init: 导入项目到 meswork Gitea

2026-05-29 10:07:05 +08:00
commit ad9a4106fb
3582 changed files with 460312 additions and 0 deletions
--- a/DataMirrorTools_Simulator/Foundation/Base.Class/DownLoadRobotProgram.cs
+++ b/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();
+    }
+
+
+
+
+}