsetY);
}
//生成副阀的坐标点
for (int i = 0; i < primaryTraces.Count; i++)
{
simulTraces.Add(this.getSimulTraces(multiTraces, primaryTraces[i]));
}
ret = this.SvValveTracesLogic(multiTraces, primaryTraces, simulTraces);
if (!ret.IsOk)
{
return(ret);
}
return(ret);
}
private void btnTeachEnd_Click(object sender, EventArgs e)
{
tbEndX.Text = (Machine.Instance.Robot.PosX - origin.X).ToString("0.000");
tbEndY.Text = (Machine.Instance.Robot.PosY - origin.Y).ToString("0.000");
if (!tbEndX.IsValid || !tbEndY.IsValid)
{
//MessageBox.Show("Please input valid values.");
MessageBox.Show("请输入正确的值.");
return;
}
//机械坐标->系统坐标
this.tempEndPoint = pattern.SystemRel(tbEndX.Value, tbEndY.Value);
if (hasSamePoints())
{
MessageBox.Show("存在相同点，请检查.");
return;
}
TraceBase newTrace = null;
if (this.rbLine.Checked)
{
newTrace = new TraceLine(this.tempStartPoint.Clone() as PointD, this.tempEndPoint.Clone() as PointD);
}
else
{
newTrace = new TraceArc(this.tempStartPoint.Clone() as PointD, this.tempMidPoint.Clone() as PointD, this.tempEndPoint.Clone() as PointD);
}
newTrace.LineStyle = this.comboBoxLineType.SelectedIndex;
this.tracesCache.Add(newTrace);
this.updatePointsCache();
this.LoadLines2ListBox();
this.LoadPoints2ListBox();
listBoxLines.SelectedIndex = listBoxLines.Items.Count - 1;
listBoxPoints.SelectedIndex = listBoxPoints.Items.Count - 1;
// 本段终点为下一段轨迹的起点
this.tempStartPoint.X = this.tempEndPoint.X;
this.tempStartPoint.Y = this.tempEndPoint.Y;
this.tbStartX.Text = this.tempStartPoint.X.ToString("0.000");
this.tbStartY.Text = this.tempStartPoint.Y.ToString("0.000");
this.tbMidX.Text = this.tempMidPoint.X.ToString("0.000");
this.tbMidY.Text = this.tempMidPoint.Y.ToString("0.000");
}
public MultiTracesDrawCmd(List <TraceBase> traces, bool enable)
{
for (int i = 0; i < traces.Count; i++)
{
if (traces[i] is TraceLine)
{
TraceLine line = (TraceLine)traces[i];
PointF[] linePoints = new PointF[2];
PointF lineStart = DrawingUtils.Instance.CoordinateTrans(new PointF((float)line.Start.X, (float)line.Start.Y));
PointF lineEnd = DrawingUtils.Instance.CoordinateTrans(new PointF((float)line.End.X, (float)line.End.Y));
linePoints[0] = lineStart;
linePoints[1] = lineEnd;
this.linesData.Add(linePoints);
}
else if (traces[i] is TraceArc)
{
TraceArc traceArc = (TraceArc)traces[i];
PointF[] arcPoints = new PointF[3];
PointF arcStart = DrawingUtils.Instance.CoordinateTrans(new PointF((float)traceArc.Start.X, (float)traceArc.Start.Y));
PointF arcCenter = DrawingUtils.Instance.CoordinateTrans(new PointF((float)traceArc.Center.X, (float)traceArc.Center.Y));
PointF arcEnd = DrawingUtils.Instance.CoordinateTrans(new PointF((float)traceArc.End.X, (float)traceArc.End.Y));
arcPoints[0] = arcStart;
arcPoints[1] = arcCenter;
arcPoints[2] = arcEnd;
float degree = (float)traceArc.Degree;
this.arcsData.Add(new Tuple <PointF[], float>(arcPoints, degree));
}
if (i == traces.Count - 1 && traces[i] is TraceLine)
{
this.lastTrackIsLine = true;
}
}
this.enable = enable;
this.SetTrack(new PointF(0, 0), Properties.Settings.Default.TrackNormalColor);
}
/// <summary>
/// Author: liyi
/// Date: 2019/08/27
/// Description:用于将界面参数更新至传入的轨迹数组
/// </summary>
/// <param name="cmdLines"></param>
private void UpdateCmdLineParam(List <CmdLine> cmdLines)
{
if (cmdLines.Count <= 0)
{
return;
}
if (this.rdoIncrementWeight.Checked)
{
isConstantWeight = false;
}
else if (this.rdoConstantWeight.Checked)
{
isConstantWeight = true;
}
if (this.cbxRotate.SelectedIndex == -1)
{
this.cbxRotate.SelectedIndex = 0;
}
double rotateAngle = this.cbxRotate.SelectedIndex * 90;
