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/ModelBasic/BasicClass/ParsingData.cs
+++ b/DataMirrorTools_Simulator/ModelBasic/BasicClass/ParsingData.cs
@@ -0,0 +1,104 @@
+using DTTest;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+/// <summary>
+/// 
+/// </summary>
+namespace ModelBasic
+{
+    /// <summary>
+    /// 
+    /// </summary>
+    public class ParsingData
+    {
+
+        /// <summary>
+        /// 在Json中得到Base、Tool、Tcp位置
+        /// 2021.1.15
+        /// </summary>
+        /// <param name="jsonStr">Json</param>
+        /// <param name="threejsBase">xyz rpy</param>
+        /// <param name="threejsTool">xyz qxqyqzqw</param>
+        /// <param name="threejsTcp">xyz qxqyqzqw</param>
+        /// <param name="threejsInitJoint">返回初始机器人姿态坐标值，传出的threejsInitJoint 是rad 和m</param>
+        public static void GetRobotParameter_MM(Data_RobotCurr robotCurr, out double[] threejsBaseQ, out double[] threejsToolQ, out double[] threejsTcpQ,out double[] threejsInitJoint)
+        {
+            threejsBaseQ = new double[] { 
+                CVT.MToMM(robotCurr.Base.tx),
+                CVT.MToMM(robotCurr.Base.ty), 
+                CVT.MToMM(robotCurr.Base.tz),
+                robotCurr.Base.qx,
+                robotCurr.Base.qy,
+                robotCurr.Base.qz,
+                robotCurr.Base.qw};
+            threejsToolQ = new double[] {
+                CVT.MToMM(robotCurr.Tool.tx),
+                CVT.MToMM(robotCurr.Tool.ty),
+                CVT.MToMM(robotCurr.Tool.tz),
+                robotCurr.Tool.qx,
+                robotCurr.Tool.qy,
+                robotCurr.Tool.qz,
+                robotCurr.Tool.qw};
+            threejsTcpQ = new double[] {
+                CVT.MToMM(robotCurr.Tcp.tx),
+                CVT.MToMM(robotCurr.Tcp.ty),
+                CVT.MToMM(robotCurr.Tcp.tz),
+                robotCurr.Tcp.qx,
+                robotCurr.Tcp.qy,
+                robotCurr.Tcp.qz,
+                robotCurr.Tcp.qw};
+
+            #region 处理初始joint
+           
+            var currentJoint = robotCurr.CurrentJoint;
+            var jointNum = currentJoint.Count;
+
+            threejsInitJoint = new double[jointNum];
+
+            for (int i = 0; i < jointNum; i++)
+            {
+                var item = currentJoint[i];
+                double value = Convert.ToDouble(item.JValue);
+                // 转动副 从弧度转换为角度
+                if (item.JType == "0")
+                {
+                    value = value * 180 / Math.PI;
+                }
+                else // 滑动副 从m转换为mm
+                {
+                    //value = value * 1000;
+                }
+                threejsInitJoint[i] = value;
+            }
+           
+           
+
+            #endregion
+        }
+
+
+
+
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="dataSplit"></param>
+        /// <param name="items"></param>
+        /// <returns></returns>
+        public static JObject GetPositionDataInfo(string jStr)
+        {
+            var itemsArray = (JArray)JsonConvert.DeserializeObject(jStr);
+            var jObjectParam = itemsArray[0].ToString();
+            return (JObject)JsonConvert.DeserializeObject(jObjectParam);
+        }
+
+
+
+    }
+}