using LB_VisionControl;
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using LB_VisionProcesses.Cameras;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Text.RegularExpressions;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Forms;
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using static ZXing.QrCode.Internal.Mode;
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namespace LB_SmartVision.Forms.Pages.MotionControlPage
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{
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public partial class MotionControlForm : Form
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{
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BaseCamera camera { get; set; }
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UserPictureBox onlinePictureBox { get; set; }
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public MotionControlForm()
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{
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InitializeComponent();
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}
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public MotionControlForm(BaseCamera camera)
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{
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InitializeComponent();
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if (camera == null)
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return;
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this.camera = camera;
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this.Text = camera.SN;
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textBox1.Text = camera.SN;
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onlinePictureBox = new UserPictureBox(uiGroupBoxImage);
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this.uiGroupBoxImage.Controls.Clear();
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this.uiGroupBoxImage.Controls.Add(onlinePictureBox);
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onlinePictureBox.Dock = DockStyle.Fill;
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//加载回调函数
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Subscribe();
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}
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private void CameraForm_FormClosing(object sender, FormClosingEventArgs e)
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{
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if (camera == null)
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return;
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camera.StopGrabbing();
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camera.StartGrabbing();
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Unsubscribe();
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}
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public void Unsubscribe()
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{
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try
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{
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if (camera == null)
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return;
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//取消回调函数
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camera.ImageGrabbed -= GetImageBllComplete;
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}
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catch (Exception ex)
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{
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// 记录错误信息
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Debug.WriteLine($"错误: {ex.Message}");
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}
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}
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public void Subscribe()
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{
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try
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{
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if (camera == null)
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return;
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//取消回调函数
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camera.ImageGrabbed -= GetImageBllComplete;
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//加载回调函数
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camera.ImageGrabbed += GetImageBllComplete;
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}
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catch (Exception ex)
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{
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// 记录错误信息
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Debug.WriteLine($"错误: {ex.Message}");
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}
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}
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/// <summary>
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/// 相机回调运行
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/// </summary>
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/// <param name="CCDName"></param>
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/// <param name="image"></param>
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private void GetImageBllComplete(object sender, CameraEventArgs e)
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{
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if (e.Bitmap == null)
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return;
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lock (e.Bitmap)
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{
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if (this.InvokeRequired) // 检查是否需要在UI线程上调用
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{
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this.Invoke(new Action(() =>
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{
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onlinePictureBox.Image = e.Bitmap;
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})); // 递归调用自身，但这次在UI线程上
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}
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else
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{
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onlinePictureBox.Image = e.Bitmap;
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}
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}
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}
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private void uiButtonGrabOnce_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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Task.Factory.StartNew(() =>
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{
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camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
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DateTime startTime = DateTime.Now; // 当前时间
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camera.GetImageWithSoftTrigger(out Bitmap bitmap);
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});
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}
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private void uiButtonCloseSoftGrab_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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Task.Factory.StartNew(() =>
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{
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camera.StopGrabbing();
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camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
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camera.StartGrabbing();
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});
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}
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private void uiButtonHardGrabWithPLC_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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Task.Factory.StartNew(() =>
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{
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camera.SetTriggerMode(TriggerMode.On, TriggerSource.Line0);
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camera.StopGrabbing();
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camera.StartWith_HardTriggerModel();
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});
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}
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private void uiButtonDecreaseX_Click(object sender, EventArgs e)
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{
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float xPosition = 0;
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xPosition = float.Parse(textBoxXPosition.Text);
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MovePosition(-xPosition, 0, 0, 0);
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PositionNow();
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}
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private void uiButtonIncreaseX_Click(object sender, EventArgs e)
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{
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float xPosition = 0;
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xPosition = float.Parse(textBoxXPosition.Text);
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MovePosition(xPosition, 0, 0, 0);
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PositionNow();
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}
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private void uiButtonDecreaseY_Click(object sender, EventArgs e)
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{
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float yPosition = 0;
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yPosition = float.Parse(textBoxYPosition.Text);
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MovePosition(0, -yPosition, 0, 0);
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PositionNow();
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}
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private void uiButtonIncreaseY_Click(object sender, EventArgs e)
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{
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float yPosition = 0;
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yPosition = float.Parse(textBoxYPosition.Text);
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MovePosition(0, yPosition, 0, 0);
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PositionNow();
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}
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private void uiButtonDecreaseZ_Click(object sender, EventArgs e)
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{
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float zPosition = 0;
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zPosition = float.Parse(textBoxZPosition.Text);
