init: 导入项目到 meswork Gitea
This commit is contained in:
XingCheng3
144
DataMirrorTools_Simulator/Foundation/20-04Foundation.csproj
Normal file
144
DataMirrorTools_Simulator/Foundation/20-04Foundation.csproj
Normal file
@@ -0,0 +1,144 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
|
||||
<PropertyGroup>
|
||||
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
|
||||
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
|
||||
<ProjectGuid>{7A8CC5EC-9795-4FCD-A85F-BB01DA377225}</ProjectGuid>
|
||||
<OutputType>Library</OutputType>
|
||||
<AppDesignerFolder>Properties</AppDesignerFolder>
|
||||
<RootNamespace>Foundation</RootNamespace>
|
||||
<AssemblyName>Foundation</AssemblyName>
|
||||
<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
|
||||
<FileAlignment>512</FileAlignment>
|
||||
<Deterministic>true</Deterministic>
|
||||
<TargetFrameworkProfile />
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
|
||||
<DebugSymbols>true</DebugSymbols>
|
||||
<DebugType>full</DebugType>
|
||||
<Optimize>false</Optimize>
|
||||
<OutputPath>..\WebAppDll\</OutputPath>
|
||||
<DefineConstants>DEBUG;TRACE</DefineConstants>
|
||||
<ErrorReport>prompt</ErrorReport>
|
||||
<WarningLevel>4</WarningLevel>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
|
||||
<DebugType>pdbonly</DebugType>
|
||||
<Optimize>true</Optimize>
|
||||
<OutputPath>bin\Release\</OutputPath>
|
||||
<DefineConstants>TRACE</DefineConstants>
|
||||
<ErrorReport>prompt</ErrorReport>
|
||||
<WarningLevel>4</WarningLevel>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
|
||||
<HintPath>..\packages\Newtonsoft.Json.13.0.1\lib\net45\Newtonsoft.Json.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="System" />
|
||||
<Reference Include="System.Configuration" />
|
||||
<Reference Include="System.Core" />
|
||||
<Reference Include="System.Drawing" />
|
||||
<Reference Include="System.Numerics" />
|
||||
<Reference Include="System.Web" />
|
||||
<Reference Include="System.Windows.Forms" />
|
||||
<Reference Include="System.Xml.Linq" />
|
||||
<Reference Include="System.Data.DataSetExtensions" />
|
||||
<Reference Include="Microsoft.CSharp" />
|
||||
<Reference Include="System.Data" />
|
||||
<Reference Include="System.Net.Http" />
|
||||
<Reference Include="System.Xml" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="Base.Class\ActPlayModelVisibleAndRotation.cs" />
|
||||
<Compile Include="Base.Class\A_BAK_1 - 复制%283%29 - 复制%284%29.cs" />
|
||||
<Compile Include="Base.Class\A_BAK_1 - 复制%283%29 - 复制%285%29.cs" />
|
||||
<Compile Include="Base.Class\A_BAK_1 - 复制%283%29 - 复制%286%29.cs" />
|
||||
<Compile Include="Base.Class\A_BAK_1 - 复制%283%29 - 复制.cs" />
|
||||
<Compile Include="Base.Class\A_BAK_1 - 复制%283%29.cs" />
|
||||
<Compile Include="Base.Class\BasicData.cs" />
|
||||
<Compile Include="Base.Class\Cmd_Const.cs" />
|
||||
<Compile Include="Base.Class\Cmd_Frame.cs" />
|
||||
<Compile Include="Base.Class\Cmd_Protocol.cs" />
|
||||
<Compile Include="Base.Class\CurrSignalList.cs" />
|
||||
<Compile Include="Base.Class\Data_ClickModel.cs" />
|
||||
<Compile Include="Base.Class\Data_RobotCurr.cs" />
|
||||
<Compile Include="Base.Class\DeviceCraftData.cs" />
|
||||
<Compile Include="Base.Class\DownLoadRobotProgram.cs" />
|
||||
<Compile Include="Base.Class\EnumTagTypeID.cs" />
|
||||
<Compile Include="Base.Class\GeneralFunction.cs" />
|
||||
<Compile Include="Base.Class\Kinematics.cs" />
|
||||
<Compile Include="Base.Class\KinematicsActionType.cs" />
|
||||
<Compile Include="Base.Class\KinematicsPropertyType.cs" />
|
||||
<Compile Include="Base.Class\LogicalBlockBasic.cs" />
|
||||
<Compile Include="Base.Class\ModelAttribute.cs" />
|
||||
<Compile Include="Base.Class\ModelGroup.cs" />
|
||||
<Compile Include="Base.Class\ModelNameData.cs" />
|
||||
<Compile Include="Base.Class\ModelNameVisible.cs" />
|
||||
<Compile Include="Base.Class\ModelProcess.cs" />
|
||||
<Compile Include="Base.Class\Mode_Run.cs" />
|
||||
<Compile Include="Base.Class\OperateResult.cs" />
|
||||
<Compile Include="Base.Class\OPERATION.cs" />
|
||||
<Compile Include="Base.Class\OperationResult.cs" />
|
||||
<Compile Include="Base.Class\PlayTransmitParam.cs" />
|
||||
<Compile Include="Base.Class\ProgramHandler.cs" />
|
||||
<Compile Include="Base.Class\QueueExecScriptParam.cs" />
|
||||
<Compile Include="Base.Class\ShowMainProgress.cs" />
|
||||
<Compile Include="Base.Class\ShowMainProgressSet.cs" />
|
||||
<Compile Include="Base.Class\SignalHandler.cs" />
|
||||
<Compile Include="Base.Class\TagContent.cs" />
|
||||
<Compile Include="Base.Class\TagTriggerHandler.cs" />
|
||||
<Compile Include="Base.Class\Type_Craft.cs" />
|
||||
<Compile Include="Base.Class\Type_Device.cs" />
|
||||
<Compile Include="Base.Class\Type_DeviceSignalSimTree.cs" />
|
||||
<Compile Include="Base.Class\Type_GenerateSignal.cs" />
|
||||
<Compile Include="Base.Class\Type_Jurisdiction.cs" />
|
||||
<Compile Include="Base.Class\Type_OperationCmd.cs" />
|
||||
<Compile Include="Base.Class\Type_OperationTree.cs" />
|
||||
<Compile Include="Base.Class\Type_Signal_Raw.cs" />
|
||||
<Compile Include="Base.Class\Type_TagIDHandler.cs" />
|
||||
<Compile Include="Base.Class\UseTriggerPlayParameter.cs" />
|
||||
<Compile Include="Interface3\IIErr.cs" />
|
||||
<Compile Include="Interface3\IIExecCmd.cs" />
|
||||
<Compile Include="Interface3\IIMM.cs" />
|
||||
<Compile Include="Interface3\IIProj.cs" />
|
||||
<Compile Include="Interface\IErrHandler.cs" />
|
||||
<Compile Include="Interface\IGlobalVar.cs" />
|
||||
<Compile Include="Interface\IIErrInterface.cs" />
|
||||
<Compile Include="Interface\IIMMInterface.cs" />
|
||||
<Compile Include="Interface\IIProjectInterface.cs" />
|
||||
<Compile Include="Interface\IMM.Interface.cs" />
|
||||
<Compile Include="Interface\IProjectVar.cs" />
|
||||
<Compile Include="Interface_Delegate.cs" />
|
||||
<Compile Include="Interface_Var.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.Joint.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.JointPose.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.Kinematics.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.Link.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.OPERATION.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.Pose.cs" />
|
||||
<Compile Include="Kinematics\Kinematics.Sensor.cs" />
|
||||
<Compile Include="ModelBasic\CallbackBsae.cs" />
|
||||
<Compile Include="ModelBasic\CallbackObjectFromJs.cs" />
|
||||
<Compile Include="ModelBasic\ErrHandler.cs" />
|
||||
<Compile Include="ModelBasic\Error.cs" />
|
||||
<Compile Include="ModelBasic\ErrorDefinition.cs" />
|
||||
<Compile Include="ModelBasic\GlobalVar.cs" />
|
||||
<Compile Include="ModelBasic\InitVar.cs" />
|
||||
<Compile Include="ModelBasic\NewIProjectVar.cs" />
|
||||
<Compile Include="ModelBasic\ProjectVar.cs" />
|
||||
<Compile Include="ModelBasic\ProjectVarDefinition.cs" />
|
||||
<Compile Include="ModelBasic\TheVar.cs" />
|
||||
<Compile Include="Properties\AssemblyInfo.cs" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="packages.config" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\LogNet\20-01LogNet.csproj">
|
||||
<Project>{4b777069-a494-40ff-8e88-e3d815ed80cb}</Project>
|
||||
<Name>20-01LogNet</Name>
|
||||
</ProjectReference>
|
||||
</ItemGroup>
|
||||
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
|
||||
</Project>
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public partial class SS
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public partial class SS
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public partial class SS
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public partial class SS
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public partial class SS
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,44 @@
|
||||
using System;
|
||||
|
||||
/// <summary>
|
||||
/// 承载类
|
||||
/// 模型显示隐藏自转
|
||||
/// 2021.1.15
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public class ActPlayModelVisibleAndRotation
|
||||
{
|
||||
/// <summary>
|
||||
/// CraftDeviceTypeCode
|
||||
/// </summary>
|
||||
public int CraftDeviceTypeCode { get; set; }
|
||||
/// <summary>
|
||||
/// CraftCade
|
||||
/// </summary>
|
||||
public string CraftCade { get; set; }
|
||||
/// <summary>
|
||||
/// CraftName
|
||||
/// </summary>
|
||||
public string CraftName { get; set; }
|
||||
/// <summary>
|
||||
/// StartTime
|
||||
/// </summary>
|
||||
public int StartTime { get; set; }
|
||||
/// <summary>
|
||||
/// KeepTime
|
||||
/// </summary>
|
||||
public int KeepTime { get; set; }
|
||||
/// <summary>
|
||||
/// StartFrame
|
||||
/// </summary>
|
||||
public int StartFrame { get; set; }
|
||||
/// <summary>
|
||||
/// OperationValue
|
||||
/// </summary>
|
||||
public string OperationValue { get; set; }
|
||||
/// <summary>
|
||||
/// ModelCode
|
||||
/// </summary>
|
||||
public string ModelCode { get; set; }
|
||||
|
||||
}
|
||||
308
DataMirrorTools_Simulator/Foundation/Base.Class/BasicData.cs
Normal file
308
DataMirrorTools_Simulator/Foundation/Base.Class/BasicData.cs
Normal file
@@ -0,0 +1,308 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Data;
|
||||
using System.IO;
|
||||
using System.Text;
|
||||
|
||||
namespace BasicData
|
||||
{
|
||||
/// <summary>
|
||||
/// 变量类型代码
|
||||
/// 101 合格数据变量
|
||||
/// 102 不合格数据变量
|
||||
/// 103 机床报警变量
|
||||
/// 1 MES通讯状态PLC
|
||||
///2 MES激发变量开始扫描
|
||||
///3 MES激发变量返修标志
|
||||
///4 MES通讯状态MES
|
||||
///5 MES激发变量扫描完成
|
||||
///6 MES激发变量允许工作
|
||||
///7 MES激发变量物料验证完毕
|
||||
///8 MES激发变量返修放行
|
||||
///9 MES发动机机型标志
|
||||
///10 MES发动机号
|
||||
///11 MES发动机机型
|
||||
///25 MES发动机追踪代码
|
||||
///12 机床状态变量
|
||||
///13 MES激发变量托盘到位离开
|
||||
///14 监控系统通讯状态PLC
|
||||
///15 监控系统通讯状态MIS
|
||||
///16 加工时间变量激发
|
||||
///17 加工时间变量目标时间
|
||||
///18 加工时间变量实际时间
|
||||
///19 质量数据可以读数据
|
||||
///21 质量数据总成合格标志
|
||||
///20 MES保存完数据
|
||||
///26 加工时间保存完数据
|
||||
///22 质量数据发动机机型标志
|
||||
///23 质量数据发动机号
|
||||
///24 质量数据发动机机型
|
||||
///27 操作者工号
|
||||
///28 订单号
|
||||
///29 工位具体零件合格标志
|
||||
/// </summary>
|
||||
public struct QualityDataType
|
||||
{
|
||||
/// <summary>
|
||||
/// 变量类型代码
|
||||
/// 101 合格数据变量
|
||||
/// 102 不合格数据变量
|
||||
/// 103 机床报警变量
|
||||
/// 1 MES通讯状态PLC
|
||||
///2 MES激发变量开始扫描
|
||||
///3 MES激发变量返修标志
|
||||
///4 MES通讯状态MES
|
||||
///5 MES激发变量扫描完成
|
||||
///6 MES激发变量允许工作
|
||||
///7 MES激发变量物料验证完毕
|
||||
///8 MES激发变量返修放行
|
||||
///9 MES发动机机型标志
|
||||
///10 MES发动机号
|
||||
///11 MES发动机机型
|
||||
///25 MES发动机追踪代码
|
||||
///12 机床状态变量
|
||||
///13 MES激发变量托盘到位离开
|
||||
///14 监控系统通讯状态PLC
|
||||
///15 监控系统通讯状态MIS
|
||||
///16 加工时间变量激发
|
||||
///17 加工时间变量目标时间
|
||||
///18 加工时间变量实际时间
|
||||
///19 质量数据可以读数据
|
||||
///21 质量数据总成合格标志
|
||||
///20 MES保存完数据
|
||||
///26 加工时间保存完数据
|
||||
///22 质量数据发动机机型标志
|
||||
///23 质量数据发动机号
|
||||
///24 质量数据发动机机型
|
||||
///27 操作者工号
|
||||
///28 订单号
|
||||
/// 10 前提条件不满足
|
||||
///20 不合格
|
||||
///251 合格
|
||||
///254 直通
|
||||
///255 不要求工作
|
||||
///253 备用工位完成
|
||||
///254 返修工位完成
|
||||
///0 未定义
|
||||
///29 工位具体零件合格标志
|
||||
/// </summary>
|
||||
public int tagValueType;
|
||||
/// <summary>
|
||||
/// 变量类型
|
||||
/// </summary>
|
||||
public int tagTypeID;
|
||||
/// <summary>
|
||||
/// 工位号
|
||||
/// </summary>
|
||||
public string opName;
|
||||
/// <summary>
|
||||
/// 变量代码
|
||||
/// </summary>
|
||||
public int tagID;
|
||||
/// <summary>
|
||||
/// 变量值
|
||||
/// </summary>
|
||||
public object tagValue;
|
||||
/// <summary>
|
||||
/// 数据质量代码
|
||||
/// 192 数据正常
|
||||
/// </summary>
|
||||
public int tagQuality;
|
||||
/// <summary>
|
||||
/// 列位置（1，2，3，4）
|
||||
/// </summary>
|
||||
public int tagOrderBy;
|
||||
/// <summary>
|
||||
/// 变量排序(1:拧矩，2：转角)
|
||||
/// </summary>
|
||||
public int tagItemOrderBy;
|
||||
/// <summary>
|
||||
/// 变量代码与变量特点
|
||||
/// 0:没定义1：工位合格标志2：需要合格标志的测量数据3：每个工位的合格标志4:物料5:IQA码6:压装数据
|
||||
/// 7:压装合格标志8：(自动拧紧)工位合格标志
|
||||
/// </summary>
|
||||
public int tagProperty;
|
||||
/// <summary>
|
||||
/// 合格标志（0，1）
|
||||
/// </summary>
|
||||
public int isGoodBad;
|
||||
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class jsonobj
|
||||
{
|
||||
public string Type;
|
||||
public string Name;
|
||||
public string Param;
|
||||
public string Pagination;
|
||||
public bool HasReturn;
|
||||
}
|
||||
|
||||
|
||||
[Serializable]
|
||||
public class jsonobjV2
|
||||
{
|
||||
public string Type;
|
||||
public string Name;
|
||||
public object Param;
|
||||
public string Pagination;
|
||||
public bool HasReturn;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class MesBasicData
|
||||
{
|
||||
/// <summary>
|
||||
/// 通过指定路径将 文本文件 转换成 DataTable
|
||||
/// </summary>
|
||||
/// <param name="fileName"></param>
|
||||
/// <returns></returns>
|
||||
public static DataTable GetBasicData(string fileName)
|
||||
{
|
||||
string[] strFileLines = File.ReadAllLines(fileName, Encoding.Default);
|
||||
if (strFileLines.Length < 2) return null;
|
||||
string[] strFieldName = strFileLines[0].Split('\t');
|
||||
DataTable dtBasicData;
|
||||
dtBasicData = new DataTable();
|
||||
for (int i = 0; i < strFieldName.Length; i++)
|
||||
{
|
||||
dtBasicData.Columns.Add(strFieldName[i]);
|
||||
}
|
||||
DataRow dr = dtBasicData.NewRow();
|
||||
|
||||
|
||||
for (int i = 1; i < strFileLines.Length; i++)
|
||||
{
|
||||
string[] strColumns = strFileLines[i].Split('\t');
|
||||
for (int j = 0; j < strColumns.Length; j++)
|
||||
{
|
||||
strColumns[j] = strColumns[j].Trim('"').TrimEnd('"');
|
||||
dr[j] = strColumns[j];
|
||||
}
|
||||
if (dr["是否启用"].ToString() == "1")
|
||||
{
|
||||
dtBasicData.Rows.Add(strColumns);
|
||||
|
||||
}
|
||||
}
|
||||
return dtBasicData;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class DataTableSelect
|
||||
{
|
||||
static public DataTable SelectTable(DataTable SourceTable, string filterString)
|
||||
{
|
||||
DataTable dt = SourceTable.Clone();
|
||||
var rows = SourceTable.Select(filterString);
|
||||
|
||||
if (rows != null && rows.Length > 0)
|
||||
{
|
||||
foreach (DataRow row in rows)
|
||||
{
|
||||
dt.ImportRow(row);
|
||||
}
|
||||
}
|
||||
|
||||
return dt;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 返回执行Select distinct后的DataTable
|
||||
/// </summary>
|
||||
/// <param name="SourceTable">源数据表</param>
|
||||
/// <param name="filterString">字段集</param>
|
||||
/// <param name="FieldNames">字段集</param>
|
||||
/// <returns></returns>
|
||||
static public DataTable SelectDistinctGroup(DataTable SourceTable, string filterString, params string[] FieldNames)
|
||||
{
|
||||
DataTable dtFilter;
|
||||
DataTable newTable;
|
||||
|
||||
dtFilter = SelectTable(SourceTable, filterString);
|
||||
|
||||
newTable = SelectDistinct(dtFilter, FieldNames);
|
||||
return newTable;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 返回执行Select distinct后的DataTable
|
||||
/// </summary>
|
||||
/// <param name="SourceTable">源数据表</param>
|
||||
/// <param name="FieldNames">字段集</param>
|
||||
/// <returns></returns>
|
||||
static public DataTable SelectDistinct(DataTable SourceTable, params string[] FieldNames)
|
||||
{
|
||||
object[] lastValues;
|
||||
DataTable newTable;
|
||||
DataRow[] orderedRows;
|
||||
|
||||
if (FieldNames == null || FieldNames.Length == 0)
|
||||
throw new ArgumentNullException("FieldNames");
|
||||
|
||||
lastValues = new object[FieldNames.Length];
|
||||
newTable = new DataTable();
|
||||
|
||||
foreach (string fieldName in FieldNames)
|
||||
newTable.Columns.Add(fieldName, SourceTable.Columns[fieldName].DataType);
|
||||
|
||||
orderedRows = SourceTable.Select("", string.Join(",", FieldNames));
|
||||
|
||||
foreach (DataRow row in orderedRows)
|
||||
{
|
||||
if (!fieldValuesAreEqual(lastValues, row, FieldNames))
|
||||
{
|
||||
newTable.Rows.Add(createRowClone(row, newTable.NewRow(), FieldNames));
|
||||
|
||||
setLastValues(lastValues, row, FieldNames);
|
||||
}
|
||||
}
|
||||
|
||||
return newTable;
|
||||
}
|
||||
|
||||
static private bool fieldValuesAreEqual(object[] lastValues, DataRow currentRow, string[] fieldNames)
|
||||
{
|
||||
bool areEqual = true;
|
||||
|
||||
for (int i = 0; i < fieldNames.Length; i++)
|
||||
{
|
||||
if (lastValues[i] == null || !lastValues[i].Equals(currentRow[fieldNames[i]]))
|
||||
{
|
||||
areEqual = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return areEqual;
|
||||
}
|
||||
|
||||
static private DataRow createRowClone(DataRow sourceRow, DataRow newRow, string[] fieldNames)
|
||||
{
|
||||
foreach (string field in fieldNames)
|
||||
newRow[field] = sourceRow[field];
|
||||
|
||||
return newRow;
|
||||
}
|
||||
|
||||
static private void setLastValues(object[] lastValues, DataRow sourceRow, string[] fieldNames)
|
||||
{
|
||||
for (int i = 0; i < fieldNames.Length; i++)
|
||||
lastValues[i] = sourceRow[fieldNames[i]];
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
29
DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Const.cs
Normal file
29
DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Const.cs
Normal file
@@ -0,0 +1,29 @@
|
||||
/// <summary>
|
||||
/// 2021.2.23
|
||||
///
|
||||
/// </summary>
|
||||
public struct Cmd_Const
|
||||
{
|
||||
public const string Receive_Position = "Position";
|
||||
|
||||
public const string Receive_ClickModel = "ClickModel";
|
||||
|
||||
public const string RobotTcpCurr = "RobotTcpCurr";
|
||||
|
||||
public const string RobotTcpEnd = "RobotTcpEnd";
|
||||
|
||||
public const string B_C_ImportModel = "B_C_ImportModel";//2021.4.10
|
||||
|
||||
public const string B_C_ExportModel = "B_C_ExportModel";//2021.4.10
|
||||
|
||||
public const string Receive_ModelTree = "ModelTree";//2021.5.7
|
||||
|
||||
public const string B_C_GetProjectCode = "B_C_GetProjectCode";//2021.9.6
|
||||
|
||||
public const string B_C_WriteLog = "B_C_WriteLog";//2021.12.04
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
20
DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Frame.cs
Normal file
20
DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Frame.cs
Normal file
@@ -0,0 +1,20 @@
|
||||
/// <summary>
|
||||
/// 2021.2.23
|
||||
/// 2021.10.11.1916.LLX
|
||||
/// </summary>
|
||||
public struct Cmd_Frame
|
||||
{
|
||||
public const string Craft = "craft";
|
||||
|
||||
public const string SignalWrite = "signalwrite";
|
||||
|
||||
public const string Visible = "visible";
|
||||
|
||||
public const string Rotation = "rotation";
|
||||
|
||||
public const string Wait = "wait";
|
||||
|
||||
public const string Attach = "attach";
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,25 @@
|
||||
/// <summary>
|
||||
/// 2021.2.23
|
||||
///
|
||||
/// </summary>
|
||||
public struct Cmd_Protocol
|
||||
{
|
||||
public static string Frames => "|Frames|";
|
||||
public static string Select => "|Select|";
|
||||
public static string DragMove => "|DragMove|";
|
||||
public static string PlayAct => "|PlayAct|";
|
||||
public static string DrawPath => "|DrawPath|";
|
||||
public static string CraftCurrOperation => "|CraftCurrOperation|";
|
||||
public static string ReLoadData => "|ReLoadData|";
|
||||
public static string RobotTcp => "|RobotTcp|";
|
||||
public static string C_B_ImportModel => "|C_B_ImportModel|";//2021.4.10
|
||||
public static string C_B_SetProjectCode => "|C_B_SetProjectCode|";//2021.9.6
|
||||
public static string C_B_ReLoad_TagIDHandler => "|C_B_ReLoad_TagIDHandler|";//2021.10.10
|
||||
public static string C_B_TagIDTrigger => "|C_B_TagIDTrigger|";//2021.10.10
|
||||
public static string C_B_KinematicsEditing => "|C_B_KinematicsEditing|";//2021.11.25
|
||||
public static string C_B_SaveModel => "|C_B_SaveModel|";//2021.11.26
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
467
DataMirrorTools_Simulator/Foundation/Base.Class/CurrPostion.cs
Normal file
467
DataMirrorTools_Simulator/Foundation/Base.Class/CurrPostion.cs
Normal file
@@ -0,0 +1,467 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
|
||||
/// <summary>
|
||||
/// CurrPostion
|
||||
/// 2021.1.~
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public class CurrPostion
|
||||
{
|
||||
///// <summary>
|
||||
///// 帧
|
||||
///// </summary>
|
||||
//public int Index
|
||||
//{
|
||||
// get;
|
||||
// set;
|
||||
//}
|
||||
public string CraftCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型名
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型名
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// X
|
||||
/// </summary>
|
||||
public double X
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Y
|
||||
/// </summary>
|
||||
public double Y
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Z
|
||||
/// </summary>
|
||||
public double Z
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RX
|
||||
/// </summary>
|
||||
public double RX
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RY
|
||||
/// </summary>
|
||||
public double RY
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RZ
|
||||
/// </summary>
|
||||
public double RZ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QX
|
||||
/// </summary>
|
||||
public double QX
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QY
|
||||
/// </summary>
|
||||
public double QY
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QZ
|
||||
/// </summary>
|
||||
public double QZ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QW
|
||||
/// </summary>
|
||||
public double QW
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// X_Base
|
||||
/// </summary>
|
||||
public double X_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Y_Base
|
||||
/// </summary>
|
||||
public double Y_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Z_Base
|
||||
/// </summary>
|
||||
public double Z_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RX_Base
|
||||
/// </summary>
|
||||
public double RX_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RY_Base
|
||||
/// </summary>
|
||||
public double RY_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RZ_Base
|
||||
/// </summary>
|
||||
public double RZ_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QX_Base
|
||||
/// </summary>
|
||||
public double QX_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QY_Base
|
||||
/// </summary>
|
||||
public double QY_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QZ_Base
|
||||
/// </summary>
|
||||
public double QZ_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QW_Base
|
||||
/// </summary>
|
||||
public double QW_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// X_Tool
|
||||
/// </summary>
|
||||
public double X_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Y_Tool
|
||||
/// </summary>
|
||||
public double Y_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// Z_Tool
|
||||
/// </summary>
|
||||
public double Z_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RX_Tool
|
||||
/// </summary>
|
||||
public double RX_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RY_Tool
|
||||
/// </summary>
|
||||
public double RY_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// RZ_Tool
|
||||
/// </summary>
|
||||
public double RZ_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QX_Tool
|
||||
/// </summary>
|
||||
public double QX_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QY_Tool
|
||||
/// </summary>
|
||||
public double QY_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QZ_Tool
|
||||
/// </summary>
|
||||
public double QZ_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// QW_Tool
|
||||
/// </summary>
|
||||
public double QW_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
public string CurrJoint { get; set; }
|
||||
public string MoveType { get; set; }
|
||||
public double J1 { get; set; }
|
||||
public double J2 { get; set; }
|
||||
public double J3 { get; set; }
|
||||
public double J4 { get; set; }
|
||||
public double J5 { get; set; }
|
||||
public double J6 { get; set; }
|
||||
|
||||
public string ProcessCode { get; set; }
|
||||
public int SequenceNo { get; set; }
|
||||
public string ProcessName { get; set; }
|
||||
public int UseTime { get; set; }
|
||||
|
||||
|
||||
public List<JointData> currentJoint = null;
|
||||
|
||||
|
||||
public void SetCurrJoint()
|
||||
{
|
||||
this.CurrJoint =
|
||||
"["
|
||||
+ J1.ToString("f5") + ","
|
||||
+ J2.ToString("f5") + ","
|
||||
+ J3.ToString("f5") + ","
|
||||
+ J4.ToString("f5") + ","
|
||||
+ J5.ToString("f5") + ","
|
||||
+ J6.ToString("f5")
|
||||
+ "]";
|
||||
}
|
||||
public void SetTcpQ(double[] tcpQ)
|
||||
{
|
||||
X = tcpQ[0];
|
||||
Y = tcpQ[1];
|
||||
Z = tcpQ[2];
|
||||
QX = tcpQ[3];
|
||||
QY = tcpQ[4];
|
||||
QZ = tcpQ[5];
|
||||
QW = tcpQ[6];
|
||||
}
|
||||
public void SetTcpRpy(double[] tcpRpy)
|
||||
{
|
||||
X = tcpRpy[0];
|
||||
Y = tcpRpy[1];
|
||||
Z = tcpRpy[2];
|
||||
RX = tcpRpy[3];
|
||||
RY = tcpRpy[4];
|
||||
RZ = tcpRpy[5];
|
||||
}
|
||||
public void SetJ(double[] p_JList)
|
||||
{
|
||||
J1 = p_JList[0];
|
||||
J2 = p_JList[1];
|
||||
J3 = p_JList[2];
|
||||
J4 = p_JList[3];
|
||||
J5 = p_JList[4];
|
||||
J6 = p_JList[5];
|
||||
SetCurrJoint();
|
||||
}
|
||||
public double[] GetJ()
|
||||
{
|
||||
return new double[] { J1, J2, J3, J4, J5, J6 };
|
||||
}
|
||||
public double[] GetTcpQ()
|
||||
{
|
||||
return new double[] { X, Y, Z, QX, QY, QZ, QW };
|
||||
}
|
||||
public double[] GetTcpRpy()
|
||||
{
|
||||
return new double[] { X, Y, Z, RX, RY, RZ };
|
||||
}
|
||||
public double[] GetTen()
|
||||
{
|
||||
return new double[] { X, Y, Z, QX, QY, QZ, QW, RX, RY, RZ };
|
||||
}
|
||||
public double[] GetBaseTen()
|
||||
{
|
||||
return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base, RX_Base, RY_Base, RZ_Base };
|
||||
}
|
||||
public double[] GetBaseQ()
|
||||
{
|
||||
return new double[] { X_Base, Y_Base, Z_Base, QX_Base, QY_Base, QZ_Base, QW_Base };
|
||||
}
|
||||
public double[] GetBaseRpy()
|
||||
{
|
||||
return new double[] { X_Base, Y_Base, Z_Base, RX_Base, RY_Base, RZ_Base };
|
||||
}
|
||||
public double[] GetToolTen()
|
||||
{
|
||||
return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool, RX_Tool, RY_Tool, RZ_Tool };
|
||||
}
|
||||
