# 对专机2部6轴平台支持，修改HexalMC

HSI_HexagonMI_EF3/version.h

@@ -12,5 +12,5 @@
 #define HSI_VERSION_REVNUM              
 #define HSI_VERSION_BUILD_DATE        _T(__DATE__ )  
 #define HSI_VERSION_BUILD_TIME        _T(__TIME__ )  
-#define HSI_FILE_DESCRIPTION          "2025.03.05 / 16:50 "  
+#define HSI_FILE_DESCRIPTION          "2025.03.11 / 17:19 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2025.03.05 / 16:50 ")  
+#define HSI_FILE_CSDESCRIPTION        _T("2025.03.11 / 17:19 ")  

HexcalMC/Base/BaseFunction.cs

@@ -1,6 +1,5 @@
 using System;
 using System.Collections;
-using System.Collections.Generic;
 using System.Data;
 using System.Diagnostics;
 using System.Drawing;
@@ -10,9 +9,7 @@ using System.Net.NetworkInformation;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Text.RegularExpressions;
-using System.Threading.Tasks;
 using System.Windows.Forms;
-using System.Net.NetworkInformation;
 
 namespace HexcalMC.Base
 {
@@ -21,6 +18,7 @@ namespace HexcalMC.Base
 	public class RichTextUnit
 	{
 		public static float MSize = 16;
+
 		public static void SetFont(RichTextBox mRichTextBox, Color mColor, bool bBold = false, float size = 16)
 		{
 			mRichTextBox.SelectionColor = mColor;
@@ -70,6 +68,7 @@ namespace HexcalMC.Base
 									RichTextUnit.SetFont(mRichTextBox, Color.DarkRed, false, size);
 								}
 								break;
+
 							case '>':
 								{
 									RichTextUnit.SetFont(mRichTextBox, Color.Blue, false, size);
@@ -77,12 +76,14 @@ namespace HexcalMC.Base
 									RichTextUnit.SetFont(mRichTextBox, Color.Black, false, size);
 								}
 								break;
+
 							case '/':
 								{
 									RichTextUnit.SetFont(mRichTextBox, Color.Blue, false, size);
 									mRichTextBox.SelectedText = strText[i].ToString();
 								}
 								break;
+
 							case '=':
 								{
 									if (strText[i + 1] == '"')
@@ -93,6 +94,7 @@ namespace HexcalMC.Base
 									}
 								}
 								break;
+
 							case '"':
 								{
 									RichTextUnit.SetFont(mRichTextBox, Color.Blue, false, size);
@@ -103,12 +105,14 @@ namespace HexcalMC.Base
 										RichTextUnit.SetFont(mRichTextBox, Color.DarkRed, false, size);
 								}
 								break;
+
 							case '!':
 								{
 									RichTextUnit.SetFont(mRichTextBox, Color.Green, false, size);
 									mRichTextBox.SelectedText = strText[i].ToString();
 								}
 								break;
+
 							case '\r':
 								{
 									if (strText[i + 1] == '\n')
@@ -118,13 +122,14 @@ namespace HexcalMC.Base
 									}
 								}
 								break;
+
 							default:
 								mRichTextBox.SelectedText = strText[i].ToString();
 								break;
 						}
 					}
 				}
-				#endregion
+				#endregion PARSE THROUGH TEXT DATA
 
 				mRichTextBox.SelectedText = Environment.NewLine;
 			}));
@@ -143,6 +148,7 @@ namespace HexcalMC.Base
 							RichTextUnit.SetFont(mRichTextBox, Color.Red, false, size);
 							mRichTextBox.SelectedText = strText[i].ToString();
 							break;
+
 						case '0':
 						case '1':
 						case '2':
@@ -156,16 +162,18 @@ namespace HexcalMC.Base
 							RichTextUnit.SetFont(mRichTextBox, Color.DeepSkyBlue, false, size);
 							mRichTextBox.SelectedText = strText[i].ToString();
 							break;
+
 						default:
 							RichTextUnit.SetFont(mRichTextBox, Color.White, false, size);
 							mRichTextBox.SelectedText = strText[i].ToString();
 							break;
 					}
 				}
-				#endregion
+				#endregion PARSE THROUGH TEXT DATA
 			}));
 		}
 	}
+
 	public class MyBase
 	{
 		#region 内存回收
@@ -198,7 +206,7 @@ namespace HexcalMC.Base
 			}
 		}
 
-		#endregion
+		#endregion 内存回收
 
 		public static void KillSoftware(string strSoftwareName)
 		{
@@ -369,7 +377,6 @@ namespace HexcalMC.Base
 			}
 		}
 
-
 		public static string InputBox(string caption, string hint, string defaultTxt, string btn1 = "OK",
 			string btn2 = "Cancel", char strstyle = '*', bool bShowData = false)
 		{
@@ -513,17 +520,17 @@ namespace HexcalMC.Base
 		[DllImport("User32.dll")]
 		private static extern bool SetCursorPos(int x, int y);
 
-		static public void SetCursorPosXy(int dx, int dy)
+		public static void SetCursorPosXy(int dx, int dy)
 		{
 			SetCursorPos(dx, dy);
 		}
 
-		static public void SetCursorPosXy(Point point)
+		public static void SetCursorPosXy(Point point)
 		{
 			System.Windows.Forms.Cursor.Position = point;
 		}
 
-		#endregion
+		#endregion 界面控件操作
 
 		/// <summary>
 		/// CopyFiles 函数
@@ -563,7 +570,9 @@ namespace HexcalMC.Base
 
 	public class HardwareInfoBase
 	{
-		/// <summary> 获取指定驱动器的空间总大小(单位为B) ,只需输入代表驱动器的字母即可 </summary>
+		/// <summary>
+		/// 获取指定驱动器的空间总大小(单位为B) ,只需输入代表驱动器的字母即可
+		/// </summary>
 		public static long GetHardDiskSpace(string strHardDiskName)
 		{
 			long totalSize = new long();
@@ -581,7 +590,9 @@ namespace HexcalMC.Base
 			return totalSize;
 		}
 
-		/// <summary> 获取指定驱动器的剩余空间总大小(单位为B) ,只需输入代表驱动器的字母即可 </summary>
+		/// <summary>
+		/// 获取指定驱动器的剩余空间总大小(单位为B) ,只需输入代表驱动器的字母即可
+		/// </summary>
 		public static long GetHardDiskFreeSpace(string strHardDiskName)
 		{
 			long freeSpace = new long();
@@ -599,19 +610,25 @@ namespace HexcalMC.Base
 			return freeSpace;
 		}
 
-		/// <summary> 获取指定驱动器的剩余空间总大小(单位为K) ,只需输入代表驱动器的字母即可 </summary>
+		/// <summary>
+		/// 获取指定驱动器的剩余空间总大小(单位为K) ,只需输入代表驱动器的字母即可
+		/// </summary>
 		public static long GetHardDiskFreeSpace_K(string strHardDiskName)
 		{
 			return GetHardDiskFreeSpace(strHardDiskName) / 1024;
 		}
 
-		/// <summary> 获取指定驱动器的剩余空间总大小(单位为M) ,只需输入代表驱动器的字母即可 </summary>
+		/// <summary>
+		/// 获取指定驱动器的剩余空间总大小(单位为M) ,只需输入代表驱动器的字母即可
+		/// </summary>
 		public static long GetHardDiskFreeSpace_M(string strHardDiskName)
 		{
 			return GetHardDiskFreeSpace_K(strHardDiskName) / 1024;
 		}
 
-		/// <summary> 获取指定驱动器的剩余空间总大小(单位为G) ,只需输入代表驱动器的字母即可 </summary>
+		/// <summary>
+		/// 获取指定驱动器的剩余空间总大小(单位为G) ,只需输入代表驱动器的字母即可
+		/// </summary>
 		public static long GetHardDiskFreeSpace_G(string strHardDiskName)
 		{
 			return GetHardDiskFreeSpace_M(strHardDiskName) / 1024;
@@ -644,7 +661,6 @@ namespace HexcalMC.Base
 			return false;
 		}
 
-
 		[DllImport("kernel32")]
 		private static extern int GetPrivateProfileString(string section, string key, string def, StringBuilder retVal,
 			int size, string filePath);
@@ -744,7 +760,7 @@ namespace HexcalMC.Base
 			WritePrivateProfileString(section, key, strWrite, path);
 		}
 
-		#endregion
+		#endregion 写INI参数
 
 		//=====================//=====================//=====================Read data
 
@@ -814,10 +830,9 @@ namespace HexcalMC.Base
 				return false;
 		}
 
-		#endregion
+		#endregion 读INI参数
 	}
 
-
 	//==================================================================================================SoundBase
 	/// <summary>
 	/// 声音播放类
@@ -914,12 +929,11 @@ namespace HexcalMC.Base
 		}
 	}
 
-
 	//==================================================================================================
 	/// <summary>
 	/// 数据格式化或校验检测
 	/// </summary>
-	class FormatCheckBase
+	internal class FormatCheckBase
 	{
 		/// <summary>
 		/// 检测是否为十六进制字符串，长度不够在前面添加0
@@ -1125,7 +1139,7 @@ namespace HexcalMC.Base
 
 			#region
 
-			static readonly byte[] AuchCrcHi = new byte[]
+			private static readonly byte[] AuchCrcHi = new byte[]
 			{
 				0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
 				0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
@@ -1161,7 +1175,7 @@ namespace HexcalMC.Base
 
 			#region
 
-			static readonly byte[] AuchCrcLo = new byte[]
+			private static readonly byte[] AuchCrcLo = new byte[]
 			{
 				0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
 				0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
@@ -1218,19 +1232,18 @@ namespace HexcalMC.Base
 		}
 	}
 