// 机械坐标 -> 系统坐标
PointD referencePoint = this.pattern.SystemRel(new PointD(this.tbRefX.Value, this.tbRefY.Value));
PointD offsetPoint = this.pattern.SystemRel(new PointD(this.tbXOffset.Value, this.tbYOffset.Value));
double offsetX = offsetPoint.X; //this.tbXOffset.Value;
double offsetY = offsetPoint.Y; //this.tbYOffset.Value;
foreach (CmdLine cmdLine in cmdLines)
{
//判断是否是胶量模式
//1.胶量模式，全部启用胶量模式
//2.非胶量模式，全部禁用胶量模式
//3.都有的状态，只增加胶量值，不更改模式
if (cmdLine is CircleCmdLine)
{
CircleCmdLine circleCmdLine = cmdLine as CircleCmdLine;
circleCmdLine.Weight = GetNewValue(circleCmdLine.Weight, tbWeight.Value, isConstantWeight);
PointD temp = GetNewPosition(circleCmdLine.Start, referencePoint, offsetX, offsetY, rotateAngle);
circleCmdLine.Start.X = temp.X;
circleCmdLine.Start.Y = temp.Y;
temp = GetNewPosition(circleCmdLine.Start, referencePoint, offsetX, offsetY, rotateAngle);
circleCmdLine.End.X = temp.X;
circleCmdLine.End.Y = temp.Y;
temp = GetNewPosition(circleCmdLine.Middle, referencePoint, offsetX, offsetY, rotateAngle);
circleCmdLine.Middle.X = temp.X;
circleCmdLine.Middle.Y = temp.Y;
temp = GetNewPosition(circleCmdLine.Middle, referencePoint, offsetX, offsetY, rotateAngle);
circleCmdLine.Center.X = temp.X;
circleCmdLine.Center.Y = temp.Y;
if (this.cbxLineType.SelectedIndex != -1)
{
circleCmdLine.LineStyle = (LineStyle)this.cmdLineType;
}
if (this.cbIsWeightControl.CheckState != CheckState.Indeterminate)
{
circleCmdLine.IsWeightControl = this.cbIsWeightControl.Checked;
}
}
else if (cmdLine is ArcCmdLine)
{
ArcCmdLine arcCmdLine = cmdLine as ArcCmdLine;
arcCmdLine.Weight = GetNewValue(arcCmdLine.Weight, tbWeight.Value, isConstantWeight);
PointD temp = GetNewPosition(arcCmdLine.Start, referencePoint, offsetX, offsetY, rotateAngle);
arcCmdLine.Start.X = temp.X;
arcCmdLine.Start.Y = temp.Y;
temp = GetNewPosition(arcCmdLine.End, referencePoint, offsetX, offsetY, rotateAngle);
arcCmdLine.End.X = temp.X;
arcCmdLine.End.Y = temp.Y;
temp = GetNewPosition(arcCmdLine.Middle, referencePoint, offsetX, offsetY, rotateAngle);
arcCmdLine.Middle.X = temp.X;
arcCmdLine.Middle.Y = temp.Y;
temp = GetNewPosition(arcCmdLine.Center, referencePoint, offsetX, offsetY, rotateAngle);
arcCmdLine.Center.X = temp.X;
arcCmdLine.Center.Y = temp.Y;
if (this.cbxLineType.SelectedIndex != -1)
{
arcCmdLine.LineStyle = (LineStyle)this.cmdLineType;
}
if (this.cbIsWeightControl.CheckState != CheckState.Indeterminate)
{
arcCmdLine.IsWeightControl = this.cbIsWeightControl.Checked;
}
}
else if (cmdLine is DotCmdLine)
{
DotCmdLine dotCmdLine = cmdLine as DotCmdLine;
dotCmdLine.Weight = GetNewValue(dotCmdLine.Weight, tbWeight.Value, isConstantWeight);
PointD temp = GetNewPosition(dotCmdLine.Position, referencePoint, offsetX, offsetY, rotateAngle);
dotCmdLine.Position.X = temp.X;
dotCmdLine.Position.Y = temp.Y;
if (this.cbxDotType.SelectedIndex != -1)
{
dotCmdLine.DotStyle = (DotStyle)this.cmdDotType;
}
if (this.cbIsWeightControl.CheckState != CheckState.Indeterminate)
{
dotCmdLine.IsWeightControl = this.cbIsWeightControl.Checked;
}
}
else if (cmdLine is SnakeLineCmdLine)
{
SnakeLineCmdLine snakeLineCmdLine = cmdLine as SnakeLineCmdLine;
if (this.cbxLineType.SelectedIndex != -1)
{
snakeLineCmdLine.LineStyle = (LineStyle)this.cmdLineType;
}
if (this.cbIsWeightControl.CheckState != CheckState.Indeterminate)
{
snakeLineCmdLine.IsWeightControl = this.cbIsWeightControl.Checked;
}
PointD temp = new PointD();
foreach (LineCoordinate item in snakeLineCmdLine.LineCoordinateList)
{
temp = GetNewPosition(item.Start, referencePoint, offsetX, offsetY, rotateAngle);