public double[] GetToolQ()
|
||||
{
|
||||
return new double[] { X_Tool, Y_Tool, Z_Tool, QX_Tool, QY_Tool, QZ_Tool, QW_Tool };
|
||||
}
|
||||
public double[] GetToolRpy()
|
||||
{
|
||||
return new double[] { X_Tool, Y_Tool, Z_Tool, RX_Tool, RY_Tool, RZ_Tool };
|
||||
}
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class JointData
|
||||
{
|
||||
public string id;
|
||||
public string name;
|
||||
public string value;
|
||||
public string type;
|
||||
}
|
||||
|
||||
|
||||
/////// <summary>
|
||||
/////// 带 currentJoint 信息
|
||||
/////// </summary>
|
||||
////[Serializable]
|
||||
////public class CurrJoint : CurrPostion
|
||||
////{
|
||||
//// public List<JointData> currentJoint = null;
|
||||
////}
|
||||
|
||||
///// <summary>
|
||||
///// 带 currentJoint 信息
|
||||
///// </summary>
|
||||
//[Serializable]
|
||||
//public class CurrJoint_J : CurrJoint
|
||||
//{
|
||||
|
||||
|
||||
|
||||
//}
|
||||
public class CurrJointName
|
||||
{
|
||||
|
||||
public const string CraftCode = "CraftCode";
|
||||
public const string ProcessCode = "ProcessCode";
|
||||
public const string SequenceNo = "SequenceNo";
|
||||
public const string ProcessName = "ProcessName";
|
||||
public const string UseTime = "UseTime";
|
||||
public const string X = "X";
|
||||
public const string Y = "Y";
|
||||
public const string Z = "Z";
|
||||
public const string RX = "RX";
|
||||
public const string RY = "RY";
|
||||
public const string RZ = "RZ";
|
||||
public const string X_Base = "X_Base";
|
||||
public const string Y_Base = "Y_Base";
|
||||
public const string Z_Base = "Z_Base";
|
||||
public const string RX_Base = "RX_Base";
|
||||
public const string RY_Base = "RY_Base";
|
||||
public const string RZ_Base = "RZ_Base";
|
||||
public const string X_Tool = "X_Tool";
|
||||
public const string Y_Tool = "Y_Tool";
|
||||
public const string Z_Tool = "Z_Tool";
|
||||
public const string RX_Tool = "RX_Tool";
|
||||
public const string RY_Tool = "RY_Tool";
|
||||
public const string RZ_Tool = "RZ_Tool";
|
||||
public const string QX = "QX";
|
||||
public const string QY = "QY";
|
||||
public const string QZ = "QZ";
|
||||
public const string QW = "QW";
|
||||
public const string QX_Base = "QX_Base";
|
||||
public const string QY_Base = "QY_Base";
|
||||
public const string QZ_Base = "QZ_Base";
|
||||
public const string QW_Base = "QW_Base";
|
||||
public const string QX_Tool = "QX_Tool";
|
||||
public const string QY_Tool = "QY_Tool";
|
||||
public const string QZ_Tool = "QZ_Tool";
|
||||
public const string QW_Tool = "QW_Tool";
|
||||
|
||||
public const string ModelCode = "ModelCode";
|
||||
public const string ModelName = "ModelName";
|
||||
public const string Reverse = "Reverse";
|
||||
|
||||
public const string CurrJoint = "CurrJoint";
|
||||
public const string MoveType = "MoveType";
|
||||
public const string J1 = "J1";
|
||||
public const string J2 = "J2";
|
||||
public const string J3 = "J3";
|
||||
public const string J4 = "J4";
|
||||
public const string J5 = "J5";
|
||||
public const string J6 = "J6";
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
/// <summary>
|
||||
/// CurrSignalList
|
||||
/// 2021.10.10.LLX
|
||||
/// </summary>
|
||||
public class CurrSignalList
|
||||
{
|
||||
/// <summary>
|
||||
/// TagID
|
||||
/// </summary>
|
||||
public string TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// TagValue
|
||||
/// </summary>
|
||||
public string TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,199 @@
|
||||
using KinematicsBase;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class Data_ClickModel
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public DeviceType DeviceTypeCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = DeviceType.Device;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCodeBase
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelNameBase
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCodeTool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelNameTool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCodeTcp
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelNameTcp
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Position
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Tcp
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class Data_Position
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double tx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double ty
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double tz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double rx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double ry
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double rz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qy
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qw
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
using KinematicsBase;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class Data_RobotCurr
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public string TcpSelf
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public List<Data_CurrentJoint> CurrentJoint
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<Data_CurrentJoint> ();
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Data_Position Tcp
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Data_Position();
|
||||
|
||||
}
|
||||
public class Data_CurrentJoint
|
||||
{
|
||||
public string JId
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public string JName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public string JValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public string JType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
/// <summary>
|
||||
/// 设备工艺内容
|
||||
/// 2021.12.15
|
||||
/// </summary>
|
||||
public class DeviceCraftData
|
||||
{
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
public string AttitudeCode_From
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public string AttitudeCode_To
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
public string AttitudeName_From
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public string AttitudeName_To
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
public int KeepTime
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,165 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DownLoadProgram
|
||||
{
|
||||
public class DownLoadRobotProgram
|
||||
{
|
||||
|
||||
public string pathName { get; set; } = "";//CraftName
|
||||
|
||||
public string robotId { get; set; } = "";//ModelCode
|
||||
public string robotName { get; set; } = "";//ModelName
|
||||
public string robotType { get; set; } = "IRB6640";
|
||||
|
||||
public string rcsVersion { get; set; } = "IRC5";
|
||||
|
||||
public List<PathTag> tags { get; set; } = new List<PathTag>() { new PathTag(), new PathTag() };
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
public class PathTag
|
||||
{
|
||||
public string tagName { get; set; } = "";
|
||||
|
||||
public string tagId { get; set; } = "";
|
||||
public string moveType { get; set; } = "MoveJ";
|
||||
public string storageType { get; set; } = "PERS";
|
||||
|
||||
public TagLocationConf location { get; set; } = new TagLocationConf();
|
||||
|
||||
public TagJoint joint { get; set; } = new TagJoint();
|
||||
public TagTool tool { get; set; } = new TagTool();
|
||||
|
||||
public TagSpeed speed { get; set; } = new TagSpeed();
|
||||
public TagZone zone { get; set; } = new TagZone();
|
||||
public Wobj wobj { get; set; } = new Wobj();
|
||||
public List<String> olpCommand { get; set; } = new List<String>() { "WaitDI DI1,1", "SetDO DO1,1" };
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
public class TagLocationConf
|
||||
{
|
||||
public TagPosition position { get; set; } = new TagPosition();
|
||||
public TagQuaternion quaternion { get; set; } = new TagQuaternion();
|
||||
public List<String> robotConf { get; set; } = new List<String>() { "0", "0", "0", "0" };
|
||||
|
||||
|
||||
}
|
||||
|
||||
public class TagLocation
|
||||
{
|
||||
public TagPosition position { get; set; } = new TagPosition();
|
||||
public TagQuaternion quaternion { get; set; } = new TagQuaternion();
|
||||
|
||||
}
|
||||
|
||||
|
||||
public class TagPosition
|
||||
{
|
||||
public string x { get; set; } = "0";
|
||||
public string y { get; set; } = "0";
|
||||
public string z { get; set; } = "0";
|
||||
}
|
||||
public class TagQuaternion
|
||||
{
|
||||
public string x { get; set; } = "0";
|
||||
public string y { get; set; } = "0";
|
||||
public string z { get; set; } = "0";
|
||||
public string w { get; set; } = "1";
|
||||
}
|
||||
|
||||
public class TagJoint
|
||||
{
|
||||
public List<String> robotJoint { get; set; } = new List<String>() { "0", "0", "0", "0", "0", "0" };
|
||||
public List<String> externalJoint { get; set; } = new List<String>() { "9000000000", "9000000000", "9000000000", "9000000000", "9000000000", "9000000000" };
|
||||
|
||||
}
|
||||
|
||||
public class TagTool
|
||||
{
|
||||
|
||||
public string toolId { get; set; } = Guid.NewGuid().ToString().ToUpper();
|
||||
|
||||
public string toolName { get; set; } = "t1";
|
||||
|
||||
public string robotHold { get; set; } = "1";
|
||||
public string storageType { get; set; } = "PERS";
|
||||
|
||||
public TagLocation toolFrame { get; set; } = new TagLocation();
|
||||
public TagLocation centerOfGravity { get; set; } = new TagLocation();
|
||||
public LoadParameter loadParameter { get; set; } = new LoadParameter();
|
||||
|
||||
|
||||
}
|
||||
|
||||
public class LoadParameter
|
||||
{
|
||||
public string mass { get; set; } = "0.001";
|
||||
public string inertiaX { get; set; } = "0";
|
||||
public string inertiaY { get; set; } = "0";
|
||||
public string inertiaZ { get; set; } = "0";
|
||||
}
|
||||
|
||||
|
||||
public class TagSpeed
|
||||
{
|
||||
public string speedId { get; set; } = Guid.NewGuid().ToString().ToUpper();
|
||||
public string speedName { get; set; } = "s1";
|
||||
public string storageType { get; set; } = "CONST";
|
||||
public string tcpSpeed { get; set; } = "5";
|
||||
public string orientation { get; set; } = "500";
|
||||
public string linearExternalAxis { get; set; } = "5000";
|
||||
public string rotationalExternalAxis { get; set; } = "1000";
|
||||
}
|
||||
|
||||
public class TagZone
|
||||
{
|
||||
public string zoneId { get; set; } = "";
|
||||
public string zoneName { get; set; } = "z1";
|
||||
public string storageType { get; set; } = "CONST";
|
||||
public string finePoint { get; set; } = "0";
|
||||
|
||||
public TcpMovement tcpMovement { get; set; } = new TcpMovement();
|
||||
public NoTcpMovement noTcpMovement { get; set; } = new NoTcpMovement();
|
||||
|
||||
}
|
||||
public class TcpMovement
|
||||
{
|
||||
public string tcpPath { get; set; } = "50";
|
||||
public string orientation { get; set; } = "75";
|
||||
public string externalAxis { get; set; } = "75";
|
||||
}
|
||||
public class NoTcpMovement
|
||||
{
|
||||
public string orientation { get; set; } = "7.5";
|
||||
public string linearExternalAxis { get; set; } = "75";
|
||||
public string rotationalExternalAxis { get; set; } = "7.5";
|
||||
}
|
||||
|
||||
public class Wobj
|
||||
{
|
||||
public string wobjId { get; set; } = "";
|
||||
public string wobjName { get; set; } = "w1";
|
||||
public string robotHold { get; set; } = "0";
|
||||
public string userFrameProg { get; set; } = "1";
|
||||
public string mechanicalUnit { get; set; } = "";
|
||||
public string storageType { get; set; } = "PERS";
|
||||
public TagLocation userFrame { get; set; } = new TagLocation();
|
||||
public TagLocation objectFrame { get; set; } = new TagLocation();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public enum EnumTagTypeID
|
||||
{
|
||||
Int16 = 2,
|
||||
Int32 = 3,
|
||||
Float = 4,
|
||||
UInt64 = 7,
|
||||
String = 8,
|
||||
Bool = 11,
|
||||
Byte = 17,
|
||||
UInt16 = 18,
|
||||
Double = 19,
|
||||
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
public delegate void GeneralFunction( double[] a, double[] b, double[] c);
|
||||
|
||||
192
DataMirrorTools_Simulator/Foundation/Base.Class/Kinematics.cs
Normal file
192
DataMirrorTools_Simulator/Foundation/Base.Class/Kinematics.cs
Normal file
@@ -0,0 +1,192 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
|
||||
namespace KinematicsBase
|
||||
{
|
||||
#region BaseClass
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Clones the specified list.
|
||||
/// </summary>
|
||||
/// <typeparam name="T"></typeparam>
|
||||
/// <param name="List">The list.</param>
|
||||
/// <returns>List{``0}.</returns>
|
||||
[Serializable]
|
||||
public enum DeviceType
|
||||
{
|
||||
Default = 0,
|
||||
Device = 1,
|
||||
Robot = 2,
|
||||
AGV = 3,
|
||||
Gripper = 4,
|
||||
Err = 1000
|
||||
}
|
||||
[Serializable]
|
||||
/// <summary>
|
||||
/// 接受选择的模型
|
||||
/// </summary>
|
||||
public class ModelSelect
|
||||
{
|
||||
public string ModelCode { get; set; }
|
||||
public string ModelName { get; set; }
|
||||
public string tx { get; set; }
|
||||
public string ty { get; set; }
|
||||
public string rx { get; set; }
|
||||
public string ry { get; set; }
|
||||
public string rz { get; set; }
|
||||
public DeviceType DeviceTypeCode { get; set; }
|
||||
}
|
||||
[Serializable]
|
||||
public enum AxisFlag
|
||||
{
|
||||
X,
|
||||
Y,
|
||||
Z
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从一个姿态到另一个姿态是时间优先或速度有限
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public enum MoveToPosePriorType
|
||||
{
|
||||
Time,
|
||||
Velocity
|
||||
}
|
||||
[Serializable]
|
||||
public class Position
|
||||
{
|
||||
public double X { set; get; }
|
||||
public double Y { set; get; }
|
||||
public double Z { set; get; }
|
||||
}
|
||||
[Serializable]
|
||||
public class FixedAngle
|
||||
{
|
||||
public FixedAngle()
|
||||
{
|
||||
}
|
||||
|
||||
public double R { set; get; }
|
||||
public double P { set; get; }
|
||||
public double Y { set; get; }
|
||||
}
|
||||
/// <summary>
|
||||
/// 运动约束单位矩阵
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public class PositionNormalMatrix
|
||||
{
|
||||
public int x { set; get; }
|
||||
public int y { set; get; }
|
||||
public int z { set; get; }
|
||||
public int rx { set; get; }
|
||||
public int ry { set; get; }
|
||||
public int rz { set; get; }
|
||||
}
|
||||
[Serializable]
|
||||
public class Quaternion
|
||||
{
|
||||
public Quaternion()
|
||||
{
|
||||
}
|
||||
|
||||
public double X { set; get; }
|
||||
public double Y { set; get; }
|
||||
public double Z { set; get; }
|
||||
public double W { set; get; }
|
||||
}
|
||||
[Serializable]
|
||||
public class PositionFixedAngle
|
||||
{
|
||||
public PositionFixedAngle()
|
||||
{
|
||||
this.Position = new Position();
|
||||
this.FixedAngle = new FixedAngle();
|
||||
}
|
||||
public Position Position { set; get; }
|
||||
|
||||
public FixedAngle FixedAngle { set; get; }
|
||||
}
|
||||
[Serializable]
|
||||
public class PositionQuaternion
|
||||
{
|
||||
public PositionQuaternion()
|
||||
{
|
||||
this.Position = new Position();
|
||||
this.Quaternion = new Quaternion();
|
||||
}
|
||||
public Position Position { set; get; }
|
||||
public Quaternion Quaternion { set; get; }
|
||||
}
|
||||
[Serializable]
|
||||
public class PositionQuaternionWithID : PositionQuaternion
|
||||
{
|
||||
public PositionQuaternionWithID()
|
||||
{
|
||||
this.UUID = "";
|
||||
}
|
||||
public string UUID { set; get; }
|
||||
}
|
||||
|
||||
|
||||
[Serializable]
|
||||
public class Point
|
||||
{
|
||||
public Point()
|
||||
{
|
||||
|
||||
}
|
||||
public Point(double x, double y, double z)
|
||||
{
|
||||
this.X = x;
|
||||
this.Y = y;
|
||||
this.Z = z;
|
||||
}
|
||||
|
||||
public double X { get; set; }
|
||||
|
||||
public double Y { get; set; }
|
||||
|
||||
public double Z { get; set; }
|
||||
}
|
||||
[Serializable]
|
||||
public class Axis
|
||||
{
|
||||
public Axis()
|
||||
{
|
||||
this.Start = new Point();
|
||||
this.End = new Point();
|
||||
this.Flip = 0;
|
||||
}
|
||||
public Axis(Point start, Point end)
|
||||
{
|
||||
this.Start = start;
|
||||
this.End = end;
|
||||
this.Flip = 0;
|
||||
}
|
||||
|
||||
public Point Start { get; set; }
|
||||
|
||||
public Point End { get; set; }
|
||||
|
||||
public AxisFlag AxisFlag { get; set; }
|
||||
/// <summary>
|
||||
/// 1.反向，0.正常
|
||||
/// </summary>
|
||||
public int Flip { get; set; }
|
||||
|
||||
public PositionFixedAngle Loaction { get; set; }
|
||||
public PositionQuaternion LoactionQuaternion { get; set; }
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
|
||||
public enum KinematicsActionType
|
||||
{
|
||||
Add,
|
||||
Update,
|
||||
Remove,
|
||||
ReceiveDevice,
|
||||
Save
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
|
||||
public enum KinematicsPropertyType
|
||||
{
|
||||
Link,
|
||||
Joint,
|
||||
Pose,
|
||||
Kinematics
|
||||
}
|
||||
@@ -0,0 +1,596 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
namespace LogicalBlock
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlockBasic
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型代码 或 工艺代码
|
||||
/// </summary>
|
||||
public string ResourcesCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Type_Resources ResourcesType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = Type_Resources.Model;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string LogicalBlockCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = Guid.NewGuid().ToString().ToUpper();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string LogicalBlockName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "空逻辑块";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LogicalBlock_Input> List_LogicalBlock_Input
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<LogicalBlock_Input>();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LogicalBlock_Output> List_LogicalBlock_Output
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<LogicalBlock_Output>();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LogicalBlock_Param> List_LogicalBlock_Param
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<LogicalBlock_Param>();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LogicalBlock_Const> List_LogicalBlock_Const
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<LogicalBlock_Const>();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LogicalBlock_Operation> List_LogicalBlock_Operation
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<LogicalBlock_Operation>();
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public void GetConnectedSignalStr_Input()
|
||||
{
|
||||
foreach (LogicalBlock_Input logicalBlock_Input in List_LogicalBlock_Input)
|
||||
{
|
||||
var ConnectedSignal = logicalBlock_Input.ConnectedSignal;
|
||||
logicalBlock_Input.ConnectedSignalStr = string.Join(", ", ConnectedSignal.Select(k => k.SignalName).ToArray());
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public void GetConnectedSignalStr_Output()
|
||||
{
|
||||
foreach (LogicalBlock_Output logicalBlock_Output in List_LogicalBlock_Output)
|
||||
{
|
||||
var ConnectedSignal = logicalBlock_Output.ConnectedSignal;
|
||||
logicalBlock_Output.ConnectedSignalStr = string.Join(", ", ConnectedSignal.Select(k => k.SignalName).ToArray());
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlock_Output : LogicalBlock_Input
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ScriptText
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlock_Input
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string VarName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Type_Signal VarType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ConnectedSignalStr
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<LB_Device_Signal> ConnectedSignal
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Explain
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlock_Param
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string VarName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Type_Sensor SensorType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Explain
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ScriptText
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 姿态代码，或者是位置数据代码等，即参数的代码。
|
||||
/// </summary>
|
||||
public string ParamCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlock_Const
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string VarName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Type_Signal VarType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string VarValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Explain
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LogicalBlock_Operation
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string OperationName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Type_Operation ApplyType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ApplyToCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ApplyToName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Explain
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ScriptText
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ScriptText_Speed
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class LB_Device_Signal
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SignalCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SignalName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SignalRegion
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 资源类型
|
||||
/// </summary>
|
||||
public enum Type_Resources
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型资源
|
||||
/// </summary>
|
||||
Model = 1,
|
||||
/// <summary>
|
||||
/// 工艺资源
|
||||
/// </summary>
|
||||
Craft = 2
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class JsSymbolTable
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SymbolName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SymbolValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class ResourcesArithmeticUnit
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Dictionary<String, JsSymbolTable> DC_SignalCode_JsSymbolTable
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Dictionary<String, LogicalBlock_Param> DC_ParamCode_LogicalBlockParam
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public Dictionary<String, String> DC_ParamName_ParamValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public enum Type_Signal
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BOOL = 1,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BYTE = 2,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
WORD = 3,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
DWORD = 4,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
INT = 5,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
DINT = 6,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
REAL = 7,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
LREAL = 8
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public enum Type_Sensor
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BOOL = 1,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BYTE = 2,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
WORD = 3,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
DWORD = 4,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
INT = 5,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
DINT = 6,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
REAL = 7,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
LREAL = 8,
|
||||
/// <summary>
|
||||
/// 关节值传感器(BOOL)
|
||||
/// 姿态传感器
|
||||
/// 2021.11.26.LLX
|
||||
/// </summary>
|
||||
JointValueSensor = 9,
|
||||
/// <summary>
|
||||
/// 关节距离传感器(REAL)
|
||||
/// 2021.11.26.LLX
|
||||
/// </summary>
|
||||
JointDistanceSensor = 10,
|
||||
/// <summary>
|
||||
/// 关节运行中传感器(BOOL)
|
||||
/// 2021.12.07.LLX
|
||||
/// </summary>
|
||||
JointRuningSensor = 11,
|
||||
/// <summary>
|
||||
/// 位置传感器
|
||||
/// 2021.11.26.LLX
|
||||
/// </summary>
|
||||
PositionSensor = 12
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public enum Type_Operation
|
||||
{
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
MoveToAttitude = 1,
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
JumpToAttitude = 2,
|
||||
/// <summary>
|
||||
/// REAL
|
||||
/// </summary>
|
||||
MoveToJoint = 3,
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
CraftInvoke = 4,
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
Visible = 5,
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
Rotation = 6,
|
||||
/// <summary>
|
||||
/// BOOL
|
||||
/// </summary>
|
||||
Attach = 7
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public struct SensorParamChangedParam
|
||||
{
|
||||
/// <summary>
|
||||
/// 资源代码
|
||||
/// </summary>
|
||||
public string ResourcesCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 姿态代码，或轴数据等代码
|
||||
/// 传感器代码
|
||||
/// </summary>
|
||||
public string ParamCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传感器值发生变化
|
||||
/// </summary>
|
||||
public string ChangedValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
21
DataMirrorTools_Simulator/Foundation/Base.Class/Mode_Run.cs
Normal file
21
DataMirrorTools_Simulator/Foundation/Base.Class/Mode_Run.cs
Normal file
@@ -0,0 +1,21 @@
|
||||
/// <summary>
|
||||
/// 全局运行模式
|
||||
/// 2021.12.3.LLX
|
||||
/// </summary>
|
||||
public enum Mode_Run
|
||||
{
|
||||
/// <summary>
|
||||
/// 仿真模式
|
||||
/// </summary>
|
||||
Simulation = 1,
|
||||
/// <summary>
|
||||
/// 虚拟调试模式
|
||||
/// </summary>
|
||||
VirtualCommissioning = 2,
|
||||
/// <summary>
|
||||
/// 数字孪生模式
|
||||
/// </summary>
|
||||
DigitaTwin = 3
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,164 @@
|
||||
/// <summary>
|
||||
/// 模型属性
|
||||
/// 2021.4.2，修改
|
||||
/// </summary>
|
||||
//[System.Serializable]
|
||||
public class ModelAttribute
|
||||
{
|
||||
/// <summary>
|
||||
///ModelCode
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// ModelTypeCode
|
||||
/// </summary>
|
||||
public string ModelTypeCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///ModelName