-
 	//==================================================================================================ConvertBase
 	/// <summary>
 	/// 数据转换类
 	/// </summary>
-	class ConvertBase
+	internal class ConvertBase
 	{
 		#region 图像 <--> 数组
 
 		/// <summary>
 		/// 图像转换为Byte数组
 		/// </summary>
-		static public byte[] ImageToByteArray(Image imageIn)
+		public static byte[] ImageToByteArray(Image imageIn)
 		{
 			MemoryStream ms = new MemoryStream();
 			imageIn.Save(ms, System.Drawing.Imaging.ImageFormat.Png);
@@ -1240,7 +1253,7 @@ namespace HexcalMC.Base
 		/// <summary>
 		/// Byte数组转换为图像
 		/// </summary>
-		static public Image ByteArrayToImage(byte[] byteArrayIn)
+		public static Image ByteArrayToImage(byte[] byteArrayIn)
 		{
 			MemoryStream ms = new MemoryStream(byteArrayIn);
 			Image returnImage = Image.FromStream(ms);
@@ -1772,21 +1785,27 @@ namespace HexcalMC.Base
 					case 10:
 						x = "A";
 						break;
+
 					case 11:
 						x = "B";
 						break;
+
 					case 12:
 						x = "C";
 						break;
+
 					case 13:
 						x = "D";
 						break;
+
 					case 14:
 						x = "E";
 						break;
+
 					case 15:
 						x = "F";
 						break;
+
 					default:
 						x = d.ToString();
 						break;
@@ -1807,12 +1826,11 @@ namespace HexcalMC.Base
 		}
 	}
 
-
 	//==================================================================================================TcpBase
 	/// <summary>
 	/// 网络通讯通用类函数库
 	/// </summary>
-	class TcpBase
+	internal class TcpBase
 	{
 		/// <summary>
 		/// 用CMD命令测试网络连接状态
@@ -1851,12 +1869,11 @@ namespace HexcalMC.Base
 		}
 	}
 
-
 	//==================================================================================================MyMath
 	/// <summary>
 	/// 数学函数库（算法）
 	/// </summary>
-	class MyMath
+	internal class MyMath
 	{
 		public static double GetMax(double[] datas)
 		{
@@ -1981,36 +1998,52 @@ namespace HexcalMC.Base
 			{
 				case 0:
 					return (data & 0x0001) > 0;
+
 				case 1:
 					return (data & 0x0002) > 0;
+
 				case 2:
 					return (data & 0x0004) > 0;
+
 				case 3:
 					return (data & 0x0008) > 0;
+
 				case 4:
 					return (data & 0x0010) > 0;
+
 				case 5:
 					return (data & 0x0020) > 0;
+
 				case 6:
 					return (data & 0x0040) > 0;
+
 				case 7:
 					return (data & 0x0080) > 0;
+
 				case 8:
 					return (data & 0x0100) > 0;
+
 				case 9:
 					return (data & 0x0200) > 0;
+
 				case 10:
 					return (data & 0x0400) > 0;
+
 				case 11:
 					return (data & 0x0800) > 0;
+
 				case 12:
 					return (data & 0x1000) > 0;
+
 				case 13:
 					return (data & 0x2000) > 0;
+
 				case 14:
 					return (data & 0x4000) > 0;
+
 				case 15:
 					return (data & 0x8000) > 0;
+
 				default:
 					return false;
 			}
@@ -2022,37 +2055,52 @@ namespace HexcalMC.Base
 			{
 				case 0:
 					return (data & 0x0100) > 0;
+
 				case 1:
 					return (data & 0x0200) > 0;
+
 				case 2:
 					return (data & 0x0400) > 0;
+
 				case 3:
 					return (data & 0x0800) > 0;
+
 				case 4:
 					return (data & 0x1000) > 0;
+
 				case 5:
 					return (data & 0x2000) > 0;
+
 				case 6:
 					return (data & 0x4000) > 0;
+
 				case 7:
 					return (data & 0x8000) > 0;
 
 				case 8:
 					return (data & 0x0001) > 0;
+
 				case 9:
 					return (data & 0x0002) > 0;
+
 				case 10:
 					return (data & 0x0004) > 0;
+
 				case 11:
 					return (data & 0x0008) > 0;
+
 				case 12:
 					return (data & 0x0010) > 0;
+
 				case 13:
 					return (data & 0x0020) > 0;
+
 				case 14:
 					return (data & 0x0040) > 0;
+
 				case 15:
 					return (data & 0x0080) > 0;
+
 				default:
 					return false;
 			}
@@ -2077,7 +2125,6 @@ namespace HexcalMC.Base
 			return bResult;
 		}
 
-
 		/// <summary>
 		/// 获取单精度浮点数（float）数据
 		/// </summary>
@@ -2187,6 +2234,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 10:
 							foreach (byte b in arrLength)
 							{
@@ -2194,6 +2242,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 16:
 							foreach (byte b in arrLength)
 							{
@@ -2220,7 +2269,6 @@ namespace HexcalMC.Base
 			}
 		}
 
-
 		//======================================================================
 		/// <summary>
 		/// 字节数组(byte 8位)转化为ushort(16位）数组
@@ -2282,7 +2330,6 @@ namespace HexcalMC.Base
 			return ushorts;
 		}
 
-
 		//======================================================================
 		/// <summary>
 		/// 字节数组(byte 8位)转化为short(16位）数组
@@ -2355,13 +2402,13 @@ namespace HexcalMC.Base
 		}
 	}
 
-	class CodeDfn
+	internal class CodeDfn
 	{
 		public const string BlankSpace = " ";
 		public const string StrEnter = "\r\n";
 	}
 
-	class PlcMath
+	internal class PlcMath
 	{
 		#region S7协议数据处理（以字节为基础）
 
@@ -2547,6 +2594,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 10:
 							foreach (byte b in arrLength)
 							{
@@ -2554,6 +2602,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 16:
 							foreach (byte b in arrLength)
 							{
@@ -2561,6 +2610,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						default:
 							foreach (byte b in arrLength)
 							{
@@ -2582,7 +2632,6 @@ namespace HexcalMC.Base
 
 		#endregion
 
-
 		#region ModbusTCP/FinsTCP协议数据处理（以字为基础）
 
 		/// <summary>
@@ -2708,36 +2757,52 @@ namespace HexcalMC.Base
 			{
 				case 0:
 					return (data & 0x0001) > 0;
+
 				case 1:
 					return (data & 0x0002) > 0;
+
 				case 2:
 					return (data & 0x0004) > 0;
+
 				case 3:
 					return (data & 0x0008) > 0;
+
 				case 4:
 					return (data & 0x0010) > 0;
+
 				case 5:
 					return (data & 0x0020) > 0;
+
 				case 6:
 					return (data & 0x0040) > 0;
+
 				case 7:
 					return (data & 0x0080) > 0;
+
 				case 8:
 					return (data & 0x0100) > 0;
+
 				case 9:
 					return (data & 0x0200) > 0;
+
 				case 10:
 					return (data & 0x0400) > 0;
+
 				case 11:
 					return (data & 0x0800) > 0;
+
 				case 12:
 					return (data & 0x1000) > 0;
+
 				case 13:
 					return (data & 0x2000) > 0;
+
 				case 14:
 					return (data & 0x4000) > 0;
+
 				case 15:
 					return (data & 0x8000) > 0;
+
 				default:
 					return false;
 			}
@@ -2749,37 +2814,52 @@ namespace HexcalMC.Base
 			{
 				case 0:
 					return (data & 0x0100) > 0;
+
 				case 1:
 					return (data & 0x0200) > 0;
+
 				case 2:
 					return (data & 0x0400) > 0;
+
 				case 3:
 					return (data & 0x0800) > 0;
+
 				case 4:
 					return (data & 0x1000) > 0;
+
 				case 5:
 					return (data & 0x2000) > 0;
+
 				case 6:
 					return (data & 0x4000) > 0;
+
 				case 7:
 					return (data & 0x8000) > 0;
 
 				case 8:
 					return (data & 0x0001) > 0;
+
 				case 9:
 					return (data & 0x0002) > 0;
+
 				case 10:
 					return (data & 0x0004) > 0;
+
 				case 11:
 					return (data & 0x0008) > 0;
+
 				case 12:
 					return (data & 0x0010) > 0;
+
 				case 13:
 					return (data & 0x0020) > 0;
+
 				case 14:
 					return (data & 0x0040) > 0;
+
 				case 15:
 					return (data & 0x0080) > 0;
+
 				default:
 					return false;
 			}
@@ -2913,6 +2993,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 10:
 							foreach (byte b in arrLength)
 							{
@@ -2920,6 +3001,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						case 16:
 							foreach (byte b in arrLength)
 							{
@@ -2927,6 +3009,7 @@ namespace HexcalMC.Base
 							}
 
 							break;
+
 						default:
 							foreach (byte b in arrLength)
 							{
@@ -2949,11 +3032,8 @@ namespace HexcalMC.Base
 		#endregion
 	}
 
-
+	internal class Internet
-	
-	class Internet
 	{
-		
 		public static bool IsIpReachable(string ipAddress)
 		{
 			try

HexcalMC/Base/DebugDfn.cs

@@ -1,11 +1,7 @@
 using System;
-using System.Collections.Generic;
 using System.Diagnostics;
 using System.Drawing;
 using System.IO;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace HexcalMC.Base
@@ -20,7 +16,6 @@ namespace HexcalMC.Base
 
 		public static RichTextBox textBox_Msg;
 
-
 		//=================================================================
 		public static void StartDebugObj()
 		{
@@ -122,26 +117,21 @@ namespace HexcalMC.Base
 			}
 		}
 
