#0013： 增加etalon 接口运动功能完成，加载etalon文件并按实现点动

HexcalMC/Base/Editor3D/Editor3D.cs

@@ -91,6 +91,7 @@ namespace Plot3D
             Spring,
             Summer,
             Winter,
+			Green
 		}
 
         public enum eRaster
@@ -1344,6 +1345,7 @@ namespace Plot3D
                 Byte[,] u8_RGB;            
                 switch (e_Scheme)
                 {
+                    case eColorScheme.Green: return new Color[] { Color.Green };
                     case eColorScheme.Rainbow_Sweep:  return CalcRainbow(6); // all colors, also magenta
                     case eColorScheme.Rainbow_Bright: return CalcRainbow(4); // from red to blue, no magenta
                     case eColorScheme.Monochrome:     return new Color[] { Color.Goldenrod };
@@ -1817,6 +1819,10 @@ namespace Plot3D
                 mi_ColorScheme = i_ColorScheme;
             }
 
+            public cScatterData()
+            { 
+            }
+
 			/// <summary>
 			/// s32_Radius defines the size of the shape and i_Brush the color
 			/// </summary>
@@ -4146,6 +4152,7 @@ namespace Plot3D
         /// </summary>
         public Editor3D()
         {
+			this.DoubleBuffered = true; // 启用双缓冲
 			// avoid flicker
 			SetStyle(ControlStyles.AllPaintingInWmPaint,  true);
             SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
@@ -4593,6 +4600,7 @@ namespace Plot3D
         /// </summary>
         protected override void OnPaint(PaintEventArgs e)
         {
+			base.OnPaint(e);
 			// Stupidly the .NET framework draws a red cross if any exception occurres in OnPaint()
 			try
             {

HexcalMC/HexcalMC.csproj

@@ -307,6 +307,7 @@
     <None Include="Resources\stop.png" />
     <None Include="Resources\home.png" />
     <None Include="Resources\etalon.png" />
+    <None Include="Resources\start.png" />
     <Content Include="SharpGL.ico" />
     <Content Include="SharpGL.png" />
   </ItemGroup>

HexcalMC/HexcalMC.sln

@@ -5,8 +5,6 @@ VisualStudioVersion = 17.9.34728.123
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HexcalMC", "HexcalMC.csproj", "{19741897-37D8-43EE-94A2-637975035CEA}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Editor3D", "..\..\..\..\Editor3D\Editor3D\Editor3D\Editor3D.csproj", "{70634D82-9FD4-4EC9-A1A8-92638B07E832}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -29,18 +27,6 @@ Global
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x64.Build.0 = Release|x64
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.ActiveCfg = Release|x86
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.Build.0 = Release|x86
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|x64.ActiveCfg = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|x64.Build.0 = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Debug|x86.Build.0 = Debug|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|Any CPU.Build.0 = Release|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|x64.ActiveCfg = Release|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|x64.Build.0 = Release|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|x86.ActiveCfg = Release|Any CPU
-		{70634D82-9FD4-4EC9-A1A8-92638B07E832}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HexcalMC/MainFrom.cs

@@ -1,4 +1,9 @@
-using System;
+using ACS.SPiiPlusNET;
+using HexcalMC.Base;
+using HexcalMC.Form;
+using HexcalMC.Hexcal;
+using HexcalMC.Properties;
+using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
@@ -6,12 +11,8 @@ using System.Net;
 using System.Runtime.InteropServices;
 using System.Threading;
 using System.Windows.Forms;
-using ACS.SPiiPlusNET;
-using HexcalMC.Base;
-using HexcalMC.Form;
-using HexcalMC.Hexcal;
-using HexcalMC.Properties;
 using Telerik.WinControls.UI;
+using static HexcalMC.EtalonForm;
 
 namespace HexcalMC
 {
@@ -43,11 +44,41 @@ namespace HexcalMC
 
 		private int m_nTotalAxis; //定义总轴数
 		private Axis[] m_arrAxisList = null;
+		//定一个运动到位次数的变量和三个方法，开始统计运动到位次数，停止统计运动到位次数，获取运动到位次数
+
+		#region 运动到位次数
+
+
+		// 记录运动到位次数的变量
+		private int m_nInPosCount = 0;
+		private bool isCounting = false;
+
+		// 开始统计运动到位次数
+		public void StartCounting()
+		{
+			isCounting = true;
+			m_nInPosCount = 0; // 重置计数器
+		}
+
+		// 停止统计运动到位次数
+		public void StopCounting()
+		{
+			isCounting = false;
+			m_nInPosCount = 0; // 重置计数器
+		}
+
+		// 获取运动到位次数
+		public int GetInPosCount()
+		{
+			return m_nInPosCount;
+		}
+
+		#endregion
+
 		public MainFrom()
 		{
 			InitializeComponent();
 
-
 			// 处理未被捕获的线程异常
 			Application.ThreadException += Application_ThreadException;
 
@@ -61,12 +92,10 @@ namespace HexcalMC
 			MaximizeBox = false; // 禁用窗体的最大化按钮
 			DebugDfn.textBox_Msg = TextBoxMsg;
 
-
 			//加载配置文件
 			LoadConfig();
 			_acs = new Api(); //初始化 ACS运动控制类
 
-
 			//启动界面刷新
 			timer_RefreshUI.Start();
 		}
@@ -88,7 +117,7 @@ namespace HexcalMC
 			DebugDfn._strEndTime = DateTime.Now.ToString("yyyy.MM.dd HH-mm-ss");
 			timer_RefreshUI.Stop();
 
-			Btn_StopServer_Click(null,null);
+			Btn_StopServer_Click(null, null);
 			Btn_ACSStop_Click(null, null);//关闭ACS
 
 			string copyFileName = DebugDfn.StrDebugSavePath + "\\Debug(" + DebugDfn._strStartTime + "  To  " +
@@ -118,7 +147,6 @@ namespace HexcalMC
 				return;
 			}
 
-
 			MotionSpeed = FileIni.ReadDouble(StrConfigFile, "MOTOR", "MOTION_SPEED"); //运动定位速度
 																					  //正限位
 			XMaxstrokesw = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
@@ -159,19 +187,20 @@ namespace HexcalMC
 			formsPlot1.Refresh();
 		}
 
-
 		#region 运动平台变量区
 
 		public Api _acs;
 
 		private const int MaxUiLimitCnt = 24;
 		private int _mNTotalAxis;
-		private int _mNTotalBuffer = 0;
+
-		private Axis[] _mArrAxisList = null;
+		//private int _mNTotalBuffer = 0;
+		//private Axis[] _mArrAxisList = null;
 		public bool _mAcsConnected; //ACS通讯状态
 
 		// For update values
 		private MotorStates _mNMotorState; //运动状态
+
 		private ProgramStates _mNProgramState; //程序状态
 		private object _mObjReadVar;
 		private Array _mArrReadVector;
@@ -184,7 +213,7 @@ namespace HexcalMC
 		private Label[] _mlblAcc; //加速中
 		private Label[] _mlblInPos; //轴就位
 		private Label[] _mlblEnable; //使能
-		bool[] axisEnabled = new bool[MaxUiLimitCnt]; //轴使能状态
+		private bool[] axisEnabled = new bool[MaxUiLimitCnt]; //轴使能状态
 		public bool totalAxisEnabled = false;
 
 		private HomeStates _homeStates; //回家状态
@@ -198,6 +227,7 @@ namespace HexcalMC
 
 		//定义 XYZ三个轴的左右行程范围
 		public string StrConfigFile = Application.StartupPath + "\\File\\config.ini";
+
 		public static double MotionSpeed = 60;
 		public static double XMaxstrokesw = 730; //正限位
 		public static double YMaxstrokesw = 1000;
@@ -211,8 +241,7 @@ namespace HexcalMC
 		//定义一个3D点,存储当前平台实时位置
 		public Point3D _mPoint3D;
 