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// DeviceTypeCode
|
||||
/// </summary>
|
||||
public int DeviceTypeCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// DeviceTypeName
|
||||
/// </summary>
|
||||
public string DeviceTypeName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 完整的Urdf文件内容
|
||||
/// 2021.5.10
|
||||
/// </summary>
|
||||
public string UrdfContent
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 运动学
|
||||
/// 2021.12.22.LLX
|
||||
/// KinematicsData
|
||||
/// </summary>
|
||||
public KinematicsBase.Kinematics KinematicsData
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
public CurrModelPosition Position
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class CurrModelPosition
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double tx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double ty
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double tz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double rx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double ry
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double rz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qx
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qy
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qz
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public double qw
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
/// <summary>
|
||||
/// 模型组
|
||||
/// 2022.01.05
|
||||
/// </summary>
|
||||
public class ModelGroup
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型代码
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型名称
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
/// 模型名称数据
|
||||
/// </summary>
|
||||
public class ModelNameData
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型名称数据
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="progressNum"></param>
|
||||
/// <param name="visible"></param>
|
||||
public ModelNameData(string modelName, double progressNum, int visible)
|
||||
{
|
||||
this.ModelName = modelName;
|
||||
this.ProgressNum = progressNum;
|
||||
this.Visible = visible;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型名称
|
||||
/// </summary>
|
||||
public string ModelName { get; set; }
|
||||
/// <summary>
|
||||
/// 进度条
|
||||
/// </summary>
|
||||
public double ProgressNum { get; set; }
|
||||
/// <summary>
|
||||
/// 可见性
|
||||
/// </summary>
|
||||
public int Visible { get; set; }
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
/// 模型可见
|
||||
/// </summary>
|
||||
public class ModelNameVisible
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型名称数据
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="progressNum"></param>
|
||||
/// <param name="visible"></param>
|
||||
public ModelNameVisible(int modelCode, int modelTypeCode, string modelName, int visible)
|
||||
{
|
||||
this.ModelCode = modelCode;
|
||||
this.ModelTypeCode = modelTypeCode;
|
||||
this.ModelName = modelName;
|
||||
this.Visible = visible;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型代码
|
||||
/// </summary>
|
||||
public int ModelCode { get; set; }
|
||||
/// <summary>
|
||||
/// 父节点代码
|
||||
/// </summary>
|
||||
public int ModelTypeCode { get; set; }
|
||||
/// <summary>
|
||||
/// 模型名称
|
||||
/// </summary>
|
||||
public string ModelName { get; set; }
|
||||
/// <summary>
|
||||
/// 可见性
|
||||
/// </summary>
|
||||
public int Visible { get; set; }
|
||||
}
|
||||
312
DataMirrorTools_Simulator/Foundation/Base.Class/ModelProcess.cs
Normal file
312
DataMirrorTools_Simulator/Foundation/Base.Class/ModelProcess.cs
Normal file
@@ -0,0 +1,312 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public class ModelProcess
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ProcessCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string SequenceNo
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ProcessName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string UseTime
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string X
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Y
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Z
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RX
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RY
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RZ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string X_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Y_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Z_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RX_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RY_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RZ_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string X_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Y_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string Z_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RX_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RY_Tool
|
||||
{
|
||||
get;
|
||||
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string RZ_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QX
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QY
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QZ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QW
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QX_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QY_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QZ_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QW_Base
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QX_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QY_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QZ_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string QW_Tool
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
281
DataMirrorTools_Simulator/Foundation/Base.Class/OPERATION.cs
Normal file
281
DataMirrorTools_Simulator/Foundation/Base.Class/OPERATION.cs
Normal file
@@ -0,0 +1,281 @@
|
||||
using System.Collections.Generic;
|
||||
/// <summary>
|
||||
/// 项目帧
|
||||
/// </summary>
|
||||
public class P_OPERATION
|
||||
{
|
||||
/// <summary>
|
||||
/// 一组项目帧
|
||||
/// </summary>
|
||||
public C_OPERATION OPERATION
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new C_OPERATION();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 帧集合
|
||||
/// </summary>
|
||||
public class C_OPERATION
|
||||
{
|
||||
/// <summary>
|
||||
/// 帧集合
|
||||
/// </summary>
|
||||
public List<C_Frames> frames
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Frames>();
|
||||
}
|
||||
/// <summary>
|
||||
/// 帧
|
||||
/// </summary>
|
||||
public class C_Frames
|
||||
{
|
||||
/// <summary>
|
||||
/// 帧
|
||||
/// </summary>
|
||||
public string time
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "0.01";
|
||||
/// <summary>
|
||||
/// 帧内容集合
|
||||
/// </summary>
|
||||
public List<C_ObjStates> objStates
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_ObjStates>();
|
||||
|
||||
public List<C_Craft> crafts
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Craft>();
|
||||
public List<C_Signalwrite> signalwrites
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Signalwrite>();
|
||||
public List<C_Visible> visibles
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Visible>();
|
||||
public List<C_Rotation> rotations
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Rotation>();
|
||||
public List<C_Wait> waits
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Wait>();
|
||||
public List<C_Attach> attachs
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = new List<C_Attach>();
|
||||
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 帧内容
|
||||
/// </summary>
|
||||
public class C_ObjStates
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型代码
|
||||
/// </summary>
|
||||
public string i
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// tx
|
||||
/// </summary>
|
||||
public string tx
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// ty
|
||||
/// </summary>
|
||||
public string ty
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// tz
|
||||
/// </summary>
|
||||
public string tz
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// qx
|
||||
/// </summary>
|
||||
public string qx
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// qy
|
||||
/// </summary>
|
||||
public string qy
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// qz
|
||||
/// </summary>
|
||||
public string qz
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// qw
|
||||
/// </summary>
|
||||
public string qw
|
||||
{
|
||||
set;
|
||||
get;
|
||||
} = "";
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class C_Craft
|
||||
{
|
||||
public string CraftCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public string CraftValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 帧信号
|
||||
/// </summary>
|
||||
public class C_Signalwrite
|
||||
{
|
||||
/// <summary>
|
||||
/// TagID
|
||||
/// </summary>
|
||||
public string TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// TagValue
|
||||
/// </summary>
|
||||
public string TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class C_Visible
|
||||
{
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public string Visible
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
public class C_Rotation
|
||||
{
|
||||
public string ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public string Axis
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public int Rate
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
|
||||
public class C_Wait
|
||||
{
|
||||
public string WaitStr
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
public class C_Attach
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string AttachToModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
public string AttachToModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public List<ModelGroup> List_AttachModel
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<ModelGroup>();
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public bool IsTwoWay
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = false;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public bool IsAttach
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = false;
|
||||
|
||||
}
|
||||
@@ -0,0 +1,66 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
public class OperateResult
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// 实例化一个默认的结果对象
|
||||
/// </summary>
|
||||
public OperateResult()
|
||||
{
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 使用指定的消息实例化一个默认的结果对象
|
||||
/// </summary>
|
||||
/// <param name="msg">错误消息</param>
|
||||
public OperateResult(string msg)
|
||||
{
|
||||
this.Message = msg;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 使用错误代码，消息文本来实例化对象
|
||||
/// </summary>
|
||||
/// <param name="err">错误代码</param>
|
||||
/// <param name="msg">错误消息</param>
|
||||
public OperateResult(int err, string msg)
|
||||
{
|
||||
this.ErrorCode = err;
|
||||
this.Message = msg;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 指示本次访问是否成功
|
||||
/// </summary>
|
||||
public bool IsSuccess
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = false;
|
||||
|
||||
/// <summary>
|
||||
/// 具体的错误描述
|
||||
/// </summary>
|
||||
public string Message
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
|
||||
/// <summary>
|
||||
/// 具体的错误代码
|
||||
/// </summary>
|
||||
public int ErrorCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 10000;
|
||||
|
||||
}
|
||||
@@ -0,0 +1,734 @@
|
||||
using System;
|
||||
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
public class OperationResult<T1, T2, T3> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T1
|
||||
/// </summary>
|
||||
public T1 PlayIDList
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T2
|
||||
/// </summary>
|
||||
public T2 PlayName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T3
|
||||
/// </summary>
|
||||
public T3 ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
public class OperationResult<T1, T2> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
public class OperationResultMesDtSim<T1, T2, T3, T4,T5,T6> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T1
|
||||
/// </summary>
|
||||
public T1 PlayIDList
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T2
|
||||
/// </summary>
|
||||
public T2 PlayName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T3
|
||||
/// </summary>
|
||||
public T3 ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 1 : From DT
|
||||
/// 2: From MisData
|
||||
/// </summary>
|
||||
public T4 TagFrom
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public T5 OpName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public T6 TagIDCopyFrom
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
///// <summary>
|
||||
///// 操作结果
|
||||
///// </summary>
|
||||
///// <typeparam name="T1"></typeparam>
|
||||
///// <typeparam name="T2"></typeparam>
|
||||
///// <typeparam name="T3"></typeparam>
|
||||
///// <typeparam name="T4"></typeparam>
|
||||
//public class OperationResult<T1, T2, T3, T4> : OperateResult
|
||||
//{
|
||||
// /// <summary>
|
||||
// /// T
|
||||
// /// </summary>
|
||||
// public T1 t1
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// }
|
||||
// /// <summary>
|
||||
// /// T
|
||||
// /// </summary>
|
||||
// public T2 t2
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// }
|
||||
// /// <summary>
|
||||
// /// T
|
||||
// /// </summary>
|
||||
// public T3 t3
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// }
|
||||
// /// <summary>
|
||||
// /// T
|
||||
// /// </summary>
|
||||
// public T4 t4
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// }
|
||||
//}
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
public class OperationResult<T1, T2, T3, T4, T5> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 t3
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 t4
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 t5
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
public class OperationResult<T1, T2, T3, T4, T5, T6> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 ID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 Visible
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 ModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
public class OperationResultAct<T1, T2, T3, T4, T5, T6> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 t3
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 t4
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 t5
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 t6
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
/// <typeparam name="T7"></typeparam>
|
||||
public class OperationResult<T1, T2, T3, T4, T5, T6, T7> : OperateResult
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 ID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
public T2 HandlerType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 HandlerCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 HandlerValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T7 HandlerName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
/// <typeparam name="T7"></typeparam>
|
||||
/// <typeparam name="T8"></typeparam>
|
||||
public class OperationResult<T1, T2, T3, T4, T5, T6, T7, T8> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 t3
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 t4
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 t5
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 t6
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T7 t7
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T8 t8
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 操作结果
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
/// <typeparam name="T7"></typeparam>
|
||||
/// <typeparam name="T8"></typeparam>
|
||||
/// <typeparam name="T9"></typeparam>
|
||||
public class OperationResult<T1, T2, T3, T4, T5, T6, T7, T8, T9> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 t3
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 t4
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 t5
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 t6
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T7 t7
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T8 t8
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T9 t9
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺的帧数据
|
||||
/// 2021.1.28
|
||||
/// 修改
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
[Serializable]
|
||||
public class FrameD<T1, T2, T3, T4>
|
||||
{
|
||||
/// <summary>
|
||||
/// T1
|
||||
/// </summary>
|
||||
public T1 StartFrame
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T2
|
||||
/// </summary>
|
||||
public T2 Data
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T4
|
||||
/// </summary>
|
||||
public T3 ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T5
|
||||
/// </summary>
|
||||
public T4 CraftCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// 2021.2.19
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
[Serializable]
|
||||
public class FrameData<T1, T2, T3>
|
||||
{
|
||||
/// <summary>
|
||||
/// T1
|
||||
/// </summary>
|
||||
public T1 StartFrame
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T2
|
||||
/// </summary>
|
||||
public T2 Data
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T3
|
||||
/// </summary>
|
||||
public T3 CraftCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// OperationResultActPlay
|
||||
/// </summary>
|
||||
/// <typeparam name="T1"></typeparam>
|
||||
/// <typeparam name="T2"></typeparam>
|
||||
/// <typeparam name="T3"></typeparam>
|
||||
/// <typeparam name="T4"></typeparam>
|
||||
/// <typeparam name="T5"></typeparam>
|
||||
/// <typeparam name="T6"></typeparam>
|
||||
public class OperationResultActPlay<T1, T2, T3, T4, T5, T6, T7> : OperateResult
|
||||
{
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T1 t1
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T2 t2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T3 t3
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T4 t4
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T5 t5
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T6 t6
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// T
|
||||
/// </summary>
|
||||
public T7 t7
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
/// <summary>
|
||||
/// 播放传递的参数
|
||||
/// 2021.3.29
|
||||
/// </summary>
|
||||
public struct PlayTransmitParam
|
||||
{
|
||||
/// <summary>
|
||||
/// 工艺代码
|
||||
/// </summary>
|
||||
public int CraftCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 模型代码
|
||||
/// </summary>
|
||||
public int ModelCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 基座标组
|
||||
/// </summary>
|
||||
public System.Collections.Generic.List<double[]> List_BaseQ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 工具坐标组
|
||||
/// </summary>
|
||||
public System.Collections.Generic.List<double[]> List_ToolQ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 位置点坐标组
|
||||
/// </summary>
|
||||
public System.Collections.Generic.List<double[]> List_PtQ
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 使用时间组
|
||||
/// </summary>
|
||||
public System.Collections.Generic.List<System.Int32> List_UseTime
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
/// 当前工艺所有工序离散结果
|
||||
/// </summary>
|
||||
public System.Collections.Generic.List<double[]> List_PtQ_All
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
public delegate void ErrInfoHandler<T>(T t);
|
||||
@@ -0,0 +1,28 @@
|
||||
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
/// <summary>
|
||||
/// 执行脚本
|
||||
/// 排队参数
|
||||
/// 2021.11.25.LLX
|
||||
/// </summary>
|
||||
public struct QueueExecScriptParam
|
||||
{
|
||||
/// <summary>
|
||||
/// 产生变化的信号代码
|
||||
/// </summary>
|
||||
public string ChangedTagID;
|
||||
/// <summary>
|
||||
/// 产生变化的信号值
|
||||
/// </summary>
|
||||
public string ChangedTagValue;
|
||||
/// <summary>
|
||||
/// 信号表
|
||||
/// </summary>
|
||||
public Dictionary<String, String> DC_TagID_PlcValue;
|
||||
/// <summary>
|
||||
/// 资源代码
|
||||
/// 模型代码 或 工艺代码
|
||||
/// </summary>
|
||||
public string ResourcesCode;
|
||||
}
|
||||
@@ -0,0 +1,3 @@
|
||||
public delegate void ShowMainProgress(int c);
|
||||
public delegate void ShowMainProgressCountPer(string countPer,int c);
|
||||
public delegate void HideMainProgress(int delayTime);
|
||||
@@ -0,0 +1 @@
|
||||
public delegate void ShowMainProgressSet(string o, int m);
|
||||
@@ -0,0 +1 @@
|
||||
public delegate void Func(string t, string i, string v,string a);
|
||||
@@ -0,0 +1,78 @@
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class TagContent
|
||||
{
|
||||
//[ID],[TagID],[Value],[OperationTime]
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="id"></param>
|
||||
/// <param name="opName"></param>
|
||||
/// <param name="tagID"></param>
|
||||
/// <param name="tagValue"></param>
|
||||
/// <param name="operationTime"></param>
|
||||
/// <param name="directData"></param>
|
||||
public TagContent(string id, string opName, string tagID, string tagValue, long operationTime, string directData)
|
||||
{
|
||||
ID = id;
|
||||
OpName = opName;
|
||||
TagID = tagID;
|
||||
TagValue = tagValue;
|
||||
OperationTime = operationTime;
|
||||
DirectData = directData;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string ID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string OpName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public long OperationTime
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public string DirectData
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,88 @@
|
||||
/// <summary>
|
||||
/// TagID绑定的处理
|
||||
/// </summary>
|
||||
public class TagTriggerHandler
|
||||
{
|
||||
/// <summary>
|
||||
/// 执行类型
|
||||
/// </summary>
|
||||
public string HandlerType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// TagID
|
||||
/// </summary>
|
||||
public string TagID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// TagValue
|
||||
/// </summary>
|
||||
public string TagValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 处理代码
|
||||
/// </summary>
|
||||
public string HandlerCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 处理值
|
||||
/// </summary>
|
||||
public string HandlerValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 关节运动类型
|
||||
/// </summary>
|
||||
public string JointType
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 轴
|
||||
/// </summary>
|
||||
public string Axis
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 轴运动方向
|
||||
/// </summary>
|
||||
public int Flip
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 1;
|
||||
/// <summary>
|
||||
/// 值位置初始值
|
||||
/// </summary>
|
||||
public double Value
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
/// <summary>
|
||||
/// 轴比率
|
||||
/// </summary>
|
||||
public double ValueFactor
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 1;
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
/// <summary>
|
||||
/// 2020.10.17 ,llx , 工艺类型驱动代码
|
||||
/// 2021.02.23 ,llx , 工艺类型驱动代码,修改
|
||||
/// </summary>
|
||||
public enum Type_Craft
|
||||
{
|
||||
/// <summary>
|
||||
/// 非仿真操作
|
||||
/// </summary>
|
||||
UnSim = 1,
|
||||
/// <summary>
|
||||
/// 通用机器人操作
|
||||
/// </summary>
|
||||
Robot_Currency = 2,
|
||||
/// <summary>
|
||||
/// 设备操作
|
||||
/// </summary>
|
||||
Device = 3,
|
||||
/// <summary>
|
||||
/// 线性流操作
|
||||
/// </summary>
|
||||
LinearFlow = 4,
|
||||
/// <summary>
|
||||
/// 外部的设备实际位置时刻数据
|
||||
/// </summary>
|
||||
Device_Import = 5
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
/// <summary>
|
||||
/// 2021.6.18
|
||||
/// 2021.11.17.LLX
|
||||
/// </summary>
|
||||
public class Type_Device
|
||||
{
|
||||
/// <summary>
|
||||
/// Connect
|
||||
/// </summary>
|
||||
public const string Connect = "Connect";
|
||||
/// <summary>
|
||||
/// Signal
|
||||
/// </summary>
|
||||
public const string Signal = "Signal";
|
||||
/// <summary>
|
||||
/// ConnectRobot
|
||||
/// </summary>
|
||||
public const string ConnectRobot = "ConnectRobot";
|
||||
/// <summary>
|
||||
/// SignalRobot
|
||||
/// </summary>
|
||||
public const string SignalRobot = "SignalRobot";
|
||||
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
/// <summary>
|
||||
/// 设备信号仿真树
|
||||
/// 2021.6.21
|
||||
/// </summary>
|
||||
public class Type_DeviceSignalSimTree
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Plant = "Plant";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Zone = "Zone";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Line = "Line";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Station = "Station";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Group = "Group";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Signal = "Signal";
|
||||
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
/// <summary>
|
||||
/// 生成信号的类型
|
||||
/// 2021.9.11
|
||||
/// </summary>
|
||||
public enum Type_GenerateSignal
|
||||
{
|
||||
/// <summary>
|
||||
/// 虚拟调试
|
||||
/// 2021.9.11
|
||||
/// </summary>
|
||||
VirtualDebug = 1,
|
||||
/// <summary>
|
||||
/// 数字孪生
|
||||
/// 2021.9.11
|
||||
/// </summary>
|
||||
DigitalTwin = 2,
|
||||
/// <summary>
|
||||
/// 仅回写信号
|
||||
/// 2021.10.7
|
||||
/// </summary>
|
||||
OnlyWrite = 3
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
/// <summary>
|
||||
/// 系统权限
|
||||
/// 2022.01.19.LLX
|
||||
/// </summary>
|
||||
public enum Type_Jurisdiction
|
||||
{
|
||||
/// <summary>
|
||||
/// 未知用户
|
||||
/// </summary>
|
||||
Unknown = 0,
|
||||
/// <summary>
|
||||
/// 管理员
|
||||
/// </summary>
|
||||
Administrator = 1,
|
||||
/// <summary>
|
||||
/// 用户
|
||||
/// </summary>
|
||||
User = 2
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
/// <summary>
|
||||
/// 操作的指令
|
||||
/// 2021.11.16.LLX
|
||||
/// </summary>
|
||||
public enum OperationCmd
|
||||
{
|
||||
/// <summary>
|
||||
/// 1.
