using Bro.Common.Helper;
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using Newtonsoft.Json;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing.Design;
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using System.Globalization;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Bro.Common.Helper.EnumHelper;
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namespace Bro.Common.Model
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{
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/// <summary>
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/// 轴配置
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/// </summary>
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public class AxisSetting : IComplexDisplay
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{
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[Category("轴配置")]
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[DisplayName("轴号索引")]
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[Description("AxisIndex：轴号索引")]
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public int AxisIndex { get; set; }
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[Category("轴配置")]
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[DisplayName("轴名称")]
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[Description("AxisName：轴名称")]
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public string AxisName { get; set; }
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[Category("轴配置")]
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[DisplayName("轴是否启用")]
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[Description("IsAxisEnabled：轴是否启用")]
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public bool IsAxisEnabled { get; set; } = false;
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[Category("换算配置")]
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[DisplayName("脉冲数换算比例")]
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[Description("脉冲数和其他计量单位的换算比例，例如设置为1000，表示1000个脉冲等于1uint")]
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public int AxisRatio { get; set; } = 1;
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//[Category("速度配置")]
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//[DisplayName("默认速度参数")]
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//[Description("VelocityPara：默认速度参数")]
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//[TypeConverter(typeof(ComplexObjectConvert))]
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//[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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//public VelocityPara VelocityPara { get; set; } = new VelocityPara();
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//[Category("回原点设置")]
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//[DisplayName("回原点模式")]
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//[Description("HomeMode：回原点模式。0：一般模式 1：极限限位模式 2：外部触发模式")]
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//public int HomeMode { get; set; } = 0;
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//[Category("回原点设置")]
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//[DisplayName("回原点方向")]
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//[Description("IsHomePositive：回原点方向。 true：正方向开始 false：负方向开始")]
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//public bool IsHomePositive { get; set; } = true;
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//[Category("回原点设置")]
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//[DisplayName("是否自动回原点")]
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//[Description("IsAutoGoHome：是否自动回原点。 true：是 false：否")]
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//public bool IsAutoGoHome { get; set; } = false;
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//[Category("超时设置")]
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//[DisplayName("回原点超时")]
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//[Description("TimeOutHome：回原点超时，单位毫秒")]
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//public int TimeOutHome { get; set; } = 30000;
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//[Category("超时设置")]
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//[DisplayName("运动超时")]
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//[Description("TimeOutMove：运动超时，单位毫秒")]
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//public int TimeOutMove { get; set; } = 10000;
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//[Category("开闭环设置")]
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//[DisplayName("是否使用Cmmd回馈")]
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//[Description("IsUseCmmdPosition：是否使用Cmmd回馈")]
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//public bool IsUseCmmdPosition { get; set; } = false;
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//[Category("开闭环设置")]
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//[DisplayName("是否使用板卡反馈停止信号")]
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//[Description("IsUseMDNStopSignal：是否使用板卡反馈停止信号")]
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//public bool IsUseMDNStopSignal { get; set; } = false;
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//[Category("开闭环设置")]
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//[DisplayName("是否启用报警")]
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//[Description("IsUseWarning：是否启用报警")]
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//public bool IsUseWarning { get; set; } = false;
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[Category("暂停配置")]
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[DisplayName("是否启用立即暂停")]
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[Description("IsImmediatePause：是否启用立即暂停")]
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public bool IsImmediatePause { get; set; } = false;
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//[Category("暂停配置")]
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//[DisplayName("轴位置处于区间内时适用的暂停操作")]
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//[Description("ImmediatePauseSections：当轴位置处于区间内时适用的暂停操作")]
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//[TypeConverter(typeof(CollectionCountConvert))]
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//[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
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//public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
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public string GetDisplayText()
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{
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return AxisIndex + "-" + AxisName + "-" + (IsAxisEnabled ? "启用" : "禁用");
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}
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}
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/// <summary>
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/// 位置对象
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/// </summary>
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public class Section : IComplexDisplay
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{
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[Category("暂停区间")]
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[DisplayName("起始位置")]
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[Description("StartPosition：起始位置")]
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public int StartPosition { get; set; }
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[Category("暂停区间")]
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[DisplayName("结束位置")]
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[Description("EndPosition：结束位置")]
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public int EndPosition { get; set; }
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public string GetDisplayText()
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{
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return $"{StartPosition}--{EndPosition}";
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}
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}
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/// <summary>
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/// 速度参数对象
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/// </summary>
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public class VelocityPara
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{
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[Category("速度配置")]
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[DisplayName("速度")]
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[Description("Velocity：速度,为0时表示不修改当前设置")]
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public double Velocity { get; set; } = 0;
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[Category("速度配置")]
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[DisplayName("加速度")]
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[Description("Acc：加速度,为0时表示不修改当前设置")]
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public double Acc { get; set; } = 1;
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[Category("速度配置")]
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[DisplayName("减速度")]
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[Description("减速度,为0时表示不修改当前设置")]
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public double Dec { get; set; } = 1;
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}
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/// <summary>
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/// 回原点参数对象
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/// </summary>
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public class GoHomePara
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{
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[Category("回原点参数")]
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[DisplayName("回原点方式")]