-		#endregion
+		#endregion 运动平台变量区
-
 
 		#region hexcal软件交互
 
@@ -268,9 +297,11 @@ namespace HexcalMC
 				case "100.0.0.1":
 					ParseHexcalMsg(msg);
 					break;
+
 				case "100.0.0.2":
 					ParseHexcalMsg(msg);
 					break;
+
 				default:
 					DebugDfn.AddLogText("未知来源，没有应答");
 					break;
@@ -353,7 +384,6 @@ namespace HexcalMC
 			//{
 			//	checkPlatformStatus();
 			//}
-
 			else if (msg.Contains("CMMTYP")) //测量机类型
 			{
 				SendMsgToHexcal("CMMTYP   MA 19617, FDC       V15.00,      10  8  3    , 0");
@@ -362,7 +392,6 @@ namespace HexcalMC
 			{
 				SendMsgToHexcal("00-000-000-00000 FDC V51.04.0000 DATE: 12/21/22 TIME: 12:50:55");
 			}
-
 			else if (msg.Contains("SHOW MAXSTROKESW")) //最大行程,根据实际情况填写
 			{
 				//MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000
@@ -371,7 +400,6 @@ namespace HexcalMC
 				string resultString = ConstructString("MAXSTROKESW", values);
 				SendMsgToHexcal(resultString);
 			}
-
 			else if (msg.Contains("SHOW MINSTROKESW")) //最小行程,根据实际情况填写
 			{
 				//MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000
@@ -504,6 +532,7 @@ namespace HexcalMC
 				case TcpIpServer.EnumTcpIpServer.ClientConnect:
 					_mBHexcalConnected = true;
 					break;
+
 				default:
 					_mBHexcalConnected = false;
 					break;
@@ -514,7 +543,6 @@ namespace HexcalMC
 		{
 			if (_mTcpIpServer == null) return;
 
-
 			//发送数据
 			DebugDfn.AddLogText("回复 " + msg);
 			_mTcpIpServer.SendMessageToAllClients(msg += "\r\n"); //回复内容末尾加上\r\n，协议要求
@@ -542,7 +570,7 @@ namespace HexcalMC
 			DebugDfn.AddLogText("TCP服务端已关闭");
 		}
 
-		#endregion
+		#endregion hexcal软件交互
 
 		#region ACS平台相关
 
@@ -550,7 +578,6 @@ namespace HexcalMC
 
 		//实现函数
 
-
 		private static void Application_ThreadException(object sender, ThreadExceptionEventArgs e)
 		{
 			// 防止程序终止
@@ -558,7 +585,6 @@ namespace HexcalMC
 				MessageBoxIcon.Information);
 		}
 
-
 		private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
 		{
 			if (e.ExceptionObject is Exception ex)
@@ -573,7 +599,6 @@ namespace HexcalMC
 				MessageBoxIcon.Information);
 		}
 
-
 		//订阅报错
 		private void EnableFaultEvent()
 		{
@@ -689,8 +714,7 @@ namespace HexcalMC
 			//DebugDfn.AddLogText(string.Format(" - Axis {0}, Stoppped", axisNo));
 		}
 
-		#endregion
+		#endregion 异常抓取
-
 
 		private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
 		{
@@ -768,8 +792,7 @@ namespace HexcalMC
 
 					UpdateSingleAxisStatus(); //刷新运动状态
 
-					#endregion
+					#endregion 更新限位及运动状态
-
 
 					#region 到位判断
 
@@ -788,11 +811,15 @@ namespace HexcalMC
 					if (_currentMotionState == MotionStates.InPos && _currentMotionState != _currentMotorStateLast)
 					{
 						DebugDfn.AddLogText("运动到位");
+						if (isCounting)
+						{
+							m_nInPosCount++;
+						}
 					}
 
 					_currentMotorStateLast = _currentMotionState;
 
-					#endregion
+					#endregion 到位判断
 				}
 				catch (Exception ex)
 				{
@@ -823,7 +850,6 @@ namespace HexcalMC
 				tmrMonitor.Interval = 50;
 				tmrMonitor.Start();
 			}
-
 			catch (COMException comex)
 			{
 				MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
@@ -831,7 +857,6 @@ namespace HexcalMC
 
 				_mAcsConnected = false;
 			}
-
 			catch (Exception ex)
 			{
 				DebugDfn.AddLogText("ACS平台连接异常" + ex);
@@ -841,12 +866,10 @@ namespace HexcalMC
 
 		private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
 		{
-		
 			if (_mAcsConnected)
 			{
 				//DisableFaultEvent(); //取消注册事件
 				_acs.CloseComm();
-				
 			}
 
 			tmrMonitor.Stop();
@@ -877,9 +900,11 @@ namespace HexcalMC
 				case Axis.ACSC_AXIS_1: //X轴
 					newAxisNumber = 0;
 					break;
+
 				case Axis.ACSC_AXIS_0:
 					newAxisNumber = 1; //Y轴
 					break;
+
 				case Axis.ACSC_AXIS_8:
 					newAxisNumber = 2;
 					break;
@@ -1053,7 +1078,6 @@ namespace HexcalMC
 			_mLblLeftLimit[1] = lblLL1;
 			_mLblLeftLimit[2] = lblLL2;
 
-
 			_mLblRightLimit = new Label[MaxUiLimitCnt]; //右限位
 			_mLblRightLimit[0] = lblRL0;
 			_mLblRightLimit[1] = lblRL1;
@@ -1094,6 +1118,18 @@ namespace HexcalMC
 			return false;
 		}
 
+		public static bool IsWithinLimit(Point point) //判断点是否在行程范围内
+		{
+			if (point.X >= XMinstrokesw && point.X <= XMaxstrokesw &&
+				point.Y >= YMinstrokesw && point.Y <= YMaxstrokesw &&
+				point.Z >= ZMinstrokesw && point.Z <= ZMaxstrokesw)
+			{
+				return true;
+			}
+
+			return false;
+		}
+
 		private void SetPositionXyz(Point3D point3D) //运动到指定位置
 		{
 			if (!_mAcsConnected)
@@ -1176,7 +1212,6 @@ namespace HexcalMC
 				DebugDfn.AddLogText("参考位置: " + xPosition + " " + yPosition + " " + zPosition);
 			}
 
-
 			//构造point3D格式
 			point3D = new Point3D(xPosition, yPosition, zPosition);
 
@@ -1209,7 +1244,6 @@ namespace HexcalMC
 
 		private void rtb_quick_loc_Click(object sender, EventArgs e)//快速定位
 		{
-
 			// 获取文本框的值
 			double x = double.Parse(rtb_SetX.Text);
 			double y = double.Parse(rtb_Sety.Text);
@@ -1221,7 +1255,7 @@ namespace HexcalMC
 			SetPositionXyz(point);
 		}
 
