From 3322022068ab818912d6f5d9e5eb31f51cc639c2 Mon Sep 17 00:00:00 2001
From: patrick.xu <patrick.xu@broconcentric.com>
Date: 星期四, 24 二月 2022 09:12:30 +0800
Subject: [PATCH] 添加配置文件的DataShift2
---
src/Bro.Common.Model/Model/MotionCardRelated.cs | 464 ++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 295 insertions(+), 169 deletions(-)
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index a285cdc..7cb2221 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -1,9 +1,11 @@
锘縰sing 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锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
//public bool IsUseWarning { get; set; } = false;
- //[Category("鏆傚仠閰嶇疆")]
- //[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
- //[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
- //public bool IsImmediatePause { get; set; } = false;
+ [Category("鍘熺偣閰嶇疆")]
+ [DisplayName("鍥炲師鐐瑰弬鏁�")]
+ [Description("鍥炲師鐐瑰弬鏁�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public GoHomePara GoHomePara { get; set; } = new GoHomePara();
+
+ [Category("鏆傚仠閰嶇疆")]
+ [DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
+ [Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
+ public bool IsImmediatePause { get; set; } = false;
//[Category("鏆傚仠閰嶇疆")]
//[DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
@@ -136,12 +145,12 @@
[Category("閫熷害閰嶇疆")]
[DisplayName("鍔犻�熷害")]
[Description("Acc锛氬姞閫熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
- public double Acc { get; set; } = 1;
+ public double Acc { get; set; } = 0;
[Category("閫熷害閰嶇疆")]
[DisplayName("鍑忛�熷害")]
[Description("鍑忛�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
- public double Dec { get; set; } = 1;
+ public double Dec { get; set; } = 0;
}
/// <summary>
@@ -149,161 +158,234 @@
/// </summary>
public class GoHomePara
{
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规柟寮�")]
- [Description("HomeMode锛氬洖鍘熺偣鏂瑰紡 锛圚OME_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;
+ //[Category("鍥炲師鐐瑰弬鏁�")]
+ //[DisplayName("鍥炲師鐐规柟寮�")]
+ //[Description("HomeMode锛氬洖鍘熺偣鏂瑰紡 锛圚OME_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;
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
- public short HomeDir { get; set; } = 1;
+ //[Category("鍥炲師鐐瑰弬鏁�")]
+ //[DisplayName("杈圭紭")]
+ //[Description("edge锛氳竟缂�")]
+ //public short Edge { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
- public short Edge { get; set; } = 0;
+ //[Category("鍥炲師鐐归�熷害")]
+ //[DisplayName("鍥炲師鐐规渶浣庨�熷害")]
+ //[Description("LowVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ //public double LowVelocity { get; set; } = 50;
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规渶浣庨�熷害")]
- [Description("LowVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
- public double LowVelocity { get; set; } = 50;
+ [Category("鍥炲師鐐归�熷害")]
+ [DisplayName("鍥炲師鐐归�熷害")]
+ [Description("HomeVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
+ public double HomeVelocity { get; set; } = 50;
+ //[Category("鍥炲師鐐瑰弬鏁�")]
+ //[DisplayName("鎼滅储璺濈")]
+ //[Description("SearchHomeDistance锛氭悳绱㈣窛绂�")]
+ //public int SearchHomeDistance { get; set; } = 9999999;
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规渶楂橀�熷害")]
- [Description("HighVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
- public double HighVelocity { get; set; } = 50;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鎼滄悳璺濈")]
- [Description("SearchHomeDistance锛氭悳鎼滆窛绂�")]
- public int SearchHomeDistance { get; set; } = 9999999;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐瑰亸绉�")]
[DisplayName("鍋忕Щ璺濈")]
[Description("HomeOffset锛氬亸绉昏窛绂�")]
public int HomeOffset { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("璺宠繃姝ラ暱")]
- [Description("EscapeStep锛氳烦杩囨闀�")]
