上位机状态机开发之旋转标定
一 平移旋转标定
/// <summary>/// 平移旋转标定/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton17_Click(objectsender,EventArgse){// 一 初始化操作vartask1=Task.Run(()=>{//// 1.回零//commomCMD.ReturnOrg();//// 2.回避让位//commomCMD.MoveSafePlace();});// 二运行主流程// 协同取消操作cts3=newCancellationTokenSource();// 当前步骤CurrentStep3=0;Tasktask2=task1.ContinueWith(newAction<Task>((t)=>{boolresult=RotateCalibProcess();}),cts3.Token);}
二 定义旋转标定工序
publicenumRotateStep{旋转1,旋转2,旋转3,旋转4,旋转5,}
三 定义全局变量
privateCancellationTokenSourcects3;//当前步骤privateRotateStepCurrentStep3=0;publicboolIsPause3=false;
四 RotateCalibProcess
/// <summary>/// 旋转标定流程/// </summary>/// <returns></returns>privateboolRotateCalibProcess(){// 循环while(cts3.IsCancellationRequested==false){Invoke(newAction(()=>{rtb_info.AppendText($"执行到步骤【{(int)CurrentStep3+1}】："+CurrentStep3.ToString()+"\n");}));switch(CurrentStep3){caseRotateStep.旋转1:// 1.移动到第一个位置commomCMD.Move(txtMStartX.Text.Trim(),txtMStartY.Text.Trim(),txtMStartZ.Text.Trim(),-20);// 2.触发拍照CommunicateService.Instance.Send3("Rotate,-20");// 3.（等待拍照结束）拍照结束才能走Thread.Sleep(3000);CurrentStep3++;break;caseRotateStep.旋转2:// 1.移动到第二个位置// 1.移动到第一个位置commomCMD.Move(txtMStartX.Text.Trim(),txtMStartY.Text.Trim(),txtMStartZ.Text.Trim(),-10);// 2.触发拍照CommunicateService.Instance.Send3("Rotate,-10");// 3.（等待拍照结束）拍照结束才能走Thread.Sleep(3000);CurrentStep3++;break;caseRotateStep.旋转3:// 1.移动到第一个位置commomCMD.Move(txtMStartX.Text.Trim(),txtMStartY.Text.Trim(),txtMStartZ.Text.Trim(),0);// 2.触发拍照CommunicateService.Instance.Send3("Rotate,0");// 3.（等待拍照结束）拍照结束才能走Thread.Sleep(3000);CurrentStep3++;break;caseRotateStep.旋转4:// 1.移动到第一个位置commomCMD.Move(txtMStartX.Text.Trim(),txtMStartY.Text.Trim(),txtMStartZ.Text.Trim(),10);// 2.触发拍照CommunicateService.Instance.Send3("Rotate,10");// 3.（等待拍照结束）拍照结束才能走Thread.Sleep(3000);CurrentStep3++;break;caseRotateStep.旋转5:// 1.移动到第一个位置commomCMD.Move(txtMStartX.Text.Trim(),txtMStartY.Text.Trim(),txtMStartZ.Text.Trim(),20);// 2.触发拍照CommunicateService.Instance.Send3("Rotate,20");// 3.（等待拍照结束）拍照结束才能走Thread.Sleep(3000);CurrentStep3++;break;default:break;}// 暂停while(true){if(IsPause3){Thread.Sleep(20);System.Windows.Forms.Application.DoEvents();}else{break;}}}returnfalse;}
五 停止流程
/// <summary>/// 停止流程/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton16_Click(objectsender,EventArgse){cts3.Cancel();}
六 暂停流程
/// <summary>/// 继续运行/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton11_Click(objectsender,EventArgse){IsPause3=true;}
七 继续流程
/// <summary>/// 继续运行/// </summary>/// <param name="sender"></param>/// <param name="e"></param>privatevoidmaterialButton11_Click(objectsender,EventArgse){IsPause3=false;}
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