-		static bool CalculateTotalEnabled(bool[] axisEnabled, params int[] axisIndices)//判断轴使能状态
+		private static bool CalculateTotalEnabled(bool[] axisEnabled, params int[] axisIndices)//判断轴使能状态
 		{
 			bool totalEnabled = true;
 			foreach (int index in axisIndices)
@@ -1271,8 +1305,6 @@ namespace HexcalMC
 				return;
 			}
 
-			
-
 			if (_currentMotionState != MotionStates.Moving)
 			{
 				_currentMotionState = MotionStates.Moving; //设置当前运动状态
@@ -1297,8 +1329,21 @@ namespace HexcalMC
 		private void rtb_etalon_Click(object sender, EventArgs e) //etalon校准
 		{
 			DebugDfn.AddLogText("Etalon校准");
-			EtalonForm etalonForm = new EtalonForm();
+			//判断通讯对象是否存在
-			etalonForm.ShowDialog();
+			if (_acs == null || !_acs.IsConnected)
+			{
+				DebugDfn.AddLogText("未建立与运动平台通讯，请在主界面先建立通讯");
+
+				// 在合适的位置调用 MessageBox.Show() 方法
+				MessageBox.Show("未建立与运动平台通讯，请在主界面先建立通讯", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
+
+				return;
+			}
+			else
+			{
+				EtalonForm etalonForm = new EtalonForm(this);
+				etalonForm.Show();
+			}
 		}
 
 		#endregion ACS平台相关
@@ -1321,9 +1366,7 @@ namespace HexcalMC
 			{
 				Motion motion = new Motion(this);
 				motion.Show();
-
 			}
-
 		}
 