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MovePosition(0, 0, -zPosition, 0);
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PositionNow();
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}
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private void uiButtonIncreaseZ_Click(object sender, EventArgs e)
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{
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float zPosition = 0;
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zPosition = float.Parse(textBoxZPosition.Text);
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MovePosition(0, 0, zPosition, 0);
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PositionNow();
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}
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private void uiButtonDecreasePitchAngle_Click(object sender, EventArgs e)
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{
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float pitchanglePosition = 0;
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pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
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MovePosition(0, 0, 0, -pitchanglePosition);
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AngNow();
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}
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private void uiButtonIncreasePitchAngle_Click(object sender, EventArgs e)
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{
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float pitchanglePosition = 0;
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pitchanglePosition = float.Parse(textBoxPitchAnglePosition.Text);
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MovePosition(0, 0, 0, pitchanglePosition);
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AngNow();
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}
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public float XPositionDt;
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public float YPositionDt;
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public float ZPositionDt;
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public float AnglePositionDt;
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public void MovePosition(float fDeltaX, float fDeltaY, float fDeltaZ, float fDeltAngle)
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{
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XPositionDt += fDeltaX;
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YPositionDt += fDeltaY;
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ZPositionDt += fDeltaZ;
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AnglePositionDt += fDeltAngle;
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}
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private void textBoxPointSpeed_TextChanged(object sender, EventArgs e)
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{
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float pointspeed = 0;
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pointspeed = float.Parse(textBoxPointSpeed.Text);
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}
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private void textBoxAngSpeed_TextChanged(object sender, EventArgs e)
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{
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float angspeed = 0;
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angspeed = float.Parse(textBoxAngSpeed.Text);
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}
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private void textBoxPositionNow_TextChanged(object sender, EventArgs e)
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{
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textBoxPositionNow.Enabled = false;
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string x;
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string y;
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string z;
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x = Convert.ToString(Math.Round(XPositionDt, 3));
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y = Convert.ToString(Math.Round(YPositionDt, 3));
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z = Convert.ToString(Math.Round(ZPositionDt, 3));
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textBoxPositionNow.Text = "(" + x + "," + y + "," + z + ")";
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}
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private void textBoxAngleNow_TextChanged(object sender, EventArgs e)
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{
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textBoxAngleNow.Enabled = false;
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string ang;
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ang = Convert.ToString(Math.Round(AnglePositionDt, 3));
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textBoxAngleNow.Text = ang;
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}
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private void PositionNow()
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{
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string x;
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string y;
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string z;
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x = Convert.ToString(Math.Round(XPositionDt, 3));
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y = Convert.ToString(Math.Round(YPositionDt, 3));
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z = Convert.ToString(Math.Round(ZPositionDt, 3));
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textBoxPositionNow.Text = "(" + x + y + z + ")";
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}
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private void AngNow()
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{
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string ang;
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ang = Convert.ToString(Math.Round(AnglePositionDt, 3));
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textBoxAngleNow.Text = "(" + ang + ")";
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}
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private void uiGroupBoxMotionControl_Enter(object sender, EventArgs e)
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{
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}
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private void label1_Click(object sender, EventArgs e)
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{
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}
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private void tableLayoutPanel3_Paint(object sender, PaintEventArgs e)
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{
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}
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private void uiSplitContainer1_Panel1_Paint(object sender, PaintEventArgs e)
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{
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}
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// 使用KeyDown事件更适合处理回车键
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private void textBoxXPosition_KeyDown(object sender, KeyEventArgs e)
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{
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if (e.KeyCode == Keys.Enter)
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{
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//// 验证输入
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//if (ValidateXPosition())
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//{
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// // 执行确认操作
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// ProcessXPosition();
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//}
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// 阻止系统声音并让文本框失去焦点
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e.SuppressKeyPress = true;
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e.Handled = true;
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this.ActiveControl = null;
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}
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}
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// 使用KeyPress验证实时输入
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private void textBoxXPosition_KeyPress(object sender, KeyPressEventArgs e)
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{
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// 允许回车键（虽然KeyDown会处理它）
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if (e.KeyChar == (char)Keys.Enter)
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return;
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// 允许退格键
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if (e.KeyChar == (char)Keys.Back)
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return;
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// 只允许数字
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if (!char.IsDigit(e.KeyChar))
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{
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e.Handled = true; // 阻止输入
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}
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}
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// 验证方法
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private bool ValidateXPosition()
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{
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if (string.IsNullOrWhiteSpace(textBoxXPosition.Text))
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return false;
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return Regex.IsMatch(textBoxXPosition.Text, @"^\d+$");
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}
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// 处理确认的方法
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private void ProcessXPosition()
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{
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if (int.TryParse(textBoxXPosition.Text, out int xPosition))
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{
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// 执行逻辑
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//LogInfo?.Invoke($"X位置已更新为: {xPosition}", LogInfoType.INFO);
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}
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}
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private void tableLayoutPanel1_Paint(object sender, PaintEventArgs e)
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{
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}
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}
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}
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