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[Description("HomeMode：回原点方式 （HOME_MODE_LIMIT = 10; HOME_MODE_LIMIT_HOME = 11; HOME_MODE_LIMIT_INDEX = 12; HOME_MODE_LIMIT_HOME_INDEX = 13;HOME_MODE_HOME = 20;HOME_MODE_HOME_INDEX = 22;HOME_MODE_INDEX = 30;")]
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public short HomeMode { get; set; } = 11;
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[Category("回原点参数")]
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[DisplayName("回原点方向")]
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[Description("HomeDir：1 正向，-1 负向")]
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public short HomeDir { get; set; } = 1;
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[Category("回原点参数")]
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[DisplayName("边缘")]
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[Description("edge：边缘")]
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public short Edge { get; set; } = 0;
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[Category("回原点参数")]
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[DisplayName("回原点最低速度")]
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[Description("LowVelocity：速度,为0时表示不修改当前设置")]
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public double LowVelocity { get; set; } = 50;
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[Category("回原点参数")]
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[DisplayName("回原点最高速度")]
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[Description("HighVelocity：速度,为0时表示不修改当前设置")]
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public double HighVelocity { get; set; } = 50;
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[Category("回原点参数")]
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[DisplayName("搜索距离")]
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[Description("SearchHomeDistance：搜索距离")]
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public int SearchHomeDistance { get; set; } = 9999999;
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[Category("回原点参数")]
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[DisplayName("偏移距离")]
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[Description("HomeOffset：偏移距离")]
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public int HomeOffset { get; set; } = 0;
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[Category("回原点参数")]
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[DisplayName("跳过步长")]
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[Description("EscapeStep：跳过步长")]
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public int EscapeStep { get; set; } = 1000;
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}
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/// <summary>
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/// 板卡运动状态对象
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/// </summary>
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public class AxisMovingStatus : IComplexDisplay
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{
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/// <summary>
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/// 轴索引
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/// </summary>
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public int AxisIndex { get; set; }
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/// <summary>
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/// 轴名称
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/// </summary>
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public string AxisName { get; set; }
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/// <summary>
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/// 当前位置
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/// </summary>
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public int CurPosition { get; set; }
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/// <summary>
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/// 目的地
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/// </summary>
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public int Destination { get; set; }
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/// <summary>
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/// 当前速度参数
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/// </summary>
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public double CurVelocity { get; set; }
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/// <summary>
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/// 规划速度参数
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/// </summary>
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public double PrfVelocity { get; set; }
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/// <summary>
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/// 轴状态
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/// </summary>
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public int AxisStatus { get; set; }
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public string GetDisplayText()
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{
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return $"轴{AxisIndex}:{AxisName}-当前状态：{AxisStatus}-当前位置：{CurPosition}-规划位置：{Destination}";
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}
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}
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/// <summary>
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/// 运动对象
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/// </summary>
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public class MovingOption : IComplexDisplay
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{
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[Category("运动配置")]
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[DisplayName("运动轴索引")]
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[Description("AxisIndex：运动轴索引")]
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[TypeConverter(typeof(AxisIndexConvert))]
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public string AxisIndexStr { get; set; } = "1";
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[Browsable(false)]
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[JsonIgnore]
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public int AxisIndex
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{
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get => int.Parse(AxisIndexStr);
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set => AxisIndexStr = value.ToString();
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}
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//private int axisIndex = 0;
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//[Category("运动配置")]
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//[DisplayName("运动轴索引")]
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//[Description("AxisIndex：运动轴索引")]
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//[TypeConverter(typeof(AxisIndexConvert))]
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//public int AxisIndex { get; set; }
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//{
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// get => axisIndex;
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// set
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// {
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// if (axisIndex != value)
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// {
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// axisIndex = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("AxisIndex"));
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// }
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// axisIndex = value;
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// }
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//}
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//private MotionMode moveMode = MotionMode.Normal;
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[Category("运动配置")]
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[DisplayName("运动模式")]
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[Description("MoveMode：运动模式")]
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public MotionMode MoveMode { get; set; } = MotionMode.Normal;
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//{
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// get => moveMode;
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// set
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// {
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// if (moveMode != value)
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// {
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// moveMode = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("MoveMode"));
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// }
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// moveMode = value;
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// }
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//}
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//private bool isAbsolute = true;
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[Category("运动配置")]
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[DisplayName("是否绝对运动")]
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[Description("IsAbsolute：是否绝对运动")]
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public bool IsAbsolute { get; set; } = true;
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//{
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// get => isAbsolute;
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// set
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// {
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// if (isAbsolute != value)
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// {