 		private void Rtb_about_Click(object sender, EventArgs e) //关于界面

HexcalMC/Motion/EtalonForm.Designer.cs

@@ -29,9 +29,7 @@
 		private void InitializeComponent()
 		{
 			System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(EtalonForm));
-			this.button1 = new System.Windows.Forms.Button();
+			this.btn_draw_test = new System.Windows.Forms.Button();
-			this.statusStrip1 = new System.Windows.Forms.StatusStrip();
-			this.editor3D = new Plot3D.Editor3D();
 			this.checkMirrorY = new System.Windows.Forms.CheckBox();
 			this.checkMirrorX = new System.Windows.Forms.CheckBox();
 			this.label8 = new System.Windows.Forms.Label();
@@ -42,73 +40,58 @@
 			this.label3 = new System.Windows.Forms.Label();
 			this.comboRaster = new System.Windows.Forms.ComboBox();
 			this.comboColors = new System.Windows.Forms.ComboBox();
-			this.labelMouseInfo = new System.Windows.Forms.ToolStripStatusLabel();
+			this.btn_etalon_import = new System.Windows.Forms.Button();
-			this.button2 = new System.Windows.Forms.Button();
+			this.labelMouseInfo = new System.Windows.Forms.Label();
-			this.textBox1 = new System.Windows.Forms.TextBox();
+			this.groupBox1 = new System.Windows.Forms.GroupBox();
-			this.statusStrip1.SuspendLayout();
+			this.btn_clear = new System.Windows.Forms.Button();
+			this.btn_startmove = new System.Windows.Forms.Button();
+			this.btn_stop = new System.Windows.Forms.Button();
+			this.groupBox2 = new System.Windows.Forms.GroupBox();
+			this.label1 = new System.Windows.Forms.Label();
+			this.text_etalon_info = new System.Windows.Forms.RichTextBox();
+			this.editor3D = new Plot3D.Editor3D();
+			this.groupBox1.SuspendLayout();
+			this.groupBox2.SuspendLayout();
 			this.SuspendLayout();
 			// 
-			// button1
+			// btn_draw_test
 			// 
-			this.button1.Location = new System.Drawing.Point(9, 569);
+			this.btn_draw_test.Location = new System.Drawing.Point(8, 539);
-			this.button1.Name = "button1";
+			this.btn_draw_test.Name = "btn_draw_test";
-			this.button1.Size = new System.Drawing.Size(121, 23);
+			this.btn_draw_test.Size = new System.Drawing.Size(121, 23);
-			this.button1.TabIndex = 1;
+			this.btn_draw_test.TabIndex = 1;
-			this.button1.Text = "button1";
+			this.btn_draw_test.Text = "绘图测试";
-			this.button1.UseVisualStyleBackColor = true;
+			this.btn_draw_test.UseVisualStyleBackColor = true;
-			this.button1.Click += new System.EventHandler(this.button1_Click);
+			this.btn_draw_test.Click += new System.EventHandler(this.btn_draw_test_Click);
-			// 
-			// statusStrip1
-			// 
-			this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.labelMouseInfo});
-			this.statusStrip1.Location = new System.Drawing.Point(0, 679);
-			this.statusStrip1.Name = "statusStrip1";
-			this.statusStrip1.Size = new System.Drawing.Size(1020, 22);
-			this.statusStrip1.TabIndex = 2;
-			this.statusStrip1.Text = "statusStrip1";
-			// 
-			// editor3D
-			// 
-			this.editor3D.BackColor = System.Drawing.Color.White;
-			this.editor3D.BorderColorFocus = System.Drawing.Color.FromArgb(((int)(((byte)(51)))), ((int)(((byte)(153)))), ((int)(((byte)(255)))));
-			this.editor3D.BorderColorNormal = System.Drawing.Color.FromArgb(((int)(((byte)(180)))), ((int)(((byte)(180)))), ((int)(((byte)(180)))));
-			this.editor3D.LegendPos = Plot3D.Editor3D.eLegendPos.BottomLeft;
-			this.editor3D.Location = new System.Drawing.Point(159, 25);
-			this.editor3D.Name = "editor3D";
-			this.editor3D.Normalize = Plot3D.Editor3D.eNormalize.Separate;
-			this.editor3D.Raster = Plot3D.Editor3D.eRaster.Labels;
-			this.editor3D.Size = new System.Drawing.Size(515, 610);
-			this.editor3D.TabIndex = 0;
-			this.editor3D.TooltipMode = ((Plot3D.Editor3D.eTooltip)((Plot3D.Editor3D.eTooltip.UserText | Plot3D.Editor3D.eTooltip.Coord)));
-			this.editor3D.TopLegendColor = System.Drawing.Color.FromArgb(((int)(((byte)(200)))), ((int)(((byte)(200)))), ((int)(((byte)(150)))));
 			// 
 			// checkMirrorY
 			// 
 			this.checkMirrorY.AutoSize = true;
 			this.checkMirrorY.BackColor = System.Drawing.Color.Transparent;
-			this.checkMirrorY.Location = new System.Drawing.Point(81, 149);
+			this.checkMirrorY.Location = new System.Drawing.Point(80, 111);
 			this.checkMirrorY.Name = "checkMirrorY";
 			this.checkMirrorY.Size = new System.Drawing.Size(72, 16);
 			this.checkMirrorY.TabIndex = 39;
 			this.checkMirrorY.Text = "Mirror Y";
 			this.checkMirrorY.UseVisualStyleBackColor = false;
+			this.checkMirrorY.CheckedChanged += new System.EventHandler(this.checkMirrorY_CheckedChanged);
 			// 
 			// checkMirrorX
 			// 
 			this.checkMirrorX.AutoSize = true;
 			this.checkMirrorX.BackColor = System.Drawing.Color.Transparent;
-			this.checkMirrorX.Location = new System.Drawing.Point(9, 149);
+			this.checkMirrorX.Location = new System.Drawing.Point(8, 111);
 			this.checkMirrorX.Name = "checkMirrorX";
 			this.checkMirrorX.Size = new System.Drawing.Size(72, 16);
 			this.checkMirrorX.TabIndex = 38;
 			this.checkMirrorX.Text = "Mirror X";
 			this.checkMirrorX.UseVisualStyleBackColor = false;
+			this.checkMirrorX.CheckedChanged += new System.EventHandler(this.checkMirrorX_CheckedChanged);
 			// 
 			// label8
 			// 
 			this.label8.AutoSize = true;
-			this.label8.Location = new System.Drawing.Point(7, 168);
+			this.label8.Location = new System.Drawing.Point(6, 130);
 			this.label8.Name = "label8";
 			this.label8.Size = new System.Drawing.Size(89, 12);
 			this.label8.TabIndex = 31;
@@ -122,119 +105,209 @@
             "Left Theta, Right Phi",
             "Left Theta and Phi",
             "Middle Theta and Phi"});
-			this.comboMouse.Location = new System.Drawing.Point(9, 181);
+			this.comboMouse.Location = new System.Drawing.Point(8, 143);
 			this.comboMouse.MaxDropDownItems = 30;
 			this.comboMouse.Name = "comboMouse";
 			this.comboMouse.Size = new System.Drawing.Size(121, 20);
 			this.comboMouse.TabIndex = 40;
+			this.comboMouse.SelectedIndexChanged += new System.EventHandler(this.comboMouse_SelectedIndexChanged);
 			// 
 			// btnReset
 			// 
-			this.btnReset.Location = new System.Drawing.Point(9, 205);
+			this.btnReset.Location = new System.Drawing.Point(8, 167);
 			this.btnReset.Name = "btnReset";
 			this.btnReset.Size = new System.Drawing.Size(121, 21);
 			this.btnReset.TabIndex = 41;
-			this.btnReset.Text = "Reset Position";
+			this.btnReset.Text = "重置视图";
 			this.btnReset.UseVisualStyleBackColor = true;
+			this.btnReset.Click += new System.EventHandler(this.btnReset_Click);
 			// 
 			// btnScreenshot
 			// 
-			this.btnScreenshot.Location = new System.Drawing.Point(9, 230);
+			this.btnScreenshot.Location = new System.Drawing.Point(8, 192);
 			this.btnScreenshot.Name = "btnScreenshot";
 			this.btnScreenshot.Size = new System.Drawing.Size(121, 21);
 			this.btnScreenshot.TabIndex = 42;
-			this.btnScreenshot.Text = "Save Screenshot";
+			this.btnScreenshot.Text = "保存截图";
 			this.btnScreenshot.UseVisualStyleBackColor = true;
+			this.btnScreenshot.Click += new System.EventHandler(this.btnScreenshot_Click);
 			// 
 			// label4
 			// 
 			this.label4.AutoSize = true;
-			this.label4.Location = new System.Drawing.Point(7, 95);
+			this.label4.Location = new System.Drawing.Point(6, 57);
 			this.label4.Name = "label4";
-			this.label4.Size = new System.Drawing.Size(113, 12);
+			this.label4.Size = new System.Drawing.Size(47, 12);
 			this.label4.TabIndex = 28;
-			this.label4.Text = "Coordinate System:";
+			this.label4.Text = "坐标系:";
 			// 
 			// label3
 			// 
 			this.label3.AutoSize = true;
-			this.label3.Location = new System.Drawing.Point(7, 58);
+			this.label3.Location = new System.Drawing.Point(6, 20);
 			this.label3.Name = "label3";
-			this.label3.Size = new System.Drawing.Size(83, 12);
+			this.label3.Size = new System.Drawing.Size(35, 12);
 			this.label3.TabIndex = 27;
-			this.label3.Text = "Color Scheme:";
+			this.label3.Text = "色卡:";
 			// 
 			// comboRaster
 			// 
 			this.comboRaster.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
 			this.comboRaster.FormattingEnabled = true;
-			this.comboRaster.Location = new System.Drawing.Point(9, 109);
+			this.comboRaster.Location = new System.Drawing.Point(8, 71);
 			this.comboRaster.MaxDropDownItems = 30;
 			this.comboRaster.Name = "comboRaster";
