凌华点击动作实现

备忘一下

public bool Click(List<List<double>> ptList, List<double> scales, int CardId, double vStart = 5.0, double vMax = 40.0, double vEnd = 5.0, double acc = 1000.0, double dec = 1000.0, bool isCompute = false, int computeIdx = 1)
        {
            isReport = true;
            if (!base.IsHomed)
            {
                SetError("轴:" + base.AxisName!.ToString() + "未回原点，请先回原点在移动");
                return false;
            }

            vStart *= base.Scale;
            vMax *= base.Scale;
            vEnd *= base.Scale;
            acc *= base.Scale;
            dec *= base.Scale;
            int num = 0;
            PTSTS Status = default(PTSTS);
            PTLINE Prof = default(PTLINE);
            int ptbId = 0;
            int num2 = 3;
            int[] axisArr = new int[3] { 0, 1, 2 };
            int num3 = APS168.APS_pt_disable(CardId, ptbId);
            num3 = APS168.APS_pt_enable(CardId, ptbId, num2, axisArr);
            if (num3 != num)
            {
                DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(11, 1);
                defaultInterpolatedStringHandler.AppendLiteral("启用点表失败,ret:");
                defaultInterpolatedStringHandler.AppendFormatted(num3);
                SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                return false;
            }

            num3 = APS168.APS_pt_set_absolute(CardId, ptbId);
            if (num3 != num)
            {
                DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(12, 1);
                defaultInterpolatedStringHandler.AppendLiteral("设置缓冲区失败,ret:");
                defaultInterpolatedStringHandler.AppendFormatted(num3);
                SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                return false;
            }

            num3 = APS168.APS_pt_set_trans_buffered(CardId, ptbId);
            num3 = APS168.APS_pt_set_acc(CardId, ptbId, acc);
            num3 = APS168.APS_pt_set_dec(CardId, ptbId, dec);
            DateTime now = DateTime.Now;
            for (int i = 0; i < ptList.Count; i++)
            {
                while (true)
                {
                    num3 = APS168.APS_get_pt_status(CardId, ptbId, ref Status);
                    if (num3 != num)
                    {
                        DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(13, 1);
                        defaultInterpolatedStringHandler.AppendLiteral("获取点表状态失败,ret:");
                        defaultInterpolatedStringHandler.AppendFormatted(num3);
                        SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                        return false;
                    }

                    int pntBufFreeSpace = Status.PntBufFreeSpace;
                    int pntBufUsageSpace = Status.PntBufUsageSpace;
                    int runningCnt = (int)Status.RunningCnt;
                    if (Status.PntBufFreeSpace > 10)
                    {
                        break;
                    }

                    Thread.Sleep(100);
                    bool flag = true;
                }

                num3 = APS168.APS_pt_set_vs(CardId, ptbId, vStart);
                if (num3 != num)
                {
                    DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(11, 1);
                    defaultInterpolatedStringHandler.AppendLiteral("设置启动速度,ret:");
                    defaultInterpolatedStringHandler.AppendFormatted(num3);
                    SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                    return false;
                }

                num3 = APS168.APS_pt_set_vm(CardId, ptbId, vMax);
                if (num3 != num)
                {
                    DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(11, 1);
                    defaultInterpolatedStringHandler.AppendLiteral("设置最大速度,ret:");
                    defaultInterpolatedStringHandler.AppendFormatted(num3);
                    SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                    return false;
                }

                num3 = APS168.APS_pt_set_ve(CardId, ptbId, vEnd);
                if (num3 != num)
                {
                    DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(11, 1);
                    defaultInterpolatedStringHandler.AppendLiteral("设置结束速度,ret:");
                    defaultInterpolatedStringHandler.AppendFormatted(num3);
                    SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                    return false;
                }

                Prof.Dim = num2;
                Prof.Pos = new double[6]
                {
                    ptList[i][0] * scales[0],
                    ptList[i][1] * scales[1],
                    ptList[i][2] * scales[2],
                    0.0,
                    0.0,
                    0.0
                };
                num3 = APS168.APS_pt_line(CardId, ptbId, ref Prof, ref Status);
                if (num3 != num)
                {
                    DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(15, 1);
                    defaultInterpolatedStringHandler.AppendLiteral("点集推入线性运动失败,ret:");
                    defaultInterpolatedStringHandler.AppendFormatted(num3);
                    SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                    return false;
                }

                if (i == ptList.Count - 1)
                {
                    num3 = APS168.APS_pt_start(CardId, ptbId);
                    if (num3 != num)
                    {
                        DefaultInterpolatedStringHandler defaultInterpolatedStringHandler = new DefaultInterpolatedStringHandler(13, 1);
                        defaultInterpolatedStringHandler.AppendLiteral("开始点集运动失败,ret:");
                        defaultInterpolatedStringHandler.AppendFormatted(num3);
                        SetError(defaultInterpolatedStringHandler.ToStringAndClear());
                        return false;
                    }
                }
            }

            do
            {
                num3 = APS168.APS_get_pt_status(CardId, ptbId, ref Status);
                int pntBufFreeSpace = Status.PntBufFreeSpace;
                int pntBufUsageSpace = Status.PntBufUsageSpace;
                int runningCnt = (int)Status.RunningCnt;
                if (pntBufUsageSpace == computeIdx && isCompute)
                {
                    OnClickDown?.Invoke();
                }

                Thread.Sleep(2);
            }
            while (Status.PntBufUsageSpace > 0);
            while (true)
            {
                Thread.Sleep(10);
                double num4 = (DateTime.Now - now).Seconds;
                if (CheckStop() && num4 < base.Timeout)
                {
                    break;
                }

                if (num4 > base.Timeout)
                {
                    SetError("轴:" + base.AxisName!.ToString() + "点表运动超时！");
                    break;
                }

                Thread.Sleep(5);
            }

            return true;
        }
    }