-		#endregion
+		#endregion 信息显示
 	}
 
 	public class Errors
 	{
 		/// <summary>
-		/// 0:无故障 PLC按位求 1对应101
+		/// 0:无故障 PLC按位求 1对应101 1：通讯故障 2：扫描枪读取故障
-		/// 1：通讯故障
+		/// 3: 控制柜急停被按下 4：外部急停被按下 5：PCL急停，辊道在CMM测量时上料
-		/// 2：扫描枪读取故障
-		/// 3: 控制柜急停被按下
-		/// 4：外部急停被按下  
-		/// 5：PCL急停，辊道在CMM测量时上料
 		/// </summary>
 		public static int iErrors = 0;
-		/// 101：通讯故障
+
-		/// 102：扫描枪读取故障
+		/// 101：通讯故障 102：扫描枪读取故障
-		/// 103: 控制柜急停被按下
+		/// 103: 控制柜急停被按下 104：外部急停被按下 105：PCL急停，辊道在CMM测量时上料
-		/// 104：外部急停被按下  
-		/// 105：PCL急停，辊道在CMM测量时上料
 		public static bool bCommError = false;
+
 		public static bool bReaderError = false;
 		public static bool bEStop_Controller = false;
 		public static bool bEStop_Out = false;

HexcalMC/Base/Editor3D/FunctionCompiler.cs

@@ -1,18 +1,15 @@
-
+/*****************************************************************************
-/*****************************************************************************
 
 This class has been written by Łukasz Światkowski
 Cleaned up spaghetti code and improved by Elmü (elmue@gmx.de)
 
 *****************************************************************************/
 
+using Microsoft.CSharp;
 using System;
 using System.CodeDom.Compiler;
 using System.Reflection;
-using System.Runtime.Serialization;
 using System.Text;
-using Microsoft.CSharp;
-
 using delRendererFunction = Plot3D.Editor3D.delRendererFunction;
 
 namespace Plot3D
@@ -21,7 +18,7 @@ namespace Plot3D
 
 	public static class FunctionCompiler
 	{
-        const String EVAL_CLASS  = 
+		private const String EVAL_CLASS =
 			  "using {1};\n"
 			+ "public class Eval\n"
 			+ "{{\n"
@@ -105,7 +102,7 @@ namespace Plot3D
 
 			MethodInfo i_Method = i_Result.CompiledAssembly.GetType("Eval").GetMethod("__get");
 			delCompiledFunction f_Compiled = (delCompiledFunction)i_Method.Invoke(null, null);
-            delRendererFunction f_Render   = delegate(double X, double Y)
+			delRendererFunction f_Render = delegate (double X, double Y)
 			{
 				return f_Compiled(X, Y);
 			};

HexcalMC/Base/Lamp.cs

@@ -1,13 +1,7 @@
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
 using System.Drawing;
-using System.Data;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Forms;
 using System.Drawing.Drawing2D;
+using System.Windows.Forms;
 
 namespace HexcalMC
 {
@@ -22,7 +16,6 @@ namespace HexcalMC
 
 		private void Lamp_Load(object sender, EventArgs e)
 		{
-
 		}
 
 		private static Color[] _colors = new Color[]
@@ -44,11 +37,12 @@ namespace HexcalMC
 		private const int Undef = -1;
 		private int _state = -1;
 
-
 		private string _dtext = "";
 		private bool _shadow = false;
 
-        /// <summary> 设置颜色 </summary>
+		/// <summary>
+		/// 设置颜色
+		/// </summary>
 		public int State
 		{
 			get
@@ -62,7 +56,9 @@ namespace HexcalMC
 			}
 		}
 
-        /// <summary> 设置文字 </summary>
+		/// <summary>
+		/// 设置文字
+		/// </summary>
 		public string LText
 		{
 			get
@@ -75,7 +71,9 @@ namespace HexcalMC
 			}
 		}
 
-        /// <summary> 设置阴影 </summary>
+		/// <summary>
+		/// 设置阴影
+		/// </summary>
 		public bool Shadow
 		{
 			get
@@ -160,7 +158,6 @@ namespace HexcalMC
 				g.DrawString(_dtext, font, Brushes.Black, new Point(num4, y2));
 			}
 		}
-
 	}
 
 	public class LampColor

HexcalMC/Base/Scatter/Algebra.cs

@@ -1,16 +1,13 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
 
 namespace Scatter
 {
-    static class Algerbra
+	internal static class Algerbra
 	{
 		public class Matrix<T>
 		{
-            int rows;
+			private int rows;
-            int columns;
+			private int columns;
 
 			private T[,] matrix;
 
@@ -99,7 +96,5 @@ namespace Scatter
 				return output;
 			}
 		}
-
-
 	}
 }

HexcalMC/Base/Scatter/MouseWheelHandler.cs

@@ -1,9 +1,6 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Windows.Forms;
 using System.Drawing;
+using System.Windows.Forms;
 
 namespace Scatter
 {
@@ -19,7 +16,7 @@ namespace Scatter
 			ctrl.Disposed += (s, e) => Application.RemoveMessageFilter(filter);
 		}
 
-        class MouseWheelMessageFilter
+		private class MouseWheelMessageFilter
 			: IMessageFilter
 		{
 			private readonly Control _ctrl;

HexcalMC/Base/Scatter/Projection.cs

@@ -1,26 +1,23 @@
 using System;
 using System.Collections.Generic;
-using System.Linq;
-using System.Text;
 using System.Drawing;
-using System.Diagnostics;
 
 namespace Scatter
 {
-    static class Projection
+	internal static class Projection
 	{
-        static public PointF Project(double[] x, double s_x, double s_y, double f, double[] d_w, double azimuth, double elevation)
+		public static PointF Project(double[] x, double s_x, double s_y, double f, double[] d_w, double azimuth, double elevation)
 		{
 			Algerbra.Matrix<double> Mext = GetMext(azimuth, elevation, d_w);
 			Algerbra.Matrix<double> Mint = GetMint(s_x, s_y, f);
 			Algerbra.Matrix<double> X_h = new Algerbra.Matrix<double>(4, 1);
-            X_h.SetMatrix(new double[] { x[0], x[1], x[2], 1.0});
+			X_h.SetMatrix(new double[] { x[0], x[1], x[2], 1.0 });
 			//Debug.Print((Mint * Mext).ToString());
 			Algerbra.Matrix<double> P = Mint * Mext * X_h;
 			return new PointF((float)(P.GetValByIndex(0, 0) / P.GetValByIndex(2, 0)), (float)(P.GetValByIndex(1, 0) / P.GetValByIndex(2, 0)));
 		}
 
-        static public PointF[] ProjectVector(List<double[]> x, double s_x, double s_y, double f, double[] d_w, double azimuth, double elevation)
+		public static PointF[] ProjectVector(List<double[]> x, double s_x, double s_y, double f, double[] d_w, double azimuth, double elevation)
 		{
 			Algerbra.Matrix<double> Mext = GetMext(azimuth, elevation, d_w);
 			Algerbra.Matrix<double> Mint = GetMint(s_x, s_y, f);
@@ -36,7 +33,7 @@ namespace Scatter
 			return Pvec;
 		}
 
-        static Algerbra.Matrix<double> GetMint(double s_x, double s_y, double f)
+		private static Algerbra.Matrix<double> GetMint(double s_x, double s_y, double f)
 		{
 			Algerbra.Matrix<double> Mint = new Algerbra.Matrix<double>(3, 3);
 			double o_x = s_x / 2;
@@ -46,7 +43,7 @@ namespace Scatter
 			return Mint;
 		}
 
-        static Algerbra.Matrix<double> GetMext(double azimuth, double elevation, double[] d_w)
+		private static Algerbra.Matrix<double> GetMext(double azimuth, double elevation, double[] d_w)
 		{
 			Algerbra.Matrix<double> R = RotationMatrix(azimuth, elevation);
 			Algerbra.Matrix<double> dw = new Algerbra.Matrix<double>(3, 1);
@@ -55,7 +52,7 @@ namespace Scatter
 			return Mext;
 		}
 
-        static Algerbra.Matrix<double> RotationMatrix(double azimuth, double elevation)
+		private static Algerbra.Matrix<double> RotationMatrix(double azimuth, double elevation)
 		{
 			Algerbra.Matrix<double> R = new Algerbra.Matrix<double>(3, 3);
 			R.SetMatrix(new double[] { Math.Cos(azimuth), 0, -Math.Sin(azimuth),

HexcalMC/Base/Scatter/ScatterPlot.cs

@@ -1,19 +1,14 @@
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Drawing;
-using System.Data;
-using System.Linq;
-using System.Text;
 using System.Windows.Forms;
-using System.Diagnostics;
 
 namespace Scatter
 {
 	public partial class ScatterPlot : UserControl
 	{
-        List<List<double[]>> Points = new List<List<double[]>>();
+		private List<List<double[]>> Points = new List<List<double[]>>();
-        List<PointF[]> ProjPoints = new List<PointF[]>();
+		private List<PointF[]> ProjPoints = new List<PointF[]>();
 		private double f = 1000;
 		private double d = 5;
 		private double[] d_w = new double[3];
@@ -35,7 +30,7 @@ namespace Scatter
 
 		public double[] CameraPos
 		{
-            get { return d_w;}
+			get { return d_w; }
 			set { d_w = value; UpdateProjection(); }
 		}
 
