init: 导入项目到 meswork Gitea

DataMirrorTools_Simulator/Foundation/Base.Class/A_BAK_1 - 复制(3) - 复制(4).cs

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+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
+    {
+
+      
+
+
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/A_BAK_1 - 复制(3) - 复制(5).cs

@@ -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
+    {
+
+      
+
+
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/A_BAK_1 - 复制(3) - 复制(6).cs

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+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
+    {
+
+      
+
+
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/A_BAK_1 - 复制(3) - 复制.cs

@@ -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
+    {
+
+      
+
+
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/A_BAK_1 - 复制(3).cs

@@ -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
+    {
+
+      
+
+
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ActPlayModelVisibleAndRotation.cs

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+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; }
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/BasicData.cs

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+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]];
+            }
+
+
+
+
+        }
+    }
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Const.cs

@@ -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
+
+
+
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Frame.cs

@@ -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";
+   
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Cmd_Protocol.cs

@@ -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
+
+ 
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/CurrPostion.cs

@@ -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";
+}

DataMirrorTools_Simulator/Foundation/Base.Class/CurrSignalList.cs

@@ -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;
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Data_ClickModel.cs

@@ -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;
+}
+

DataMirrorTools_Simulator/Foundation/Base.Class/Data_RobotCurr.cs

@@ -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;
+    } = "";
+}

DataMirrorTools_Simulator/Foundation/Base.Class/DeviceCraftData.cs

@@ -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;
+    }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/DownLoadRobotProgram.cs

@@ -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();
+    }
+
+
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/EnumTagTypeID.cs

@@ -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,
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/GeneralFunction.cs

@@ -0,0 +1,2 @@
+public delegate void GeneralFunction( double[] a, double[] b, double[] c);
+

DataMirrorTools_Simulator/Foundation/Base.Class/Kinematics.cs

@@ -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
+}
+
+
+

DataMirrorTools_Simulator/Foundation/Base.Class/KinematicsActionType.cs

@@ -0,0 +1,9 @@
+
+public enum KinematicsActionType
+{
+    Add,
+    Update,
+    Remove,
+    ReceiveDevice,
+    Save
+}

DataMirrorTools_Simulator/Foundation/Base.Class/KinematicsPropertyType.cs

@@ -0,0 +1,8 @@
+
+public enum KinematicsPropertyType
+{
+    Link,
+    Joint,
+    Pose,
+    Kinematics
+}

DataMirrorTools_Simulator/Foundation/Base.Class/LogicalBlockBasic.cs

@@ -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;
+        }
+    }
+
+
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Mode_Run.cs

@@ -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
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ModelAttribute.cs

@@ -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;
+    }
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ModelGroup.cs

@@ -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;
+    }
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ModelNameData.cs

@@ -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; }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ModelNameVisible.cs

@@ -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; }
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ModelProcess.cs

@@ -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;
+    }
+
+
+
+}
+

DataMirrorTools_Simulator/Foundation/Base.Class/OPERATION.cs

@@ -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;
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/OperateResult.cs

@@ -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;
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/OperationResult.cs

@@ -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;
+    }
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/PlayTransmitParam.cs

@@ -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;
+    }
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ProgramHandler.cs

@@ -0,0 +1 @@
+public delegate void ErrInfoHandler<T>(T t);

DataMirrorTools_Simulator/Foundation/Base.Class/QueueExecScriptParam.cs

@@ -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;
+}

DataMirrorTools_Simulator/Foundation/Base.Class/ShowMainProgress.cs

@@ -0,0 +1,3 @@
+public delegate void ShowMainProgress(int c);
+public delegate void ShowMainProgressCountPer(string countPer,int c);
+public delegate void HideMainProgress(int delayTime);

DataMirrorTools_Simulator/Foundation/Base.Class/ShowMainProgressSet.cs

@@ -0,0 +1 @@
+public delegate void ShowMainProgressSet(string o, int m);

DataMirrorTools_Simulator/Foundation/Base.Class/SignalHandler.cs

@@ -0,0 +1 @@
+public delegate void Func(string t, string i, string v,string a);

DataMirrorTools_Simulator/Foundation/Base.Class/TagContent.cs

@@ -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;
+    }
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/TagTriggerHandler.cs

@@ -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;
+
+}
+

DataMirrorTools_Simulator/Foundation/Base.Class/Type_Craft.cs

@@ -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
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_Device.cs

@@ -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";
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_DeviceSignalSimTree.cs

@@ -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";
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_GenerateSignal.cs

@@ -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
+
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_Jurisdiction.cs

@@ -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
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_OperationCmd.cs

@@ -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
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_OperationTree.cs

@@ -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";
+
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_Signal_Raw.cs

@@ -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
+}

DataMirrorTools_Simulator/Foundation/Base.Class/Type_TagIDHandler.cs

@@ -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";
+}

DataMirrorTools_Simulator/Foundation/Base.Class/UseTriggerPlayParameter.cs

@@ -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; }
+
+}