板卡回原点配置迁移到初始配置轴配置中 板卡回原点配置区分运动方向和捕捉方向，限制捕捉原点方向

xcd

2020-07-15 773369500892dcb5347e4a0059f8089960073030

 src/Bro.Common.Model/Model/MotionCardRelated.cs

@@ -1,9 +1,11 @@
using Bro.Common.Helper;
using Newtonsoft.Json;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing.Design;
using System.Globalization;
using System.Linq;
using System.Text;
using System.Threading;
@@ -84,10 +86,17 @@
        //[Description("IsUseWarning：是否启用报警")]
        //public bool IsUseWarning { get; set; } = false;

        //[Category("暂停配置")]
        //[DisplayName("是否启用立即暂停")]
        //[Description("IsImmediatePause：是否启用立即暂停")]
        //public bool IsImmediatePause { get; set; } = false;
        [Category("原点配置")]
        [DisplayName("回原点参数")]
        [Description("回原点参数")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public GoHomePara GoHomePara { get; set; } = new GoHomePara();

        [Category("暂停配置")]
        [DisplayName("是否启用立即暂停")]
        [Description("IsImmediatePause：是否启用立即暂停")]
        public bool IsImmediatePause { get; set; } = false;

        //[Category("暂停配置")]
        //[DisplayName("轴位置处于区间内时适用的暂停操作")]
@@ -136,12 +145,12 @@
        [Category("速度配置")]
        [DisplayName("加速度")]
        [Description("Acc：加速度,为0时表示不修改当前设置")]
        public double Acc { get; set; } = 1;
        public double Acc { get; set; } = 0;

        [Category("速度配置")]
        [DisplayName("减速度")]
        [Description("减速度,为0时表示不修改当前设置")]
        public double Dec { get; set; } = 1;
        public double Dec { get; set; } = 0;
    }

    /// <summary>
@@ -152,44 +161,52 @@
        [Category("回原点参数")]
        [DisplayName("回原点方式")]
        [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;")]
        public short HomeMode { get; set; } = 11;
        public short HomeMode { get; set; } = 11; 

        [Category("回原点参数")]
        [DisplayName("回原点方向")]
        [Description("HomeDir：1 正向，-1 负向")]
        public short HomeDir { get; set; } = 1;

        [Category("回原点参数")]
        [DisplayName("回原点方向")]
        [Description("HomeDir：1 正向，-1 负向")]
        [DisplayName("边缘")]
        [Description("edge：边缘")]
        public short Edge { get; set; } = 0;

        [Category("回原点参数")]
        [Category("回原点速度")]
        [DisplayName("回原点最低速度")]
        [Description("LowVelocity：速度,为0时表示不修改当前设置")]
        public double LowVelocity { get; set; } = 50;


        [Category("回原点参数")]
        [Category("回原点速度")]
        [DisplayName("回原点最高速度")]
        [Description("HighVelocity：速度,为0时表示不修改当前设置")]
        public double HighVelocity { get; set; } = 50;

        [Category("回原点参数")]
        [DisplayName("搜搜距离")]
        [Description("SearchHomeDistance：搜搜距离")]
        public int SearchHomeDistance { get; set; } = 9999999;
        //[Category("回原点参数")]
        //[DisplayName("搜索距离")]
        //[Description("SearchHomeDistance：搜索距离")]
        //public int SearchHomeDistance { get; set; } = 9999999;

        [Category("回原点参数")]
        [Category("回原点偏移")]
        [DisplayName("偏移距离")]
        [Description("HomeOffset：偏移距离")]
        public int HomeOffset { get; set; } = 0;

        [Category("回原点参数")]
        [Category("回原点偏移")]
        [DisplayName("跳过步长")]
        [Description("EscapeStep：跳过步长")]
        public int EscapeStep { get; set; } = 1000;

        [Category("回原点方向")]
        [DisplayName("起始运动方向")]
        [Description("回原点时，轴的初始运动方向：true 正向，false 负向")]
        public bool IsHomeDirPositive { get; set; } = true;