@@ -67,7 +62,7 @@ namespace Scatter
 			}
 		}
 
-        Color[] colorIdx = new Color[] { Color.Blue, Color.Red, Color.Green, Color.Orange, Color.Fuchsia, Color.Black };
+		private Color[] colorIdx = new Color[] { Color.Blue, Color.Red, Color.Green, Color.Orange, Color.Fuchsia, Color.Black };
 
 		protected override void OnPaint(PaintEventArgs e)
 		{
@@ -110,7 +105,7 @@ namespace Scatter
 		{
 			List<double[]> _tmp = new List<double[]>(points);
 			Points.Add(_tmp);
-            ProjPoints.Add(Projection.ProjectVector(Points[Points.Count-1], this.Width, this.Height, f, d_w, azimuth, elevation));
+			ProjPoints.Add(Projection.ProjectVector(Points[Points.Count - 1], this.Width, this.Height, f, d_w, azimuth, elevation));
 			UpdateProjection();
 		}
 
@@ -172,8 +167,5 @@ namespace Scatter
 				ProjPoints[i] = Projection.ProjectVector(Points[i], this.Width, this.Height, f, d_w, azimuth, elevation);
 			this.Invalidate();
 		}
-
 	}
-
-
 }

HexcalMC/Base/SharpGLViewportControl.cs

@@ -1,9 +1,9 @@
-using System;
+using SharpGL;
+using SharpGL.SceneGraph;
+using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Windows.Forms;
-using SharpGL;
-using SharpGL.SceneGraph;
 using Telerik.WinControls.UI;
 
 namespace HexcalMC.Base
@@ -22,7 +22,6 @@ namespace HexcalMC.Base
 				Dock = DockStyle.Fill
 			};
 
-
 			Controls.Add(openGLControl);
 
 			openGLControl.OpenGLInitialized += OpenGLControl_OpenGLInitialized;
@@ -31,7 +30,6 @@ namespace HexcalMC.Base
 			pointCloud = new List<Point3D>();
 		}
 
-
 		public void SetPointCloud(List<Point3D> points)
 		{
 			pointCloud = points;

HexcalMC/Form/AboutBox.cs

@@ -11,8 +11,8 @@ namespace HexcalMC.Form
 		{
 			InitializeComponent();
 
-			//  Initialize the AboutBox to display the product information from the assembly information.
+			// Initialize the AboutBox to display the product information from the assembly
-			//  Change assembly information settings for your application through either:
+			// information. Change assembly information settings for your application through either:
 			// - Project->Properties->Application->Assembly Information
 			// - AssemblyInfo.cs
 			Text = string.Format("关于 {0}", AssemblyTitle);
@@ -31,7 +31,6 @@ namespace HexcalMC.Form
 			Close();
 		}
 
-
 		#region Assembly Attribute Accessors
 
 		public string AssemblyTitle
@@ -51,7 +50,8 @@ namespace HexcalMC.Form
 						return titleAttribute.Title;
 				}
 
-				// If there was no Title attribute, or if the Title attribute was the empty string, return the .exe name
+				// If there was no Title attribute, or if the Title attribute was the empty string,
+				// return the .exe name
 				return Path.GetFileNameWithoutExtension(Assembly.GetExecutingAssembly().CodeBase);
 			}
 		}
@@ -118,6 +118,6 @@ namespace HexcalMC.Form
 			}
 		}
 
-		#endregion
+		#endregion Assembly Attribute Accessors
 	}
 }

HexcalMC/Hexcal/TcpIpServer.cs

@@ -1,4 +1,5 @@
-using System;
+using HexcalMC.Base;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Net;
@@ -6,7 +7,6 @@ using System.Net.Sockets;
 using System.Text;
 using System.Threading;
 using System.Windows.Forms;
-using HexcalMC.Base;
 using Timer = System.Windows.Forms.Timer;
 
 namespace HexcalMC.Hexcal
@@ -226,6 +226,7 @@ namespace HexcalMC.Hexcal
 							}
 
 							break;
+
 						case 3:
 							if (length > 0)
 							{
@@ -315,7 +316,6 @@ namespace HexcalMC.Hexcal
 			}
 		}
 
-
 		public void SendMessageToAllClients(byte[] arrMsg)
 		{
 			foreach (Socket soc in _dictSocket.Values)

HexcalMC/HexcalMC.csproj

@@ -86,16 +86,22 @@
     <ApplicationIcon>Hexagon.ico</ApplicationIcon>
   </PropertyGroup>
   <PropertyGroup>
-    <ManifestCertificateThumbprint>6EDD851028CAF15F53977FDAABCEB5A0859CFE89</ManifestCertificateThumbprint>
+    <ManifestCertificateThumbprint>496B16FFAF2CF6830CF56CFF2C6223A82DC3B1DF</ManifestCertificateThumbprint>
   </PropertyGroup>
   <PropertyGroup>
-    <ManifestKeyFile>HexcalMC_TemporaryKey.pfx</ManifestKeyFile>
+    <ManifestKeyFile>HexcalMC_1_TemporaryKey.pfx</ManifestKeyFile>
   </PropertyGroup>
   <PropertyGroup>
     <GenerateManifests>true</GenerateManifests>
   </PropertyGroup>
   <PropertyGroup>
-    <SignManifests>true</SignManifests>
+    <SignManifests>false</SignManifests>
+  </PropertyGroup>
+  <PropertyGroup>
+    <StartupObject />
+  </PropertyGroup>
+  <PropertyGroup>
+    <NoWin32Manifest>true</NoWin32Manifest>
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="ACS.SPiiPlusNET, Version=3.2.0.32487, Culture=neutral, processorArchitecture=MSIL">
@@ -197,11 +203,11 @@
       <DependentUpon>AboutBox.cs</DependentUpon>
     </Compile>
     <Compile Include="Hexcal\TcpIpServer.cs" />
-    <Compile Include="MainFrom.cs">
+    <Compile Include="MainForm.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="MainFrom.Designer.cs">
+    <Compile Include="MainForm.Designer.cs">
-      <DependentUpon>MainFrom.cs</DependentUpon>
+      <DependentUpon>MainForm.cs</DependentUpon>
     </Compile>
     <Compile Include="Motion\MonitorForm.cs">
       <SubType>Form</SubType>
@@ -236,8 +242,8 @@
     <EmbeddedResource Include="Form\AboutBox.resx">
       <DependentUpon>AboutBox.cs</DependentUpon>
     </EmbeddedResource>
-    <EmbeddedResource Include="MainFrom.resx">
+    <EmbeddedResource Include="MainForm.resx">
-      <DependentUpon>MainFrom.cs</DependentUpon>
+      <DependentUpon>MainForm.cs</DependentUpon>
       <SubType>Designer</SubType>
       <LastGenOutput>MainFrom1.Designer.cs</LastGenOutput>
     </EmbeddedResource>
@@ -267,7 +273,6 @@
     </Compile>
     <None Include="app.config" />
     <None Include="ClassDiagram1.cd" />
-    <None Include="HexcalMC_TemporaryKey.pfx" />
     <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>