|
||||
/// </summarInserty>
|
||||
Insert = 1,
|
||||
/// <summary>
|
||||
/// 2.Update
|
||||
/// </summary>
|
||||
Update = 2,
|
||||
/// <summary>
|
||||
/// 3.Delete
|
||||
/// </summary>
|
||||
Delete = 3,
|
||||
/// <summary>
|
||||
/// 4.Select
|
||||
/// </summary>
|
||||
Select = 4
|
||||
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
/// <summary>
|
||||
/// 操作树
|
||||
/// 2021.6.21
|
||||
/// </summary>
|
||||
public class Type_OperationTree
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Plant = "Plant";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Zone = "Zone";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Line = "Line";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Station = "Station";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Group = "Group";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public const string Craft = "Craft";
|
||||
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public enum Type_Signal_Raw
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
INT16 = 2,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
INT32 = 3,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
FLOAT = 4,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
UINT64 = 7,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
STRING = 8,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BOOL = 11,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
BYTE = 17,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
UINT16 = 18,
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
DOUBLE = 19
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
/// <summary>
|
||||
/// 2020.9.23 ,llx , TagIdHandlerO
|
||||
/// 2021.2.23 ,llx , TagIdHandlerO,修改
|
||||
/// 2021.10.11.2350.LLX
|
||||
/// </summary>
|
||||
public class Type_TagIDHandler
|
||||
{
|
||||
/// <summary>
|
||||
/// 1
|
||||
/// </summary>
|
||||
public const string Visible = "visible";
|
||||
/// <summary>
|
||||
/// 2
|
||||
/// </summary>
|
||||
public const string Rotation = "rotation";
|
||||
/// <summary>
|
||||
/// 3
|
||||
/// </summary>
|
||||
public const string Craft = "craft";
|
||||
/// <summary>
|
||||
/// 4
|
||||
/// </summary>
|
||||
public const string TargetLocation = "targetlocation";
|
||||
/// <summary>
|
||||
/// 5
|
||||
/// </summary>
|
||||
public const string Attach = "attach";
|
||||
|
||||
/// <summary>
|
||||
/// 6
|
||||
/// </summary>
|
||||
public const string Warning = "warning";
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Data;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
public struct UseTriggerPlayParameter
|
||||
{
|
||||
public string ActCode { get; set; }
|
||||
public int MaxRunFrame { get; set; }
|
||||
public List<OperationResultActPlay<String, String, Int32, Int32, Int32, DataTable, String>> List_CraftAlign { get; set; }
|
||||
public List<ActPlayModelVisibleAndRotation> List_CraftAlign_ModelVisibleAndRotation { get; set; }
|
||||
|
||||
}
|
||||
@@ -0,0 +1,44 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public interface IErrHandler <T>
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
void ErrInfoTransmit_Give(ErrInfoHandler<String> f);
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="s"></param>
|
||||
void ErrInfoTransmit(string s)
|
||||
;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
bool ErrInfoTransmit_IsNull()
|
||||
;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
public class U<T>
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
218
DataMirrorTools_Simulator/Foundation/Interface/IGlobalVar.cs
Normal file
218
DataMirrorTools_Simulator/Foundation/Interface/IGlobalVar.cs
Normal file
@@ -0,0 +1,218 @@
|
||||
using DTTest;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
namespace Global
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public interface IGlobalVar
|
||||
{
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
void RefreshCraftTree();
|
||||
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup(string craftName, string craftCode);
|
||||
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
void TransmitModelName(string modelName, string modelCode);
|
||||
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_UnSim(string craftName, string craftCode);
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
void CloseSeatOperationForm();
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void CurrTreeSelectModelHandler_SeatOperation(string modelCode, string modelName);
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void TransitionEditorPageScriptNameUpdate(string internalVarCode, string internalVarName);
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 赋予
|
||||
/// </summary>
|
||||
void RefreshCraftTree_Give(Action f);
|
||||
|
||||
/// <summary>
|
||||
/// 传递工艺组 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_Give(Func<String, String, bool> f);
|
||||
|
||||
/// <summary>
|
||||
/// 传递模型名 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
void TransmitModelName_Give(Func<String, String, bool> f);
|
||||
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_UnSim_Give(Func<String, String, bool> f);
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 赋予
|
||||
/// </summary>
|
||||
void CloseSeatOperationForm_Give(Func<bool> f);
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void CurrTreeSelectModelHandler_SeatOperation_Give(Func<String, String, bool> f);
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 赋予
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
void TransitionEditorPageScriptNameUpdate_Give(Func<String, String, bool> f);
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 判断
|
||||
/// </summary>
|
||||
bool RefreshCraftTree_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 传递工艺组 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 传递模型名 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
bool TransmitModelName_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_UnSim_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 判断
|
||||
/// </summary>
|
||||
bool CloseSeatOperationForm_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）传递位置信息 判断
|
||||
/// </summary>
|
||||
/// <param name="e"></param>
|
||||
bool CurrPostionInfoHandler_SeatOperation_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
bool CurrTreeSelectModelHandler_SeatOperation_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 判断
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
bool TransitionEditorPageScriptNameUpdate_IsNull();
|
||||
|
||||
bool ShowMainProgressSet_IsNull(string n, int m);
|
||||
|
||||
bool ShowMainProgress_IsNull(int c);
|
||||
void ShowMainProgressSet_Give(ShowMainProgressSet f);
|
||||
|
||||
void ShowMainProgress_Give(ShowMainProgress f);
|
||||
void ShowMainProgress_Give_CountPer(ShowMainProgressCountPer f);
|
||||
void HideMainProgress_Give(HideMainProgress f);
|
||||
void ShowMainProgressSet(string n, int m);
|
||||
void HideMainProgress(int delayTime);
|
||||
void ShowMainProgressCountPer(string msg,int c);
|
||||
void ShowMainProgress(int c);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public interface BaseA
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
bool RefreshCraftTree_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 传递工艺组 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 传递模型名 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
bool TransmitModelName_IsNull();
|
||||
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_UnSim_IsNull();
|
||||
|
||||
bool ShowMainProgressSet_IsNull(string n, int m);
|
||||
|
||||
bool ShowMainProgress_IsNull(int c);
|
||||
void ShowMainProgressSet_Give(ShowMainProgressSet f);
|
||||
void ShowMainProgress_Give_CountPer(ShowMainProgressCountPer f);
|
||||
|
||||
void ShowMainProgress_Give(ShowMainProgress f);
|
||||
void ShowMainProgressSet(string n, int m);
|
||||
|
||||
void ShowMainProgress(int c);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
using Global;
|
||||
using ModelBasic;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static class IIErrInterface
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <typeparam name="T"></typeparam>
|
||||
/// <param name="tt"></param>
|
||||
/// <returns></returns>
|
||||
public static IErrHandler<String> GetIErrHandler<T>(this T tt) where T : IIERR
|
||||
{
|
||||
return new ErrHandler<String>();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,21 @@
|
||||
using Global;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
public static class IIMMInterface
|
||||
{
|
||||
//public static IModelManagement3 GetModelManagement<T>(this T tt) where T : IIMM
|
||||
//{
|
||||
// return new ModelManagement();
|
||||
//}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
@@ -0,0 +1,63 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Runtime.CompilerServices;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
|
||||
public interface IModelManagement3
|
||||
{
|
||||
/// <summary>
|
||||
/// 为了数字孪生初始化加载数据（单个链接）
|
||||
/// </summary>
|
||||
/// <param name="ipPortOpName_1"></param>
|
||||
/// <param name="prefix0"></param>
|
||||
/// <param name="objectHeader0"></param>
|
||||
/// <param name="sendInterval0"></param>
|
||||
/// <param name="connectionString"></param>
|
||||
/// <param name="projectName"></param>
|
||||
void Load_PlcVarName_Trig_3DModel_Movement_Interface(
|
||||
string ipPortOpName_1, string prefix0, string objectHeader0, int sendInterval0,
|
||||
string connectionString, string projectName)
|
||||
;
|
||||
|
||||
/// <summary>
|
||||
/// 为了数字孪生初始化加载数据（两个链接）
|
||||
/// </summary>
|
||||
/// <param name="ipPortOpName_1"></param>
|
||||
/// <param name="ipPortOpName_2"></param>
|
||||
/// <param name="prefix0"></param>
|
||||
/// <param name="objectHeader0"></param>
|
||||
/// <param name="sendInterval0"></param>
|
||||
/// <param name="connectionString"></param>
|
||||
/// <param name="projectName"></param>
|
||||
void Load_PlcVarName_Trig_3DModel_Movement_Interface(
|
||||
string ipPortOpName_1, string ipPortOpName_2, string prefix0, string objectHeader0, int sendInterval0,
|
||||
string connectionString, string projectName)
|
||||
;
|
||||
|
||||
/// <summary>
|
||||
/// PLC 信号 触发3D模型运动
|
||||
/// </summary>
|
||||
/// <param name="tagNamePlc"></param>
|
||||
/// <param name="inputValue"></param>
|
||||
void PlcVarName_Trig_3DModel_Movement(string tagNamePlc, bool inputValue)
|
||||
;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 模型可见控制
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="visible"></param>
|
||||
void ModelVisible(string modelName, bool visible)
|
||||
;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
182
DataMirrorTools_Simulator/Foundation/Interface/IProjectVar.cs
Normal file
182
DataMirrorTools_Simulator/Foundation/Interface/IProjectVar.cs
Normal file
@@ -0,0 +1,182 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace Global
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public interface IProjectVar
|
||||
{
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
void RefreshCraftTree();
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup(string craftName, string craftCode);
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
void TransmitModelName(string modelName, string modelCode);
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_UnSim(string craftName, string craftCode);
|
||||
/// <summary>
|
||||
/// 传递项目名称
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
void ProjectNameFunc(string projectName);
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
void CloseSeatOperationForm();
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void CurrTreeSelectModelHandler_SeatOperation(string modelCode, string modelName);
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void TransitionEditorPageScriptNameUpdate(string internalVarCode, string internalVarName)
|
||||
;
|
||||
/// <summary>
|
||||
/// 工艺树刷新 赋予
|
||||
/// </summary>
|
||||
void RefreshCraftTree_Give(Action f);
|
||||
|
||||
/// <summary>
|
||||
/// 传递工艺组 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_Give(Func<String, String, bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递模型名 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
void TransmitModelName_Give(Func<String, String, bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
void TransmitCraftGroup_UnSim_Give(Func<String, String, bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 赋予
|
||||
/// </summary>
|
||||
void CloseSeatOperationForm_Give(Func<bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
void CurrTreeSelectModelHandler_SeatOperation_Give(Func<String, String, bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递项目名称 赋予
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
void ProjectNameFunc_Give(Func<String, Boolean> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 赋予
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
void TransitionEditorPageScriptNameUpdate_Give(Func<String, String, bool> f)
|
||||
;
|
||||
/// <summary>
|
||||
/// 工艺树刷新 判断
|
||||
/// </summary>
|
||||
bool RefreshCraftTree_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递工艺组 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递模型名 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
bool TransmitModelName_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
bool TransmitCraftGroup_UnSim_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 判断
|
||||
/// </summary>
|
||||
bool CloseSeatOperationForm_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递项目名称 判断
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
bool ProjectNameFunc_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// （位置控制器）传递位置信息 判断
|
||||
/// </summary>
|
||||
/// <param name="e"></param>
|
||||
bool CurrPostionInfoHandler_SeatOperation_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
bool CurrTreeSelectModelHandler_SeatOperation_IsNull()
|
||||
;
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 判断
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
bool TransitionEditorPageScriptNameUpdate_IsNull()
|
||||
;
|
||||
|
||||
bool ShowMainProgressSet_IsNull(string n, int m)
|
||||
;
|
||||
|
||||
bool ShowMainProgress_IsNull(int c)
|
||||
;
|
||||
void ShowMainProgressSet_Give(ShowMainProgressSet f)
|
||||
;
|
||||
void ShowMainProgress_Give_CountPer(ShowMainProgressCountPer f);
|
||||
void ShowMainProgress_Give(ShowMainProgress f);
|
||||
|
||||
void ShowMainProgressSet(string n, int m)
|
||||
;
|
||||
|
||||
void ShowMainProgress(int c)
|
||||
;
|
||||
void ShowMainProgressCountPer(string msg,int c)
|
||||
;
|
||||
}
|
||||
}
|
||||
15
DataMirrorTools_Simulator/Foundation/Interface3/IIErr.cs
Normal file
15
DataMirrorTools_Simulator/Foundation/Interface3/IIErr.cs
Normal file
@@ -0,0 +1,15 @@
|
||||
using Global;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
public interface IIERR
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
16
DataMirrorTools_Simulator/Foundation/Interface3/IIExecCmd.cs
Normal file
16
DataMirrorTools_Simulator/Foundation/Interface3/IIExecCmd.cs
Normal file
@@ -0,0 +1,16 @@
|
||||
using Global;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
|
||||
public interface IIExecCmd
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
15
DataMirrorTools_Simulator/Foundation/Interface3/IIMM.cs
Normal file
15
DataMirrorTools_Simulator/Foundation/Interface3/IIMM.cs
Normal file
@@ -0,0 +1,15 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
|
||||
public interface IIMM
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
16
DataMirrorTools_Simulator/Foundation/Interface3/IIProj.cs
Normal file
16
DataMirrorTools_Simulator/Foundation/Interface3/IIProj.cs
Normal file
@@ -0,0 +1,16 @@
|
||||
using Global;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DTTest
|
||||
{
|
||||
public interface IIPROJ
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
232
DataMirrorTools_Simulator/Foundation/Interface_Delegate.cs
Normal file
232
DataMirrorTools_Simulator/Foundation/Interface_Delegate.cs
Normal file
@@ -0,0 +1,232 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Windows.Forms;
|
||||
|
||||
public class GlobalEventInterface
|
||||
{
|
||||
/// <summary>
|
||||
/// 模型加载完成，通知工艺tree可以选择
|
||||
/// </summary>
|
||||
public static Action<string> E_Model_LoadModelTree;
|
||||
/// <summary>
|
||||
/// id name type
|
||||
/// </summary>
|
||||
public static Action<string, string, string> E_SelectCraft;
|
||||
|
||||
/// <summary>
|
||||
/// 模型信息
|
||||
/// </summary>
|
||||
public static Action<object, Data_ClickModel> E_ModelMotionControl_CurrClickModel;
|
||||
/// <summary>
|
||||
/// 机器人数据
|
||||
/// </summary>
|
||||
public static Action<double[], double[], double[], double[], double[], double[]> E_RobotData;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<int, int, C_Frames> E_ModelControl_CurrRunInfoEvent;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action E_ModelControl_PlayTaskEnd;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<long> E_CurrTime_Play;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<string> E_PlayCurrCraftTaskEnd;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<int, int> E_ShowIndex;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<string> E_PlayCurrActTaskEnd;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<int> E_PlayCurrActCraftTaskEnd;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<int> E_ModelControl_CurrRunInfoEventPs;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<string> E_PlayDeviceSignalSimTaskEnd;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action E_OpenFileModel;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action E_GetCurrSignalList;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<String> OnReceiveMsgDataChange = null;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 监控信号产生变化
|
||||
/// </summary>
|
||||
public static Action<QueueExecScriptParam> GlobalSignalChanged = null;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<String,String> E_SignalMonitorChanged = null;
|
||||
/// <summary>
|
||||
/// 浏览器下载的百分比
|
||||
/// </summary>
|
||||
public static Action<Int32,Boolean> E_CefDownloadPercentComplete = null;
|
||||
/// <summary>
|
||||
/// 传递姿态
|
||||
/// </summary>
|
||||
public static Action<String, String> E_TransmitAttitude = null;
|
||||
|
||||
#region MoveIt
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Func<String, String, Int32, String> E_AttitudeGenerateFrameData = null;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<String> E_MoveIt_MoveTo = null;
|
||||
|
||||
public static Action<string , string , double , double > E_MoveIt_MoveToJoint = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Action<KinematicsBase.Kinematics> E_Transmit_SaveToModel = null;
|
||||
|
||||
|
||||
#region CraftTree
|
||||
|
||||
public static Action<String> E_CraftTree_DrawSelect_UseCraft = null;
|
||||
|
||||
public static Action E_Refresh_CraftTree = null;
|
||||
|
||||
#endregion
|
||||
|
||||
#region PathEditor
|
||||
|
||||
public static Action<Type_Craft, String, String, String, String, Int32> E_Refresh_PathEditor = null;
|
||||
|
||||
public static Action<String> E_Refresh_PathEditor_Null = null;
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region ActGantt
|
||||
|
||||
public static Action<string , string , List<String>> E_ActGantt_RefreshGantt = null;
|
||||
|
||||
public static Action<TreeNode> E_ActGantt_RefreshGanttWithTreeNode = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region DebugOption
|
||||
|
||||
#endregion
|
||||
|
||||
#region SignalViewer
|
||||
public static Action<String> E_SignalViewer_ActSelect_TagID_Handler = null;
|
||||
|
||||
public static Action<String> E_SignalViewer_TagIDSelect_TagID_Handler = null;
|
||||
|
||||
public static Action E_SignalViewer_Rendering_dgv_Handler = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region p_SimulationPanel
|
||||
|
||||
public static Action<String> E_SimulationPanel_PlayThisCraft_Task = null;
|
||||
|
||||
public static Action E_SimulationPanel_PlayThisCraft_Task_Stop = null;
|
||||
|
||||
public static Action<string, string> E_SimulationPanel_VirtualDebug_SignalWrite = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region SignalLabelForm
|
||||
|
||||
public static Action<string , string , string > E_SignalLabelForm_TransmitSelect = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
#region TagID_Add_Handler
|
||||
|
||||
public static Action<string, string, string> E_Transmit_TagID_Add_Handler_ShowSelectInfo = null;
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
#region LogicalBlock
|
||||
|
||||
public static Action<string, string> E_LogicalBlock_ShowSelect = null;
|
||||
|
||||
public static Action<LogicalBlock.LB_Device_Signal> E_LogicalBlock_AddSignal = null;
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region Craft_Add_Device
|
||||
|
||||
public static Action<string> E_Craft_Add_Device_Fill_CB = null;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region DeviceSignalSimGantt
|
||||
|
||||
public static Action<string> E_DeviceSignalSimGantt_RefreshGantt = null;
|
||||
|
||||
public static Action<string, string> E_DeviceSignalSimGantt_RefreshDeviceSignalSimGantt = null;
|
||||
|
||||
public static Action<string, string> E_DeviceSignalSimGantt_TransmitTagToDeviceSignalSim = null;
|
||||
public static Action<string, string,int,string,string> E_MisDataPlcTagIDSignal_TransmitTagToDeviceSignalSim = null;
|
||||
|
||||
|
||||
//
|
||||
#endregion
|
||||
|
||||
#region SimplifyPdps
|
||||
|
||||
public static Action E_SimplifyPdps_Start = null;
|
||||
|
||||
#endregion
|
||||
|
||||
#region Project_O
|
||||
|
||||
public static Action E_Project_O_Start = null;
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
}
|
||||
961
DataMirrorTools_Simulator/Foundation/Interface_Var.cs
Normal file
961
DataMirrorTools_Simulator/Foundation/Interface_Var.cs
Normal file
@@ -0,0 +1,961 @@
|
||||
using Global;
|
||||
using KinematicsBase;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Threading;
|
||||
/// <summary>
|
||||
/// 项目参数
|
||||
/// 2021.5.25
|
||||
/// 2021.12.22
|
||||
/// </summary>
|
||||
public class PP
|
||||
{
|
||||
|
||||
#region SystemUser
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static string UserID
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static string UserName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static string UserPassword
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Type_Jurisdiction Jurisdiction
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = Type_Jurisdiction.Administrator;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static List<String> ProjectList
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new List<String> ();
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
#region Current Operation Data
|
||||
|
||||
/// <summary>
|
||||
/// 设备类型的代码
|
||||
/// </summary>
|
||||
public static DeviceType DeviceTypeCode = DeviceType.Device;
|
||||
/// <summary>
|
||||
/// 当前的Web模型代码
|
||||
/// </summary>
|
||||
public static string ModelCode = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型名称
|
||||
/// </summary>
|
||||
public static string ModelName = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型代码
|
||||
/// </summary>
|
||||
public static string ModelCodeBase = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型名称
|
||||
/// </summary>
|
||||
public static string ModelNameBase = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型代码
|
||||
/// </summary>
|
||||
public static string ModelCodeTool = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型名称
|
||||
/// </summary>
|
||||
public static string ModelNameTool = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型代码
|
||||
/// </summary>
|
||||
public static string ModelCodeTcp = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型名称
|
||||
/// </summary>
|
||||
public static string ModelNameTcp = "-1";
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置X
|
||||
/// </summary>
|
||||
public static double TX = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置Y
|
||||
/// </summary>
|
||||
public static double TY = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置Z
|
||||
/// </summary>
|
||||
public static double TZ = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置RX
|
||||
/// </summary>
|
||||
public static double RX = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置RY
|
||||
/// </summary>
|
||||
public static double RY = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置RZ
|
||||
/// </summary>
|
||||
public static double RZ = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置QX
|
||||
/// </summary>
|
||||
public static double QX = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置QY
|
||||
/// </summary>
|
||||
public static double QY = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置QZ
|
||||
/// </summary>
|
||||
public static double QZ = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web模型位置QW
|
||||
/// </summary>
|
||||
public static double QW = 0;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置X
|
||||
/// </summary>
|
||||
public static double TX_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置Y
|
||||
/// </summary>
|
||||
public static double TY_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置Z
|
||||
/// </summary>
|
||||
public static double TZ_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置RX
|
||||
/// </summary>
|
||||
public static double RX_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置RY
|
||||
/// </summary>
|
||||
public static double RY_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置RZ
|
||||
/// </summary>
|
||||
public static double RZ_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置QX
|
||||
/// </summary>
|
||||
public static double QX_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置QY
|
||||
/// </summary>
|
||||
public static double QY_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置QZ
|
||||
/// </summary>
|
||||
public static double QZ_Base = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Base模型位置QW
|
||||
/// </summary>
|
||||
public static double QW_Base = 0;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置X
|
||||
/// </summary>
|
||||
public static double TX_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置Y
|
||||
/// </summary>
|
||||