        [Category("回原点方向")]
        [DisplayName("原点捕捉方向")]
        [Description("捕捉原点时，轴的运动方向：true 正向，false 负向")]
        public bool IsCaptureDirPositive { get; set; } = true;

        [Category("回原点超时")]
        [DisplayName("回原点超时")]
        [Description("回原点超时，单位秒")]
        public int GoHomeTimeOut { get; set; } = 60;
    }

    /// <summary>
@@ -208,11 +225,6 @@
        public string AxisName { get; set; }

        /// <summary>
        /// 运动模式
        /// </summary>
        public MotionMode MoveMode { get; set; }

        /// <summary>
        /// 当前位置
        /// </summary>
        public int CurPosition { get; set; }
@@ -225,131 +237,150 @@
        /// <summary>
        /// 当前速度参数
        /// </summary>
        public VelocityPara CurVelocityPara { get; set; }
        public double CurVelocity { get; set; }

        /// <summary>
        /// 规划速度参数
        /// </summary>
        public VelocityPara VelocityPara { get; set; }
        public double PrfVelocity { get; set; }

        /// <summary>
        /// 轴状态
        /// </summary>
        public int AxisStatus { get; set; }

        public string GetDisplayText()
        {
            return $"轴{AxisIndex}:{AxisName}-{MoveMode.ToString()}-当前：{CurPosition}-规划：{Destination}";
            return $"轴{AxisIndex}:{AxisName}-当前状态：{AxisStatus}-当前位置：{CurPosition}-规划位置：{Destination}";
        }
    }

    /// <summary>
    /// 运动对象
    /// </summary>
    public class MovingOption : INotifyPropertyChanged, IComplexDisplay
    public class MovingOption : IComplexDisplay
    {
        private int axisIndex = 0;
        [Category("运动配置")]
        [DisplayName("运动轴索引")]
        [Description("AxisIndex：运动轴索引")]
        [TypeConverter(typeof(AxisIndexConvert))]
        public string AxisIndexStr { get; set; } = "1";

        [Browsable(false)]
        [JsonIgnore]
        public int AxisIndex
        {
            get => axisIndex;
            set
            {
                if (axisIndex != value)
                {
                    axisIndex = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("AxisIndex"));
                }
                axisIndex = value;
            }
            get => int.Parse(AxisIndexStr);
            set => AxisIndexStr = value.ToString();
        }

        private MotionMode moveMode = MotionMode.Normal;
        //private int axisIndex = 0;
        //[Category("运动配置")]
        //[DisplayName("运动轴索引")]
        //[Description("AxisIndex：运动轴索引")]
        //[TypeConverter(typeof(AxisIndexConvert))]
        //public int AxisIndex { get; set; }
        //{
        //    get => axisIndex;
        //    set
        //    {
        //        if (axisIndex != value)
        //        {
        //            axisIndex = value;
        //            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("AxisIndex"));
        //        }
        //        axisIndex = value;
        //    }
        //}

        //private MotionMode moveMode = MotionMode.Normal;
        [Category("运动配置")]
        [DisplayName("运动模式")]
        [Description("MoveMode：运动模式")]
        public MotionMode MoveMode
        {
            get => moveMode;
            set
            {
                if (moveMode != value)
                {
                    moveMode = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("MoveMode"));
                }
        public MotionMode MoveMode { get; set; } = MotionMode.Normal;
        //{
        //    get => moveMode;
        //    set
        //    {
        //        if (moveMode != value)
        //        {
        //            moveMode = value;
        //            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("MoveMode"));
        //        }

                moveMode = value;
            }
        }
        //        moveMode = value;
        //    }
        //}

