zhengxuan.zhang
784 lines
27 KiB
C#
784 lines
27 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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using System.Windows.Forms;
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using ACS.SPiiPlusNET;
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using HexcalMC.Base;
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using Plot3D;
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using ScottPlot;
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using ScottPlot.Plottable;
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using Telerik.WinControls;
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using Telerik.WinControls.UI;
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using static Plot3D.Editor3D;
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using static Telerik.WinControls.UI.ValueMapper;
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using cColorScheme = Plot3D.Editor3D.cColorScheme;
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using cLine3D = Plot3D.Editor3D.cLine3D;
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using cLineData = Plot3D.Editor3D.cLineData;
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using cMessgData = Plot3D.Editor3D.cMessgData;
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// classes
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using cObject3D = Plot3D.Editor3D.cObject3D;
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using cPoint3D = Plot3D.Editor3D.cPoint3D;
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using cPolygon3D = Plot3D.Editor3D.cPolygon3D;
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using cPolygonData = Plot3D.Editor3D.cPolygonData;
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using cScatterData = Plot3D.Editor3D.cScatterData;
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using cShape3D = Plot3D.Editor3D.cShape3D;
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using cSurfaceData = Plot3D.Editor3D.cSurfaceData;
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using cUserInput = Plot3D.Editor3D.cUserInput;
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// callback function
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using delRendererFunction = Plot3D.Editor3D.delRendererFunction;
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using eColorScheme = Plot3D.Editor3D.eColorScheme;
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using eInvalidate = Plot3D.Editor3D.eInvalidate;
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using eLegendPos = Plot3D.Editor3D.eLegendPos;
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using eMouseCtrl = Plot3D.Editor3D.eMouseCtrl;
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using eNormalize = Plot3D.Editor3D.eNormalize;
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using eObjType = Plot3D.Editor3D.eObjType;
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using ePolygonMode = Plot3D.Editor3D.ePolygonMode;
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// enums
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using eRaster = Plot3D.Editor3D.eRaster;
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using eScatterShape = Plot3D.Editor3D.eScatterShape;
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using eSelEvent = Plot3D.Editor3D.eSelEvent;
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using eSelType = Plot3D.Editor3D.eSelType;
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using eTooltip = Plot3D.Editor3D.eTooltip;
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namespace HexcalMC
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{
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internal enum eDemo
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{
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Math_Callback,
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Math_Formula,
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Surface_Fill,
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Surface_Grid,
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Surface_Fill_Missing,
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Surface_Grid_Missing,
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Nested_Graphs,
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Scatter_Plot,
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Connected_Lines,
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Scatter_Shapes,
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Pyramid,
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Sphere_Fill_Closed,
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Sphere_Fill_Open,
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Sphere_Grid,
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Valentine,
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Animation,
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}
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public partial class EtalonForm : System.Windows.Forms.Form
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{
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private eDemo me_Demo;
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private eColorScheme me_ColorScheme;
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private System.Windows.Forms.Timer mi_StatusTimer = new System.Windows.Forms.Timer();
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private cMessgData mi_MesgTop = new cMessgData("", -7, 7, Color.Blue); // For special hint
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private cMessgData mi_MesgBottom = new cMessgData("", -7, -7, Color.Gray); // For selection mode
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// Only for demo "Animation"
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private System.Windows.Forms.Timer mi_AnimationTimer = new System.Windows.Forms.Timer();
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private cScatterData mi_SinusData;
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private cPoint3D[] mi_Pyramid;
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private int ms32_AnimationAngle;
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// etalon解析变量
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private List<Point> etalon_points = new List<Point>();
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private List<Point> filteredPoints = new List<Point>(); //过滤后的点
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private List<int> dwellTimes = new List<int>();
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private static System.Windows.Forms.Timer refresh_time = new System.Windows.Forms.Timer();
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private static int currentIndex = 0;
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private readonly MainFrom mainFrom;
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private readonly Api _acs; //ACS控制器
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public Axis[] axes =
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{
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Axis.ACSC_AXIS_0,
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Axis.ACSC_AXIS_1,
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Axis.ACSC_AXIS_8,
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Axis.ACSC_NONE,
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}; //使能的轴
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public class Point
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{
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public double X { get; }
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public double Y { get; }
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public double Z { get; }
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public Point(double x, double y, double z)
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{
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X = x;
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Y = y;
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Z = z;
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}
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// 从 Point 转换
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public static Point3D FromPoint(Point point)
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{
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return new Point3D(point.X, point.Y, point.Z);
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}
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}