public static double TY_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置Z
|
||||
/// </summary>
|
||||
public static double TZ_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置RX
|
||||
/// </summary>
|
||||
public static double RX_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置RY
|
||||
/// </summary>
|
||||
public static double RY_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置RZ
|
||||
/// </summary>
|
||||
public static double RZ_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置QX
|
||||
/// </summary>
|
||||
public static double QX_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置QY
|
||||
/// </summary>
|
||||
public static double QY_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置QZ
|
||||
/// </summary>
|
||||
public static double QZ_Tool = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tool模型位置QW
|
||||
/// </summary>
|
||||
public static double QW_Tool = 0;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置X
|
||||
/// </summary>
|
||||
public static double TX_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置Y
|
||||
/// </summary>
|
||||
public static double TY_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置Z
|
||||
/// </summary>
|
||||
public static double TZ_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置RX
|
||||
/// </summary>
|
||||
public static double RX_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置RY
|
||||
/// </summary>
|
||||
public static double RY_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置RZ
|
||||
/// </summary>
|
||||
public static double RZ_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置QX
|
||||
/// </summary>
|
||||
public static double QX_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置QY
|
||||
/// </summary>
|
||||
public static double QY_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置QZ
|
||||
/// </summary>
|
||||
public static double QZ_Tcp = 0;
|
||||
/// <summary>
|
||||
/// 当前的Web_Tcp模型位置QW
|
||||
/// </summary>
|
||||
public static double QW_Tcp = 0;
|
||||
|
||||
#endregion
|
||||
|
||||
#region Param
|
||||
public static bool ReLoadPara_IsCompleted
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = false;
|
||||
|
||||
/// <summary>
|
||||
/// 项目配置参数
|
||||
/// 2021.10.17.LLX
|
||||
/// </summary>
|
||||
public static PCP_Json PCP
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 数据库链接
|
||||
/// </summary>
|
||||
public static string ConnectionStr
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "-1";
|
||||
public static string Url_WebApi
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "http://localhost:41181";
|
||||
|
||||
public static string Url_WebApi2
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "http://localhost:41182";
|
||||
/// <summary>
|
||||
/// 项目代码
|
||||
/// </summary>
|
||||
public static string ProjectCode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "-1";
|
||||
public static string IsWebApp
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = System.Configuration.ConfigurationManager.AppSettings["IsWebApp"];
|
||||
|
||||
/// <summary>
|
||||
/// 项目名称
|
||||
/// </summary>
|
||||
public static string ProjectName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "-1";
|
||||
|
||||
/// <summary>
|
||||
/// 程序的运行模式
|
||||
/// 2021.12.3.LLX
|
||||
/// </summary>
|
||||
public static Mode_Run RunMode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = Mode_Run.Simulation;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static string currCefDownLoadPath
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
|
||||
/// <summary>
|
||||
/// 允许机器人计算
|
||||
/// </summary>
|
||||
public static bool AllowRobotCalculation
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = true;
|
||||
|
||||
/// <summary>
|
||||
/// 生成工艺序列的全局帧值
|
||||
/// 2021.5.24
|
||||
/// </summary>
|
||||
public static int gFrameValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 0;
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region Collections Generic
|
||||
|
||||
/// <summary>
|
||||
/// 模型列表
|
||||
/// </summary>
|
||||
public static System.Data.DataTable gDT_ModelTree
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 模型代码对应的模型属性
|
||||
/// </summary>
|
||||
public static Dictionary<String, ModelAttribute> DC_ModelCode_ModelAttribute
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 工艺执行任务
|
||||
/// </summary>
|
||||
public static Dictionary<String, Thread> dc_Craft_ExecTask
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = new Dictionary<String, Thread>();
|
||||
|
||||
public static System.Collections.Generic.Dictionary<System.String, System.String> DC_TagID_CurrValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// TagID触发时候的内容
|
||||
/// 2021.12.21.LLX
|
||||
/// </summary>
|
||||
public static Dictionary<String, List<OperationResult<String, String, String, String, String, String, String>>> dc_TagID_Content
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 当前的微分点记录
|
||||
/// 2021.3.29
|
||||
/// </summary>
|
||||
public static System.Collections.Generic.List<double[]> pList_g
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 当前逆解的的记录
|
||||
/// 2021.3.29
|
||||
/// </summary>
|
||||
public static System.Collections.Generic.List<System.Collections.Generic.List<double>> jList_g
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public static Dictionary<String, LogicalBlock.LogicalBlockBasic> DC_ResourcesCode_LogicalBlockBasic = new Dictionary<String, LogicalBlock.LogicalBlockBasic>();
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region DebugOption
|
||||
|
||||
/// <summary>
|
||||
/// 允许外部查看模型
|
||||
/// 2021.5.11
|
||||
/// </summary>
|
||||
public static bool g_AllowSelectModel = false;
|
||||
/// <summary>
|
||||
/// 允许外部查看工艺
|
||||
/// 2021.5.11
|
||||
/// </summary>
|
||||
public static bool g_AllowSelectCraft = false;
|
||||
/// <summary>
|
||||
/// 允许外部查看TagID绑定的信号
|
||||
/// 2021.5.11
|
||||
/// </summary>
|
||||
public static bool g_AllowSelectTagIDSignal = false;
|
||||
/// <summary>
|
||||
/// 允许控制工艺
|
||||
/// </summary>
|
||||
public static bool g_AllowControlCraft = true;
|
||||
/// <summary>
|
||||
/// 允许控制信号
|
||||
/// </summary>
|
||||
public static bool g_AllowControlSignal = true;
|
||||
/// <summary>
|
||||
/// 允许控制显隐
|
||||
/// </summary>
|
||||
public static bool g_AllowControlVisible = true;
|
||||
/// <summary>
|
||||
/// 允许控制自转
|
||||
/// </summary>
|
||||
public static bool g_AllowControlRotation = true;
|
||||
/// <summary>
|
||||
/// 允许控制等待
|
||||
/// 2021.11.04.1652.LLX
|
||||
/// </summary>
|
||||
public static bool g_AllowControlWait = true;
|
||||
|
||||
#endregion
|
||||
|
||||
#region Messy
|
||||
|
||||
/// <summary>
|
||||
/// 全球变量的接口
|
||||
/// </summary>
|
||||
public static IGlobalVar iGlobalVar = null;
|
||||
/// <summary>
|
||||
/// 允许执行关闭窗体
|
||||
/// </summary>
|
||||
public static bool isCanClose = false;
|
||||
/// <summary>
|
||||
/// 加载完成
|
||||
/// </summary>
|
||||
public static bool LoadFinish = false;
|
||||
/// <summary>
|
||||
/// 是同步顺序，或起始时间排序
|
||||
/// </summary>
|
||||
public static bool ActGantt_Is_SyncOrder_Or_StartTime = true;
|
||||
/// <summary>
|
||||
/// 当前执行的路径
|
||||
/// </summary>
|
||||
public static string currExecPath = "";
|
||||
|
||||
#endregion
|
||||
|
||||
#region CraftTree
|
||||
|
||||
/// <summary>
|
||||
/// 当前选中的工艺代码
|
||||
/// </summary>
|
||||
public static string currTreeCraftCode = "-1";
|
||||
/// <summary>
|
||||
/// 当前选中的工艺名称
|
||||
/// </summary>
|
||||
public static string currTreeCraftName = "-1";
|
||||
/// <summary>
|
||||
/// 当前选中的工艺父节点
|
||||
/// </summary>
|
||||
public static string currTreeCraftTypeCode = "-1";
|
||||
/// <summary>
|
||||
/// 当前选中的工艺驱动类型
|
||||
/// </summary>
|
||||
public static Type_Craft currTreeCraftDeviceTypeCode = Type_Craft.LinearFlow;
|
||||
/// <summary>
|
||||
/// 当前选中的工艺的模型代码
|
||||
/// </summary>
|
||||
public static string currCraftTree_ModelCode = "-1";
|
||||
/// <summary>
|
||||
/// 当前选中的工艺的模型名称
|
||||
/// </summary>
|
||||
public static string currCraftTree_ModelName = "-1";
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region DeviceSignalSimTree
|
||||
|
||||
/// <summary>
|
||||
/// 当前选中的设备信号仿真代码
|
||||
/// </summary>
|
||||
public static string currTreeDeviceSignalSimCode = "-1";
|
||||
/// <summary>
|
||||
/// 当前选中的设备信号仿真名称
|
||||
/// </summary>
|
||||
public static string currTreeDeviceSignalSimName = "-1";
|
||||
|
||||
#endregion
|
||||
|
||||
#region MesWork
|
||||
|
||||
public static string BasicDataTableFile = "";
|
||||
|
||||
public static int IsDemoMesServer = 0;
|
||||
|
||||
public static int IsWriteMonitorLog = 1;
|
||||
|
||||
#endregion
|
||||
|
||||
#region P_KinematicsEditorDevice PoseCreator
|
||||
|
||||
public static int PoseCreatorStepLength = 1;
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
#region Func
|
||||
|
||||
/// <summary>
|
||||
/// 模型代码找到模型属性
|
||||
/// 2021.12.22.LLX
|
||||
/// </summary>
|
||||
/// <param name="modelCode"></param>
|
||||
/// <returns></returns>
|
||||
public static ModelAttribute ModelCodeFindModelAttribute(string modelCode)
|
||||
{
|
||||
ModelAttribute ma = new ModelAttribute() { ModelName = "不存在这个模型" };
|
||||
if (PP.DC_ModelCode_ModelAttribute == null)
|
||||
{
|
||||
return ma;
|
||||
}
|
||||
if (PP.DC_ModelCode_ModelAttribute.ContainsKey(modelCode))
|
||||
{
|
||||
ma = PP.DC_ModelCode_ModelAttribute[modelCode];
|
||||
}
|
||||
|
||||
return ma;
|
||||
|
||||
}
|
||||
public static List<Kinematics> ReturnKinematicsList()
|
||||
{
|
||||
var kL = new List<Kinematics>();
|
||||
|
||||
if (PP.DC_ModelCode_ModelAttribute == null)
|
||||
{
|
||||
return kL;
|
||||
}
|
||||
foreach (ModelAttribute item in DC_ModelCode_ModelAttribute.Values)
|
||||
{
|
||||
if (item != null)
|
||||
{
|
||||
if (item.KinematicsData != null)
|
||||
{
|
||||
kL.Add(item.KinematicsData);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return kL;
|
||||
}
|
||||
|
||||
public static Kinematics ReturnKinematics(string modelCode)
|
||||
{
|
||||
Kinematics k = null;
|
||||
|
||||
if (PP.DC_ModelCode_ModelAttribute == null)
|
||||
{
|
||||
return k;
|
||||
}
|
||||
if (DC_ModelCode_ModelAttribute.ContainsKey(modelCode))
|
||||
{
|
||||
k = new Kinematics();
|
||||
k = DC_ModelCode_ModelAttribute[modelCode].KinematicsData;
|
||||
}
|
||||
return k;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
///// <summary>
|
||||
///// 项目配置参数
|
||||
///// 2021.10.17.LLX
|
||||
///// </summary>
|
||||
//public class PCP
|
||||
//{
|
||||
|
||||
// /// <summary>
|
||||
// /// 导出序列的帧值
|
||||
// /// </summary>
|
||||
// public static int FrameValue
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = -1;
|
||||
// /// <summary>
|
||||
// /// 发送数据时间间隔
|
||||
// /// </summary>
|
||||
// public static int SendInterval
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = -1;
|
||||
// /// <summary>
|
||||
// /// 通讯服务URL（CS）
|
||||
// /// </summary>
|
||||
// public static string ConnSvrURL
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 通讯标头（CS）
|
||||
// /// </summary>
|
||||
// public static string Prefix
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 通讯项目标头（CS）
|
||||
// /// </summary>
|
||||
// public static string ObjectHeader
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 通讯服务URL（BS）
|
||||
// /// </summary>
|
||||
// public static string ConnSvrURLBS
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 通讯标头（BS）
|
||||
// /// </summary>
|
||||
// public static string PrefixBS
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 通讯项目标头（BS）
|
||||
// /// </summary>
|
||||
// public static string ObjectHeaderBS
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// OPC连接的URL
|
||||
// /// </summary>
|
||||
// public static string OpcUrl
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 三维网页的URL
|
||||
// /// </summary>
|
||||
// public static string WebUrl
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 三维网页文件的路径
|
||||
// /// </summary>
|
||||
// public static string WebFilePath
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "-1";
|
||||
// /// <summary>
|
||||
// /// 程序启用Chrome浏览器
|
||||
// /// </summary>
|
||||
// public static bool IsStartChrome
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = true;
|
||||
// /// <summary>
|
||||
// /// 使用服务器通讯方式
|
||||
// /// </summary>
|
||||
// public static string ConnMode
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "1";
|
||||
// /// <summary>
|
||||
// /// 是允许修改模型可见性
|
||||
// /// </summary>
|
||||
// public static bool IsAllowVisible
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = true;
|
||||
// /// <summary>
|
||||
// /// 是修改数据库模型可见性
|
||||
// /// </summary>
|
||||
// public static bool IsUpdateSqlVisible
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = false;
|
||||
// /// <summary>
|
||||
// /// 是记录现场真实数据
|
||||
// /// </summary>
|
||||
// public static bool IsRecordData
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = false;
|
||||
// /// <summary>
|
||||
// /// 行为附加状态数据
|
||||
// /// </summary>
|
||||
// public static bool ActAttachStateData
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = true;
|
||||
// /// <summary>
|
||||
// /// 模型文件路径
|
||||
// /// </summary>
|
||||
// public static string ModelFilePath
|
||||
// {
|
||||
// get;
|
||||
// set;
|
||||
// } = "";
|
||||
|
||||
|
||||
//}
|
||||
|
||||
/// <summary>
|
||||
/// 项目配置参数
|
||||
/// 2021.10.17.LLX
|
||||
/// </summary>
|
||||
public class PCP_Json
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public PCP_Json()
|
||||
{
|
||||
WebUrl = System.Configuration.ConfigurationManager.AppSettings["WebUrl"];
|
||||
ConnSvrURL = System.Configuration.ConfigurationManager.AppSettings["ConnSvrURL"];
|
||||
ConnSvrURLBS = System.Configuration.ConfigurationManager.AppSettings["ConnSvrURLBS"];
|
||||
PrefixBS = System.Configuration.ConfigurationManager.AppSettings["PrefixBS"];
|
||||
WebFilePath = System.Configuration.ConfigurationManager.AppSettings["WebFilePath"];
|
||||
SqlBakPath = System.Configuration.ConfigurationManager.AppSettings["SqlBakPath"];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 导出序列的帧值
|
||||
/// </summary>
|
||||
public int FrameValue
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 20;
|
||||
/// <summary>
|
||||
/// 发送数据时间间隔
|
||||
/// </summary>
|
||||
public int SendInterval
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = 20;
|
||||
/// <summary>
|
||||
/// 通讯服务URL（CS）
|
||||
/// </summary>
|
||||
public string ConnSvrURL
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "127.0.0.1:41102,OP1010";
|
||||
/// <summary>
|
||||
/// 通讯标头（CS）
|
||||
/// </summary>
|
||||
public string Prefix
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "TOBS??SCADAMain?";
|
||||
/// <summary>
|
||||
/// 通讯项目标头（CS）
|
||||
/// </summary>
|
||||
public string ObjectHeader
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "DT";
|
||||
/// <summary>
|
||||
/// 通讯服务URL（BS）
|
||||
/// </summary>
|
||||
public string ConnSvrURLBS
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "127.0.0.1:61101,SCADAMain";
|
||||
/// <summary>
|
||||
/// 通讯标头（BS）
|
||||
/// </summary>
|
||||
public string PrefixBS
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "TOCS??OP1010?";
|
||||
/// <summary>
|
||||
/// 通讯项目标头（BS）
|
||||
/// </summary>
|
||||
public string ObjectHeaderBS
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "DT";
|
||||
///// <summary>
|
||||
///// OPC连接的URL
|
||||
///// </summary>
|
||||
//public string OpcUrl
|
||||
//{
|
||||
// get;
|
||||
// set;
|
||||
//} = "127.0.0.1:41102,OP1020";
|
||||
/// <summary>
|
||||
/// 三维网页的URL
|
||||
/// </summary>
|
||||
public string WebUrl
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "http://192.168.1.188:1257/editor/index_RobotPlan.html";
|
||||
/// <summary>
|
||||
/// 三维网页文件的路径
|
||||
/// </summary>
|
||||
public string WebFilePath
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = @"C:\00-资料夹\DT_WebFile\00-DT_";
|
||||
/// <summary>
|
||||
/// 程序启用Chrome浏览器
|
||||
/// </summary>
|
||||
public bool IsStartChrome
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = true;
|
||||
/// <summary>
|
||||
/// 使用服务器通讯方式
|
||||
/// </summary>
|
||||
public bool ConnMode
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = true;
|
||||
/// <summary>
|
||||
/// 是允许修改模型可见性
|
||||
/// </summary>
|
||||
public bool IsAllowVisible
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = true;
|
||||
/// <summary>
|
||||
/// 是记录现场真实数据
|
||||
/// </summary>
|
||||
public bool IsRecordData
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = false;
|
||||
///// <summary>
|
||||
///// 行为附加状态数据
|
||||
///// </summary>
|
||||
//public bool ActAttachStateData
|
||||
//{
|
||||
// get;
|
||||
// set;
|
||||
//} = true;
|
||||
/// <summary>
|
||||
/// 模型文件路径
|
||||
/// </summary>
|
||||
public string ModelFilePath
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = "";
|
||||
/// <summary>
|
||||
/// 数据库备份的路径
|
||||
/// 2021.12.3.LLX
|
||||
/// </summary>
|
||||
public string SqlBakPath
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = @"C:\mwdf_bak";
|
||||
/// <summary>
|
||||
/// 是虚拟的PLC模式
|
||||
/// 2021.12.3.LLX
|
||||
/// </summary>
|
||||
public bool IsPlcSim
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,523 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Numerics;
|
||||
|
||||
namespace KinematicsBase
|
||||
{
|
||||
#region BaseClass
|
||||
|
||||
[Serializable]
|
||||
public enum UnitType
|
||||
{
|
||||
mm,
|
||||
cm,
|
||||
m
|
||||
}
|
||||
[Serializable]
|
||||
public enum LimitType
|
||||
{
|
||||
Constant,
|
||||
|
||||
NoLimits
|
||||
//,Variable
|
||||
}
|
||||
|
||||
public enum JointType
|
||||
{
|
||||
/// <summary>
|
||||
/// 旋转
|
||||
/// </summary>
|
||||
Revolute,
|
||||
/// <summary>
|
||||
/// 滑移
|
||||
/// </summary>
|
||||
Prismatic
|
||||
}
|
||||
[Serializable]
|
||||
public class JointMaxValues
|
||||
{
|
||||
public JointMaxValues()
|
||||
{
|
||||
}
|
||||
|
||||
public JointMaxValues(double speed, double acceleration)
|
||||
{
|
||||
Speed = speed;
|
||||
Acceleration = acceleration;
|
||||
}
|
||||
public double SpeedFromJointLimit(JointLimit jointLimit)
|
||||
{
|
||||
if (jointLimit.Interval <= 0.000000001)
|
||||
{
|
||||
Speed = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
Speed = (jointLimit.HighLimit - jointLimit.LowLimit) / (jointLimit.Interval / 1000f);
|
||||
}
|
||||
return Speed;
|
||||
}
|
||||
|
||||
public double Speed { get; set; }
|
||||
|
||||
public double Acceleration { get; set; }
|
||||
}
|
||||
[Serializable]
|
||||
public class JointLimit
|
||||
{
|
||||
public JointLimit()
|
||||
{
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 创建JointLimit类构造方法
|
||||
/// </summary>
|
||||
/// <param name="limitType">LimitType. </param>
|
||||
/// <param name="lowLimit">最小极限 double </param>
|
||||
/// <param name="highLimit">最大极限 double</param>
|
||||
public JointLimit(LimitType limitType, double lowLimit, double highLimit)
|
||||
{
|
||||
this.LimitType = limitType;
|
||||
this.LowLimit = lowLimit;
|
||||
this.HighLimit = highLimit;
|
||||
}
|
||||
public JointLimit(LimitType limitType, double lowLimit, double highLimit, int interval)
|
||||
{
|
||||
this.LimitType = limitType;
|
||||
this.LowLimit = lowLimit;
|
||||
this.HighLimit = highLimit;
|
||||
this.Interval = interval;
|
||||
|
||||
}
|
||||
|
||||
public LimitType LimitType { get; set; }
|
||||
|
||||
public double LowLimit { get; set; }
|
||||
|
||||
public double HighLimit { get; set; }
|
||||
/// <summary>
|
||||
/// 时间优先时候的时间，单位毫秒
|
||||
/// </summary>
|
||||
public int Interval;
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class Joint
|
||||
{
|
||||
/// <summary>
|
||||
/// ModeId JointId value
|
||||
/// </summary>
|
||||
public static event Action<string, string, object> OnDataChange = null;
|
||||
public static event Action<string, string, bool> OnDataChangeJointIsRun = null;
|
||||
//public static event Action<Joint> UpdateJoint;
|
||||
|
||||
public static void DataChange(string modeId, string id, object val)
|
||||
{
|
||||
if (OnDataChange != null)
|
||||
{
|
||||
OnDataChange.Invoke(modeId, id, val);
|
||||
}
|
||||
}
|
||||
|
||||
public static void DataChangeJointIsRun(string modeId, string id, bool val)
|
||||
{
|
||||
if (OnDataChangeJointIsRun != null)
|
||||
{
|
||||
OnDataChangeJointIsRun.Invoke(modeId, id, val);
|
||||
}
|
||||
}
|
||||
public Joint()
|
||||
{
|
||||
GraphPosition = new System.Drawing.Point[2];
|
||||
}
|
||||
|
||||
|
||||
public Joint(string id, string name, bool isDriving = true)
|
||||
{
|
||||
this.Id = id;
|
||||
this.Name = name;
|
||||
this.IsDriving = isDriving;
|
||||
//this.Valuefactor = 1;
|
||||
}
|
||||
public System.Drawing.Point[] GraphPosition { set; get; }
|
||||
|
||||
public string Id { get; set; }
|
||||
|
||||
public string Name { get; set; }
|
||||
public string ModelId { get; set; }
|
||||
/// <summary>
|
||||
/// 驱动轴
|
||||
/// 联动时的主运动
|
||||
/// </summary>
|
||||
public bool IsDriving { get; set; }
|
||||
|
||||
public string ParentLinkId { get; set; }
|
||||
|
||||
public string ChildLinkId { get; set; }
|
||||
/// <summary>
|
||||
/// 父模型代码
|
||||
/// </summary>
|
||||
public string PId { get; set; }
|
||||
/// <summary>
|
||||
/// 子模型代码
|
||||
/// </summary>
|
||||
public string CId { get; set; }
|
||||
|
||||
|
||||
public Axis Axis { get; set; }
|
||||
|
||||
public JointType JointType { get; set; }
|
||||
|
||||
public bool LockJoint { get; set; }
|
||||
|
||||
public JointLimit JointLimit { get; set; }
|
||||
|
||||
public JointMaxValues JointMaxValue { get; set; }
|
||||
/// <summary>
|
||||
/// 模型初始值
|
||||
/// </summary>
|
||||
public double Value { get; set; }
|
||||
|
||||
public bool FindJointById(Joint joint)
|
||||
{
|
||||
return Id == joint.Id;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 输入参数
|
||||
/// </summary>
|
||||
public double ValueInput { get; set; }
|
||||
/// <summary>
|
||||
/// 倍率 1
|
||||
/// </summary>
|
||||
public double ValueFactor { get; set; } = 1;
|
||||
/// <summary>
|
||||
/// 模型当前值
|
||||
/// </summary>
|
||||
public double ValueCurrent { get; set; }
|
||||
public string Script;
|
||||
public bool IsScript;
|
||||
|
||||
public bool IsOnlyHomePose;
|
||||
|
||||
|
||||
public static double GetJointPosition(Joint joint)
|
||||
{
|
||||
double val = -1;
|
||||
switch (joint.JointType)
|
||||
{
|
||||
case JointType.Prismatic:
|
||||
switch (joint.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.Position.X);
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.Position.Y);
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.Position.Z);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
//一、绕定轴X-Y-Z旋转（RPY角）
|
||||
//二、绕动轴Z-Y-X旋转（Euler角）
|
||||
case JointType.Revolute:
|
||||
switch (joint.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.FixedAngle.R);
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.FixedAngle.P);
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
val = Convert.ToSingle(joint.Axis.Loaction.FixedAngle.Y);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
/// <summary>
|
||||
/// 计算位姿变换
|
||||
/// </summary>
|
||||
/// <param name="initCoordinate">初始坐标doule[7]</param>
|
||||
/// <param name="along">沿着某个轴转，X/Y/Z/RX/RY/RZ</param>
|
||||
/// <param name="step">移动步长，转动单位弧度，移动单位与输入一致</param>
|
||||
/// <returns>目标坐标doule[7]</returns>
|
||||
public PositionQuaternion TransformCoordinates(Joint joint, double step)
|
||||
{
|
||||
string along = GetJointAlong(joint);
|
||||
double[] initCoordinate = new double[7];
|
||||
initCoordinate[0] = joint.Axis.LoactionQuaternion.Position.X;
|
||||
initCoordinate[1] = joint.Axis.LoactionQuaternion.Position.Y;
|
||||
initCoordinate[2] = joint.Axis.LoactionQuaternion.Position.Z;
|
||||
initCoordinate[3] = joint.Axis.LoactionQuaternion.Quaternion.X;
|
||||
initCoordinate[4] = joint.Axis.LoactionQuaternion.Quaternion.Y;
|
||||
initCoordinate[5] = joint.Axis.LoactionQuaternion.Quaternion.Z;
|
||||
initCoordinate[6] = joint.Axis.LoactionQuaternion.Quaternion.W;
|
||||
|
||||
|
||||
return TransformCoordinates(initCoordinate, along, step, joint.JointType);
|
||||
|
||||
|
||||
}
|
||||
|
||||
public static string GetJointAlong(Joint joint)
|
||||
{
|
||||
string along = "X";
|
||||
switch (joint.JointType)
|
||||
{
|
||||
case JointType.Prismatic:
|
||||
switch (joint.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
along = "X";
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
along = "Y";
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
along = "Z";
|
||||
break;
|
||||
}
|
||||
break;
|
||||
//一、绕定轴X-Y-Z旋转（RPY角）
|
||||
//二、绕动轴Z-Y-X旋转（Euler角）
|
||||
case JointType.Revolute:
|
||||
switch (joint.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
along = "RX";
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
along = "RY";
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
along = "RZ";
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
return along;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算位姿变换
|
||||
/// </summary>
|
||||
/// <param name="initCoordinate">初始坐标doule[7]</param>
|
||||
/// <param name="along">沿着某个轴转，X/Y/Z/RX/RY/RZ</param>
|
||||
/// <param name="step">移动步长，转动单位弧度，移动单位与输入一致</param>
|
||||
/// <returns>目标坐标doule[7]</returns>
|
||||
static public PositionQuaternion TransformCoordinates(double[] initCoordinate, string along, double step, JointType jointType)
|
||||
{
|
||||
PositionQuaternion PoseLoactionQuaternion = new PositionQuaternion();
|
||||
// 存储转换结果
|
||||
//double[] res = new double[7];
|
||||
if (jointType == JointType.Revolute)
|
||||
{
|
||||
step = step * Math.PI / 180;
|
||||
}
|
||||
var stepFloat = Convert.ToSingle(step);
|
||||
|
||||
// 初始姿态
|
||||
var initPos = new System.Numerics.Vector3(Convert.ToSingle(initCoordinate[0]), Convert.ToSingle(initCoordinate[1]), Convert.ToSingle(initCoordinate[2]));
|
||||
var initQua = new System.Numerics.Quaternion(Convert.ToSingle(initCoordinate[3]), Convert.ToSingle(initCoordinate[4]), Convert.ToSingle(initCoordinate[5]), Convert.ToSingle(initCoordinate[6]));
|
||||
var resPos = new System.Numerics.Vector3();
|
||||
var resQua = new System.Numerics.Quaternion();
|
||||
resPos = initPos;
|
||||
|
||||
// 转动或移动
|
||||
switch (along.ToUpper())
|
||||
{
|
||||
case "X":
|
||||
{
|
||||
resPos.X += stepFloat;
|
||||
resQua = initQua;
|
||||
break;
|
||||