 			this.comboRaster.Size = new System.Drawing.Size(121, 20);
 			this.comboRaster.TabIndex = 36;
+			this.comboRaster.SelectedIndexChanged += new System.EventHandler(this.comboRaster_SelectedIndexChanged);
 			// 
 			// comboColors
 			// 
 			this.comboColors.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
 			this.comboColors.FormattingEnabled = true;
-			this.comboColors.Location = new System.Drawing.Point(9, 73);
+			this.comboColors.Location = new System.Drawing.Point(8, 35);
 			this.comboColors.MaxDropDownItems = 30;
 			this.comboColors.Name = "comboColors";
 			this.comboColors.Size = new System.Drawing.Size(121, 20);
 			this.comboColors.TabIndex = 35;
+			this.comboColors.SelectedIndexChanged += new System.EventHandler(this.comboColors_SelectedIndexChanged);
+			// 
+			// btn_etalon_import
+			// 
+			this.btn_etalon_import.Location = new System.Drawing.Point(15, 29);
+			this.btn_etalon_import.Name = "btn_etalon_import";
+			this.btn_etalon_import.Size = new System.Drawing.Size(102, 30);
+			this.btn_etalon_import.TabIndex = 43;
+			this.btn_etalon_import.Text = "导入etalon文件";
+			this.btn_etalon_import.UseVisualStyleBackColor = true;
+			this.btn_etalon_import.Click += new System.EventHandler(this.btn_etalon_import_Click);
 			// 
 			// labelMouseInfo
 			// 
+			this.labelMouseInfo.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+			this.labelMouseInfo.AutoSize = true;
+			this.labelMouseInfo.ForeColor = System.Drawing.Color.Blue;
+			this.labelMouseInfo.Location = new System.Drawing.Point(146, 614);
 			this.labelMouseInfo.Name = "labelMouseInfo";
-			this.labelMouseInfo.Size = new System.Drawing.Size(99, 17);
+			this.labelMouseInfo.Size = new System.Drawing.Size(65, 12);
-			this.labelMouseInfo.Text = "labelMouseInfo";
+			this.labelMouseInfo.TabIndex = 45;
+			this.labelMouseInfo.Text = "Mouse Info";
 			// 
-			// button2
+			// groupBox1
 			// 
-			this.button2.Location = new System.Drawing.Point(933, 106);
+			this.groupBox1.Controls.Add(this.btn_clear);
-			this.button2.Name = "button2";
+			this.groupBox1.Controls.Add(this.label3);
-			this.button2.Size = new System.Drawing.Size(75, 23);
+			this.groupBox1.Controls.Add(this.labelMouseInfo);
-			this.button2.TabIndex = 43;
+			this.groupBox1.Controls.Add(this.btn_draw_test);
-			this.button2.Text = "button2";
+			this.groupBox1.Controls.Add(this.comboColors);
-			this.button2.UseVisualStyleBackColor = true;
+			this.groupBox1.Controls.Add(this.comboRaster);
+			this.groupBox1.Controls.Add(this.editor3D);
+			this.groupBox1.Controls.Add(this.checkMirrorY);
+			this.groupBox1.Controls.Add(this.label4);
+			this.groupBox1.Controls.Add(this.checkMirrorX);
+			this.groupBox1.Controls.Add(this.btnScreenshot);
+			this.groupBox1.Controls.Add(this.label8);
+			this.groupBox1.Controls.Add(this.btnReset);
+			this.groupBox1.Controls.Add(this.comboMouse);
+			this.groupBox1.Location = new System.Drawing.Point(12, 12);
+			this.groupBox1.Name = "groupBox1";
+			this.groupBox1.Size = new System.Drawing.Size(717, 643);
+			this.groupBox1.TabIndex = 46;
+			this.groupBox1.TabStop = false;
+			this.groupBox1.Text = "可视化";
 			// 
-			// textBox1
+			// btn_clear
 			// 
-			this.textBox1.Location = new System.Drawing.Point(691, 106);
+			this.btn_clear.Location = new System.Drawing.Point(8, 568);
-			this.textBox1.Multiline = true;
+			this.btn_clear.Name = "btn_clear";
-			this.textBox1.Name = "textBox1";
+			this.btn_clear.Size = new System.Drawing.Size(121, 23);
-			this.textBox1.Size = new System.Drawing.Size(213, 23);
+			this.btn_clear.TabIndex = 46;
-			this.textBox1.TabIndex = 44;
+			this.btn_clear.Text = "清空绘图";
+			this.btn_clear.UseVisualStyleBackColor = true;
+			this.btn_clear.Click += new System.EventHandler(this.btn_clear_Click);
+			// 
+			// btn_startmove
+			// 
+			this.btn_startmove.Image = global::HexcalMC.Properties.Resources.start;
+			this.btn_startmove.Location = new System.Drawing.Point(15, 116);
+			this.btn_startmove.Name = "btn_startmove";
+			this.btn_startmove.Size = new System.Drawing.Size(72, 72);
+			this.btn_startmove.TabIndex = 47;
+			this.btn_startmove.UseVisualStyleBackColor = true;
+			this.btn_startmove.Click += new System.EventHandler(this.btn_startmove_Click);
+			// 
+			// btn_stop
+			// 
+			this.btn_stop.Image = global::HexcalMC.Properties.Resources.stop;
+			this.btn_stop.Location = new System.Drawing.Point(128, 116);
+			this.btn_stop.Name = "btn_stop";
+			this.btn_stop.Size = new System.Drawing.Size(72, 72);
+			this.btn_stop.TabIndex = 48;
+			this.btn_stop.UseVisualStyleBackColor = true;
+			this.btn_stop.Click += new System.EventHandler(this.btn_stop_Click);
+			// 
+			// groupBox2
+			// 
+			this.groupBox2.Controls.Add(this.text_etalon_info);
+			this.groupBox2.Controls.Add(this.label1);
+			this.groupBox2.Controls.Add(this.btn_startmove);
+			this.groupBox2.Controls.Add(this.btn_stop);
+			this.groupBox2.Controls.Add(this.btn_etalon_import);
+			this.groupBox2.Location = new System.Drawing.Point(747, 12);
+			this.groupBox2.Name = "groupBox2";
+			this.groupBox2.Size = new System.Drawing.Size(465, 643);
+			this.groupBox2.TabIndex = 49;
+			this.groupBox2.TabStop = false;
+			this.groupBox2.Text = "etalon操作";
+			// 
+			// label1
+			// 
+			this.label1.AutoSize = true;
+			this.label1.Location = new System.Drawing.Point(9, 225);
+			this.label1.Name = "label1";
+			this.label1.Size = new System.Drawing.Size(29, 12);
+			this.label1.TabIndex = 49;
+			this.label1.Text = "输出";
+			// 
+			// text_etalon_info
+			// 
+			this.text_etalon_info.Location = new System.Drawing.Point(6, 249);
+			this.text_etalon_info.Name = "text_etalon_info";
+			this.text_etalon_info.Size = new System.Drawing.Size(440, 361);
+			this.text_etalon_info.TabIndex = 50;
+			this.text_etalon_info.Text = "";
+			// 
+			// editor3D
+			// 
+			this.editor3D.BackColor = System.Drawing.Color.White;
+			this.editor3D.BorderColorFocus = System.Drawing.Color.FromArgb(((int)(((byte)(51)))), ((int)(((byte)(153)))), ((int)(((byte)(255)))));
+			this.editor3D.BorderColorNormal = System.Drawing.Color.FromArgb(((int)(((byte)(180)))), ((int)(((byte)(180)))), ((int)(((byte)(180)))));
+			this.editor3D.LegendPos = Plot3D.Editor3D.eLegendPos.BottomLeft;
+			this.editor3D.Location = new System.Drawing.Point(148, 20);
+			this.editor3D.Name = "editor3D";
+			this.editor3D.Normalize = Plot3D.Editor3D.eNormalize.Separate;
+			this.editor3D.Raster = Plot3D.Editor3D.eRaster.Labels;
+			this.editor3D.Size = new System.Drawing.Size(548, 590);
+			this.editor3D.TabIndex = 0;
+			this.editor3D.TooltipMode = ((Plot3D.Editor3D.eTooltip)((Plot3D.Editor3D.eTooltip.UserText | Plot3D.Editor3D.eTooltip.Coord)));
+			this.editor3D.TopLegendColor = System.Drawing.Color.FromArgb(((int)(((byte)(200)))), ((int)(((byte)(200)))), ((int)(((byte)(150)))));
 			// 
 			// EtalonForm
 			// 
 			this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
 			this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-			this.ClientSize = new System.Drawing.Size(1020, 701);
+			this.ClientSize = new System.Drawing.Size(1237, 681);
-			this.Controls.Add(this.textBox1);
+			this.Controls.Add(this.groupBox2);
-			this.Controls.Add(this.button2);
+			this.Controls.Add(this.groupBox1);
-			this.Controls.Add(this.checkMirrorY);
-			this.Controls.Add(this.checkMirrorX);
-			this.Controls.Add(this.label8);
-			this.Controls.Add(this.comboMouse);
-			this.Controls.Add(this.btnReset);
-			this.Controls.Add(this.btnScreenshot);
-			this.Controls.Add(this.label4);
-			this.Controls.Add(this.label3);
-			this.Controls.Add(this.comboRaster);
-			this.Controls.Add(this.comboColors);
-			this.Controls.Add(this.statusStrip1);
-			this.Controls.Add(this.button1);
-			this.Controls.Add(this.editor3D);
 			this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
 			this.Name = "EtalonForm";
 			this.Text = "EtalonForm";
 			this.Load += new System.EventHandler(this.EtalonForm_Load);
-			this.statusStrip1.ResumeLayout(false);
+			this.groupBox1.ResumeLayout(false);
-			this.statusStrip1.PerformLayout();
+			this.groupBox1.PerformLayout();
+			this.groupBox2.ResumeLayout(false);
+			this.groupBox2.PerformLayout();
 			this.ResumeLayout(false);
-			this.PerformLayout();
 