HexcalMC/MainForm.Designer.cs

@@ -1,6 +1,6 @@
 namespace HexcalMC
 {
-    partial class MainFrom
+    partial class MainForm
     {
         /// <summary>
         /// Required designer variable.
@@ -29,14 +29,12 @@
         private void InitializeComponent()
         {
 			this.components = new System.ComponentModel.Container();
-			System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainFrom));
+			System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
 			this.radLabelElement2 = new Telerik.WinControls.UI.RadLabelElement();
 			this.radTextBoxElement2 = new Telerik.WinControls.UI.RadTextBoxElement();
 			this.radButtonElement5 = new Telerik.WinControls.UI.RadButtonElement();
 			this.radTextBoxElement1 = new Telerik.WinControls.UI.RadTextBoxElement();
 			this.ribbonTab1 = new Telerik.WinControls.UI.RibbonTab();
-			this.radRibbonBarGroup1 = new Telerik.WinControls.UI.RadRibbonBarGroup();
-			this.btn_motion = new Telerik.WinControls.UI.RadButtonElement();
 			this.radRibbonBarGroup4 = new Telerik.WinControls.UI.RadRibbonBarGroup();
 			this.radRibbonBarButtonGroup4 = new Telerik.WinControls.UI.RadRibbonBarButtonGroup();
 			this.radLabelElement5 = new Telerik.WinControls.UI.RadLabelElement();
@@ -62,6 +60,8 @@
 			this.rtb_stop = new Telerik.WinControls.UI.RadButtonElement();
 			this.radRibbonBarGroup9 = new Telerik.WinControls.UI.RadRibbonBarGroup();
 			this.rtb_etalon = new Telerik.WinControls.UI.RadButtonElement();
+			this.radRibbonBarGroup1 = new Telerik.WinControls.UI.RadRibbonBarGroup();
+			this.btn_motion = new Telerik.WinControls.UI.RadButtonElement();
 			this.radRibbonBarGroup10 = new Telerik.WinControls.UI.RadRibbonBarGroup();
 			this.rtb_monitor = new Telerik.WinControls.UI.RadButtonElement();
 			this.ribbonTab2 = new Telerik.WinControls.UI.RibbonTab();
@@ -217,13 +217,13 @@
 			this.ribbonTab1.DisabledTextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
 			this.ribbonTab1.IsSelected = true;
 			this.ribbonTab1.Items.AddRange(new Telerik.WinControls.RadItem[] {
-            this.radRibbonBarGroup1,
             this.radRibbonBarGroup4,
             this.radRibbonBarGroup5,
             this.radRibbonBarGroup6,
             this.radRibbonBarGroup8,
             this.radRibbonBarGroup7,
             this.radRibbonBarGroup9,
+            this.radRibbonBarGroup1,
             this.radRibbonBarGroup10});
 			this.ribbonTab1.Name = "ribbonTab1";
 			this.ribbonTab1.Text = "常用";
@@ -231,27 +231,6 @@
 			this.ribbonTab1.UseCompatibleTextRendering = false;
 			this.ribbonTab1.UseMnemonic = false;
 			// 
-			// radRibbonBarGroup1
-			// 
-			this.radRibbonBarGroup1.Alignment = System.Drawing.ContentAlignment.TopLeft;
-			this.radRibbonBarGroup1.AutoSize = false;
-			this.radRibbonBarGroup1.Bounds = new System.Drawing.Rectangle(0, 0, 77, 100);
-			this.radRibbonBarGroup1.Items.AddRange(new Telerik.WinControls.RadItem[] {
-            this.btn_motion});
-			this.radRibbonBarGroup1.Margin = new System.Windows.Forms.Padding(0);
-			this.radRibbonBarGroup1.MaxSize = new System.Drawing.Size(110, 100);
-			this.radRibbonBarGroup1.MinSize = new System.Drawing.Size(110, 100);
-			this.radRibbonBarGroup1.Name = "radRibbonBarGroup1";
-			this.radRibbonBarGroup1.Text = "运动控制";
-			this.radRibbonBarGroup1.UseCompatibleTextRendering = false;
-			// 
-			// btn_motion
-			// 
-			this.btn_motion.Image = global::HexcalMC.Properties.Resources.mothion_64;
-			this.btn_motion.Name = "btn_motion";
-			this.btn_motion.Text = "";
-			this.btn_motion.Click += new System.EventHandler(this.btn_motion_Click);
-			// 
 			// radRibbonBarGroup4
 			// 
 			this.radRibbonBarGroup4.Items.AddRange(new Telerik.WinControls.RadItem[] {
@@ -445,6 +424,7 @@
             this.rtb_etalon});
 			this.radRibbonBarGroup9.Name = "radRibbonBarGroup9";
 			this.radRibbonBarGroup9.Text = "etalon校准";
+			this.radRibbonBarGroup9.Visibility = Telerik.WinControls.ElementVisibility.Hidden;
 			// 
 			// rtb_etalon
 			// 
@@ -453,18 +433,42 @@
 			this.rtb_etalon.Text = "";
 			this.rtb_etalon.Click += new System.EventHandler(this.rtb_etalon_Click);
 			// 
+			// radRibbonBarGroup1
+			// 
+			this.radRibbonBarGroup1.Alignment = System.Drawing.ContentAlignment.TopLeft;
+			this.radRibbonBarGroup1.AutoSize = false;
+			this.radRibbonBarGroup1.Bounds = new System.Drawing.Rectangle(0, 0, 77, 100);
+			this.radRibbonBarGroup1.Items.AddRange(new Telerik.WinControls.RadItem[] {
+            this.btn_motion});
+			this.radRibbonBarGroup1.Margin = new System.Windows.Forms.Padding(0);
+			this.radRibbonBarGroup1.MaxSize = new System.Drawing.Size(110, 100);
+			this.radRibbonBarGroup1.MinSize = new System.Drawing.Size(110, 100);
+			this.radRibbonBarGroup1.Name = "radRibbonBarGroup1";
+			this.radRibbonBarGroup1.Text = "运动控制";
+			this.radRibbonBarGroup1.UseCompatibleTextRendering = false;
+			this.radRibbonBarGroup1.Visibility = Telerik.WinControls.ElementVisibility.Hidden;
+			// 
+			// btn_motion
+			// 
+			this.btn_motion.Image = global::HexcalMC.Properties.Resources.mothion_64;
+			this.btn_motion.Name = "btn_motion";
+			this.btn_motion.Text = "";
+			this.btn_motion.Click += new System.EventHandler(this.btn_motion_Click);
+			// 
 			// radRibbonBarGroup10
 			// 
 			this.radRibbonBarGroup10.Items.AddRange(new Telerik.WinControls.RadItem[] {
             this.rtb_monitor});
 			this.radRibbonBarGroup10.Name = "radRibbonBarGroup10";
 			this.radRibbonBarGroup10.Text = "速度监控";
+			this.radRibbonBarGroup10.Visibility = Telerik.WinControls.ElementVisibility.Hidden;
 			// 
 			// rtb_monitor
 			// 
 			this.rtb_monitor.AutoSize = false;
 			this.rtb_monitor.Bounds = new System.Drawing.Rectangle(0, 0, 66, 75);
 			this.rtb_monitor.Image = global::HexcalMC.Properties.Resources.speed;
+			this.rtb_monitor.ImageAlignment = System.Drawing.ContentAlignment.MiddleCenter;
 			this.rtb_monitor.Name = "rtb_monitor";
 			this.rtb_monitor.Text = "";
 			this.rtb_monitor.Click += new System.EventHandler(this.rtb_monitor_Click);
@@ -537,6 +541,12 @@
             this.radMenuItem2});
 			this.radRibbonBar1.TabIndex = 0;
 			this.radRibbonBar1.Text = "运动补偿中间件";
+			((Telerik.WinControls.UI.RadRibbonBarElement)(this.radRibbonBar1.GetChildAt(0))).Text = "运动补偿中间件";
+			((Telerik.WinControls.UI.RadQuickAccessToolBar)(this.radRibbonBar1.GetChildAt(0).GetChildAt(2))).Visibility = Telerik.WinControls.ElementVisibility.Hidden;
+			((Telerik.WinControls.UI.RadRibbonBarCaption)(this.radRibbonBar1.GetChildAt(0).GetChildAt(3))).Visibility = Telerik.WinControls.ElementVisibility.Visible;
+			((Telerik.WinControls.UI.RadPageViewContentAreaElement)(this.radRibbonBar1.GetChildAt(0).GetChildAt(4).GetChildAt(1))).Visibility = Telerik.WinControls.ElementVisibility.Visible;
+			((Telerik.WinControls.UI.RadApplicationMenuButtonElement)(this.radRibbonBar1.GetChildAt(0).GetChildAt(5))).Image = global::HexcalMC.Properties.Resources.Hexagon;
+			((Telerik.WinControls.UI.RadApplicationMenuButtonElement)(this.radRibbonBar1.GetChildAt(0).GetChildAt(5))).Visibility = Telerik.WinControls.ElementVisibility.Visible;
 			// 
 			// radRibbonBarBackstageView1
 			// 
@@ -791,7 +801,7 @@
 			this.groupBox7.Size = new System.Drawing.Size(731, 154);
 			this.groupBox7.TabIndex = 4;
 			this.groupBox7.TabStop = false;
-			this.groupBox7.Text = "Hexcal接口";
+			this.groupBox7.Text = "1. Hexcal接口";
 			// 
 			// groupBox1
 			// 
@@ -801,7 +811,7 @@
 			this.groupBox1.Controls.Add(this.label3);
 			this.groupBox1.Location = new System.Drawing.Point(14, 19);
 			this.groupBox1.Name = "groupBox1";
-			this.groupBox1.Size = new System.Drawing.Size(701, 114);
+			this.groupBox1.Size = new System.Drawing.Size(263, 114);
 			this.groupBox1.TabIndex = 0;
 			this.groupBox1.TabStop = false;
 			this.groupBox1.Text = "通讯状态";
@@ -820,7 +830,7 @@
 			// 
 			// Btn_StopServer
 			// 
-			this.Btn_StopServer.Location = new System.Drawing.Point(113, 79);
+			this.Btn_StopServer.Location = new System.Drawing.Point(111, 63);
 			this.Btn_StopServer.Name = "Btn_StopServer";
 			this.Btn_StopServer.Size = new System.Drawing.Size(81, 30);
 			this.Btn_StopServer.TabIndex = 26;
@@ -830,7 +840,7 @@
 			// 
 			// Btn_StartServer
 			// 
-			this.Btn_StartServer.Location = new System.Drawing.Point(18, 79);
+			this.Btn_StartServer.Location = new System.Drawing.Point(16, 63);
 			this.Btn_StartServer.Name = "Btn_StartServer";
 			this.Btn_StartServer.Size = new System.Drawing.Size(81, 30);
 			this.Btn_StartServer.TabIndex = 25;
@@ -858,7 +868,7 @@
 			this.groupBox5.Size = new System.Drawing.Size(731, 154);
 			this.groupBox5.TabIndex = 3;
 			this.groupBox5.TabStop = false;
-			this.groupBox5.Text = "运动平台";
+			this.groupBox5.Text = "2. 运动平台";
 			// 
 			// grpSafety
 			// 
@@ -1302,7 +1312,7 @@
 			this.txtIP.Name = "txtIP";
 			this.txtIP.Size = new System.Drawing.Size(91, 21);
 			this.txtIP.TabIndex = 22;
-			this.txtIP.Text = "100.0.0.100";
+			this.txtIP.Text = "10.0.0.100";
 			// 
 			// btn_ACSStop
 			// 
@@ -1372,7 +1382,7 @@
 			this.timer_RefreshUI.Interval = 1000;
 			this.timer_RefreshUI.Tick += new System.EventHandler(this.Timer_RefreshUI_Tick);
 			// 
-			// MainFrom
+			// MainForm
 			// 
 			this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
 			this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
@@ -1383,7 +1393,7 @@
 			this.Controls.Add(this.radRibbonBarBackstageView1);
 			this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
 			this.MainMenuStrip = null;
-			this.Name = "MainFrom";
+			this.Name = "MainForm";
 			// 
 			// 
 			// 

HexcalMC/MainForm.resx

@@ -632,13 +632,13 @@
 </value>
   </data>
   <metadata name="tmrMonitor.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>328, 17</value>
+    <value>164, 17</value>
   </metadata>
   <metadata name="timer_RefreshUI.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>25</value>
+    <value>118</value>
   </metadata>
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>