        private bool isAbsolute = true;
        //private bool isAbsolute = true;
        [Category("运动配置")]
        [DisplayName("是否绝对运动")]
        [Description("IsAbsolute：是否绝对运动")]
        public bool IsAbsolute
        {
            get => isAbsolute;
            set
            {
                if (isAbsolute != value)
                {
                    isAbsolute = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsAbsolute"));
                }
        public bool IsAbsolute { get; set; } = true;
        //{
        //    get => isAbsolute;
        //    set
        //    {
        //        if (isAbsolute != value)
        //        {
        //            isAbsolute = value;
        //            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("IsAbsolute"));
        //        }

                isAbsolute = value;
            }
        }
        //        isAbsolute = value;
        //    }
        //}

        private int destination = 0;
        //private int destination = 0;
        [Category("运动配置")]
        [DisplayName("目的地")]
        [Description("Destination：目的地")]
        public int Destination
        {
            get => destination;
            set
            {
                if (destination != value)
                {
                    destination = value;
                    PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Destination"));
                }
        public int Destination { get; set; }
        //{
        //    get => destination;
        //    set
        //    {
        //        if (destination != value)
        //        {
        //            destination = value;
        //            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Destination"));
        //        }

                destination = value;
            }
        }
        //        destination = value;
        //    }
        //}

        private VelocityPara velocityPara = new VelocityPara();
        //private VelocityPara velocityPara = new VelocityPara();
        [Category("运动配置")]
        [DisplayName("速度参数")]
        [Description("VelocityPara：速度参数")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public VelocityPara VelocityPara
        {
            get => velocityPara;
            set
            {
                velocityPara = value;
                PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("VelocityPara"));
            }
        }
        public VelocityPara VelocityPara { get; set; } = new VelocityPara();
        //{
        //    get => velocityPara;
        //    set
        //    {
        //        velocityPara = value;
        //        PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("VelocityPara"));
        //    }
        //}

        private GoHomePara goHomePara = new GoHomePara();
        [Category("运动配置")]
        [DisplayName("回原点参数")]
        [Description("GoHomePara：速度参数")]
        [TypeConverter(typeof(ComplexObjectConvert))]
        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        public GoHomePara GoHomePara
        {
            get => goHomePara;
            set
            {
                goHomePara = value;
                PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("GoHomePara"));
            }
        }
        //private GoHomePara goHomePara = new GoHomePara();
        //[Category("运动配置")]
        //[DisplayName("回原点参数")]
        //[Description("GoHomePara：速度参数")]
        //[TypeConverter(typeof(ComplexObjectConvert))]
        //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
        //public GoHomePara GoHomePara { get; set; } = new GoHomePara();
        //{
        //    get => goHomePara;
        //    set
        //    {
        //        goHomePara = value;
        //        PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("GoHomePara"));
        //    }
        //}

        [Category("板卡运动配置")]
        [Description("超时设置，单位：ms")]
@@ -357,6 +388,7 @@
        public int MovingTimeout { get; set; } = 0;

        internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();

        public void SetAxisSetting(List<AxisSetting> settings)
        {
            if (settings != null)
@@ -365,7 +397,7 @@

        public string GetDisplayText()
        {
            string axisName = AxisIndex.ToString();
            string axisName = AxisIndexStr;
            var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
            if (axisSet != null)
            {
@@ -373,70 +405,113 @@
            }
            return axisName + "," + MoveMode.ToString() + "," + (IsAbsolute ? "Abs" : "Rel") + "," + Destination;
        }
        public event PropertyChangedEventHandler PropertyChanged;
        //public event PropertyChangedEventHandler PropertyChanged;
    }

    public class AxisIndexConvert : TypeConverter
    public class AxisIndexConvert : ComboBoxItemTypeConvert
    {
        Dictionary<int, string> _indexNameDict = new Dictionary<int, string>();

        public override bool GetStandardValuesSupported(ITypeDescriptorContext context)
        public override Hashtable GetConvertHash(ITypeDescriptorContext context)
        {
            return true;
        }

        public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
        {
            MovingOption mo = context.Instance as MovingOption;