 		}
 
@@ -242,8 +315,7 @@
 		#endregion
 
 		private Plot3D.Editor3D editor3D;
-		private System.Windows.Forms.Button button1;
+		private System.Windows.Forms.Button btn_draw_test;
-		private System.Windows.Forms.StatusStrip statusStrip1;
 		private System.Windows.Forms.CheckBox checkMirrorY;
 		private System.Windows.Forms.CheckBox checkMirrorX;
 		private System.Windows.Forms.Label label8;
@@ -254,8 +326,14 @@
 		private System.Windows.Forms.Label label3;
 		private System.Windows.Forms.ComboBox comboRaster;
 		private System.Windows.Forms.ComboBox comboColors;
-		private System.Windows.Forms.ToolStripStatusLabel labelMouseInfo;
+		private System.Windows.Forms.Button btn_etalon_import;
-		private System.Windows.Forms.Button button2;
+		private System.Windows.Forms.Label labelMouseInfo;
-		private System.Windows.Forms.TextBox textBox1;
+		private System.Windows.Forms.GroupBox groupBox1;
+		private System.Windows.Forms.Button btn_startmove;
+		private System.Windows.Forms.Button btn_stop;
+		private System.Windows.Forms.GroupBox groupBox2;
+		private System.Windows.Forms.Button btn_clear;
+		private System.Windows.Forms.Label label1;
+		private System.Windows.Forms.RichTextBox text_etalon_info;
 	}
 }

HexcalMC/Motion/EtalonForm.cs

@@ -10,9 +10,6 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 
-using ScottPlot;
-using ScottPlot.Plottable;
-
 using Plot3D;
 
 // enums
@@ -47,6 +44,13 @@ using cUserInput = Plot3D.Editor3D.cUserInput;
 using delRendererFunction = Plot3D.Editor3D.delRendererFunction;
 using static Plot3D.Editor3D;
 using System.Diagnostics;
+using System.Drawing.Imaging;
+using System.Text.RegularExpressions;
+using System.IO;
+using Telerik.WinControls;
+using static Telerik.WinControls.UI.ValueMapper;
+using HexcalMC.Base;
+using ACS.SPiiPlusNET;
 
 namespace HexcalMC
 {
@@ -85,18 +89,65 @@ namespace HexcalMC
 		private cPoint3D[] mi_Pyramid;
 		private int ms32_AnimationAngle;
 
-		public EtalonForm()
+		// etalon解析变量
+		private List<Point> etalon_points = new List<Point>();
+
+		private List<Point> filteredPoints = new List<Point>(); //过滤后的点
+		private List<int> dwellTimes = new List<int>();
+
+		private static Timer refresh_time = new Timer();
+		private static int currentIndex = 0;
+
+		private readonly MainFrom mainFrom;
+		private readonly Api _acs; //ACS控制器
+
+		public EtalonForm(MainFrom _mainFrom)
 		{
 			InitializeComponent();
+			mainFrom = _mainFrom;
+			this._acs = _mainFrom._acs;
 		}
 
 		private void EtalonForm_Load(object sender, EventArgs e)
 		{
+			InitScatterPlot(); //清空绘图
 
+			DebugDfn.textBox_Msg = this.text_etalon_info;
+		}
+
+		private void InitScatterPlot() //绘图区初始化
+		{
+			comboColors.Sorted = false;
+			foreach (eColorScheme e_Scheme in Enum.GetValues(typeof(eColorScheme)))
+			{
+				comboColors.Items.Add(e_Scheme.ToString().Replace('_', ' '));
+			}
+			comboColors.SelectedIndex = (int)eColorScheme.Monochrome; //默认色卡
+
+			comboRaster.Sorted = false;
+			foreach (eRaster e_Raster in Enum.GetValues(typeof(eRaster)))
+			{
+				comboRaster.Items.Add(e_Raster);
+			}
+			comboRaster.SelectedIndex = (int)eRaster.Labels; //坐标系栅格样式
+
+			//设置默认
+			comboMouse.SelectedIndex = 0;
+
+			// 设置定时器
+			refresh_time.Interval = 100;
+			refresh_time.Tick += new EventHandler(OnAnimationTimer);
+			refresh_time.Start();
 		}
 
 		private void DemoScatterPlot(bool b_Lines)
 		{
+			comboColors.Enabled = true; // Some of the demos will disable this combobox
+			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;
+
+			checkMirrorX.Checked = editor3D.AxisX.Mirror;
+			checkMirrorY.Checked = editor3D.AxisY.Mirror;
+
 			// 3 pixels for line width and for circle radius
 			const int SIZE = 3;
 
@@ -138,31 +189,8 @@ namespace HexcalMC
 			editor3D.Selection.Enabled = true;
 			editor3D.UndoBuffer.Enabled = true;
 			editor3D.Invalidate();
-
-			// For shapes this setting does not make a difference
-			//checkPointSelection.Checked = false;
-			//if (!b_Lines)
-			//	checkPointSelection.Enabled = false;
 		}
 
-		//; Machine: ZIM
-		//; Position: 1
-		//; Created: 2/15/2023 12:29:13 PM
-		//; Program: TRAC-CAL V48, Build: 10, 5/13/2022 8:29:25 AM
-		//; File: 'cncData.xml'
-		//G71
-		//G90
-		//G500
-		//G01 X8000.000 Y200.000 Z-1400.000  F2000
-		//G04 F=2
-		//G01 X7800.000 Y300.000 Z-1400.000  F2000
-		//G04 F=2
-		//G01 X7600.000 Y400.000 Z-1400.000  F2000
-		//G04 F=2
-		//G01 X7400.000 Y500.000 Z-1400.000  F2000
-		//G04 F=2
-		//G01 X7200.000 Y600.000 Z-1400.000  F2000
-
 		private eInvalidate OnSelectEvent(eSelEvent e_Event, Keys e_Modifiers, int s32_DeltaX, int s32_DeltaY, cObject3D i_Object)//
 		{
 			eInvalidate e_Invalidate = eInvalidate.NoChange;
@@ -219,41 +247,395 @@ namespace HexcalMC
 
 			mi_StatusTimer.Stop();
 
-
-
 			mi_StatusTimer.Start();
 			return e_Invalidate;
 		}
 
-		private void button1_Click(object sender, EventArgs e)
+		private void comboRaster_SelectedIndexChanged(object sender, EventArgs e) //坐标栅格样式
 		{
-			DemoScatterPlot(false);
+			editor3D.Raster = (eRaster)comboRaster.SelectedIndex;
+			editor3D.Invalidate();
 		}
 
+		private void checkMirrorY_CheckedChanged(object sender, EventArgs e) //Y轴镜像
+		{
+			editor3D.AxisY.Mirror = checkMirrorY.Checked;
+			editor3D.Invalidate();
+		}
 
+		private void checkMirrorX_CheckedChanged(object sender, EventArgs e) //x轴镜像
+		{
+			editor3D.AxisX.Mirror = checkMirrorX.Checked;
+			editor3D.Invalidate();
+		}
 