}
|
||||
case "Y":
|
||||
{
|
||||
resPos.Y += stepFloat;
|
||||
resQua = initQua;
|
||||
break;
|
||||
}
|
||||
case "Z":
|
||||
{
|
||||
resPos.Z += stepFloat;
|
||||
resQua = initQua;
|
||||
break;
|
||||
}
|
||||
case "RX":
|
||||
{
|
||||
resPos = initPos;
|
||||
var quaTrans = System.Numerics.Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), stepFloat);
|
||||
resQua = System.Numerics.Quaternion.Multiply(initQua, quaTrans);
|
||||
break;
|
||||
}
|
||||
case "RY":
|
||||
{
|
||||
resPos = initPos;
|
||||
var quaTrans = System.Numerics.Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), stepFloat);
|
||||
resQua = System.Numerics.Quaternion.Multiply(initQua, quaTrans);
|
||||
break;
|
||||
}
|
||||
case "RZ":
|
||||
{
|
||||
resPos = initPos;
|
||||
var quaTrans = System.Numerics.Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), stepFloat);
|
||||
resQua = System.Numerics.Quaternion.Multiply(initQua, quaTrans);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//res[0] = resPos.X/1000;
|
||||
//res[1] = resPos.Y/1000;
|
||||
//res[2] = resPos.Z/1000;
|
||||
//res[3] = resQua.X;
|
||||
//res[4] = resQua.Y;
|
||||
//res[5] = resQua.Z;
|
||||
//res[6] = resQua.W;
|
||||
PoseLoactionQuaternion.Position.X = resPos.X / 1000;
|
||||
PoseLoactionQuaternion.Position.Y = resPos.Y / 1000;
|
||||
PoseLoactionQuaternion.Position.Z = resPos.Z / 1000;
|
||||
PoseLoactionQuaternion.Quaternion.X = resQua.X;
|
||||
PoseLoactionQuaternion.Quaternion.Y = resQua.Y;
|
||||
PoseLoactionQuaternion.Quaternion.Z = resQua.Z;
|
||||
PoseLoactionQuaternion.Quaternion.W = resQua.W;
|
||||
return PoseLoactionQuaternion;
|
||||
}
|
||||
|
||||
#region Method
|
||||
//public static void JointListRemove(List<Joint> JointList,List<Joint>JointListOld)
|
||||
//{
|
||||
// if (JointListOld == null) return;
|
||||
// foreach(var item in JointListOld)
|
||||
// {
|
||||
// int index = JointList.FindIndex(t => t.Id == item.Id);
|
||||
// if (index >= 0)
|
||||
// {
|
||||
// JointList.RemoveAt(index);
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
///// <summary>
|
||||
///// 将设备JointList加入系统列表
|
||||
///// </summary>
|
||||
///// <param name="JointList"></param>
|
||||
///// <param name="jointList"></param>
|
||||
//public static void JointListViewAddAndUpdate(List<Joint> JointList, List<Joint> jointList)
|
||||
//{
|
||||
// int index;
|
||||
// foreach (var item in jointList)
|
||||
// {
|
||||
// index = JointList.FindIndex(t => t.Id == item.Id);
|
||||
// if (index > -1)
|
||||
// {
|
||||
// JointList.RemoveAt(index);
|
||||
// item.ValueCurrent = item.Value;
|
||||
// JointList.Add(item);
|
||||
// Joint.DataChange(item.Id, item.Value);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// item.ValueCurrent = item.Value;
|
||||
// JointList.Add(item);
|
||||
// Joint.DataChange(item.Id, item.Value);
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
|
||||
|
||||
#endregion
|
||||
///// <summary>
|
||||
///// 当前实际位置
|
||||
///// </summary>
|
||||
//public PositionFixedAngle PositionCurrent { get; set; }
|
||||
///// <summary>
|
||||
///// 根据输入值和倍率计算模型当前位置
|
||||
///// </summary>
|
||||
///// <param name="ValueInput"></param>
|
||||
///// <returns></returns>
|
||||
//public PositionFixedAngle GetPositionCurrent(double ValueInput)
|
||||
//{
|
||||
|
||||
// Value = Value * ValueFactor;
|
||||
// this.ValueInput = ValueInput;
|
||||
// PositionCurrent.Position.X = Axis.Loaction.Position.X + positionNormalMatrix.x * Value;
|
||||
// PositionCurrent.Position.Y = Axis.Loaction.Position.Y + positionNormalMatrix.y * Value;
|
||||
// PositionCurrent.Position.Z = Axis.Loaction.Position.Z + positionNormalMatrix.z * Value;
|
||||
// PositionCurrent.FixedAngle.R = Axis.Loaction.FixedAngle.R + positionNormalMatrix.rx * Value;
|
||||
// PositionCurrent.FixedAngle.P = Axis.Loaction.FixedAngle.P + positionNormalMatrix.ry * Value;
|
||||
// PositionCurrent.FixedAngle.Y = Axis.Loaction.FixedAngle.Y + positionNormalMatrix.rz * Value;
|
||||
|
||||
// return PositionCurrent;
|
||||
//}
|
||||
///// <summary>
|
||||
///// 根据界面数据，给位置变换标准矩阵赋值
|
||||
///// </summary>
|
||||
///// <returns></returns>
|
||||
//public PositionNormalMatrix SetPositionNormalMatrix()
|
||||
//{
|
||||
// positionNormalMatrix.x =0;
|
||||
// positionNormalMatrix.y =0;
|
||||
// positionNormalMatrix.z = 0;
|
||||
// positionNormalMatrix.rx = 0;
|
||||
// positionNormalMatrix.ry = 0;
|
||||
// positionNormalMatrix.rz = 0;
|
||||
|
||||
// switch (JointType)
|
||||
// {
|
||||
// case JointType.Revolute:
|
||||
// switch (Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// positionNormalMatrix.rx = 1;
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// positionNormalMatrix.ry = 1;
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// positionNormalMatrix.rz = 1;
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
// case JointType.Prismatic:
|
||||
// switch (Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// positionNormalMatrix.x = 1;
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// positionNormalMatrix.y = 1;
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// positionNormalMatrix.z = 1;
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
|
||||
// }
|
||||
// switch (Axis.Flip)
|
||||
// {
|
||||
// case 1:
|
||||
// positionNormalMatrix.x = -positionNormalMatrix.x;
|
||||
// positionNormalMatrix.y = -positionNormalMatrix.y;
|
||||
// positionNormalMatrix.z = -positionNormalMatrix.z;
|
||||
// positionNormalMatrix.rx = -positionNormalMatrix.rx;
|
||||
// positionNormalMatrix.ry = -positionNormalMatrix.rx;
|
||||
// positionNormalMatrix.rz = -positionNormalMatrix.rx;
|
||||
// break;
|
||||
// }
|
||||
// return positionNormalMatrix;
|
||||
//}
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
@@ -0,0 +1,78 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
|
||||
namespace KinematicsBase
|
||||
{
|
||||
#region BaseClass
|
||||
|
||||
|
||||
[Serializable]
|
||||
public class JointPose
|
||||
{
|
||||
/// <summary>
|
||||
/// 0
|
||||
/// </summary>
|
||||
public string JointId { get; set; }
|
||||
/// <summary>
|
||||
/// 1 名称
|
||||
/// </summary>
|
||||
public string JointName { get; set; }
|
||||
public string ModelId { get; set; }
|
||||
/// <summary>
|
||||
/// 2 值
|
||||
/// </summary>
|
||||
public double Value { get; set; }
|
||||
/// <summary>
|
||||
/// 3 速度
|
||||
/// </summary>
|
||||
public double Speed { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 4 驱动关节
|
||||
/// </summary>
|
||||
public bool IsDriving { get; set; }
|
||||
/// <summary>
|
||||
/// 5 倍率
|
||||
/// </summary>
|
||||
public double ValueFactor { get; set; }
|
||||
/// <summary>
|
||||
/// 6 加速
|
||||
/// </summary>
|
||||
public double AccelerationStart { get; set; }
|
||||
/// <summary>
|
||||
/// 7 减速
|
||||
/// </summary>
|
||||
public double AccelerationEnd { get; set; }
|
||||
/// <summary>
|
||||
/// 8 最小值
|
||||
/// </summary>
|
||||
public double LowLimit { get; set; }
|
||||
/// <summary>
|
||||
/// 9 最大值
|
||||
/// </summary>
|
||||
public double HighLimit { get; set; }
|
||||
/// <summary>
|
||||
/// 10 时间
|
||||
/// </summary>
|
||||
public int Interval { get; set; }
|
||||
public JointPose()
|
||||
{
|
||||
|
||||
}
|
||||
public JointPose(string JointId, string JointName)
|
||||
{
|
||||
this.JointId = JointId;
|
||||
this.JointName = JointName;
|
||||
Value = 0;
|
||||
Speed = 100;
|
||||
ValueFactor = 1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
}
|
||||
@@ -0,0 +1,618 @@
|
||||
using Newtonsoft.Json;
|
||||
using Newtonsoft.Json.Linq;
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.IO;
|
||||
using System.Linq;
|
||||
using System.Runtime.Serialization;
|
||||
using System.Runtime.Serialization.Formatters.Binary;
|
||||
using System.Xml.Linq;
|
||||
|
||||
namespace KinematicsBase
|
||||
{
|
||||
[Serializable]
|
||||
public class Kinematics
|
||||
{
|
||||
#region Fields
|
||||
|
||||
public string Id { get; set; }
|
||||
public string ModelId { get; set; }
|
||||
|
||||
public string ModelName { get; set; }
|
||||
|
||||
public string OpName { get; set; }
|
||||
|
||||
public DeviceType DeviceType { get; set; }
|
||||
|
||||
public PositionQuaternionWithID Base { get; set; }
|
||||
|
||||
public PositionQuaternionWithID Flange { get; set; }
|
||||
|
||||
public PositionQuaternionWithID Tool { get; set; }
|
||||
|
||||
public List<Link> LinkList { get; set; } = new List<Link>();
|
||||
|
||||
public List<Joint> JointList { get; set; } = new List<Joint>();
|
||||
/// <summary>
|
||||
/// 按父子级排序
|
||||
/// </summary>
|
||||
public List<Joint> JointListOrderBy { get; set; } = new List<Joint>();
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 创建Joint时,自动创建两个姿态。Joint的最小值作为HOME姿态，最大值作为姿态POSE
|
||||
/// </summary>
|
||||
public List<Pose> PoseList = new List<Pose>();
|
||||
public List<Sensor> SensorList = new List<Sensor>();
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region Constructor
|
||||
public Kinematics()
|
||||
{
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region Link
|
||||
|
||||
/// <summary>
|
||||
/// 根据Id删除Link
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="id"></param>
|
||||
public void RemoveLinkById(string id)
|
||||
{
|
||||
Link currentLink = null;
|
||||
foreach (var link in LinkList)
|
||||
{
|
||||
if (link.Id == id)
|
||||
{
|
||||
currentLink = link;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
LinkList.Remove(currentLink);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 根据Id（内部ID，非模型Id）获取Link name，和模型Id
|
||||
/// </summary>
|
||||
/// <param name="id"></param>
|
||||
/// <returns></returns>
|
||||
public string[] GetLinkNameModelIdById(string id)
|
||||
{
|
||||
string[] str = new[] { "Nan", "Nan" };
|
||||
foreach (var link in LinkList)
|
||||
{
|
||||
if (link.Id == id)
|
||||
{
|
||||
str[0] = link.Name;
|
||||
str[1] = link.LinkElements[0].Id;
|
||||
return str;
|
||||
}
|
||||
}
|
||||
|
||||
return str;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 根据ID获取Link
|
||||
/// </summary>
|
||||
/// <param name="linkList"></param>
|
||||
/// <param name="id"></param>
|
||||
/// <returns></returns>
|
||||
public Link GetLinkById(string id)
|
||||
{
|
||||
foreach (var link in LinkList)
|
||||
{
|
||||
if (link.Id == id)
|
||||
{
|
||||
return link;
|
||||
}
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
public List<string> GetLastLinkId()
|
||||
{
|
||||
var res = new List<string>();
|
||||
|
||||
//var lastLinkId = "";
|
||||
//var lastLinkName = "";
|
||||
|
||||
//foreach (var link in LinkList)
|
||||
//{
|
||||
// foreach (var joint in JointList)
|
||||
// {
|
||||
// if (link.LinkElements[0].Id == joint.ParentLinkId)
|
||||
// {
|
||||
// continue;
|
||||
// }
|
||||
|
||||
// lastLinkId = link.LinkElements[0].Id;
|
||||
// lastLinkName = link.LinkElements[0].Name;
|
||||
// }
|
||||
//}
|
||||
|
||||
|
||||
var link = LinkList.Find(o=>o.Name.Contains("_6"));
|
||||
var lastLinkId = link.LinkElements[0].Id;
|
||||
var lastLinkName = link.LinkElements[0].Name;
|
||||
|
||||
res.Add(lastLinkId);
|
||||
res.Add(lastLinkName);
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
#region Clone
|
||||
public static List<T> Clone<T>(object List)
|
||||
{
|
||||
using (Stream objectStream = new MemoryStream())
|
||||
{
|
||||
IFormatter formatter = new BinaryFormatter();
|
||||
formatter.Serialize(objectStream, List);
|
||||
objectStream.Seek(0, SeekOrigin.Begin);
|
||||
return formatter.Deserialize(objectStream) as List<T>;
|
||||
}
|
||||
}
|
||||
#endregion
|
||||
|
||||
#region SensorSetup
|
||||
public static void SensorSetup()
|
||||
{
|
||||
foreach (var k in PP.ReturnKinematicsList())
|
||||
{
|
||||
foreach (var sensor in k.SensorList)
|
||||
{
|
||||
sensor.Setup();
|
||||
}
|
||||
}
|
||||
}
|
||||
#endregion
|
||||
#region Joint
|
||||
public static void SetJointValueCurrent(string modelId, string id, double val)
|
||||
{
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
k.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent = val;
|
||||
Joint.DataChange(k.ModelId, id, val);
|
||||
}
|
||||
|
||||
//public static void SetJointValueCurrentPosition(string modelId, string id, double val,double valePosition)
|
||||
//{
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
// k.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent = val+ valePosition;
|
||||
// Joint.DataChange(k.ModelId, id, val);
|
||||
//}
|
||||
//public void SetJointValueCurrent(string id, double val)
|
||||
//{
|
||||
// //Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
// this.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent = val;
|
||||
//}
|
||||
public static void SetJointListValueCurrent(string modelId, Pose pose)
|
||||
{
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
foreach (var item in k.JointList)
|
||||
{
|
||||
item.ValueCurrent = pose.PoseInfo[item.Id];
|
||||
|
||||
Joint.DataChange(k.ModelId, item.Id, Convert.ToSingle(item.ValueCurrent));
|
||||
}
|
||||
}
|
||||
//public void SetJointListValueCurrent(Pose pose)
|
||||
//{
|
||||
// foreach (var item in this.JointList)
|
||||
// {
|
||||
// item.Value = pose.PoseInfo[item.Id];
|
||||
// }
|
||||
//}
|
||||
|
||||
public static string GoeModleIdByPoseId(string poseId)
|
||||
{
|
||||
foreach (var k in PP.ReturnKinematicsList())
|
||||
{
|
||||
var pose = k.PoseList.FirstOrDefault(t => t.Id == poseId);
|
||||
if (pose != null)
|
||||
{
|
||||
return k.ModelId;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
public static double GetJointValueCurrent(string modelId, string id)
|
||||
{
|
||||
//Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
return k.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent;
|
||||
}
|
||||
public static Pose GetPoseByPoseId(string poseId)
|
||||
{
|
||||
List<Pose> PoseListView = new List<Pose>();
|
||||
foreach (var item in PP.ReturnKinematicsList())
|
||||
{
|
||||
PoseListView.AddRange(item.PoseList);
|
||||
}
|
||||
return PoseListView.FirstOrDefault(t => t.Id == poseId);
|
||||
}
|
||||
|
||||
|
||||
public static List<Joint> GetJointListView()
|
||||
{
|
||||
List<Joint> JointListView = new List<Joint>();
|
||||
foreach (var item in PP.ReturnKinematicsList())
|
||||
{
|
||||
JointListView.AddRange(item.JointList);
|
||||
}
|
||||
return JointListView;
|
||||
}
|
||||
public static List<Sensor> GetSensorListView()
|
||||
{
|
||||
List<Sensor> SensorListView = new List<Sensor>();
|
||||
foreach (var item in PP.ReturnKinematicsList())
|
||||
{
|
||||
SensorListView.AddRange(item.SensorList);
|
||||
}
|
||||
return SensorListView;
|
||||
}
|
||||
//SensorListView
|
||||
|
||||
//JointListView
|
||||
public static Pose GetPoseByModeIdAndPoseId(string modelId, string poseId)
|
||||
{
|
||||
// return DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId).PoseList.FirstOrDefault(t => t.Id == poseId);
|
||||
return PP.ModelCodeFindModelAttribute(modelId).KinematicsData.PoseList.FirstOrDefault(t => t.Id == poseId);
|
||||
}
|
||||
public static string GetModelNameByModelId(string modelId)
|
||||
{
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
return k.ModelName;
|
||||
}
|
||||
public static List<Joint> GetJointListByModelId(string modelId)
|
||||
{
|
||||
// return DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId).JointList;
|
||||
return PP.ModelCodeFindModelAttribute(modelId).KinematicsData.JointList;
|
||||
}
|
||||
public static Joint GetJointByModelIdAndJointId(string modelId, string jointId)
|
||||
{
|
||||
// return DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId).JointList.FirstOrDefault(t => t.Id == jointId);
|
||||
return PP.ModelCodeFindModelAttribute(modelId).KinematicsData.JointList.FirstOrDefault(t => t.Id == jointId);
|
||||
}
|
||||
public static Kinematics GetKinematicsByModelId(string modelId)
|
||||
{
|
||||
// return DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
return PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
|
||||
}
|
||||
//Kinematics.SetJointValueCurrent(modelId, jId, valuCurrent);
|
||||
/// <summary>
|
||||
/// 根据Id删除joint
|
||||
/// </summary>
|
||||
/// <param name="id"></param>
|
||||
public void RemeveJointById(string id)
|
||||
{
|
||||
Joint currentJoint = null;
|
||||
foreach (var joint in JointList)
|
||||
{
|
||||
if (joint.Id == id)
|
||||
{
|
||||
currentJoint = joint;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
JointList.Remove(currentJoint);
|
||||
|
||||
}
|
||||
|
||||
///// <summary>
|
||||
///// 根据ID获取Joint
|
||||
///// </summary>
|
||||
///// <param name="jointList"></param>
|
||||
///// <param name="id"></param>
|
||||
///// <returns></returns>
|
||||
//public Joint GetJointById(string id)
|
||||
//{
|
||||
// foreach (var joint in JointList)
|
||||
// {
|
||||
// if (joint.Id == id)
|
||||
// {
|
||||
// return joint;
|
||||
// }
|
||||
// }
|
||||
|
||||
// return null;
|
||||
//}
|
||||
|
||||
|
||||
|
||||
//topId = 0;
|
||||
// var list = GetSonNode(topId, nodeList);
|
||||
|
||||
// foreach (var item in list)
|
||||
// {
|
||||
// Console.WriteLine("id = "+item.Id+ "/nParentId="+item.ParentId+ "/nMame = " +item.Name);
|
||||
// }
|
||||
/// <summary>
|
||||
/// Joint 按父节点到子节点递归排序
|
||||
/// </summary>
|
||||
/// <param name="id"></param>
|
||||
/// <param name="nodeList"></param>
|
||||
/// <returns></returns>
|
||||
private List<Joint> GetSonNode(string ChildLinkId, List<Joint> nodeList)
|
||||
{
|
||||
|
||||
|
||||
var query = nodeList.Where(c => c.ParentLinkId == ChildLinkId);
|
||||
|
||||
return query.ToList().Concat(query.ToList().SelectMany(t => GetSonNode(t.ChildLinkId, nodeList))).ToList();
|
||||
}
|
||||
private string GetParents(string ChildLinkId, List<Joint> list)
|
||||
{
|
||||
List<Joint> result = list.Where(x => x.ChildLinkId == ChildLinkId).ToList();
|
||||
if (result.Count > 0 && result[0].ParentLinkId != "" && result[0].ParentLinkId.ToString() != "")
|
||||
return GetParents(result[0].ParentLinkId, list);
|
||||
else
|
||||
return ChildLinkId;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Joint 按父节点到子节点递归排序
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public List<Joint> GetSonNode()
|
||||
{
|
||||
List<Joint> nodeList = JointList;
|
||||
if (nodeList.Count < 1) return null;
|
||||
string ChildLinkId_init = nodeList[0].ChildLinkId;
|
||||
string ChildLinkId = GetParents(ChildLinkId_init, nodeList);
|
||||
List<Joint> result;
|
||||
result = GetSonNode(ChildLinkId, nodeList);
|
||||
|
||||
return result;
|
||||
}
|
||||
/// <summary>
|
||||
/// 关节联动时
|
||||
/// 计算每个关节的值
|
||||
/// </summary>
|
||||
/// <param name="nodeList"></param>
|
||||
/// <param name="val"></param>
|
||||
public string JointListValueCurrent(double val)
|
||||
{
|
||||
JointListOrderBy = GetSonNode();
|
||||
|
||||
List<Joint> nodeList;
|
||||
nodeList = JointListOrderBy;
|
||||
JArray jarrayObj = new JArray();
|
||||
|
||||
Dictionary<string, double> dicJointListValueCurrent = new Dictionary<string, double>();
|
||||
|
||||
dicJointListValueCurrent.Add(nodeList[0].ParentLinkId, val);
|
||||
for (int i = 0; i < nodeList.Count; i++)
|
||||
{
|
||||
nodeList[i].ValueCurrent = dicJointListValueCurrent[nodeList[i].ParentLinkId] * nodeList[i].ValueFactor;
|
||||
if (!dicJointListValueCurrent.ContainsKey(nodeList[i].ChildLinkId))
|
||||
{
|
||||
dicJointListValueCurrent.Add(nodeList[i].ChildLinkId, nodeList[i].ValueCurrent);
|
||||
}
|
||||
}
|
||||
foreach (var joint in nodeList)
|
||||
{
|
||||
var jObj = new JObject();
|
||||
jObj["jId"] = joint.Id;
|
||||
jObj["jValue"] = joint.ValueCurrent + Joint.GetJointPosition(joint); ;
|
||||
jarrayObj.Add(jObj);
|
||||
|
||||
SetJointValueCurrent(this.ModelId, joint.Id, joint.ValueCurrent);
|
||||
//Joint.DataChange(this.ModelId, joint.Id, joint.ValueCurrent);
|
||||
|
||||
}
|
||||
var jsonData = new JObject(
|
||||
new JProperty("ModelId", this.ModelId),
|
||||
new JProperty("MotionType", "3"),
|
||||
new JProperty("MotionInfo", jarrayObj)
|
||||
);
|
||||
var jsonStr = jsonData.ToString().Replace("\n", "").Replace("\r", "").Replace(" ", "");
|
||||
string message = "|SendMotionInfo|" + jsonStr;
|
||||
return message;
|
||||
}
|
||||
public List<C_ObjStates> JointListValueCurrentNew(double val)
|
||||
{
|
||||
List<C_ObjStates> ObjStatesList = new List<C_ObjStates>();
|
||||
List<C_ObjStates> objStates = new List<C_ObjStates>();
|
||||
JointListOrderBy = GetSonNode();
|
||||
|
||||
List<Joint> nodeList;
|
||||
nodeList = JointListOrderBy;
|
||||
JArray jarrayObj = new JArray();
|
||||
|
||||
Dictionary<string, double> dicJointListValueCurrent = new Dictionary<string, double>();
|
||||
|
||||
dicJointListValueCurrent.Add(nodeList[0].ParentLinkId, val);
|
||||
for (int i = 0; i < nodeList.Count; i++)
|
||||
{
|
||||
nodeList[i].ValueCurrent = dicJointListValueCurrent[nodeList[i].ParentLinkId] * nodeList[i].ValueFactor;
|
||||
if (!dicJointListValueCurrent.ContainsKey(nodeList[i].ChildLinkId))
|
||||
{
|
||||
dicJointListValueCurrent.Add(nodeList[i].ChildLinkId, nodeList[i].ValueCurrent);
|
||||
}
|
||||
}
|
||||
foreach (var joint in nodeList)
|
||||
{
|
||||
var jObj = new JObject();
|
||||
jObj["jId"] = joint.Id;
|
||||
jObj["jValue"] = joint.ValueCurrent + Joint.GetJointPosition(joint); ;
|
||||
jarrayObj.Add(jObj);
|
||||
|
||||
SetJointValueCurrent(this.ModelId, joint.Id, joint.ValueCurrent);
|
||||
|
||||
objStates = new OPERATION_FramesList().GetObjStates(this.ModelId, joint.Id, joint.ValueCurrent);
|
||||
foreach (var item in objStates)
|
||||
{
|
||||
ObjStatesList.Add(item);
|
||||
}
|
||||
//Joint.DataChange(this.ModelId, joint.Id, joint.ValueCurrent);
|
||||
|
||||
}
|
||||
|
||||
return ObjStatesList;
|
||||
}
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
#region KinematicsList
|
||||
|
||||
/// <summary>
|
||||
/// 根据设备代码判断设备是否存在
|
||||
/// </summary>
|
||||
/// <param name="modelId"></param>
|
||||
/// <returns></returns>
|
||||
public static Kinematics KinematicsListFindByModelId(string modelId)
|
||||
{
|
||||
// var k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(modelId).KinematicsData;
|
||||
return k;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 设备存在，更新；不存在增加
|
||||
/// </summary>
|
||||
/// <param name="k"></param>
|
||||
/// <returns></returns>
|
||||
public static void KinematicsListAddAndUpDate(Kinematics k)
|
||||
{
|
||||
// var objK = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == k.ModelId);
|
||||
var objK = PP.ModelCodeFindModelAttribute(k.ModelId).KinematicsData;
|
||||
if (objK == null)
|
||||
{
|
||||
// DataBaseJson.dataBaseJson.KinematicsList.Add(k);
|
||||
foreach (var item in k.SensorList)
|
||||
{
|
||||
|
||||
switch (item.SensorType)
|
||||
{
|
||||
case SensorType.IsRun:
|
||||
Joint.OnDataChangeJointIsRun -= item.Joint_OnDataChangeJointIsRun;
|
||||
Joint.OnDataChangeJointIsRun += item.Joint_OnDataChangeJointIsRun;
|
||||
break;
|
||||
default:
|
||||
Joint.OnDataChange -= item.Joint_OnDataChange;
|
||||
Joint.OnDataChange += item.Joint_OnDataChange;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
foreach (var item in k.SensorList)
|
||||
{
|
||||
|
||||
switch (item.SensorType)
|
||||
{
|
||||
case SensorType.IsRun:
|
||||
Joint.OnDataChangeJointIsRun -= item.Joint_OnDataChangeJointIsRun;
|
||||
Joint.OnDataChangeJointIsRun += item.Joint_OnDataChangeJointIsRun;
|
||||
break;
|
||||
default:
|
||||
Joint.OnDataChange -= item.Joint_OnDataChange;
|
||||
Joint.OnDataChange += item.Joint_OnDataChange;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
objK = k;
|
||||
}
|
||||
|
||||
// Event.KinematicsDataChange(k);
|
||||
}
|
||||
|
||||
|
||||
|
||||
private double GetJointPosition(Kinematics k, string jointId)
|
||||
{
|
||||
double val = -1;
|
||||
|
||||
var item = k.JointList.FirstOrDefault(t => t.Id == jointId);
|
||||
switch (item.JointType)
|
||||
{
|
||||
case JointType.Prismatic:
|
||||
switch (item.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.Position.X);
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.Position.Y);
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.Position.Z);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
//一、绕定轴X-Y-Z旋转（RPY角）
|
||||
//二、绕动轴Z-Y-X旋转（Euler角）
|
||||
case JointType.Revolute:
|
||||
switch (item.Axis.AxisFlag)
|
||||
{
|
||||
case AxisFlag.X:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.R);
|
||||
break;
|
||||
case AxisFlag.Y:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.P);
|
||||
break;
|
||||
case AxisFlag.Z:
|
||||
val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.Y);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
///// <summary>
|
||||
///// 根据设备代码删除设备信息
|
||||
///// </summary>
|
||||
///// <param name="modelId"></param>
|
||||
///// <returns></returns>
|
||||
//public static bool KinematicsListRemoveByModelId(string modelId)
|
||||
//{
|
||||
// var k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == modelId);
|
||||
// if (k != null)
|
||||
// {
|
||||
// DataBaseJson.dataBaseJson.KinematicsList.Remove(k);
|
||||
// return true;
|
||||
// }
|
||||
// return false;
|
||||
//}
|
||||
|
||||
|
||||
#endregion
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,58 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
namespace KinematicsBase
|
||||
{
|
||||
#region Link
|
||||
|
||||
|
||||
[Serializable]
|
||||
public class LinkElem
|
||||
{
|
||||
public LinkElem()
|
||||
{
|
||||
}
|
||||
|
||||
public LinkElem(string id, string name)
|
||||
{
|
||||
this.Id = id;
|
||||
this.Name = name;
|
||||
}
|
||||
|
||||
public string Id { get; set; }
|
||||
|
||||
public string Name { get; set; }
|
||||
}
|
||||
[Serializable]
|
||||
public class Link
|
||||
{
|
||||
public Link()
|
||||
{
|
||||
this.GraphPosition = new System.Drawing.Point(0, 0);
|
||||
}
|
||||
|
||||
public Link(string id, string name, bool isFixed = false)
|
||||
{
|
||||
this.Id = id;
|
||||
this.Name = name;
|
||||
this.IsFixed = isFixed;
|
||||
}
|
||||
|
||||
public System.Drawing.Point GraphPosition { set; get; }
|
||||
|
||||
public string Id { get; set; }
|
||||
|
||||
public string ModelId { get; set; }
|
||||
public bool IsFixed { get; set; }
|
||||
|
||||
public string Name { get; set; }
|
||||
|
||||
public List<LinkElem> LinkElements { get; set; } = new List<LinkElem>();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#endregion
|
||||
}
|
||||
@@ -0,0 +1,178 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.IO;