- public int EscapeStep { get; set; } = 1000;
+ //[Category("鍥炲師鐐瑰亸绉�")]
+ //[DisplayName("璺宠繃姝ラ暱")]
+ //[Description("EscapeStep锛氳烦杩囨闀�")]
+ //public int EscapeStep { get; set; } = 1000;
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("璧峰杩愬姩鏂瑰悜")]
+ [Description("鍥炲師鐐规椂锛岃酱鐨勫垵濮嬭繍鍔ㄦ柟鍚戯細true 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsHomeDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("鍘熺偣鎹曟崏鏂瑰悜")]
+ [Description("鎹曟崏鍘熺偣鏃讹紝杞寸殑杩愬姩鏂瑰悜锛歵rue 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsCaptureDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐硅秴鏃�")]
+ [DisplayName("鍥炲師鐐硅秴鏃�")]
+ [Description("鍥炲師鐐硅秴鏃讹紝鍗曚綅绉�")]
+ public int GoHomeTimeOut { get; set; } = 60;
+
+ [Category("鍘熺偣鎹曡幏妯″紡")]
+ [Description("鍘熺偣鎹曡幏妯″紡锛宼rue锛氫娇鐢ㄦ崟鑾锋ā寮忥紝false锛氫娇鐢ㄥ師鐐硅緭鍏ヤ俊鍙�")]
+ [DisplayName("鍘熺偣鎹曡幏妯″紡")]
+ public bool IsCaptureMode { get; set; } = true;
+ }
+
+ /// <summary>
+ /// 鏉垮崱杩愬姩鐘舵�佸璞�
+ /// </summary>
+ public class AxisMovingStatus : IComplexDisplay
+ {
+ /// <summary>
+ /// 杞寸储寮�
+ /// </summary>
+ public int AxisIndex { get; set; }
+
+ /// <summary>
+ /// 杞村悕绉�
+ /// </summary>
+ public string AxisName { get; set; }
+
+ /// <summary>
+ /// 褰撳墠浣嶇疆
+ /// </summary>
+ public int CurPosition { get; set; }
+
+ /// <summary>
+ /// 鐩殑鍦�
+ /// </summary>
+ public int Destination { get; set; }
+
+ /// <summary>
+ /// 褰撳墠閫熷害鍙傛暟
+ /// </summary>
+ public double CurVelocity { get; set; }
+
+ /// <summary>
+ /// 瑙勫垝閫熷害鍙傛暟
+ /// </summary>
+ public double PrfVelocity { get; set; }
+
+ /// <summary>
+ /// 杞寸姸鎬�
+ /// </summary>
+ public int AxisStatus { get; set; }
+
+ public string GetDisplayText()
+ {
+ return $"杞磠AxisIndex}:{AxisName}-褰撳墠鐘舵�侊細{AxisStatus}-褰撳墠浣嶇疆锛歿CurPosition}-瑙勫垝浣嶇疆锛歿Destination}";
+ }
}
/// <summary>
/// 杩愬姩瀵硅薄
/// </summary>
- public class MovingOption : INotifyPropertyChanged, IComplexDisplay
+ public class MovingOption : IComplexDisplay
{
- private int axisIndex = 0;
[Category("杩愬姩閰嶇疆")]
[DisplayName("杩愬姩杞寸储寮�")]
[Description("AxisIndex锛氳繍鍔ㄨ酱绱㈠紩")]
[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 MotorMoveMode moveMode = MotorMoveMode.Normal;
+ //private int axisIndex = 0;
+ //[Category("杩愬姩閰嶇疆")]
+ //[DisplayName("杩愬姩杞寸储寮�")]
+ //[Description("AxisIndex锛氳繍鍔ㄨ酱绱㈠紩")]
+ //[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("杩愬姩閰嶇疆")]
[DisplayName("杩愬姩妯″紡")]
[Description("MoveMode锛氳繍鍔ㄦā寮�")]
- public MotorMoveMode 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("杩愬姩閰嶇疆")]
[DisplayName("鏄惁缁濆杩愬姩")]
[Description("IsAbsolute锛氭槸鍚︾粷瀵硅繍鍔�")]
- 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("杩愬姩閰嶇疆")]
[DisplayName("鐩殑鍦�")]
[Description("Destination锛氱洰鐨勫湴")]
- 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("杩愬姩閰嶇疆")]
[DisplayName("閫熷害鍙傛暟")]
[Description("VelocityPara锛氶�熷害鍙傛暟")]
[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("杩愬姩閰嶇疆")]
- [DisplayName("鍥炲師鐐瑰弬鏁�")]
- [Description("GoHomePara锛氶�熷害鍙傛暟")]
- [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("杩愬姩閰嶇疆")]
+ //[DisplayName("鍥炲師鐐瑰弬鏁�")]
+ //[Description("GoHomePara锛氶�熷害鍙傛暟")]
+ //[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("鏉垮崱杩愬姩閰嶇疆")]
[Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
@@ -311,6 +393,7 @@
public int MovingTimeout { get; set; } = 0;
internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
+
public void SetAxisSetting(List<AxisSetting> settings)
{
if (settings != null)
@@ -319,7 +402,7 @@
public string GetDisplayText()
{
- string axisName = AxisIndex.ToString();
+ string axisName = AxisIndexStr;
var axisSet = _axisSettingList.FirstOrDefault(a => a.AxisIndex == AxisIndex);
if (axisSet != null)
{
@@ -327,70 +410,113 @@
}
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.杞村啿绐佹潯浠�")]
--
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