-		private void comboMouse_SelectedIndexChanged(object sender, EventArgs e)
+		private void btnReset_Click(object sender, EventArgs e) //重置视图
+		{
+			editor3D.SetCoefficients(1350, 70, 230);
+			editor3D.Invalidate();
+		}
+
+		private void btnScreenshot_Click(object sender, EventArgs e) //截图保存
+		{
+			SaveFileDialog i_Dlg = new SaveFileDialog();
+			i_Dlg.Title = "Save as PNG image";
+			i_Dlg.Filter = "PNG Image|*.png";
+			i_Dlg.DefaultExt = ".png";
+
+			if (DialogResult.Cancel == i_Dlg.ShowDialog(this))
+				return;
+
+			Bitmap i_Bitmap = editor3D.GetScreenshot();
+			try
+			{
+				i_Bitmap.Save(i_Dlg.FileName, ImageFormat.Png);
+			}
+			catch (Exception Ex)
+			{
+				MessageBox.Show(this, Ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+			}
+		}
+
+		private void comboMouse_SelectedIndexChanged(object sender, EventArgs e) //鼠标控制方式
 		{
 			switch (comboMouse.SelectedIndex)
 			{
 				case 0:
 					editor3D.SetUserInputs(eMouseCtrl.L_Theta_R_Phi);
-					labelMouseInfo.Text = "Left mouse: Elevate,  Right mouse: Rotate";
+					labelMouseInfo.Text = "鼠标左键：升高，鼠标右键：旋转";
 					break;
+
 				case 1:
 					editor3D.SetUserInputs(eMouseCtrl.L_Theta_L_Phi);
-					labelMouseInfo.Text = "Left mouse: Elevate and Rotate";
+					labelMouseInfo.Text = "鼠标左键：升高和旋转";
 					break;
+
 				case 2:
 					editor3D.SetUserInputs(eMouseCtrl.M_Theta_M_Phi);
-					labelMouseInfo.Text = "Middle mouse: Elevate and Rotate";
+					labelMouseInfo.Text = "鼠标中键：升高和旋转";
 					break;
+
 				default:
 					Debug.Assert(false);
 					break;
 			}
 
-			labelMouseInfo.Text += ",  Left mouse + SHIFT: Move,  Left mouse + CTRL or wheel: Zoom, Left mouse + ALT: Select";
+			labelMouseInfo.Text += ",  鼠标左键 + SHIFT：移动、鼠标左键 + CTRL 或滚轮：缩放、鼠标左键 + ALT：选择";
+		}
+
+		private void comboColors_SelectedIndexChanged(object sender, EventArgs e)
+		{
+			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;
+
+			//判断 points 是否为空，表示当前是否已经有真实数据
+			if (etalon_points.Count > 0)
+			{
+				PointScatterPlot(etalon_points); //更新真实数据
+			}
+			//else
+			//{
+			//	DemoScatterPlot(false); //更新虚拟数据
+			//}
+		}
+
+		private void btn_startmove_Click(object sender, EventArgs e) //开始运动
+		{
+			DebugDfn.AddLogText("开始运动");
+			int timeout = 5000;
+
+			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
+
+			//判断电机状态
+			if (!mainFrom.totalAxisEnabled)
+			{
+				DebugDfn.AddLogText("存在电机未使能");
+
+				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); //Y轴
+				// Wait axis 1 enabled during 5 sec
+				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
+
+				_acs.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
+
+				DebugDfn.AddLogText("电机已启用");
+			}
+
+			// 创建多点运动
+			double dwellTime = dwellTimes.Average()*1000; //将秒转换为毫秒
+			DebugDfn.AddLogText("平均停顿时间（毫秒）：" + dwellTime);
+			_acs.MultiPointM(MotionFlags.ACSC_NONE, axes, dwellTime);
+
+			//判断是否有点
+			if (filteredPoints.Count == 0)
+			{
+				DebugDfn.AddLogText("没有点");
+				return;
+			}
+
+			// 添加符合条件的点到运动路径中
+			foreach (var point in filteredPoints)
+			{
+				double[] points = new double[3];
+				points[0] = point.Y;
+				points[1] = point.X;
+				points[2] = point.Z;
+				_acs.AddPointM(axes, points);
+
+			}
+			// 打印添加点的数量
+			DebugDfn.AddLogText("添加点的数量：" + filteredPoints.Count);
+
+			// Finish the motion End of the multi-point motion
+			_acs.EndSequenceM(axes);
+
+			//启动统计
+			mainFrom.StartCounting();
+		}
+
+		private void btn_stop_Click(object sender, EventArgs e) //停止运动
+		{
+			DebugDfn.AddLogText("停止运动");
+			try
+			{
+				Axis[] m_arrAxisList = new Axis[] { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
+
+				if (m_arrAxisList != null) _acs.HaltM(m_arrAxisList);
+
+				DebugDfn.AddLogText("立即停止 已发送命令");
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				Debug.WriteLine(ex.Message);
+			}
+
+			//停止统计
+			mainFrom.StopCounting();
+		}
+
+		private void btn_etalon_import_Click(object sender, EventArgs e) //解析Etalon文件
+		{
+			//打开文件对号框，选择 mpf格式文件
+			OpenFileDialog i_Dlg = new OpenFileDialog();
+			i_Dlg.Title = "导入Etalon文件";
+			i_Dlg.Filter = "Etalon文件|*.mpf";
+			i_Dlg.DefaultExt = ".mpf";
+			i_Dlg.Multiselect = false;
+
+			if (DialogResult.Cancel == i_Dlg.ShowDialog(this))
+				return;
+
+			//读取文件
+			string s_File = i_Dlg.FileName;
+
+			//设置路径显示
+
+			DebugDfn.AddLogText("导入Etalon文件：" + s_File);
+
+			//解析文件
+			parse_mpf_file(s_File);
+
+			DebugDfn.AddLogText("Etalon文件解析完成");
+		}
+
+		private bool parse_mpf_file(string mpf_file_path)   // 编写解析mpf文件的函数
+		{
+			//; Machine: ZIM
+			//; Position: 1
+			//; Created: 2/15/2023 12:29:13 PM
+			//; Program: TRAC-CAL V48, Build: 10, 5/13/2022 8:29:25 AM
+			//; File: 'cncData.xml'
+			//G71
+			//G90
+			//G500
+			//G01 X8000.000 Y200.000 Z-1400.000  F2000  //坐标
+			//G04 F=2									// 停顿时间
+			//G01 X7800.000 Y300.000 Z-1400.000  F2000
+			//G04 F=2
+			//G01 X7600.000 Y400.000 Z-1400.000  F2000
+			//G04 F=2
+			//G01 X7400.000 Y500.000 Z-1400.000  F2000
+			//G04 F=2
+			//G01 X7200.000 Y600.000 Z-1400.000  F2000
+
+			//判断文件是否存在
+			if (!File.Exists(mpf_file_path))
+			{
+				MessageBox.Show("文件不存在");
+				return false;
+			}
+
+			//清空之前的数据
+			etalon_points.Clear();
+			filteredPoints.Clear();
+			dwellTimes.Clear();
+
+			//读取文件
+			string[] lines = File.ReadAllLines(mpf_file_path);
+			Regex regex = new Regex(@"G01 X(?<X>[-+]?\d*\.?\d+) Y(?<Y>[-+]?\d*\.?\d+) Z(?<Z>[-+]?\d*\.?\d+)");
+			Regex dwellRegex = new Regex(@"G04 F=(?<F>\d+)");
+
+			foreach (string line in lines)
+			{
+				Match match = regex.Match(line);
+				if (match.Success)
+				{
+					double x = double.Parse(match.Groups["X"].Value);
+					double y = double.Parse(match.Groups["Y"].Value);
+					double z = double.Parse(match.Groups["Z"].Value);
+					etalon_points.Add(new Point(x, y, z));
+				}
+
+				Match dwellMatch = dwellRegex.Match(line);
+				if (dwellMatch.Success)
+				{
+					int f = int.Parse(dwellMatch.Groups["F"].Value);
+					dwellTimes.Add(f);
+				}
+			}
+
+			// 输出解析结果
+			//Console.WriteLine("Points:");
+			//foreach (var point in etalon_points)
+			//{
+			//	Console.WriteLine($"X: {point.X}, Y: {point.Y}, Z: {point.Z}");
+			//}
+
+			//Console.WriteLine("Dwell Times:");
+			//foreach (var dwellTime in dwellTimes)
+			//{
+			//	Console.WriteLine($"F: {dwellTime}");
+			//}
+
+			//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
+				{
+					filteredPoints.Add(point);
+				}
+			}
+
+			//打印过滤后的点集大小
+			DebugDfn.AddLogText("过滤后的点集大小：" + filteredPoints.Count);
+			PointScatterPlot(filteredPoints);//绘制散点图
+			return true;
+		}
+
+		private void PointScatterPlot(List<Point> points) //绘制散点图
+		{
+			comboColors.Enabled = true; // Some of the demos will disable this combobox
+			me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;
+
+			checkMirrorX.Checked = editor3D.AxisX.Mirror;
+			checkMirrorY.Checked = editor3D.AxisY.Mirror;
+
+			// 3 pixels for line width and for circle radius
+			const int SIZE = 3;
+
+			cColorScheme i_Scheme = new cColorScheme(me_ColorScheme);
+			cScatterData i_ShapeData = new cScatterData(i_Scheme);
+			cLineData i_LineData = new cLineData(i_Scheme);
+			List<cPoint3D> i_Points = new List<cPoint3D>();
+
+			foreach (var point in points)
+			{
+				double d_X = point.X;
+				double d_Y = point.Y;
+				double d_Z = point.Z;
+
+				cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
+
+				// You can store the returned shape in a variable and later modify it's properties
+				cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, SIZE, null);
+			}
+
+			// You can store the returned lines in a variable and later modify their properties
+			cLine3D[] i_Lines = i_LineData.AddConnectedLines(i_Points, SIZE, null);
+
+			// Depending on your use case you can also specify MaintainXY or MaintainXYZ here
+			editor3D.Clear();
+			editor3D.Normalize = eNormalize.Separate;
+			editor3D.AddRenderData(i_ShapeData, i_LineData);
+
+			editor3D.Selection.HighlightColor = Color.FromArgb(90, 90, 90);
+			editor3D.Selection.Callback = OnSelectEvent;
+			editor3D.Selection.MultiSelect = true;
+			editor3D.Selection.Enabled = true;
+			editor3D.UndoBuffer.Enabled = true;
+			editor3D.Invalidate();
+		}
+
+		public class Point
+		{
+			public double X { get; }
+			public double Y { get; }
+			public double Z { get; }
+
+			public Point(double x, double y, double z)
+			{
+				X = x;
+				Y = y;
+				Z = z;
+			}
+		}
+
+		private void btn_clear_Click(object sender, EventArgs e) //清空绘图
+		{
+			editor3D.Clear();
+			editor3D.Normalize = eNormalize.Separate;
+			editor3D.Invalidate();
+		}
+
+		private void btn_draw_test_Click(object sender, EventArgs e)
+		{
+			DemoScatterPlot(false);
+		}
+
+		private void OnAnimationTimer(object sender, EventArgs e)
+		{
+			cScatterData i_ShapeData = new cScatterData();
+			currentIndex = mainFrom.GetInPosCount();//获取当前点的数量
+
+
+			if (currentIndex < filteredPoints.Count)
+			{
+				// 更新点的颜色
+				for (int i = 0; i <= currentIndex; i++)
+				{
+					double d_X = filteredPoints[i].X;
+					double d_Y = filteredPoints[i].Y;
+					double d_Z = filteredPoints[i].Z;
+
+					cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
+					SolidBrush i_brush = new SolidBrush(Color.Red);
+					// You can store the returned shape in a variable and later modify it's properties
+					cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, 5, i_brush, null);
+				}
+
+				// 对于剩余部分的点，不做颜色更新
+				for (int i = currentIndex; i < filteredPoints.Count; i++)
+				{
+					double d_X = filteredPoints[i].X;
+					double d_Y = filteredPoints[i].Y;
+					double d_Z = filteredPoints[i].Z;
+
+					cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
+					SolidBrush i_brush = new SolidBrush(Color.Gray);
+					// You can store the returned shape in a variable and later modify it's properties
+					cShape3D i_Shape = i_ShapeData.AddShape(i_Point, eScatterShape.Circle, 3, i_brush, null);
+				}
+
+				//打印 所有点的数量和 currentIndex
+				Console.WriteLine("所有点的数量：" + filteredPoints.Count + "当前点的数量：" + currentIndex);
+
+				
+			}
+			
+
+			editor3D.Clear();
+			editor3D.Normalize = eNormalize.Separate;
+			editor3D.AddRenderData(i_ShapeData);
+			editor3D.Invalidate();
 		}
 	}
 }