HexcalMC/Motion/DemoShow.cs

@@ -1,7 +1,7 @@
-using System;
+using ACS.SPiiPlusNET;
+using System;
 using System.Drawing;
 using System.Windows.Forms;
-using ACS.SPiiPlusNET;
 using Telerik.WinControls.UI;
 
 namespace HexcalMC
@@ -55,11 +55,10 @@ namespace HexcalMC
 			//判断是否在演示中
 			if (Status == DemoStatus.InProgress)
 			{
-				MessageBox.Show("演示正在进行中，请先停止演示","提示", MessageBoxButtons.OK,
+				MessageBox.Show("演示正在进行中，请先停止演示", "提示", MessageBoxButtons.OK,
 					MessageBoxIcon.Information);
 			}
 
-
 			//运行演示
 			try
 			{
@@ -121,14 +120,17 @@ namespace HexcalMC
 					lable_showstatus.ForeColor = Color.Black;
 					lable_showstatus.Text = "未演示";
 					break;
+
 				case DemoStatus.InProgress:
 					lable_showstatus.ForeColor = Color.Blue;
 					lable_showstatus.Text = "演示中";
 					break;
+
 				case DemoStatus.Completed:
 					lable_showstatus.ForeColor = Color.Green;
 					lable_showstatus.Text = "演示完成";
 					break;
+
 				case DemoStatus.Error:
 					lable_showstatus.ForeColor = Color.Red;
 					lable_showstatus.Text = "演示出错";

HexcalMC/Motion/EtalonForm.cs

@@ -1,56 +1,38 @@
-using System;
+using ACS.SPiiPlusNET;
+using HexcalMC.Base;
+using System;
 using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
 using System.Diagnostics;
 using System.Drawing;
 using System.Drawing.Imaging;
 using System.IO;
 using System.Linq;
-using System.Text;
 using System.Text.RegularExpressions;
 using System.Threading;
-using System.Threading.Tasks;
-using System.Timers;
 using System.Windows.Forms;
-using System.Windows.Media;
-using ACS.SPiiPlusNET;
-using HexcalMC.Base;
-using Plot3D;
-using ScottPlot;
-using ScottPlot.Plottable;
-using Telerik.WinControls;
 using Telerik.WinControls.UI;
-using static Plot3D.Editor3D;
-using static Telerik.WinControls.UI.ValueMapper;
 using cColorScheme = Plot3D.Editor3D.cColorScheme;
 using cLine3D = Plot3D.Editor3D.cLine3D;
 using cLineData = Plot3D.Editor3D.cLineData;
 using cMessgData = Plot3D.Editor3D.cMessgData;
+
 // classes
 using cObject3D = Plot3D.Editor3D.cObject3D;
 using cPoint3D = Plot3D.Editor3D.cPoint3D;
-using cPolygon3D = Plot3D.Editor3D.cPolygon3D;
-using cPolygonData = Plot3D.Editor3D.cPolygonData;
 using cScatterData = Plot3D.Editor3D.cScatterData;
 using cShape3D = Plot3D.Editor3D.cShape3D;
-using cSurfaceData = Plot3D.Editor3D.cSurfaceData;
+
-using cUserInput = Plot3D.Editor3D.cUserInput;
 // callback function
-using delRendererFunction = Plot3D.Editor3D.delRendererFunction;
 using eColorScheme = Plot3D.Editor3D.eColorScheme;
 using eInvalidate = Plot3D.Editor3D.eInvalidate;
-using eLegendPos = Plot3D.Editor3D.eLegendPos;
 using eMouseCtrl = Plot3D.Editor3D.eMouseCtrl;
 using eNormalize = Plot3D.Editor3D.eNormalize;
-using eObjType = Plot3D.Editor3D.eObjType;
+
-using ePolygonMode = Plot3D.Editor3D.ePolygonMode;
 // enums
 using eRaster = Plot3D.Editor3D.eRaster;
 using eScatterShape = Plot3D.Editor3D.eScatterShape;
 using eSelEvent = Plot3D.Editor3D.eSelEvent;
 using eSelType = Plot3D.Editor3D.eSelType;
-using eTooltip = Plot3D.Editor3D.eTooltip;
 
 namespace HexcalMC
 {
@@ -98,7 +80,7 @@ namespace HexcalMC
 		private static System.Windows.Forms.Timer refresh_time = new System.Windows.Forms.Timer();
 		private static int currentIndex = 0;
 
-        private readonly MainFrom mainFrom;
+		private readonly MainForm mainFrom;
 		private readonly Api _acs; //ACS控制器
 		private double dwellTime = 2000; //停顿时间
 
@@ -130,7 +112,7 @@ namespace HexcalMC
 			}
 		}
 
-        public EtalonForm(MainFrom _mainFrom)
+		public EtalonForm(MainForm _mainFrom)
 		{
 			InitializeComponent();
 			mainFrom = _mainFrom;
@@ -145,6 +127,7 @@ namespace HexcalMC
 		}
 
 		#region 绘图区功能
+
 		private void InitScatterPlot() //绘图区初始化
 		{
 			comboColors.Sorted = false;
@@ -386,9 +369,11 @@ namespace HexcalMC
 			//	DemoScatterPlot(false); //更新虚拟数据
 			//}
 		}
-        #endregion
+
+		#endregion 绘图区功能
 
 		#region etalon文件解析
+
 		private void moveToPoint()
 		{
 			DebugDfn.AddLogText("添加到运动队列");
@@ -605,7 +590,7 @@ namespace HexcalMC
 			//过滤点集
 			foreach (var point in etalon_points)
 			{
-                if (MainFrom.IsWithinLimit(point)) //判断点是否在行程范围内
+				if (MainForm.IsWithinLimit(point)) //判断点是否在行程范围内
 				{
 					filteredPoints.Add(point);
 				}
@@ -617,9 +602,10 @@ namespace HexcalMC
 			return true;
 		}
 
-        #endregion
+		#endregion etalon文件解析
 
 		#region 3D绘图逻辑
+
 		private void PointScatterPlot(List<Point> points) //绘制散点图
 		{
 			//清空绘图
@@ -689,7 +675,7 @@ namespace HexcalMC
 
 			for (int i = 0; i < filteredPoints.Count; i++) //遍历所有点
 			{
-                if (i < currentIndex-1) //小于的部分，已跑完 为绿色
+				if (i < currentIndex - 1) //小于的部分，已跑完 为绿色
 				{
 					double d_X = filteredPoints[i].X;
 					double d_Y = filteredPoints[i].Y;
@@ -706,7 +692,7 @@ namespace HexcalMC
 						null
 					);
 				}
-                else if (i == currentIndex-1) //当前点为橙黄色
+				else if (i == currentIndex - 1) //当前点为橙黄色
 				{
 					double d_X = filteredPoints[i].X;
 					double d_Y = filteredPoints[i].Y;
@@ -747,9 +733,11 @@ namespace HexcalMC
 				editor3D.Invalidate();
 			}
 		}
-        #endregion
+
+		#endregion 3D绘图逻辑
 
 		#region 队列移动逻辑
+
 		private void timer_move_Tick(object sender, EventArgs e)
 		{
 			// 检查是否到达目标点
@@ -794,13 +782,11 @@ namespace HexcalMC
 
 		private bool IsAtTarget()
 		{
-            // 这里你需要实现实际的到位判断逻辑
+			// 这里你需要实现实际的到位判断逻辑 例如，通过读取传感器数据或运动控制器的状态 这里假设总是返回 true 作为示例
-            // 例如，通过读取传感器数据或运动控制器的状态
-            // 这里假设总是返回 true 作为示例
 
 			return mainFrom.GetIsMoving();
 		}
 
-        #endregion
+		#endregion 队列移动逻辑
 	}
 }

HexcalMC/Motion/MonitorForm.cs

@@ -1,26 +1,13 @@
 using ACS.SPiiPlusNET;
 using HexcalMC.Base;
-using ScottPlot.Renderable;
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Timers;
 using System.Windows.Forms;
-using System.Windows.Markup;
-using Telerik.WinControls.UI;
-using static ScottPlot.Generate;
-using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
 
 namespace HexcalMC
 {
 	public partial class MonitorForm : System.Windows.Forms.Form
 	{
-		private readonly MainFrom mainFrom;
+		private readonly MainForm mainFrom;
 		private readonly Api _acs; //ACS控制器
 
 		private double[] dataX;          // X轴数据（时间戳）
@@ -28,7 +15,7 @@ namespace HexcalMC
 		private int dataLength = 200;    // 显示的数据点数量‌:ml-citation{ref="4,5" data="citationList"}
 		private Random rand = new Random();
 
-		public MonitorForm(MainFrom _mainFrom)
+		public MonitorForm(MainForm _mainFrom)
 		{
 			InitializeComponent();
 
@@ -66,7 +53,6 @@ namespace HexcalMC
 
 		// 定时器事件：更新数据并刷新图表
 
-
 		private void dataTimer_Tick(object sender, EventArgs e)
 		{
 			// 生成新数据（模拟实时数据）
@@ -91,10 +77,8 @@ namespace HexcalMC
 			});
 		}
 
-
 		private double GetSpeed(int axis)
 		{
-
 			//判断对象是否为空
 			if (_acs == null)
 			{

HexcalMC/Motion/Motion.cs

@@ -1,10 +1,10 @@
-using System;
+using ACS.SPiiPlusNET;
+using HexcalMC.Base;
+using HexcalMC.Properties;
+using System;
 using System.Diagnostics;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
-using ACS.SPiiPlusNET;
-using HexcalMC.Base;
-using HexcalMC.Properties;
 using Telerik.WinControls.UI;
 
 // ACS .NET Library
@@ -21,10 +21,9 @@ namespace HexcalMC
 		private readonly Api _acs;
 		private readonly int _motionTimeout = 50000; //延时时间
 