|
||||
using System.Linq;
|
||||
using System.Windows.Forms;
|
||||
|
||||
namespace KinematicsBase
|
||||
{
|
||||
|
||||
public class OPERATION_FramesList
|
||||
{
|
||||
public C_OPERATION FramesListCreate(string startPoseId, string endPoseId, int Interval)
|
||||
{
|
||||
Pose startPose;
|
||||
Pose endPose;
|
||||
startPose = Kinematics.GetPoseByPoseId(startPoseId);
|
||||
endPose = Kinematics.GetPoseByPoseId(endPoseId);
|
||||
|
||||
if(startPose != null && endPose != null)
|
||||
{
|
||||
return FramesListCreate(startPose, endPose, Interval);
|
||||
}
|
||||
else
|
||||
{
|
||||
MessageBox.Show("姿态不存在", "提示");
|
||||
throw new Exception("Pose不存在");
|
||||
}
|
||||
|
||||
}
|
||||
public C_OPERATION FramesListCreate(Pose startPose, Pose endPose, int Interval)
|
||||
{
|
||||
// int framStep = 10;
|
||||
int framStep = PP.PCP.FrameValue;
|
||||
List<Pose> PoseList;
|
||||
PoseList = OPERATION_GetDifferencePoseList(startPose, endPose, Interval, framStep);
|
||||
return FramesCreate(PoseList);
|
||||
|
||||
}
|
||||
|
||||
public C_OPERATION FramesCreate(List<Pose> PoseList)
|
||||
{
|
||||
List<C_ObjStates> objStates;
|
||||
double timeIndex;
|
||||
int framStep = 10;
|
||||
C_Frames frames;
|
||||
C_OPERATION m_OPERATION_Frames = new C_OPERATION();
|
||||
for (int i = 0; i < PoseList.Count; i++)
|
||||
{
|
||||
Pose pose = PoseList[i];
|
||||
|
||||
timeIndex = (double)(framStep * i) / 1000;
|
||||
objStates = GetObjStates(pose);
|
||||
frames = new C_Frames();
|
||||
frames.time = timeIndex.ToString("0.00");
|
||||
frames.objStates = objStates;
|
||||
|
||||
m_OPERATION_Frames.frames.Add(frames);
|
||||
}
|
||||
return m_OPERATION_Frames;
|
||||
}
|
||||
#region Method
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="startPose"></param>
|
||||
/// <param name="endPose"></param>
|
||||
/// <param name="Interval">单位毫秒</param>
|
||||
public List<Pose> OPERATION_GetDifferencePoseList(Pose startPose, Pose endPose, int Interval, int framStep)
|
||||
{
|
||||
List<Pose> PoseList = new List<Pose>();
|
||||
Pose pose;
|
||||
Dictionary<string, double> jointStep = new Dictionary<string, double>();
|
||||
int frameCount;
|
||||
|
||||
frameCount = Interval / framStep;
|
||||
//计算Joint的步长
|
||||
foreach (var item in endPose.PoseInfo)
|
||||
{
|
||||
double value = (endPose.PoseInfo[item.Key] - startPose.PoseInfo[item.Key]) / frameCount;
|
||||
jointStep.Add(item.Key, value);
|
||||
}
|
||||
for (int i = 0; i < frameCount; i++)
|
||||
{
|
||||
if (i == 0)
|
||||
{
|
||||
pose = new Pose();
|
||||
pose.ModelId = endPose.ModelId;
|
||||
pose.PoseInfo = new Dictionary<string, double>();
|
||||
foreach (var item in endPose.PoseInfo)
|
||||
{
|
||||
pose.PoseInfo.Add(item.Key, startPose.PoseInfo[item.Key]);
|
||||
}
|
||||
PoseList.Add(pose);
|
||||
}
|
||||
else if (i == frameCount - 1)
|
||||
{
|
||||
pose = new Pose();
|
||||
pose.ModelId = endPose.ModelId;
|
||||
pose.PoseInfo = new Dictionary<string, double>();
|
||||
foreach (var item in endPose.PoseInfo)
|
||||
{
|
||||
pose.PoseInfo.Add(item.Key, endPose.PoseInfo[item.Key]);
|
||||
}
|
||||
PoseList.Add(pose);
|
||||
}
|
||||
else
|
||||
{
|
||||
pose = new Pose();
|
||||
pose.ModelId = endPose.ModelId;
|
||||
pose.PoseInfo = new Dictionary<string, double>();
|
||||
foreach (var item in endPose.PoseInfo)
|
||||
{
|
||||
pose.PoseInfo.Add(item.Key, startPose.PoseInfo[item.Key] + i * jointStep[item.Key]);
|
||||
}
|
||||
PoseList.Add(pose);
|
||||
}
|
||||
}
|
||||
|
||||
return PoseList;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
public List<C_ObjStates> GetObjStates(Pose pose)
|
||||
{
|
||||
List<Joint> JointList = Kinematics.GetJointListByModelId(pose.ModelId);
|
||||
List<C_ObjStates> objStates = new List<C_ObjStates>();
|
||||
foreach (var item in pose.PoseInfo)
|
||||
{
|
||||
var joint = JointList.FirstOrDefault(t => t.Id == item.Key);
|
||||
|
||||
var objStateSubList = GetObjStates(pose.ModelId, joint.Id, item.Value);
|
||||
|
||||
foreach (var objState in objStateSubList)
|
||||
{
|
||||
objStates.Add(objState);
|
||||
}
|
||||
}
|
||||
return objStates;
|
||||
}
|
||||
|
||||
public List<C_ObjStates> GetObjStates(string modelId, string jId, double jValue)
|
||||
{
|
||||
List<Joint> JointList = Kinematics.GetJointListByModelId(modelId);
|
||||
List<C_ObjStates> objStates = new List<C_ObjStates>();
|
||||
//foreach (var item in pose.PoseInfo)
|
||||
var joint = JointList.FirstOrDefault(t => t.Id == jId);
|
||||
|
||||
//1.反向，0.正常
|
||||
if (joint.Axis.Flip == 1)
|
||||
{
|
||||
jValue = -jValue;
|
||||
}
|
||||
|
||||
//值按比例和初始值变换
|
||||
jValue = jValue * joint.ValueFactor + joint.Value;
|
||||
|
||||
//var value = ChangeToModelValue(JointList, jId, jValue);
|
||||
PositionQuaternion positionQuaternion = new Joint().TransformCoordinates(joint, jValue);
|
||||
C_ObjStates objState = new C_ObjStates();
|
||||
objState.i = joint.CId;
|
||||
objState.tx = positionQuaternion.Position.X.ToString("0.000000");
|
||||
objState.ty = positionQuaternion.Position.Y.ToString("0.000000");
|
||||
objState.tz = positionQuaternion.Position.Z.ToString("0.000000");
|
||||
objState.qx = positionQuaternion.Quaternion.X.ToString("0.000000");
|
||||
objState.qy = positionQuaternion.Quaternion.Y.ToString("0.000000");
|
||||
objState.qz = positionQuaternion.Quaternion.Z.ToString("0.000000");
|
||||
objState.qw = positionQuaternion.Quaternion.W.ToString("0.000000");
|
||||
objStates.Add(objState);
|
||||
return objStates;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,360 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
namespace KinematicsBase
|
||||
{
|
||||
[Serializable]
|
||||
public class HomeOpen
|
||||
{
|
||||
public static string HOME = "HOME";
|
||||
public static string OPEN = "OPEN";
|
||||
public static string Position = "Position";
|
||||
public static string Current = "Current";
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class Pose
|
||||
{
|
||||
public static event Action<string, Pose> OnDataChange = null;
|
||||
|
||||
public Pose()
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
}
|
||||
public Pose(Kinematics k)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
JointPoseListCreate(k);
|
||||
}
|
||||
public Pose(string id, string name)
|
||||
{
|
||||
this.Id = id;
|
||||
this.Name = name;
|
||||
}
|
||||
|
||||
public string Id { get; set; }
|
||||
|
||||
public string Name { get; set; }
|
||||
public string ModelId { get; set; }
|
||||
/// <summary>
|
||||
/// ture 独立运行
|
||||
/// </summary>
|
||||
public bool IsJointByself { get; set; }
|
||||
public List<JointPose> JointPoseList { get; set; }
|
||||
/// <summary>
|
||||
/// 关节是否联动
|
||||
/// </summary>
|
||||
public bool JointGearing { get; set; }
|
||||
/// <summary>
|
||||
/// 时间优先时候的时间，单位毫秒
|
||||
/// </summary>
|
||||
public int Interval { get; set; }
|
||||
/// <summary>
|
||||
/// 时间优先或速度优先
|
||||
/// </summary>
|
||||
public MoveToPosePriorType m_MoveToPosePriorType { get; set; }
|
||||
/// <summary>
|
||||
/// string JointId double value
|
||||
/// </summary>
|
||||
public Dictionary<string, double> PoseInfo { get; set; } = new Dictionary<string, double>();
|
||||
#region Method
|
||||
public static void DataChange(string ModelId, Pose pose)
|
||||
{
|
||||
if (OnDataChange != null)
|
||||
{
|
||||
OnDataChange.Invoke(ModelId, pose);
|
||||
}
|
||||
}
|
||||
private void JointPoseListCreate(Kinematics k)
|
||||
{
|
||||
this.JointPoseList = new List<JointPose>();
|
||||
var JointListOrderByName = k.JointList.OrderBy(o => o.Name).ToList();
|
||||
|
||||
foreach (var item in JointListOrderByName)
|
||||
{
|
||||
this.JointPoseList.Add(new JointPose(item.Id, item.Name));
|
||||
}
|
||||
}
|
||||
//public static void PoseListViewCreate(List<Pose> PoseViewList, List<Joint> joints)
|
||||
//{
|
||||
// Pose pose;
|
||||
// double val=-1;
|
||||
// pose = new Pose();
|
||||
// pose.Name = "JointPosition";
|
||||
// pose.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
// pose.Interval = 3000;
|
||||
// //删除相同的JointList
|
||||
// PoseListViewRemove(PoseViewList, joints);
|
||||
// foreach (var item in joints)
|
||||
// {
|
||||
// switch (item.JointType)
|
||||
// {
|
||||
// case JointType.Prismatic:
|
||||
// switch (item.Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.Position.X);
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.Position.Y);
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.Position.Z);
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
// //一、绕定轴X-Y-Z旋转（RPY角）
|
||||
// //二、绕动轴Z-Y-X旋转（Euler角）
|
||||
// case JointType.Revolute:
|
||||
// switch (item.Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.FixedAngle.R);
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.FixedAngle.P);
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// val = Convert.ToSingle( item.Axis.Loaction.FixedAngle.Y);
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
// }
|
||||
// pose.PoseInfo.Add(item.Id, val);
|
||||
// }
|
||||
// PoseViewList.Add(pose);
|
||||
|
||||
//}
|
||||
//public static void PoseListViewRemove(List<Pose> PoseViewList, List<Joint> joints)
|
||||
//{
|
||||
// Pose pose=null;
|
||||
// foreach(var joint in joints)
|
||||
// {
|
||||
// foreach (var item in PoseViewList)
|
||||
// {
|
||||
// if (item.PoseInfo.ContainsKey(joint.Id))
|
||||
// {
|
||||
// pose = item;
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// if(pose != null)
|
||||
// {
|
||||
// PoseViewList.Remove(pose);
|
||||
// }
|
||||
//}
|
||||
//public static void PoseCurrentViewListSetValue(List<Pose> PoseList, string id,double val)
|
||||
//{
|
||||
// foreach(var poseItem in PoseList)
|
||||
// {
|
||||
// if (poseItem.PoseInfo.ContainsKey(id))
|
||||
// {
|
||||
// poseItem.PoseInfo[id] = val;
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
|
||||
public static void HomeAndOpenPositionCreate(Kinematics k)
|
||||
{
|
||||
Pose pose;
|
||||
//HOME
|
||||
pose = Pose.CreatePoseHome(k);
|
||||
Pose.PoseListAddAndUpdateByName(k.PoseList, pose);
|
||||
//OPEN
|
||||
pose = Pose.CreatePoseOpen(k);
|
||||
Pose.PoseListAddAndUpdateByName(k.PoseList, pose);
|
||||
////Position
|
||||
//pose = Pose.PosePositionCreator(k);
|
||||
//Pose.PoseListAddAndUpdateByName( k.PoseList, pose);
|
||||
|
||||
}
|
||||
public static Pose PosePositionCreator(Kinematics k)
|
||||
{
|
||||
Pose pose;
|
||||
double val = -1;
|
||||
|
||||
pose = new Pose(k);
|
||||
pose.Name = "Position";
|
||||
pose.ModelId = k.ModelId;
|
||||
pose.Interval = 3000;
|
||||
pose.PoseInfo = new Dictionary<string, double>();
|
||||
foreach (var item in k.JointList)
|
||||
{
|
||||
var joint = k.JointList.FirstOrDefault(t => t.Id == item.Id);
|
||||
val = Joint.GetJointPosition(joint);
|
||||
pose.PoseInfo.Add(item.Id, val);
|
||||
}
|
||||
return pose;
|
||||
}
|
||||
|
||||
//public static Pose PoseCurrentCreator(List<Joint> joints)
|
||||
//{
|
||||
// Pose pose;
|
||||
// double val = -1;
|
||||
|
||||
// pose = new Pose(k);
|
||||
// pose.Name = "Current";
|
||||
// pose.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
// pose.Interval = 3000;
|
||||
// foreach (var item in joints)
|
||||
// {
|
||||
// switch (item.JointType)
|
||||
// {
|
||||
// case JointType.Prismatic:
|
||||
// switch (item.Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.Position.X);
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.Position.Y);
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.Position.Z);
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
// //一、绕定轴X-Y-Z旋转（RPY角）
|
||||
// //二、绕动轴Z-Y-X旋转（Euler角）
|
||||
// case JointType.Revolute:
|
||||
// switch (item.Axis.AxisFlag)
|
||||
// {
|
||||
// case AxisFlag.X:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.R);
|
||||
// break;
|
||||
// case AxisFlag.Y:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.P);
|
||||
// break;
|
||||
// case AxisFlag.Z:
|
||||
// val = Convert.ToSingle(item.Axis.Loaction.FixedAngle.Y);
|
||||
// break;
|
||||
// }
|
||||
// break;
|
||||
// }
|
||||
// pose.PoseInfo.Add(item.Id, val);
|
||||
// }
|
||||
// return pose;
|
||||
//}
|
||||
public static void PoseListAddAndUpdateByName(List<Pose> PoseList, Pose val)
|
||||
{
|
||||
var poseIndex = PoseList.FindIndex(t => t.Name == val.Name);
|
||||
if (poseIndex > -1)
|
||||
{
|
||||
PoseList[poseIndex] = val;
|
||||
}
|
||||
else
|
||||
{
|
||||
PoseList.Add(val);
|
||||
}
|
||||
}
|
||||
|
||||
//public static void PoseListAddAndUpdate(List<Pose> PoseList, Pose val)
|
||||
//{
|
||||
// var obj = PoseList.FirstOrDefault(t => t.Id == val.Id);
|
||||
// if (obj != null)
|
||||
// {
|
||||
// val.Id = obj.Id;
|
||||
// PoseList.Remove(obj);
|
||||
// PoseList.Add(val);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// PoseList.Add(val);
|
||||
// }
|
||||
//}
|
||||
|
||||
//public static void PoseListRemoveById(List<Pose> PoseList, string id)
|
||||
//{
|
||||
// var obj = PoseList.FirstOrDefault(t => t.Id == id);
|
||||
// if (obj != null)
|
||||
// {
|
||||
// PoseList.Remove(obj);
|
||||
// }
|
||||
//}
|
||||
public static Pose PoseListFindById(List<Pose> PoseList, string id)
|
||||
{
|
||||
return PoseList.FirstOrDefault(t => t.Id == id);
|
||||
}
|
||||
//public static void PoseListAddAndUpdate(List<Pose> ObjList, List<Pose> objList)
|
||||
//{
|
||||
// List<Pose> objListBak = new List<Pose>(objList);
|
||||
// foreach (var item in objList)
|
||||
// {
|
||||
// var pose = ObjList.FirstOrDefault(t => t.Id == item.Id);
|
||||
// if (pose!=null)
|
||||
// {
|
||||
// Pose pValue = objListBak.FirstOrDefault(t => t.Id == item.Id);
|
||||
// pValue.Id = pose.Id;
|
||||
// ObjList.Remove(pose);
|
||||
// ObjList.Add(pValue);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// ObjList.Add(item);
|
||||
// }
|
||||
// }
|
||||
//}
|
||||
|
||||
//public static void PoseListAddAndUpdateHomeAndPose(List<Joint> JointList, List<Pose> PostList)
|
||||
//{
|
||||
// Pose pose;
|
||||
// pose = CreatePoseHome(JointList);
|
||||
// PoseListAddAndUpdateByName(PostList, pose);
|
||||
// pose = CreatePoseOpen(JointList);
|
||||
// PoseListAddAndUpdateByName(PostList, pose);
|
||||
//}
|
||||
/// <summary>
|
||||
/// 用 Joint最小值
|
||||
/// </summary>
|
||||
/// <param name="JointList"></param>
|
||||
/// <returns></returns>
|
||||
public static Pose CreatePoseHome(Kinematics k)
|
||||
{
|
||||
Pose pose;
|
||||
pose = new Pose(k);
|
||||
pose.Name = HomeOpen.HOME;
|
||||
pose.ModelId = k.ModelId;
|
||||
pose.Interval = 3000;
|
||||
pose.PoseInfo.Clear();
|
||||
foreach (Joint joint in k.JointList)
|
||||
{
|
||||
var list_Limit = new List<double>();
|
||||
list_Limit.Add(Math.Abs(joint.JointLimit.LowLimit));
|
||||
list_Limit.Add(Math.Abs(joint.JointLimit.HighLimit));
|
||||
|
||||
pose.PoseInfo.Add(joint.Id, list_Limit.Min());
|
||||
}
|
||||
return pose;
|
||||
}
|
||||
/// <summary>
|
||||
/// 用 Joint最大值
|
||||
/// </summary>
|
||||
/// <param name="JointList"></param>
|
||||
/// <returns></returns>
|
||||
public static Pose CreatePoseOpen(Kinematics k)
|
||||
{
|
||||
Pose pose;
|
||||
pose = new Pose(k);
|
||||
pose.Name = HomeOpen.OPEN;
|
||||
pose.ModelId = k.ModelId;
|
||||
pose.Interval = 3000;
|
||||
pose.PoseInfo.Clear();
|
||||
foreach (Joint joint in k.JointList)
|
||||
{
|
||||
var list_Limit = new List<double>();
|
||||
list_Limit.Add(Math.Abs(joint.JointLimit.LowLimit));
|
||||
list_Limit.Add(Math.Abs(joint.JointLimit.HighLimit));
|
||||
|
||||
pose.PoseInfo.Add(joint.Id, list_Limit.Max());
|
||||
}
|
||||
return pose;
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,553 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
namespace KinematicsBase
|
||||
{
|
||||
#region BaseClass
|
||||
#region Data Define
|
||||
/// <summary>
|
||||
/// 传感器类型
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public enum SensorType
|
||||
{
|
||||
/// <summary>
|
||||
/// 姿态传感器
|
||||
/// </summary>
|
||||
Pose,
|
||||
/// <summary>
|
||||
/// 关节距离传感器
|
||||
/// </summary>
|
||||
Distance,
|
||||
/// <summary>
|
||||
/// 关节传感器
|
||||
/// 判断关节位置
|
||||
/// </summary>
|
||||
Joint,
|
||||
/// <summary>
|
||||
/// 接近传感器
|
||||
/// </summary>
|
||||
Near,
|
||||
/// <summary>
|
||||
/// 光电传感器
|
||||
/// </summary>
|
||||
PhotoElectric,
|
||||
/// <summary>
|
||||
/// 属性传感器
|
||||
/// </summary>
|
||||
Attribution,
|
||||
/// <summary>
|
||||
/// Joint的值变化 ture
|
||||
/// 不变化 false
|
||||
/// </summary>
|
||||
IsRun
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 信号触发方式
|
||||
/// </summary>
|
||||
/// [Serializable]
|
||||
public enum TrigerType
|
||||
{
|
||||
Pulse,
|
||||
Limit,
|
||||
StepBegin,
|
||||
StepEnd
|
||||
}
|
||||
[Serializable]
|
||||
|
||||
public enum SensorDataType
|
||||
{
|
||||
|
||||
INT,
|
||||
|
||||
DINT,
|
||||
|
||||
FLOAT,
|
||||
|
||||
DOUBLE
|
||||
}
|
||||
#endregion
|
||||
/// <summary>
|
||||
/// 姿态传感器
|
||||
/// </summary>
|
||||
[Serializable]
|
||||
public class Sensor
|
||||
{
|
||||
///// <summary>
|
||||
///// 向外部发出传感器信号
|
||||
///// </summary>
|
||||
//public static event Action<string, object> OnDataChange = null;
|
||||
|
||||
/// <summary>
|
||||
/// string ModeId, string PoseId, string JointId, string Id, object Value
|
||||
/// </summary>
|
||||
public static event Action<string, string, string, string, object> OnDataChange;
|
||||
//public static event Action<string, string, string, string, bool> OnDataChangeBool;
|
||||
//public static event Action<string, string, string, string, int> OnDataChangeInt;
|
||||
//public static event Action<string, string, string, string, double> OnDataChangeFloat;
|
||||
|
||||
public string Id { get; set; }
|
||||
|
||||
public string Name { get; set; }
|
||||
public string ModelId { get; set; }
|
||||
public bool I = false;
|
||||
public SensorType SensorType { get; set; }
|
||||
public TrigerType TrigerType { get; set; }
|
||||
public string PoseId { get; set; } = "";
|
||||
/// <summary>
|
||||
/// PoseId =0和姿态距离传感器用
|
||||
/// </summary>
|
||||
public string JointId { get; set; } = "";
|
||||
public UnitType UnitType { get; set; }
|
||||
public SensorDataType SensorDataType { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 传感器是否启用
|
||||
/// </summary>
|
||||
public bool IsEnable { get; set; }
|
||||
///// <summary>
|
||||
///// PLC 变量代码
|
||||
///// </summary>
|
||||
//public string SignalViewer_Id;
|
||||
|
||||
/// <summary>
|
||||
/// 姿态传感器 光电传感器
|
||||
/// 触发后返回值 0，1
|
||||
/// 或伺服值
|
||||
/// </summary>
|
||||
public object Tagvalue { get; set; }
|
||||
/// <summary>
|
||||
/// 触发值测试误差值上限
|
||||
/// </summary>
|
||||
public double LimitUpValue { get; set; } = 2f;
|
||||
/// <summary>
|
||||
/// 触发值测试误差值下限
|
||||
/// </summary>
|
||||
public double LimitDownValue { get; set; } = -2f;
|
||||
|
||||
/// <summary>
|
||||
/// 光电传感器 检测长度用
|
||||
/// </summary>
|
||||
public double Length { get; set; }
|
||||
public double ValueFactor { get; set; } = 1;
|
||||
|
||||
public Sensor()
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
|
||||
}
|
||||
public void Setup()
|
||||
{
|
||||
switch (SensorType)
|
||||
{
|
||||
case SensorType.Pose:
|
||||
SetupPose();
|
||||
break;
|
||||
case SensorType.Distance:
|
||||
SetupDistance();
|
||||
break;
|
||||
case SensorType.Joint:
|
||||
SetupJoint();
|
||||
break;
|
||||
}
|
||||
}
|
||||
private void SetupJoint()
|
||||
{
|
||||
bool isTriger = false;
|
||||
//Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
|
||||
if (k == null) return;
|
||||
var val = k.JointList.FirstOrDefault(t => t.Id == JointId).ValueCurrent;
|
||||
var jValue = k.PoseList.FirstOrDefault(t => t.Id == PoseId).PoseInfo[JointId];
|
||||
|
||||
if ((val >= jValue + LimitDownValue) && (val <= jValue + LimitDownValue))
|
||||
{
|
||||
isTriger = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTriger = false;
|
||||
}
|
||||
I = isTriger;
|
||||
DataChange(ModelId, PoseId, JointId, Id, I);
|
||||
}
|
||||
|
||||
private void SetupDistance()
|
||||
{
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
|
||||
if (k == null) return;
|
||||
double val = k.JointList.FirstOrDefault(t => t.Id == JointId).ValueCurrent;
|
||||
|
||||
object value;
|
||||
|
||||
switch (SensorDataType)
|
||||
{
|
||||
case SensorDataType.INT:
|
||||
value = Convert.ToInt32(val);
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
|
||||
break;
|
||||
case SensorDataType.DINT:
|
||||
value = (long)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
case SensorDataType.FLOAT:
|
||||
value = (double)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
case SensorDataType.DOUBLE:
|
||||
value = (double)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
}
|
||||
}
|
||||
private void SetupPose()
|
||||
{
|
||||
//double val = (double)vale;
|
||||
bool isTriger = false;
|
||||
bool isTrigerJoint;
|
||||
int index = 0;
|
||||
//Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
|
||||
if (k == null) return;
|
||||
|
||||
//监控POSE的全部姿态
|
||||
var pose = k.PoseList.FirstOrDefault(t => t.Id == PoseId);
|
||||
if (pose == null) return;
|
||||
foreach (var item in pose.PoseInfo)
|
||||
{
|
||||
double currentValue = k.JointList.FirstOrDefault(t => t.Id == item.Key).ValueCurrent;
|
||||
if ((currentValue >= item.Value + LimitDownValue) && (currentValue <= item.Value + LimitUpValue))
|
||||
{
|
||||
isTrigerJoint = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTrigerJoint = false;
|
||||
}
|
||||
if (!isTrigerJoint)
|
||||
{
|
||||
isTriger = false;
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (index == 0)
|
||||
{
|
||||
isTriger = isTrigerJoint;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTriger = isTriger && isTrigerJoint;
|
||||
}
|
||||
if (isTriger == false)
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
index++;
|
||||
}
|
||||
I = isTriger;
|
||||
DataChange(ModelId, PoseId, JointId, Id, I);
|
||||
}
|
||||
public Sensor(SensorType SensorType)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
Tagvalue = 0;
|
||||
switch (SensorType)
|
||||
{
|
||||
case SensorType.IsRun:
|
||||
Joint.OnDataChangeJointIsRun -= Joint_OnDataChangeJointIsRun;
|
||||
Joint.OnDataChangeJointIsRun += Joint_OnDataChangeJointIsRun;
|
||||
break;
|
||||
default:
|
||||
Joint.OnDataChange -= Joint_OnDataChange;
|
||||
Joint.OnDataChange += Joint_OnDataChange;
|
||||
break;
|
||||
}
|
||||
}
|
||||
public void Joint_OnDataChangeJointIsRun(string modelId, string jointId, bool val)
|
||||
{
|
||||
if (this.ModelId == modelId && this.JointId == jointId)
|
||||
{
|
||||
I = val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, I);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
public string CreateSensorPose(string modelId, string poseId)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
Joint.OnDataChange -= Joint_OnDataChange;
|
||||
Joint.OnDataChange += Joint_OnDataChange;
|
||||
Tagvalue = 0;
|
||||
|
||||
this.IsEnable = true;
|
||||
this.PoseId = poseId;
|
||||
var kTemp = Kinematics.GetKinematicsByModelId(modelId);
|
||||
{
|
||||
this.Name = kTemp.ModelName + "_PS_Logical_1";
|
||||
this.SensorType = SensorType.Pose;
|
||||
}
|
||||
this.ModelId = modelId;
|
||||
this.LimitUpValue = 2;
|
||||
this.LimitDownValue = -2;
|
||||
kTemp.SensorList.Add(this);
|
||||
// Kinematics.SaveToModel(kTemp);
|
||||
if (GlobalEventInterface.E_Transmit_SaveToModel != null)
|
||||
{
|
||||
GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
|
||||
}
|
||||
|
||||
return Id;
|
||||
}
|
||||
public string CreateSensorJoint(string modelId, string poseId, string jointId)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
Joint.OnDataChange -= Joint_OnDataChange;
|
||||
Joint.OnDataChange += Joint_OnDataChange;
|
||||
Tagvalue = 0;
|
||||
this.IsEnable = true;
|
||||
this.PoseId = poseId;
|
||||
this.JointId = jointId;
|
||||
var kTemp = Kinematics.GetKinematicsByModelId(modelId);
|
||||
|
||||
this.Name = kTemp.ModelName + "_PJ_Logical_1";
|
||||
this.SensorType = SensorType.Joint;
|
||||
this.ModelId = modelId;
|
||||
this.LimitUpValue = 2;
|
||||
this.LimitDownValue = -2;
|
||||
kTemp.SensorList.Add(this);
|
||||
// Kinematics.SaveToModel(kTemp);
|
||||
if (GlobalEventInterface.E_Transmit_SaveToModel != null)
|
||||
{
|
||||
GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
|
||||
}
|
||||
return Id;
|
||||
}
|
||||
public string CreateSensorJointIsRun(string modelId, string jointId)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
Joint.OnDataChangeJointIsRun -= Joint_OnDataChangeJointIsRun;
|
||||
Joint.OnDataChangeJointIsRun += Joint_OnDataChangeJointIsRun;
|
||||
|
||||
Tagvalue = 0;
|
||||
|
||||
this.IsEnable = true;
|
||||
this.JointId = jointId;
|
||||
var kTemp = Kinematics.GetKinematicsByModelId(modelId);
|
||||
|
||||
this.Name = kTemp.ModelName + "_Run_Logical_1";
|
||||
this.SensorType = SensorType.IsRun;
|
||||
this.ModelId = modelId;
|
||||
kTemp.SensorList.Add(this);
|
||||
// Kinematics.SaveToModel(kTemp);
|
||||
if (GlobalEventInterface.E_Transmit_SaveToModel != null)
|
||||
{
|
||||
GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
|
||||
}
|
||||
return Id;
|
||||
}
|
||||
public string CreateSensorPoseDistance(string modelId, string jointId, SensorDataType sensorDataType)
|
||||
{
|
||||
this.Id = Guid.NewGuid().ToString("D").ToUpper();
|
||||
Joint.OnDataChange -= Joint_OnDataChange;
|
||||
Joint.OnDataChange += Joint_OnDataChange;
|
||||
Tagvalue = 0;
|
||||
|
||||
var kTemp = Kinematics.GetKinematicsByModelId(modelId);
|
||||
|
||||
this.IsEnable = true;
|
||||
this.JointId = jointId;
|
||||
this.SensorType = SensorType.Distance;
|
||||
this.Name = kTemp.ModelName + "_JD_Logical_1";
|
||||
this.ModelId = modelId;
|
||||
this.SensorDataType = sensorDataType;
|
||||
this.LimitUpValue = 2;
|
||||
this.LimitDownValue = -2;
|
||||
kTemp.SensorList.Add(this);
|
||||
// Kinematics.SaveToModel(kTemp);
|
||||
if (GlobalEventInterface.E_Transmit_SaveToModel != null)
|
||||
{
|
||||
GlobalEventInterface.E_Transmit_SaveToModel(kTemp);
|
||||
}
|
||||
return Id;
|
||||
}
|
||||
|
||||
public static void DataChange(string ModeId, string PoseId, string JointId, string Id, object Value)
|
||||
{
|
||||
if (OnDataChange != null)
|
||||
{
|
||||
OnDataChange.Invoke(ModeId, PoseId, JointId, Id, Value);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void Joint_OnDataChange(string modeId, string jointID, object val)
|
||||
{
|
||||
//if (this.Id == null) return;
|
||||
if (this.ModelId == modeId)
|
||||
{
|
||||