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public EtalonForm(MainFrom _mainFrom)
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{
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InitializeComponent();
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mainFrom = _mainFrom;
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this._acs = _mainFrom._acs;
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}
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private void EtalonForm_Load(object sender, EventArgs e)
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{
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InitScatterPlot(); //清空绘图
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DebugDfn.textBox_Msg = this.text_etalon_info;
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}
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#region 绘图区功能
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private void InitScatterPlot() //绘图区初始化
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{
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comboColors.Sorted = false;
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foreach (eColorScheme e_Scheme in Enum.GetValues(typeof(eColorScheme)))
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{
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comboColors.Items.Add(e_Scheme.ToString().Replace('_', ' '));
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}
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comboColors.SelectedIndex = (int)eColorScheme.Monochrome; //默认色卡
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comboRaster.Sorted = false;
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foreach (eRaster e_Raster in Enum.GetValues(typeof(eRaster)))
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{
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comboRaster.Items.Add(e_Raster);
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}
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comboRaster.SelectedIndex = (int)eRaster.Labels; //坐标系栅格样式
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//设置默认
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comboMouse.SelectedIndex = 0;
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// 设置定时器
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refresh_time.Interval = 100;
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refresh_time.Tick += new EventHandler(OnAnimationTimer);
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refresh_time.Start();
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}
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private void DemoScatterPlot(bool b_Lines)
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{
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comboColors.Enabled = true; // Some of the demos will disable this combobox
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me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;
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checkMirrorX.Checked = editor3D.AxisX.Mirror;
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checkMirrorY.Checked = editor3D.AxisY.Mirror;
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// 3 pixels for line width and for circle radius
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const int SIZE = 3;
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cColorScheme i_Scheme = new cColorScheme(me_ColorScheme);
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cScatterData i_ShapeData = new cScatterData(i_Scheme);
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cLineData i_LineData = new cLineData(i_Scheme);
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List<cPoint3D> i_Points = new List<cPoint3D>();
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for (double P = -22.0; P < 22.0; P += 0.1)
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{
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double d_X = Math.Sin(P) * P;
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double d_Y = Math.Cos(P) * P;
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double d_Z = P;
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if (d_Z > 0.0)
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d_Z /= 3.0;
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cPoint3D i_Point = new cPoint3D(d_X, d_Y, d_Z, "Scatter Point");
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if (b_Lines)
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{
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i_Points.Add(i_Point);
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}
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else // Shapes
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{
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// You can store the returned shape in a variable and later modify it's properties
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cShape3D i_Shape = i_ShapeData.AddShape(
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i_Point,
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eScatterShape.Circle,
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SIZE,
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null
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);
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}
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}
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// You can store the returned lines in a variable and later modify their properties
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cLine3D[] i_Lines = i_LineData.AddConnectedLines(i_Points, SIZE, null);
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// Depending on your use case you can also specify MaintainXY or MaintainXYZ here
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editor3D.Clear();
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editor3D.Normalize = eNormalize.Separate;
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editor3D.AddRenderData(i_ShapeData, i_LineData);
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editor3D.Selection.HighlightColor = Color.FromArgb(90, 90, 90);
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editor3D.Selection.Callback = OnSelectEvent;
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editor3D.Selection.MultiSelect = true;
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editor3D.Selection.Enabled = true;
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editor3D.UndoBuffer.Enabled = true;
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editor3D.Invalidate();
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}
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private eInvalidate OnSelectEvent(
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eSelEvent e_Event,
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Keys e_Modifiers,
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int s32_DeltaX,
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int s32_DeltaY,
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cObject3D i_Object
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) //
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{
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eInvalidate e_Invalidate = eInvalidate.NoChange;
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bool b_CTRL = (e_Modifiers & Keys.Control) > 0;
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// The left mouse button went down with ALT key down and CTRL key up
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if (e_Event == eSelEvent.MouseDown && !b_CTRL && i_Object != null)
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{
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i_Object.Selected = !i_Object.Selected;
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// After changing the selection status the object must be redrawn.
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e_Invalidate = eInvalidate.Invalidate;
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}
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else if (e_Event == eSelEvent.MouseDrag && b_CTRL)
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{
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// The user is dragging the mouse with ALT + CTRL keys down. Convert the mouse
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// movement in the 2D space into a movement in the 3D space.
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cPoint3D i_Project = editor3D.ReverseProject(s32_DeltaX, s32_DeltaY);
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// GetSelectedPoints() returns only unique points.