            _indexNameDict = mo._axisSettingList.ToDictionary(a => a.AxisIndex, a => a.AxisIndex + "-" + a.AxisName);

            return new StandardValuesCollection(_indexNameDict.Keys);
        }

        public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
        {
            if (sourceType == typeof(string))
            Hashtable table = new Hashtable();
            if (context.Instance is MovingOption op)
            {
                return true;
            }
            return base.CanConvertFrom(context, sourceType);
        }

        public override object ConvertFrom(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v)
        {
            if (v is string)
            {
                foreach (var indexName in _indexNameDict)
                op._axisSettingList.ForEach(a =>
                {
                    if (indexName.Value == v.ToString())
                    {
                        return indexName.Key;
                    }
                }
                return Convert.ToInt32(v);
                    table[a.AxisIndex.ToString()] = a.AxisName;
                });
            }
            return base.ConvertFrom(context, culture, v);

            return table;
        }

        public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v, Type destinationType)
        {
            if (destinationType == typeof(string))
            {
                if (_indexNameDict.ContainsKey(Convert.ToInt32(v)))
                {
                    return _indexNameDict[Convert.ToInt32(v)];
                }
            }
            return base.ConvertTo(context, culture, v, destinationType);
        }
        //public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
        //{
        //    bool flag = base.CanConvertFrom(context, sourceType);
        //    return flag;
        //}

        public override bool GetStandardValuesExclusive(ITypeDescriptorContext context)
        {
            return false;
        }
        //public override bool CanConvertTo(ITypeDescriptorContext context, Type destinationType)
        //{
        //    return base.CanConvertTo(context, destinationType);
        //}

        //public override object ConvertFrom(ITypeDescriptorContext context, CultureInfo culture, object v)
        //{
        //    //if (string.IsNullOrWhiteSpace(v.ToString()))
        //    //{
        //    //    return 0;
        //    //}

        //    return base.ConvertFrom(context, culture, Convert.ToInt32(v));
        //}

        //public override object ConvertTo(ITypeDescriptorContext context, CultureInfo culture, object v, Type destinationType)
        //{
        //    return base.ConvertTo(context, culture, v, destinationType);
        //}
    }

    //public class AxisIndexConvert : TypeConverter
    //{
    //    Dictionary<int, string> _indexNameDict = new Dictionary<int, string>();

    //    public override bool GetStandardValuesSupported(ITypeDescriptorContext context)
    //    {
    //        return true;
    //    }

    //    public override StandardValuesCollection GetStandardValues(ITypeDescriptorContext context)
    //    {
    //        MovingOption mo = context.Instance as MovingOption;

    //        _indexNameDict = mo._axisSettingList.ToDictionary(a => a.AxisIndex, a => a.AxisIndex + "-" + a.AxisName);

    //        return new StandardValuesCollection(_indexNameDict.Keys);
    //    }

    //    public override bool CanConvertFrom(ITypeDescriptorContext context, Type sourceType)
    //    {
    //        if (sourceType == typeof(string))
    //        {
    //            return true;
    //        }
    //        return base.CanConvertFrom(context, sourceType);
    //    }

    //    public override object ConvertFrom(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v)
    //    {
    //        if (v is string)
    //        {
    //            foreach (var indexName in _indexNameDict)
    //            {
    //                if (indexName.Value == v.ToString())
    //                {
    //                    return indexName.Key;
    //                }
    //            }
    //            return Convert.ToInt32(v);
    //        }
    //        return base.ConvertFrom(context, culture, v);
    //    }

    //    public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object v, Type destinationType)
    //    {
    //        if (destinationType == typeof(string))
    //        {
    //            if (_indexNameDict.ContainsKey(Convert.ToInt32(v)))
    //            {
    //                return _indexNameDict[Convert.ToInt32(v)];
    //            }
    //        }
    //        return base.ConvertTo(context, culture, v, destinationType);
    //    }

    //    public override bool GetStandardValuesExclusive(ITypeDescriptorContext context)
    //    {
    //        return false;
    //    }
    //}

    public class AxisConflictSet : IComplexDisplay
    {
        [Category("1.轴冲突条件")]