Triger(jointID, val);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 根据Joint姿态的值，触发传感器信号
|
||||
/// </summary>
|
||||
/// <param name="val"></param>
|
||||
public void Triger(string jointID, object val)
|
||||
{
|
||||
switch (SensorType)
|
||||
{
|
||||
case SensorType.Pose:
|
||||
TrigerPose(val);
|
||||
break;
|
||||
case SensorType.Distance:
|
||||
TrigerDistance(jointID, val);
|
||||
break;
|
||||
case SensorType.Joint:
|
||||
TrigerJoint(jointID, val);
|
||||
break;
|
||||
case SensorType.PhotoElectric:
|
||||
break;
|
||||
case SensorType.Near:
|
||||
break;
|
||||
case SensorType.Attribution:
|
||||
break;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 回写关节当前值（距离）
|
||||
/// 可以订阅SensorDistanceDataChange事件
|
||||
/// </summary>
|
||||
/// <param name="val"></param>
|
||||
public void TrigerDistance(string jointID, object val)
|
||||
{
|
||||
if (this.JointId != jointID) return;
|
||||
object value;
|
||||
|
||||
switch (SensorDataType)
|
||||
{
|
||||
case SensorDataType.INT:
|
||||
value = Convert.ToInt32(val);
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
|
||||
break;
|
||||
case SensorDataType.DINT:
|
||||
value = (long)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
case SensorDataType.FLOAT:
|
||||
value = (double)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
case SensorDataType.DOUBLE:
|
||||
value = (double)val;
|
||||
DataChange(ModelId, PoseId, JointId, Id, value);
|
||||
break;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 判断姿态位置
|
||||
/// </summary>
|
||||
/// <param name="val"></param>
|
||||
public void TrigerPose(object vale)
|
||||
{
|
||||
double val = (double)vale;
|
||||
bool isTriger = false;
|
||||
bool isTrigerJoint;
|
||||
int index = 0;
|
||||
//Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
|
||||
if (k == null) return;
|
||||
|
||||
//监控POSE的全部姿态
|
||||
var pose = k.PoseList.FirstOrDefault(t => t.Id == PoseId);
|
||||
if (pose == null) return;
|
||||
foreach (var item in pose.PoseInfo)
|
||||
{
|
||||
double currentValue = k.JointList.FirstOrDefault(t => t.Id == item.Key).ValueCurrent;
|
||||
if ((currentValue >= item.Value + LimitDownValue) && (currentValue <= item.Value + LimitUpValue))
|
||||
{
|
||||
isTrigerJoint = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTrigerJoint = false;
|
||||
}
|
||||
if (!isTrigerJoint)
|
||||
{
|
||||
isTriger = false;
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (index == 0)
|
||||
{
|
||||
isTriger = isTrigerJoint;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTriger = isTriger && isTrigerJoint;
|
||||
}
|
||||
if (isTriger == false)
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
index++;
|
||||
}
|
||||
if (I != isTriger)
|
||||
{
|
||||
I = isTriger;
|
||||
DataChange(ModelId, PoseId, JointId, Id, I);
|
||||
//DataChangeBool(ModelId, PoseId, JointId, Id, I);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 关节传感器
|
||||
/// 判断关节位置
|
||||
/// </summary>
|
||||
/// <param name="jointID"></param>
|
||||
/// <param name="val"></param>
|
||||
public void TrigerJoint(string jointID, object vale)
|
||||
{
|
||||
if (this.JointId != jointID) return;
|
||||
|
||||
double val = (double)vale;
|
||||
bool isTriger = false;
|
||||
// Kinematics k = DataBaseJson.dataBaseJson.KinematicsList.FirstOrDefault(t => t.ModelId == ModelId);
|
||||
var k = PP.ModelCodeFindModelAttribute(ModelId).KinematicsData;
|
||||
if (k == null) return;
|
||||
var jValue = k.PoseList.FirstOrDefault(t => t.Id == PoseId).PoseInfo[jointID];
|
||||
|
||||
if ((val >= jValue + LimitDownValue) && (val <= jValue + LimitDownValue))
|
||||
{
|
||||
isTriger = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
isTriger = false;
|
||||
}
|
||||
if (I != isTriger)
|
||||
{
|
||||
I = isTriger;
|
||||
DataChange(ModelId, PoseId, JointId, Id, I);
|
||||
//DataChangeBool(ModelId, PoseId, JointId, Id, I);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
//
|
||||
#endregion
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class CallbackBsae
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
private event Action<String> execmsg;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <param name="msg"></param>
|
||||
public void invoke(string msg)
|
||||
{
|
||||
Action<String> ExecMsgT = execmsg;
|
||||
if (ExecMsgT != null)
|
||||
{
|
||||
ExecMsgT(msg);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
public class CallbackObjectFromJs : CallbackBsae
|
||||
{
|
||||
public event Action<String> ExecMsg;
|
||||
|
||||
public CallbackObjectFromJs()
|
||||
{
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 必须小写
|
||||
/// </summary>
|
||||
/// <param name="msg"></param>
|
||||
public void receivemsg(string msg)
|
||||
{
|
||||
this.Invoke(msg);
|
||||
}
|
||||
|
||||
private void Invoke(string msg)
|
||||
{
|
||||
Action<String> ExecMsgT = ExecMsg;
|
||||
if (ExecMsgT != null)
|
||||
{
|
||||
ExecMsgT(msg);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
~CallbackObjectFromJs()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
511
DataMirrorTools_Simulator/Foundation/ModelBasic/ErrHandler.cs
Normal file
511
DataMirrorTools_Simulator/Foundation/ModelBasic/ErrHandler.cs
Normal file
@@ -0,0 +1,511 @@
|
||||
using Global;
|
||||
using LogNet;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
namespace ModelBasic
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <typeparam name="T"></typeparam>
|
||||
public class ErrHandler<T> : Error<T>, IErrHandler<T>
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
public Action refreshCraftTree
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
public Func<String, Int32, bool> transmitCraftGroup
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
public Func<String, Int32, bool> transmitModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
public Func<String, Int32, bool> transmitCraftGroup_UnSim
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
public Func<bool> closeSeatOperationForm
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
public Func<Int32, String, bool> currTreeSelectModelHandler_SeatOperation
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
public static Func<Int32, String, bool> transitionEditorPageScriptNameUpdate
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器发送
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
private static Action<String> cefSend
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 浏览器接收
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
private static Action<String> cefRec
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
public static Func<String, Boolean> projectNameFunc
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
public void RefreshCraftTree()
|
||||
{
|
||||
if (refreshCraftTree != null)
|
||||
{
|
||||
refreshCraftTree();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup(string craftName, int craftCode)
|
||||
{
|
||||
if (transmitCraftGroup != null)
|
||||
{
|
||||
transmitCraftGroup.Invoke(craftName, craftCode);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public void TransmitModelName(string modelName, int modelCode)
|
||||
{
|
||||
if (transmitModelName != null)
|
||||
{
|
||||
transmitModelName.Invoke(modelName, modelCode);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_UnSim(string craftName, int craftCode)
|
||||
{
|
||||
if (transmitCraftGroup_UnSim != null)
|
||||
{
|
||||
transmitCraftGroup_UnSim.Invoke(craftName, craftCode);
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// ErrInfoTransmit
|
||||
/// </summary>
|
||||
/// <param name="s"></param>
|
||||
public void ErrInfoTransmit(string s)
|
||||
{
|
||||
if (errInfoTransmit != null)
|
||||
{
|
||||
LogisTrac.WriteLog("", s);
|
||||
|
||||
errInfoTransmit.Invoke(s);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
public void CloseSeatOperationForm()
|
||||
{
|
||||
if (closeSeatOperationForm != null)
|
||||
{
|
||||
closeSeatOperationForm.Invoke();
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void CurrTreeSelectModelHandler_SeatOperation(int modelCode, string modelName)
|
||||
{
|
||||
if (currTreeSelectModelHandler_SeatOperation != null)
|
||||
{
|
||||
currTreeSelectModelHandler_SeatOperation.Invoke(modelCode, modelName);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void TransitionEditorPageScriptNameUpdate(int internalVarCode, string internalVarName)
|
||||
{
|
||||
if (transitionEditorPageScriptNameUpdate != null)
|
||||
{
|
||||
transitionEditorPageScriptNameUpdate.Invoke(internalVarCode, internalVarName);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefSend(string str)
|
||||
{
|
||||
if (cefSend != null)
|
||||
{
|
||||
cefSend.Invoke(str);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefRec(string str)
|
||||
{
|
||||
if (cefRec != null)
|
||||
{
|
||||
cefRec.Invoke(str);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称 执行
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public static void ProjectNameFunc(string projectName)
|
||||
{
|
||||
if (projectNameFunc != null)
|
||||
projectNameFunc.Invoke(projectName);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 赋予
|
||||
/// </summary>
|
||||
public void RefreshCraftTree_Give(Action f)
|
||||
{
|
||||
refreshCraftTree = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_Give(Func<String, Int32, bool> f)
|
||||
{
|
||||
transmitCraftGroup = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// ErrInfoTransmit_Give
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public void ErrInfoTransmit_Give(ErrInfoHandler<String> f)
|
||||
{
|
||||
ErrInfoHandler<String> func = f;
|
||||
if (errInfoTransmit == null)
|
||||
{
|
||||
errInfoTransmit = func;
|
||||
}
|
||||
else
|
||||
{
|
||||
errInfoTransmit = f;
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public void TransmitModelName_Give(Func<String, Int32, bool> f)
|
||||
{
|
||||
transmitModelName = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_UnSim_Give(Func<String, Int32, bool> f)
|
||||
{
|
||||
transmitCraftGroup_UnSim = f;
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 赋予
|
||||
/// </summary>
|
||||
public void CloseSeatOperationForm_Give(Func<bool> f)
|
||||
{
|
||||
closeSeatOperationForm = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void CurrTreeSelectModelHandler_SeatOperation_Give(Func<Int32, String, bool> f)
|
||||
{
|
||||
currTreeSelectModelHandler_SeatOperation = f;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 赋予
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public void TransitionEditorPageScriptNameUpdate_Give(Func<Int32, String, bool> f)
|
||||
{
|
||||
transitionEditorPageScriptNameUpdate = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器 赋予
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefSend_Give(Action<String> f)
|
||||
{
|
||||
cefSend = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收 赋予
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefRec_Give(Action<String> f)
|
||||
{
|
||||
cefRec = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称 赋予
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public static void ProjectNameFunc_Give(Func<String, Boolean> f)
|
||||
{
|
||||
projectNameFunc = f;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 判断
|
||||
/// </summary>
|
||||
public bool RefreshCraftTree_IsNull()
|
||||
{
|
||||
if (refreshCraftTree == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public bool TransmitCraftGroup_IsNull()
|
||||
{
|
||||
if (transmitCraftGroup == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public bool TransmitModelName_IsNull()
|
||||
{
|
||||
if (transmitModelName == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public bool TransmitCraftGroup_UnSim_IsNull()
|
||||
{
|
||||
if (transmitCraftGroup_UnSim == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 判断
|
||||
/// </summary>
|
||||
public bool CloseSeatOperationForm_IsNull()
|
||||
{
|
||||
if (closeSeatOperationForm == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public bool CurrTreeSelectModelHandler_SeatOperation_IsNull()
|
||||
{
|
||||
if (currTreeSelectModelHandler_SeatOperation == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 判断
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public bool TransitionEditorPageScriptNameUpdate_IsNull()
|
||||
{
|
||||
if (transitionEditorPageScriptNameUpdate == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器 判断
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static bool CefSend_IsNull()
|
||||
{
|
||||
if (cefSend == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收 判断
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static bool CefRec_IsNull()
|
||||
{
|
||||
if (cefRec == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称 判断
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public static bool ProjectNameFunc_IsNull()
|
||||
{
|
||||
if (projectNameFunc == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public bool ErrInfoTransmit_IsNull()
|
||||
{
|
||||
bool b = false;
|
||||
if (errInfoTransmit == null)
|
||||
{
|
||||
b = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
b = false;
|
||||
}
|
||||
return b;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
22
DataMirrorTools_Simulator/Foundation/ModelBasic/Error.cs
Normal file
22
DataMirrorTools_Simulator/Foundation/ModelBasic/Error.cs
Normal file
@@ -0,0 +1,22 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public class Error<T>
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
// T t = default;
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public ErrInfoHandler<String> errInfoTransmit = null;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
public class ErrDef
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// 错误消息列表的接口
|
||||
/// </summary>
|
||||
public static IErrHandler<String> iErrHandler = null;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
|
||||
12
DataMirrorTools_Simulator/Foundation/ModelBasic/InitVar.cs
Normal file
12
DataMirrorTools_Simulator/Foundation/ModelBasic/InitVar.cs
Normal file
@@ -0,0 +1,12 @@
|
||||
using Global;
|
||||
/// <summary>
|
||||
/// InitVar
|
||||
/// </summary>
|
||||
public class InitVar
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace ModelBasic
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class NewIProjectVar
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
480
DataMirrorTools_Simulator/Foundation/ModelBasic/ProjectVar.cs
Normal file
480
DataMirrorTools_Simulator/Foundation/ModelBasic/ProjectVar.cs
Normal file
@@ -0,0 +1,480 @@
|
||||
using ModelBasic;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace Global
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class ProjectVar : TheVar
|
||||
{
|
||||
/// <summary>
|
||||
/// 浏览器发送
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
private static Action<String> cefSend
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 浏览器接收
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
private static Action<String> cefRec
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
public void RefreshCraftTree()
|
||||
{
|
||||
if (refreshCraftTree != null)
|
||||
{
|
||||
refreshCraftTree();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup(string craftName, string craftCode)
|
||||
{
|
||||
if (transmitCraftGroup != null)
|
||||
{
|
||||
transmitCraftGroup.Invoke(craftName, craftCode);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public void TransmitModelName(string modelName, string modelCode)
|
||||
{
|
||||
if (transmitModelName != null)
|
||||
{
|
||||
transmitModelName.Invoke(modelName, modelCode);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_UnSim(string craftName, string craftCode)
|
||||
{
|
||||
if (transmitCraftGroup_UnSim != null)
|
||||
{
|
||||
transmitCraftGroup_UnSim.Invoke(craftName, craftCode);
|
||||
}
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
public void CloseSeatOperationForm()
|
||||
{
|
||||
if (closeSeatOperationForm != null)
|
||||
{
|
||||
closeSeatOperationForm.Invoke();
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void CurrTreeSelectModelHandler_SeatOperation(string modelCode, string modelName)
|
||||
{
|
||||
if (currTreeSelectModelHandler_SeatOperation != null)
|
||||
{
|
||||
currTreeSelectModelHandler_SeatOperation.Invoke(modelCode, modelName);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void TransitionEditorPageScriptNameUpdate(string internalVarCode, string internalVarName)
|
||||
{
|
||||
if (transitionEditorPageScriptNameUpdate != null)
|
||||
{
|
||||
transitionEditorPageScriptNameUpdate.Invoke(internalVarCode, internalVarName);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefSend(string str)
|
||||
{
|
||||
if (cefSend != null)
|
||||
{
|
||||
cefSend.Invoke(str);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefRec(string str)
|
||||
{
|
||||
if (cefRec != null)
|
||||
{
|
||||
cefRec.Invoke(str);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 赋予
|
||||
/// </summary>
|
||||
public void RefreshCraftTree_Give(Action f)
|
||||
{
|
||||
refreshCraftTree = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_Give(Func<String, String, bool> f)
|
||||
{
|
||||
transmitCraftGroup = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public void TransmitModelName_Give(Func<String, String, bool> f)
|
||||
{
|
||||
transmitModelName = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 赋予
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public void TransmitCraftGroup_UnSim_Give(Func<String, String, bool> f)
|
||||
{
|
||||
transmitCraftGroup_UnSim = f;
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 赋予
|
||||
/// </summary>
|
||||
public void CloseSeatOperationForm_Give(Func<bool> f)
|
||||
{
|
||||
closeSeatOperationForm = f;
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 赋予
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public void CurrTreeSelectModelHandler_SeatOperation_Give(Func<String, String, bool> f)
|
||||
{
|
||||
currTreeSelectModelHandler_SeatOperation = f;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 赋予
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public void TransitionEditorPageScriptNameUpdate_Give(Func<String, String, bool> f)
|
||||
{
|
||||
transitionEditorPageScriptNameUpdate = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器 赋予
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefSend_Give(Action<String> f)
|
||||
{
|
||||
cefSend = f;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收 赋予
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static void CefRec_Give(Action<String> f)
|
||||
{
|
||||
cefRec = f;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 工艺树刷新 判断
|
||||
/// </summary>
|
||||
public bool RefreshCraftTree_IsNull()
|
||||
{
|
||||
if (refreshCraftTree == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递工艺组 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public bool TransmitCraftGroup_IsNull()
|
||||
{
|
||||
if (transmitCraftGroup == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 传递模型名 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
/// <param name="modelCode"></param>
|
||||
public bool TransmitModelName_IsNull()
|
||||
{
|
||||
if (transmitModelName == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递 判断
|
||||
/// </summary>
|
||||
/// <param name="craftName"></param>
|
||||
/// <param name="craftCode"></param>
|
||||
public bool TransmitCraftGroup_UnSim_IsNull()
|
||||
{
|
||||
if (transmitCraftGroup_UnSim == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭 判断
|
||||
/// </summary>
|
||||
public bool CloseSeatOperationForm_IsNull()
|
||||
{
|
||||
if (closeSeatOperationForm == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息 判断
|
||||
/// </summary>
|
||||
/// <param name="modelName"></param>
|
||||
public bool CurrTreeSelectModelHandler_SeatOperation_IsNull()
|
||||
{
|
||||
if (currTreeSelectModelHandler_SeatOperation == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称 判断
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public bool TransitionEditorPageScriptNameUpdate_IsNull()
|
||||
{
|
||||
if (transitionEditorPageScriptNameUpdate == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 发送到浏览器 判断
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static bool CefSend_IsNull()
|
||||
{
|
||||
if (cefSend == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 浏览器接收 判断
|
||||
/// 20200916
|
||||
/// </summary>
|
||||
/// <param name="str"></param>
|
||||
public static bool CefRec_IsNull()
|
||||
{
|
||||
if (cefRec == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
public Func<String, Boolean> projectNameFunc
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <returns></returns>
|
||||
public void ProjectNameFunc(string projectName)
|
||||
{
|
||||
|
||||
if (projectNameFunc != null)
|
||||
{
|
||||
projectNameFunc.Invoke(projectName);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称 赋予
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public void ProjectNameFunc_Give(Func<String, Boolean> f)
|
||||
{
|
||||
projectNameFunc = f;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 传递项目名称 判断
|
||||
/// 2020.11.2
|
||||
/// </summary>
|
||||
/// <param name="f"></param>
|
||||
public bool ProjectNameFunc_IsNull()
|
||||
{
|
||||
if (projectNameFunc == null)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
public ShowMainProgressSet showMainProgressSet
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
public ShowMainProgress showMainProgress
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
public ShowMainProgressCountPer showMainProgressCountPer
|
||||
{
|
||||
get;
|
||||
set;
|
||||
}
|
||||
public bool ShowMainProgressSet_IsNull(string n, int m)
|
||||
{
|
||||
bool b = false;
|
||||
if (showMainProgressSet == null)
|
||||
{
|
||||
b = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
b = false;
|
||||
}
|
||||
return b;
|
||||
}
|
||||
|
||||
public bool ShowMainProgress_IsNull(int c)
|
||||
{
|
||||
bool b = false;
|
||||
if (showMainProgress == null)
|
||||
{
|
||||
b = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
b = false;
|
||||
}
|
||||
return b;
|
||||
}
|
||||
public void ShowMainProgressSet_Give(ShowMainProgressSet f)
|
||||
{
|
||||
showMainProgressSet = f;
|
||||
}
|
||||
|
||||
public void ShowMainProgress_Give(ShowMainProgress f)
|
||||
{
|
||||
showMainProgress = f;
|
||||
}
|
||||
public void ShowMainProgress_Give_CountPer(ShowMainProgressCountPer f)
|
||||
{
|
||||
showMainProgressCountPer = f;
|
||||
}
|
||||
|
||||
public void ShowMainProgressSet(string n, int m)
|
||||
{
|
||||
if(showMainProgressSet!=null)
|
||||
{
|
||||
|
||||
}
|
||||
showMainProgressSet.Invoke(n, m);
|
||||
}
|
||||
|
||||
public void ShowMainProgress(int c)
|
||||
{
|
||||
showMainProgress.Invoke(c);
|
||||
}
|
||||
public void ShowMainProgressCountPer(string msg,int c)
|
||||
{
|
||||
showMainProgressCountPer.Invoke(msg,c);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,25 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
namespace ModelBasic
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class ProjectVarDef
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// IProjectVar
|
||||
/// </summary>
|
||||
public static Global.IProjectVar iProjectVar = null;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
85
DataMirrorTools_Simulator/Foundation/ModelBasic/TheVar.cs
Normal file
85
DataMirrorTools_Simulator/Foundation/ModelBasic/TheVar.cs
Normal file
@@ -0,0 +1,85 @@
|
||||
using Global;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
namespace ModelBasic
|
||||
{
|
||||
/// <summary>
|
||||
///
|
||||
/// </summary>
|
||||
public class TheVar
|
||||
{
|
||||
/// <summary>
|
||||
/// 工艺树刷新
|
||||
/// </summary>
|
||||
public Action refreshCraftTree
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 传递工艺组
|
||||
/// </summary>
|
||||
public Func<String, String, bool> transmitCraftGroup
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 传递模型名
|
||||
/// </summary>
|
||||
public Func<String, String, bool> transmitModelName
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// 非仿真工艺（空工艺），工艺组的传递
|
||||
/// </summary>
|
||||
public Func<String, String, bool> transmitCraftGroup_UnSim
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// （位置控制器）关闭
|
||||
/// </summary>
|
||||
public Func<bool> closeSeatOperationForm
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
/// <summary>
|
||||
/// （位置控制器）选择模型发送消息
|
||||
/// </summary>
|
||||
public Func<String, String, bool> currTreeSelectModelHandler_SeatOperation
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
/// <summary>
|
||||
/// 传递逻辑脚本名称
|
||||
/// </summary>
|
||||
public static Func<String, String, bool> transitionEditorPageScriptNameUpdate
|
||||
{
|
||||
get;
|
||||
set;
|
||||
} = null;
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,36 @@
|
||||
using System.Reflection;
|
||||
using System.Runtime.CompilerServices;
|
||||
using System.Runtime.InteropServices;
|
||||
|
||||
// 有关程序集的一般信息由以下
|
||||
// 控制。更改这些特性值可修改
|
||||
// 与程序集关联的信息。
|
||||
[assembly: AssemblyTitle("Foundation")]
|
||||
[assembly: AssemblyDescription("")]
|
||||
[assembly: AssemblyConfiguration("")]
|
||||
[assembly: AssemblyCompany("")]
|
||||
[assembly: AssemblyProduct("Foundation")]
|
||||
[assembly: AssemblyCopyright("Copyright © 2021")]
|
||||
[assembly: AssemblyTrademark("")]
|
||||
[assembly: AssemblyCulture("")]
|
||||
|
||||
// 将 ComVisible 设置为 false 会使此程序集中的类型
|
||||
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
|
||||
//请将此类型的 ComVisible 特性设置为 true。
|
||||
[assembly: ComVisible(false)]
|
||||
|
||||
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
|
||||
[assembly: Guid("7a8cc5ec-9795-4fcd-a85f-bb01da377225")]
|
||||
|
||||
// 程序集的版本信息由下列四个值组成:
|
||||
//
|
||||
// 主版本
|
||||
// 次版本
|
||||
// 生成号
|
||||
// 修订号
|
||||
//
|
||||
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
|
||||
//通过使用 "*"，如下所示:
|
||||
// [assembly: AssemblyVersion("1.0.*")]
|
||||
[assembly: AssemblyVersion("1.0.0.0")]
|
||||
[assembly: AssemblyFileVersion("1.0.0.0")]
|
||||
4
DataMirrorTools_Simulator/Foundation/packages.config
Normal file
4
DataMirrorTools_Simulator/Foundation/packages.config
Normal file
@@ -0,0 +1,4 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<packages>
|
||||
<package id="Newtonsoft.Json" version="13.0.1" targetFramework="net461" />
|
||||
</packages>
|
||||
Reference in New Issue
Block a user