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// isAbsolute = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsAbsolute"));
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// }
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// isAbsolute = value;
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// }
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//}
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//private int destination = 0;
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[Category("运动配置")]
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[DisplayName("目的地")]
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[Description("Destination：目的地")]
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public int Destination { get; set; }
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//{
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// get => destination;
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// set
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// {
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// if (destination != value)
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// {
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// destination = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Destination"));
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// }
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// destination = value;
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// }
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//}
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//private VelocityPara velocityPara = new VelocityPara();
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[Category("运动配置")]
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[DisplayName("速度参数")]
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[Description("VelocityPara：速度参数")]
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[TypeConverter(typeof(ComplexObjectConvert))]
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[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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public VelocityPara VelocityPara { get; set; } = new VelocityPara();
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//{
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// get => velocityPara;
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// set
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// {
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// velocityPara = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("VelocityPara"));
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// }
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//}
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//private GoHomePara goHomePara = new GoHomePara();
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[Category("运动配置")]
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[DisplayName("回原点参数")]
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[Description("GoHomePara：速度参数")]
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[TypeConverter(typeof(ComplexObjectConvert))]
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[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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public GoHomePara GoHomePara { get; set; } = new GoHomePara();
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//{
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// get => goHomePara;
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// set
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// {
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// goHomePara = value;
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// PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("GoHomePara"));
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// }
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//}
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[Category("板卡运动配置")]
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[Description("超时设置，单位：ms")]
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[DisplayName("运动超时")]
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public int MovingTimeout { get; set; } = 0;
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internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
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public void SetAxisSetting(List<AxisSetting> settings)
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{
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if (settings != null)
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_axisSettingList = settings;
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}
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public string GetDisplayText()
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{
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string axisName = AxisIndexStr;
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var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
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if (axisSet != null)
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{
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axisName += ("-" + axisSet.AxisName);
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}
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return axisName + "," + MoveMode.ToString() + "," + (IsAbsolute ? "Abs" : "Rel") + "," + Destination;
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}
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//public event PropertyChangedEventHandler PropertyChanged;
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}
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public class AxisIndexConvert : ComboBoxItemTypeConvert
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{
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public override Hashtable GetConvertHash(ITypeDescriptorContext context)
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{
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Hashtable table = new Hashtable();
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if (context.Instance is MovingOption op)
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{
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op._axisSettingList.ForEach(a =>
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{
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table[a.AxisIndex.ToString()] = a.AxisName;
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});
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}
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return table;
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}
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//public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
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//{
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// bool flag = base.CanConvertFrom(context, sourceType);
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// return flag;
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//}
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//public override bool CanConvertTo(ITypeDescriptorContext context, Type destinationType)
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//{
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// return base.CanConvertTo(context, destinationType);
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//}
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//public override object ConvertFrom(ITypeDescriptorContext context, CultureInfo culture, object v)
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//{
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// //if (string.IsNullOrWhiteSpace(v.ToString()))
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// //{
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// // return 0;
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// //}
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// return base.ConvertFrom(context, culture, Convert.ToInt32(v));
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//}
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//public override object ConvertTo(ITypeDescriptorContext context, CultureInfo culture, object v, Type destinationType)
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//{
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// return base.ConvertTo(context, culture, v, destinationType);
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//}
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}
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//public class AxisIndexConvert : TypeConverter
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//{
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// Dictionary<int, string> _indexNameDict = new Dictionary<int, string>();
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// public override bool GetStandardValuesSupported(ITypeDescriptorContext context)
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// {
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// return true;
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// }
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// public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
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// {
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// MovingOption mo = context.Instance as MovingOption;
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// _indexNameDict = mo._axisSettingList.ToDictionary(a => a.AxisIndex, a => a.AxisIndex + "-" + a.AxisName);
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// return new StandardValuesCollection(_indexNameDict.Keys);
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// }
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// public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
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// {