item.Start.X = temp.X;
item.Start.Y = temp.Y;
temp = GetNewPosition(item.End, referencePoint, offsetX, offsetY, rotateAngle);
item.End.X = temp.X;
item.End.Y = temp.Y;
}
}
else if (cmdLine is LineCmdLine)
{
LineCmdLine lineCmdLine = cmdLine as LineCmdLine;
if (this.cbxLineType.SelectedIndex != -1)
{
lineCmdLine.LineStyle = (LineStyle)this.cmdLineType;
}
for (int i = 0; i < lineCmdLine.LineCoordinateList.Count; i++)
{
lineCmdLine.LineCoordinateList[i].LineStyle = lineCmdLine.LineStyle;
}
if (this.cbIsWeightControl.CheckState != CheckState.Indeterminate)
{
lineCmdLine.IsWeightControl = this.cbIsWeightControl.Checked;
}
if (lineCmdLine.LineMethod == LineMethod.Single)
{
lineCmdLine.WholeWeight = GetNewValue(lineCmdLine.WholeWeight, tbWeight.Value, isConstantWeight);
}
else if (lineCmdLine.LineMethod == LineMethod.Multi)
{
lineCmdLine.WholeWeight = GetNewValue(lineCmdLine.WholeWeight, tbWeight.Value, isConstantWeight);
}
else if (lineCmdLine.LineMethod == LineMethod.Poly)
{
lineCmdLine.WholeWeight = GetNewValue(lineCmdLine.WholeWeight, tbWeight.Value, isConstantWeight);
}
PointD temp = new PointD();
foreach (LineCoordinate item in lineCmdLine.LineCoordinateList)
{
temp = GetNewPosition(item.Start, referencePoint, offsetX, offsetY, rotateAngle);
item.Start.X = temp.X;
item.Start.Y = temp.Y;
temp = GetNewPosition(item.End, referencePoint, offsetX, offsetY, rotateAngle);
item.End.X = temp.X;
item.End.Y = temp.Y;
}
}
else if (cmdLine is MultiTracesCmdLine)
{
MultiTracesCmdLine multiTrace = cmdLine as MultiTracesCmdLine;
PointD temp = new PointD();
foreach (var item in multiTrace.Traces)
{
if (item is TraceLine)
{
temp = GetNewPosition(item.Start, referencePoint, offsetX, offsetY, rotateAngle);
item.Start.X = temp.X;
item.Start.Y = temp.Y;
temp = GetNewPosition(item.End, referencePoint, offsetX, offsetY, rotateAngle);
item.End.X = temp.X;
item.End.Y = temp.Y;
}
else if (item is TraceArc)
{
TraceArc traceArc = item as TraceArc;
temp = GetNewPosition(traceArc.Start, referencePoint, offsetX, offsetY, rotateAngle);
traceArc.Start.X = temp.X;
traceArc.Start.Y = temp.Y;
temp = GetNewPosition(traceArc.Mid, referencePoint, offsetX, offsetY, rotateAngle);
traceArc.Mid.X = temp.X;
traceArc.Mid.Y = temp.Y;
temp = GetNewPosition(traceArc.End, referencePoint, offsetX, offsetY, rotateAngle);
traceArc.End.X = temp.X;
traceArc.End.Y = temp.Y;
}
}
}
else if (cmdLine is SymbolLinesCmdLine)
{
SymbolLinesCmdLine symbolLinesCmdLine = cmdLine as SymbolLinesCmdLine;
PointD temp = new PointD();
double r = this.symbolLine1.GetPrm();
foreach (var item in symbolLinesCmdLine.Symbols)
{
item.transitionR = r;
if (item.symbolType == SymbolType.Line)
{
temp = GetNewPosition(item.symbolPoints[0], referencePoint, offsetX, offsetY, rotateAngle);
item.symbolPoints[0].X = temp.X;
item.symbolPoints[0].Y = temp.Y;
temp = GetNewPosition(item.symbolPoints[1], referencePoint, offsetX, offsetY, rotateAngle);
item.symbolPoints[1].X = temp.X;
item.symbolPoints[1].Y = temp.Y;
}
else if (item.symbolType == SymbolType.Arc)
{
temp = GetNewPosition(item.symbolPoints[0], referencePoint, offsetX, offsetY, rotateAngle);
item.symbolPoints[0].X = temp.X;
item.symbolPoints[0].Y = temp.Y;
temp = GetNewPosition(item.symbolPoints[1], referencePoint, offsetX, offsetY, rotateAngle);
item.symbolPoints[1].X = temp.X;
item.symbolPoints[1].Y = temp.Y;
temp = GetNewPosition(item.symbolPoints[2], referencePoint, offsetX, offsetY, rotateAngle);
item.symbolPoints[2].X = temp.X;
item.symbolPoints[2].Y = temp.Y;
}
}
}
}
}