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cPoint3D[] i_Selected = editor3D.Selection.GetSelectedPoints(eSelType.All);
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foreach (cPoint3D i_Point in i_Selected)
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{
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switch (me_Demo)
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{
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case eDemo.Pyramid:
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case eDemo.Scatter_Shapes:
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case eDemo.Scatter_Plot:
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case eDemo.Connected_Lines:
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// The pyramid line end points / scatter shapes can be moved freely in
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// the 3D space
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i_Point.Move(i_Project.X, i_Project.Y, i_Project.Z);
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break;
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case eDemo.Surface_Fill:
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case eDemo.Surface_Grid:
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case eDemo.Surface_Fill_Missing:
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case eDemo.Surface_Grid_Missing:
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// The points in the Surface grid have a fixed X,Y position, only Z can
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// be modified.
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i_Point.Move(0, 0, i_Project.Z);
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break;
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default:
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Debug.Assert(false);
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break;
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}
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}
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// Set flag to recalculate the coordinate system, then Invalidate()
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e_Invalidate = eInvalidate.CoordSystem;
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}
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mi_StatusTimer.Stop();
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mi_StatusTimer.Start();
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return e_Invalidate;
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}
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private void comboRaster_SelectedIndexChanged(object sender, EventArgs e) //坐标栅格样式
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{
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editor3D.Raster = (eRaster)comboRaster.SelectedIndex;
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editor3D.Invalidate();
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}
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private void checkMirrorY_CheckedChanged(object sender, EventArgs e) //Y轴镜像
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{
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editor3D.AxisY.Mirror = checkMirrorY.Checked;
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editor3D.Invalidate();
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}
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private void checkMirrorX_CheckedChanged(object sender, EventArgs e) //x轴镜像
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{
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editor3D.AxisX.Mirror = checkMirrorX.Checked;
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editor3D.Invalidate();
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}
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private void btnReset_Click(object sender, EventArgs e) //重置视图
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{
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editor3D.SetCoefficients(1350, 70, 230);
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editor3D.Invalidate();
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}
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private void btnScreenshot_Click(object sender, EventArgs e) //截图保存
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{
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SaveFileDialog i_Dlg = new SaveFileDialog();
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i_Dlg.Title = "Save as PNG image";
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i_Dlg.Filter = "PNG Image|*.png";
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i_Dlg.DefaultExt = ".png";
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if (DialogResult.Cancel == i_Dlg.ShowDialog(this))
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return;
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Bitmap i_Bitmap = editor3D.GetScreenshot();
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try
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{
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i_Bitmap.Save(i_Dlg.FileName, ImageFormat.Png);
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}
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catch (Exception Ex)
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{
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MessageBox.Show(
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this,
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Ex.Message,
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"Error",
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MessageBoxButtons.OK,
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MessageBoxIcon.Error
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);
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}
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}
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private void comboMouse_SelectedIndexChanged(object sender, EventArgs e) //鼠标控制方式
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{
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switch (comboMouse.SelectedIndex)
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{
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case 0:
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editor3D.SetUserInputs(eMouseCtrl.L_Theta_R_Phi);
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labelMouseInfo.Text = "鼠标左键：升高，鼠标右键：旋转";
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break;
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case 1:
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editor3D.SetUserInputs(eMouseCtrl.L_Theta_L_Phi);
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labelMouseInfo.Text = "鼠标左键：升高和旋转";
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break;
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case 2:
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editor3D.SetUserInputs(eMouseCtrl.M_Theta_M_Phi);
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labelMouseInfo.Text = "鼠标中键：升高和旋转";
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break;
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default:
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Debug.Assert(false);
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break;
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}
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labelMouseInfo.Text +=
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", 鼠标左键 + SHIFT：移动、鼠标左键 + CTRL 或滚轮：缩放、鼠标左键 + ALT：选择";
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}
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private void comboColors_SelectedIndexChanged(object sender, EventArgs e)
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{
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me_ColorScheme = (eColorScheme)comboColors.SelectedIndex;
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//判断 points 是否为空，表示当前是否已经有真实数据
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if (etalon_points.Count > 0)
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{
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PointScatterPlot(etalon_points); //更新真实数据
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}
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//else
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//{
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// DemoScatterPlot(false); //更新虚拟数据