-		private readonly MainFrom mainFrom;
+		private readonly MainForm mainFrom;
 
-
+		private readonly Axis[] UseAxis = MainForm.UseAxis; //获取激活的轴
-		private readonly Axis[] UseAxis = MainFrom.UseAxis; //获取激活的轴
 		private MotionStates _currentMotionState = MotionStates.None; //运动状态
 		private Axis[] _mArrAxisList;
 		private Array _mArrReadVector;
@@ -32,11 +31,10 @@ namespace HexcalMC
 		private bool _mBConnected;
 		private Button[] _mBtnOutput;
 
-
 		//定义Jog运动 速度
 		private double _mJogVel = 10.0f;
-		private Label[] _mLblInput;
 
+		private Label[] _mLblInput;
 
 		private Label[] _mLblLeftLimit; //左限位
 		private Label[] _mLblOutput;
@@ -45,6 +43,7 @@ namespace HexcalMC
 
 		// For update values
 		private MotorStates _mNMotorState; //运动状态
+
 		private ProgramStates _mNProgramState; //程序状态
 
 		private int _mNTotalAxis;
@@ -52,7 +51,7 @@ namespace HexcalMC
 		private int _mNValues, _mNOutputState;
 		private object _mObjReadVar;
 
-		public Motion(MainFrom mainFrom)
+		public Motion(MainForm mainFrom)
 		{
 			InitializeComponent();
 
@@ -65,8 +64,7 @@ namespace HexcalMC
 
 		private void BtnSetZero_Click(object sender, EventArgs e)
 		{
-			// Change current poisition as you want
+			// Change current poisition as you want SetFPosition(Axis number, new position)
-			// SetFPosition(Axis number, new position)
 			_acs.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
 		}
 
@@ -94,7 +92,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 绝对运动
 
 		#region 通用IO
 
@@ -119,12 +117,10 @@ namespace HexcalMC
 						0 // 0 = OFF, 1 = ON
 					);
 
-					// If your I/O device is EtherCAT type, you cannot use this function
+					// If your I/O device is EtherCAT type, you cannot use this function You can use
-					// You can use WriteVariable function and Command function   
+					// WriteVariable function and Command function
 					//
-					// Ex) If EtherCAT mapped variable is 'EC_DOUT'
+					// Ex) If EtherCAT mapped variable is 'EC_DOUT' Want to ON bit '3' _ACS.Command("EC_DOUT.3=1");
-					//     Want to ON bit '3'
-					//     _ACS.Command("EC_DOUT.3=1");
 				}
 				else
 				{
@@ -137,7 +133,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 通用IO
 
 		#region 初始化
 
@@ -206,32 +202,25 @@ namespace HexcalMC
 
 			#region 副屏显示功能
 
-			// Screen[] screens = Screen.AllScreens;
+			// Screen[] screens = Screen.AllScreens; Screen secondaryScreen = screens.Length > 1 ?
-			// Screen secondaryScreen = screens.Length > 1 ? screens[1] : screens[0];  // 如果有多个屏幕，选择第二个屏幕作为副屏幕
+			// screens[1] : screens[0]; // 如果有多个屏幕，选择第二个屏幕作为副屏幕
 			//
-			// // 创建一个新的窗体实例
+			// // 创建一个新的窗体实例 Form secondaryForm = new Form();
-			// Form secondaryForm = new Form();
 			//
-			// // 设置窗体的位置和大小以适应副屏幕
+			// // 设置窗体的位置和大小以适应副屏幕 secondaryForm.StartPosition = FormStartPosition.Manual;
-			// secondaryForm.StartPosition = FormStartPosition.Manual;
+			// secondaryForm.Location = secondaryScreen.Bounds.Location; secondaryForm.Size = secondaryScreen.Bounds.Size;
-			// secondaryForm.Location = secondaryScreen.Bounds.Location;
-			// secondaryForm.Size = secondaryScreen.Bounds.Size;
 			//
-			// // 可选：设置副屏窗体的标题、样式等其他属性
+			// // 可选：设置副屏窗体的标题、样式等其他属性 secondaryForm.Text = "副屏窗体"; // ... 其他属性设置
-			// secondaryForm.Text = "副屏窗体";
-			// // ... 其他属性设置
 			//
-			// // 显示副屏窗体
+			// // 显示副屏窗体 secondaryForm.Show();
-			// secondaryForm.Show();
-
-			#endregion
 
+			#endregion 副屏显示功能
 
 			#region 初始化
 
 			InitMotion();
 
-			#endregion
+			#endregion 初始化
 		}
 
 		private void Motion_FormClosed(object sender, FormClosedEventArgs e)
@@ -239,7 +228,7 @@ namespace HexcalMC
 			tmrMonitor.Stop();
 		}
 
-		#endregion
+		#endregion 初始化
 
 		#region 通讯建立
 
@@ -248,7 +237,6 @@ namespace HexcalMC
 			string strTemp;
 			int i;
 
-
 			_mBConnected = _acs.IsConnected;
 			// Get Total number of axes
 			strTemp = _acs.Transaction("?SYSINFO(13)");
@@ -293,11 +281,9 @@ namespace HexcalMC
 					DebugDfn.AddLogText("运动平台已连接");
 				}
 
-
 				InitMotion();
 				_mBConnected = true;
 			}
-
 			catch (COMException comex)
 			{
 				MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
@@ -305,7 +291,6 @@ namespace HexcalMC
 
 				_mBConnected = false;
 			}
-
 			catch (Exception ex)
 			{
 				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
@@ -323,7 +308,6 @@ namespace HexcalMC
 			btnClose.Enabled = false;
 		}
 
-
 		private void TernminateUMD_Connection()
 		{
 			try
@@ -343,7 +327,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 通讯建立
 
 		#region UI 刷新
 
@@ -390,16 +374,14 @@ namespace HexcalMC
 					if ((_mNMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Resources.On;
 					else lblEnable.Image = Resources.Off; // 使能
 
-					// Reference position
+					// Reference position ACSPL+ Variable : RPOS (real)
-					// ACSPL+ Variable : RPOS (real)
 					_mLfRPos = _acs.GetRPosition((Axis)iAxisNo); // 参考位置
 
-					// Feedback position (Encoder value)
+					// Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
-					// ACSPL+ Variable : FPO (real)
 					_mLfFPos = _acs.GetFPosition((Axis)iAxisNo); //反馈位置
 
-					// PE (Position Error)
+					// PE (Position Error) There is no function in library. We need to use
-					// There is no function in library. We need to use ReadVariable function
+					// ReadVariable function
 					_mLfPe = (double)_acs.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
 
 					// Feedback Velocity
@@ -410,8 +392,8 @@ namespace HexcalMC
 					txtPE.Text = string.Format("{0:0.0000}", _mLfPe);
 					txtFVEL.Text = string.Format("{0:0.0000}", _mLfFvel);
 
-					// Program State 运动状态
+					// Program State 运动状态 State : Compiled, Running, Suspended, Autoroutine is
-					// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
+					// running (ON syntax)
 					//
 					// ACSPL+ Variable : PST (integer)
 					_mNProgramState = _acs.GetProgramState((ProgramBuffer)iBufferNo);
@@ -426,8 +408,7 @@ namespace HexcalMC
 						lblPRG_Status.Text = "Stop";
 					}
 
-					// Read left/right hardware limits state
+					// Read left/right hardware limits state ACSPL+ Variable : FAULT (integer)
-					// ACSPL+ Variable : FAULT (integer)
 					_mObjReadVar =
 						_acs.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, _mNTotalAxis - 1);
 					if (_mObjReadVar != null)
@@ -442,8 +423,8 @@ namespace HexcalMC
 						}
 					}
 
-					// Read digital input/output (Port means all of bits)
+					// Read digital input/output (Port means all of bits) If you want to read only 1
-					// If you want to read only 1 bit (not an integer), use "GetInput" function
+					// bit (not an integer), use "GetInput" function
 					_mNValues = _acs.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
 					UpdateIoState(_mNValues, true);
 
@@ -461,7 +442,6 @@ namespace HexcalMC
 			}
 		}
 
-	
 		private void UpdateLimitState(int axisNo, int fault) //刷新限位状态
 		{
 			if (axisNo < MaxUiLimitCnt)
@@ -475,7 +455,6 @@ namespace HexcalMC
 			}
 		}
 
-
 		private void UpdateIoState(int value, bool isInput) //刷新IO状态
 		{
 			int bitUpCnt = 0x01;
@@ -526,7 +505,7 @@ namespace HexcalMC
 			lbl_Z_target.Text = textBox_z.Text;
 		}
 
-		#endregion
+		#endregion UI 刷新
 
 		#region 电机使能
 
@@ -539,8 +518,8 @@ namespace HexcalMC
 			//
 			// Ex) Eanble three axes (0, 1, 6)
 			//
-			// int[] AxisList = new int[] { 0, 1, 6, -1 };      !!!! Important !! Must insert '-1' at the last
+			// int[] AxisList = new int[] { 0, 1, 6, -1 }; !!!! Important !! Must insert '-1' at the
-			// _ACS.EnableM(AxisList);
+			// last _ACS.EnableM(AxisList);
 		}
 
 		private void BtnDisable_Click(object sender, EventArgs e)
@@ -556,7 +535,7 @@ namespace HexcalMC
 			_acs.DisableAll();
 		}
 
-		#endregion
+		#endregion 电机使能
 
 		#region 相对移动
 
@@ -605,7 +584,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 相对移动
 
 		#region 停止运动
 
@@ -637,7 +616,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 停止运动
 
 		#region JOG 功能
 
@@ -671,7 +650,6 @@ namespace HexcalMC
 			}
 		}
 
-
 		private void BtnJogPos_MouseDown(object sender, MouseEventArgs e)
 		{
 			double lfVelocity = 0.0f;
@@ -702,7 +680,6 @@ namespace HexcalMC
 		{
 			_acs.Halt((Axis)cboAxisNo.SelectedIndex);
 