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// if (sourceType == typeof(string))
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// {
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// return true;
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// }
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// return base.CanConvertFrom(context, sourceType);
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// }
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// public override object ConvertFrom(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v)
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// {
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// if (v is string)
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// {
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// foreach (var indexName in _indexNameDict)
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// {
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// if (indexName.Value == v.ToString())
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// {
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// return indexName.Key;
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// }
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// }
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// return Convert.ToInt32(v);
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// }
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// return base.ConvertFrom(context, culture, v);
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// }
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// public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v, Type destinationType)
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// {
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// if (destinationType == typeof(string))
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// {
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// if (_indexNameDict.ContainsKey(Convert.ToInt32(v)))
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// {
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// return _indexNameDict[Convert.ToInt32(v)];
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// }
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// }
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// return base.ConvertTo(context, culture, v, destinationType);
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// }
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// public override bool GetStandardValuesExclusive(ITypeDescriptorContext context)
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// {
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// return false;
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// }
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//}
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public class AxisConflictSet : IComplexDisplay
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{
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[Category("1.轴冲突条件")]
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[Description("轴冲突条件，满足全部条件时轴运动需要检查冲突")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
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public List<AxisLimit> AxisOptions { get; set; } = new List<AxisLimit>();
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[Category("1.轴冲突条件")]
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[Description("IO冲突条件，满足全部条件时轴运动需要检查冲突")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
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public List<IOLimit> IOOptions { get; set; } = new List<IOLimit>();
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[Category("2.轴冲突限制")]
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[Description("轴冲突限制，轴运动允许区间")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<AxisLimit>), typeof(UITypeEditor))]
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public List<AxisLimit> AxisLimits { get; set; } = new List<AxisLimit>();
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[Category("2.轴冲突限制")]
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[Description("IO允许条件，允许输出的IO")]
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[TypeConverter(typeof(CollectionCountConvert))]
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[Editor(typeof(ComplexCollectionEditor<IOLimit>), typeof(UITypeEditor))]
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public List<IOLimit> IOOutputs { get; set; } = new List<IOLimit>();
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[Category("3.轴冲突启用")]
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[Description("true：启用轴冲突限制 false：不启用轴冲突限制")]
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public bool IsEnabled { get; set; } = true;
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public string GetDisplayText()
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{
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string optionStr = "Options:" + String.Join(";", AxisOptions.Select(a => a.GetDisplayText()));
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string limitStr = "Limits:" + String.Join(";", AxisLimits.Select(a => a.GetDisplayText()));
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return optionStr + "|" + limitStr;
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}
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}
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public class AxisLimit : IComplexDisplay
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{
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[Category("1.轴号")]
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[Description("1.轴号")]
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public int AxisIndex { get; set; }
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[Category("2.轴最小限制")]
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[Description("2.轴最小限制")]
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public int LimitMin { get; set; }
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[Category("3.轴最大限制")]
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[Description("3.轴最大限制")]
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public int LimitMax { get; set; }
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private int currentPosition = 0;
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[Browsable(false)]
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[JsonIgnore]
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public int CurrentPosition
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{
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get => currentPosition;
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set
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{
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if (currentPosition != value)
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{
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if (value >= LimitMin && value <= LimitMax)
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{
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IsInLimit = true;
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}
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else
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{
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IsInLimit = false;
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}
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}
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currentPosition = value;
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}
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}
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[Browsable(false)]
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[JsonIgnore]
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public bool IsInLimit { get; set; }
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public string GetDisplayText()
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{
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return String.Format("Index:{0},{1}->{2}", AxisIndex, LimitMin, LimitMax);
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}
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}
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public class IOLimit : IComplexDisplay
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{
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[Category("1.IO限制")]
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[Description("IO索引")]
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public int IOIndex { get; set; }
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[Category("1.IO限制")]
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[Description("IO限制值。输入判断时该值作为启用判断值，输出判断时该值作为允许输出值")]
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public bool IOSignal { get; set; }
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public string GetDisplayText()
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{
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return IOIndex + "--" + IOSignal.ToString();
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}
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}
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public class AxisMovingStay
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{
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public int Position { get; set; }
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public int Velocity { get; set; }
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public AutoResetEvent MoveHandle { get; set; } = new AutoResetEvent(false);
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public AutoResetEvent MoveSendHandle { get; set; } = new AutoResetEvent(false);
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}
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}
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