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//}
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}
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#endregion
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#region etalon文件解析
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private void moveToPoint()
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{
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DebugDfn.AddLogText("添加到运动队列");
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int timeout = 5000;
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//判断电机状态
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if (!mainFrom.totalAxisEnabled)
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{
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DebugDfn.AddLogText("存在电机未使能");
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); //Y轴
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// Wait axis 1 enabled during 5 sec
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
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//DebugDfn.AddLogText("电机已启用");
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}
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// 创建多点运动
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double dwellTime = dwellTimes.Average() * 1000; //将秒转换为毫秒
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DebugDfn.AddLogText("平均停顿时间（毫秒）：" + dwellTime);
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_acs.MultiPointM(MotionFlags.ACSC_NONE, axes, dwellTime);
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//判断是否有点
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if (filteredPoints.Count == 0)
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{
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DebugDfn.AddLogText("没有点");
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return;
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}
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//打印点的数量
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DebugDfn.AddLogText("待添加点的数量：" + filteredPoints.Count);
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// 添加符合条件的点到运动路径中
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foreach (var point in filteredPoints)
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{
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double[] points = new double[3];
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points[0] = point.Y;
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points[1] = point.X;
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points[2] = point.Z;
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_acs.AddPointM(axes, points);
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//打印添加的点
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DebugDfn.AddLogText("添加点：" + points[0] + " " + points[1] + " " + points[2]);
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}
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// 打印添加点的数量
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DebugDfn.AddLogText("已添加点的数量：" + filteredPoints.Count);
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// Finish the motion End of the multi-point motion
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_acs.EndSequenceM(axes);
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mainFrom.StopCounting();
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//启动统计
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mainFrom.StartCounting();
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}
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private void btn_startmove_Click(object sender, EventArgs e) //开始运动
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{
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int timeout = 5000;
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//判断电机状态
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if (!mainFrom.totalAxisEnabled)
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{
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DebugDfn.AddLogText("存在电机未使能");
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); //Y轴
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// Wait axis 1 enabled during 5 sec
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
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_acs.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
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//DebugDfn.AddLogText("电机已启用");
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}
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//判断是否有点
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if (filteredPoints.Count == 0)
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{
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MessageBox.Show("没有需要移动的点，请先导入", "ERROR");
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return;
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}
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//打印点的数量
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DebugDfn.AddLogText("待添加点的数量：" + filteredPoints.Count);
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//启动运动定时器
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timer_move.Start();
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refresh_time.Start();
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}
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private void btn_stop_Click(object sender, EventArgs e) //停止运动
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{
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DebugDfn.AddLogText("停止运动");
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try
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{
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Axis[] m_arrAxisList = new Axis[]
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{
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Axis.ACSC_AXIS_0,
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Axis.ACSC_AXIS_1,
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Axis.ACSC_AXIS_8,
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Axis.ACSC_NONE,
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};
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if (m_arrAxisList != null)
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_acs.HaltM(m_arrAxisList);
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DebugDfn.AddLogText("立即停止 已发送命令");
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
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Debug.WriteLine(ex.Message);
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}
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//停止统计
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mainFrom.StopCounting();
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refresh_time.Stop();
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timer_move.Stop();
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currentIndex = 0;
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|
|
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region 3D绘图逻辑
|
|
private void PointScatterPlot(List<Point> points) //绘制散点图
|
|
{
|
|
//清空绘图
|
|
editor3D.Clear();
|
|
editor3D.Normalize = eNormalize.Separate;
|
|
editor3D.Invalidate();
|
|
|
|
//判断点集是否为空
|
|
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();
|
|
}
|
|
|
|
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
|
|
);
|
|
}
|
|
|
|
editor3D.Clear();
|
|
editor3D.Normalize = eNormalize.Separate;
|
|
editor3D.AddRenderData(i_ShapeData);
|
|
editor3D.Invalidate();
|
|
}
|
|
}
|
|
#endregion
|
|
|
|
#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
|
|
if (IsAtTarget())
|
|
{
|
|
// 移动到下一个点
|
|
MoveToNextPoint();
|
|
}
|
|
}
|
|
|
|
private void MoveToNextPoint()
|
|
{
|
|
if (filteredPoints.Count > 0 && currentIndex < filteredPoints.Count)
|
|
{
|
|
//增加2秒延时
|
|
Thread.Sleep(2000);
|
|
|
|
Point nextPoint = filteredPoints[currentIndex];
|
|
//打印 nextPoint
|
|
DebugDfn.AddLogText("下发指令:" + currentIndex + " 点：" + nextPoint.X + " " + nextPoint.Y + " " + nextPoint.Z );
|
|
|
|
mainFrom.SetPositionXyz(Point.FromPoint(nextPoint)); //移动到下一个点
|
|
|
|
currentIndex++;
|
|
}
|
|
else
|
|
{
|
|
DebugDfn.AddLogText("All points have been visited.");
|
|
timer_move.Stop();
|
|
}
|
|
}
|
|
|
|
private bool IsAtTarget()
|
|
{
|
|
// 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
|
|
|
|
return mainFrom.GetIsMoving();
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
}
|