-
 			//自定义Jog
 			if (sender is Button button)
 			{
@@ -712,18 +689,23 @@ namespace HexcalMC
 					case "btn_X_left":
 						_acs.Halt(Axis.ACSC_AXIS_1);
 						break;
+
 					case "btn_X_right":
 						_acs.Halt(Axis.ACSC_AXIS_1);
 						break;
+
 					case "btn_Y_Forward":
 						_acs.Halt(Axis.ACSC_AXIS_0);
 						break;
+
 					case "btn_Y_Back":
 						_acs.Halt(Axis.ACSC_AXIS_0);
 						break;
+
 					case "btn_Z_Up":
 						_acs.Halt(Axis.ACSC_AXIS_8);
 						break;
+
 					case "btn_Z_Down":
 						_acs.Halt(Axis.ACSC_AXIS_8);
 						break;
@@ -731,7 +713,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion JOG 功能
 
 		#region 运行 Buffer Program
 
@@ -774,7 +756,7 @@ namespace HexcalMC
 			_acs.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
 		}
 
-		#endregion
+		#endregion 运行 Buffer Program
 
 		#region 修改运动参数
 
@@ -799,21 +781,25 @@ namespace HexcalMC
 							lfTemp = Convert.ToDouble(textBox.Text.Trim());
 							switch (textBox.TabIndex)
 							{
-								// Immediately change value (On the fly) : SetVelocityImm() 
+								// Immediately change value (On the fly) : SetVelocityImm() Affect
-								// Affect next motion	: SetVelocity()	
+								// next motion : SetVelocity()
 
 								case 0:
 									_acs.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 									break;
+
 								case 1:
 									_acs.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 									break;
+
 								case 2:
 									_acs.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 									break;
+
 								case 3:
 									_acs.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 									break;
+
 								case 4:
 									_acs.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 									break;
@@ -859,15 +845,19 @@ namespace HexcalMC
 					case 0:
 						_acs.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 						break;
+
 					case 1:
 						_acs.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 						break;
+
 					case 2:
 						_acs.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 						break;
+
 					case 3:
 						_acs.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 						break;
+
 					case 4:
 						_acs.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
 						break;
@@ -881,7 +871,7 @@ namespace HexcalMC
 			}
 		}
 
-		#endregion
+		#endregion 修改运动参数
 
 		#region 事件回调
 
@@ -896,8 +886,7 @@ namespace HexcalMC
 		{
 			int bit = 0x01;
 			int axisNo = 0;
-			// Param value is bit number 
+			// Param value is bit number Bit Number = Axis Number
-			// Bit Number = Axis Number
 			for (int i = 0; i < 64; i++)
 			{
 				if ((int)axis == bit)
@@ -927,13 +916,11 @@ namespace HexcalMC
 			lstLog.Items.Add("PROGRAM_END event enabled");
 		}
 
-
 		private void ACS_PROGRAMEND(BufferMasks buffer)
 		{
 			int bit = 0x01;
 			int bufferNo = 0;
-			// Param value is bit number 
+			// Param value is bit number Bit Number = Axis Number
-			// Bit Number = Axis Number
 			for (int i = 0; i < 32; i++)
 			{
 				if ((int)buffer == bit)
@@ -953,7 +940,7 @@ namespace HexcalMC
 			});
 		}
 
-		#endregion
+		#endregion 事件回调
 
 		#region 命令行响应
 
@@ -998,8 +985,7 @@ namespace HexcalMC
 			rtxtTerminal.ScrollToCaret();
 		}
 
-		#endregion
+		#endregion 命令行响应
-
 
 		#region 按钮
 
@@ -1019,8 +1005,7 @@ namespace HexcalMC
 			double z = double.Parse(textBox_z.Text);
 			Point3D _point3D = new Point3D(x, y, z);
 
-
+			if (MainForm.IsWithinLimit(_point3D)) //判断点是否在行程范围内
-			if (MainFrom.IsWithinLimit(_point3D)) //判断点是否在行程范围内
 			{
 				double[] pointsArray =
 				{
@@ -1053,7 +1038,6 @@ namespace HexcalMC
 			}
 		}
 
-
 		private void btn_home_Click(object sender, EventArgs e) //回零
 		{
 			double[] pointsArray =
@@ -1125,7 +1109,6 @@ namespace HexcalMC
 				{
 					_mJogVel = Convert.ToDouble(txtJogVel.Text.Trim());
 
-
 					_acs.Jog(
 						MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
 						Axis.ACSC_AXIS_1, // Axis number
@@ -1172,7 +1155,6 @@ namespace HexcalMC
 			}
 		}
 
-
 		private void btn_Y_Back_MouseDown(object sender, MouseEventArgs e)
 		{
 			try
@@ -1181,7 +1163,6 @@ namespace HexcalMC
 				{
 					_mJogVel = Convert.ToDouble(txtJogVel.Text.Trim());
 
-
 					_acs.Jog(
 						MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
 						Axis.ACSC_AXIS_0, // Axis number
@@ -1237,7 +1218,6 @@ namespace HexcalMC
 				{
 					_mJogVel = Convert.ToDouble(txtJogVel.Text.Trim());
 
-
 					_acs.Jog(
 						MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
 						Axis.ACSC_AXIS_8, // Axis number
@@ -1257,9 +1237,6 @@ namespace HexcalMC
 			}
 		}
 
-
+		#endregion 按钮
-		
-
-		#endregion
 	}
 }

HexcalMC/Program.cs

@@ -1,9 +1,8 @@
-using System;
+using HexcalMC.Base;
+using System;
 using System.Diagnostics;
 using System.IO;
 using System.Windows.Forms;
-using HexcalMC.Base;
-
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 //
@@ -49,7 +48,7 @@ namespace HexcalMC
 			Trace.Listeners.Add(logger);
 			MyBase.TraceWriteLine("--软件Main函数开始");
 
-			Application.Run(new MainFrom());
+			Application.Run(new MainForm());
 		}
 	}
 }

HexcalMC/Properties/AssemblyInfo.cs

@@ -1,8 +1,6 @@
 using System.Reflection;
-using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
-
 [assembly: AssemblyTitle("HexcalMC")]
 [assembly: AssemblyDescription("本软件为海克斯康制造智能技术（青岛）有限公司（简称海克斯康）版权所有。本软件的任何部分，未经海克斯康公司事前书面许可，均不能复制、存储在检索系统中，或者以任何形式传播，或以任何方法（机械、电子及其他方法）影印、复制。")]
 [assembly: AssemblyConfiguration("")]
@@ -12,12 +10,9 @@ using System.Runtime.InteropServices;
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
-
 [assembly: ComVisible(false)]
 
-
 [assembly: Guid("6215eb36-92d3-4f96-9331-1e8cbda161f4")]
 
-
 [assembly: AssemblyVersion("0.0.3")]
 [assembly: AssemblyFileVersion("0.0.3")]

HexcalMC/app.config

@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="utf-8"?>
 <configuration>
-<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2"/></startup>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2" /></startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
       </dependentAssembly>
     </assemblyBinding>
   </runtime>

HexcalMC/bin/x64/Debug/HexcalMC.application

@@ -21,7 +21,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha256" />
-        <dsig:DigestValue>kw+hFfwnop75FYiMm+CkPl/Ui8EpkT8BuDrRnaok1W0=</dsig:DigestValue>
+        <dsig:DigestValue>lMEM3iQRIwDj5xL2Aaf6lHIuYYSvnK+5moagVnmWLIY=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

HexcalMC/bin/x64/Debug/HexcalMC.exe.config

@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="utf-8"?>
 <configuration>
-<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2"/></startup>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2" /></startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
       </dependentAssembly>
     </assemblyBinding>
   </runtime>

HexcalMC/bin/x64/Debug/HexcalMC.exe.manifest

@@ -55,14 +55,14 @@
     </dependentAssembly>
   </dependency>
   <dependency>
-    <dependentAssembly dependencyType="install" allowDelayedBinding="true" codebase="HexcalMC.exe" size="521216">
+    <dependentAssembly dependencyType="install" allowDelayedBinding="true" codebase="HexcalMC.exe" size="521728">
       <assemblyIdentity name="HexcalMC" version="0.0.3.0" language="neutral" processorArchitecture="amd64" />
       <hash>
         <dsig:Transforms>
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha256" />
-        <dsig:DigestValue>5H0iiPDRd1YOihJPwyJD4tzIp7TNDn1eXdVNt91nqVg=</dsig:DigestValue>
+        <dsig:DigestValue>c//54i6mMSmqOysqRtrzN/1gINwehBCIXR60WbnWmfY=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>
@@ -303,13 +303,13 @@
       <dsig:DigestValue>32HYGtH3JppndtsILkwzp/GWhHh3Iq4VdbCQd7284ww=</dsig:DigestValue>
     </hash>
   </file>
-  <file name="HexcalMC.exe.config" size="519">
+  <file name="HexcalMC.exe.config" size="520">
     <hash>
       <dsig:Transforms>
         <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
       </dsig:Transforms>
       <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha256" />
-      <dsig:DigestValue>oxwFyeXS8BP9BAS4rAjMQJBMtU+40+onBndoHIYtMog=</dsig:DigestValue>
+      <dsig:DigestValue>Nehw75tWncmh7MKTU45ORJgPSsOI3SkwzVWBcGk6J7w=</dsig:DigestValue>
     </hash>
   </file>
   <file name="SharpGL.ico" size="1150">