HexcalMC/Motion/EtalonForm.resx

@@ -117,9 +117,6 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <metadata name="statusStrip1.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>
   </metadata>

HexcalMC/Properties/Resources.Designer.cs

@@ -210,6 +210,16 @@ namespace HexcalMC.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap start {
+            get {
+                object obj = ResourceManager.GetObject("start", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找 System.Drawing.Bitmap 类型的本地化资源。
         /// </summary>

HexcalMC/Properties/Resources.resx

@@ -121,6 +121,9 @@
   <data name="about" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\about.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="etalon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\etalon.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="motion" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\motion.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -139,6 +142,9 @@
   <data name="Hexagon" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\Hexagon.ico;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="quick_location" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\quick_location.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -154,16 +160,13 @@
   <data name="stop" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\stop.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="demo_show" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\demo_show.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
   <data name="home" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\home.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="demo_show" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+    <value>..\Resources\demo_show.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="etalon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="start" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\etalon.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+    <value>..\Resources\start.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
 </root>

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>kjOJfgYi/k+pJ5FhmEfpQmK1QNF+Sr/rAs3Y4JuCvnE=</dsig:DigestValue>
+        <dsig:DigestValue>3I+Sdzke39z2xPBTFN2cGyU/DYa1hH93nKjBGpXTzUw=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

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

@@ -55,14 +55,14 @@
     </dependentAssembly>
   </dependency>
   <dependency>
-    <dependentAssembly dependencyType="install" allowDelayedBinding="true" codebase="HexcalMC.exe" size="502272">
+    <dependentAssembly dependencyType="install" allowDelayedBinding="true" codebase="HexcalMC.exe" size="508928">
       <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>Uv0oJrFdIL2ljwa9FK9n8TvSxO1qxvCPi6Z0wKBelNs=</dsig:DigestValue>
+        <dsig:DigestValue>Pllh2aI7tVRTnfFfbvwT2qdIQZ30ZwrhlbF820ogi8o=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>