目录
- 一 引入
- 二 RobotControl
- 三 Style
- 四 效果演示
一 引入
考虑实现一种三轴机器人控件。
三轴机器人用来将某种工件从一个位置运送到另一个位置。
其X轴为手臂轴，可以正向和反向运动，它处于末端，直接接触工件；
其T轴为旋转轴，可以对手臂进行旋转；
其Z轴为升降轴，可以对手臂和旋转部分进行升降。
二 RobotControl
定义出机器人的轴动作枚举，轴的动作分为回原点，正向运动，反向运动。
| public enum WaferRobotZAction | |
| { | |
| Z_Origin, | |
| Z_CW, | |
| Z_CCW | |
| } | |
| public enum WaferRobotXAction | |
| { | |
| X_Origin, | |
| X_CW, | |
| X_CCW | |
| } | |
| public enum WaferRobotTAction | |
| { | |
| T_Origin, | |
| T_CW, | |
| T_CCW | |
| } |
声明一个WaferRobotControl的自定义控件，它继承自Control类。
定义一个Wafer属性来表示WaferRobot上的工件。
定义表示X轴动作、T轴动作和Z轴动作的依赖属性，它可以被实际的业务数据源绑定。
当实际的业务数据发生改变时，轴动作属性相应改变，并VisualStateManager来转换控件的状态，以触发样式模板中的动画。
| public class WaferRobotControl : Control | |
| { | |
| static WaferRobotControl() | |
| { | |
| DefaultStyleKeyProperty.OverrideMetadata(typeof(WaferRobotControl), new FrameworkPropertyMetadata(typeof(WaferRobotControl))); | |
| } | |
| public static readonly DependencyProperty WaferProperty = DependencyProperty.Register("Wafer", typeof(int), typeof(WaferRobotControl)); | |
| public int Wafer { get => (int)GetValue(WaferProperty); set => SetValue(WaferProperty, value); } | |
| public static readonly DependencyProperty RobotZActionProperty = DependencyProperty.Register( | |
| "RobotZAction", | |
| typeof(WaferRobotZAction), | |
| typeof(WaferRobotControl), | |
| new PropertyMetadata(WaferRobotZAction.Z_Origin, RobotZActionPropertyChangedCallback)); | |
| public WaferRobotZAction RobotZAction | |
| { | |
| get => (WaferRobotZAction)GetValue(RobotZActionProperty); | |
| set => SetValue(RobotZActionProperty, value); | |
| } | |
| private static void RobotZActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e) | |
| { | |
| var control = d as WaferRobotControl; | |
| var oldAct = (WaferRobotZAction)e.OldValue; | |
| var newAct = (WaferRobotZAction)e.NewValue; | |
| switch (newAct) | |
| { | |
| case WaferRobotZAction.Z_Origin: | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| break; | |
| case WaferRobotZAction.Z_CW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| case WaferRobotZAction.Z_CCW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| default: | |
| break; | |
| } | |
| } | |
| public static readonly DependencyProperty RobotXActionProperty = DependencyProperty.Register( | |
| "RobotXAction", | |
| typeof(WaferRobotXAction), | |
| typeof(WaferRobotControl), | |
| new PropertyMetadata(WaferRobotXAction.X_Origin, RobotXActionPropertyChangedCallback)); | |
| public WaferRobotXAction RobotXAction | |
| { | |
| get => (WaferRobotXAction)GetValue(RobotXActionProperty); | |
| set => SetValue(RobotXActionProperty, value); | |
| } | |
| private static void RobotXActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e) | |
| { | |
| var control = d as WaferRobotControl; | |
| var oldAct = (WaferRobotXAction)e.OldValue; | |
| var newAct = (WaferRobotXAction)e.NewValue; | |
| switch (newAct) | |
| { | |
| case WaferRobotXAction.X_Origin: | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| break; | |
| case WaferRobotXAction.X_CW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| case WaferRobotXAction.X_CCW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| default: | |
| break; | |
| } | |
| } | |
| public static readonly DependencyProperty RobotTActionProperty = DependencyProperty.Register( | |
| "RobotTAction", | |
| typeof(WaferRobotTAction), | |
| typeof(WaferRobotControl), | |
| new PropertyMetadata(WaferRobotTAction.T_Origin, RobotTActionPropertyChangedCallback)); | |
| public WaferRobotTAction RobotTAction | |
| { | |
| get => (WaferRobotTAction)GetValue(RobotTActionProperty); | |
| set => SetValue(RobotTActionProperty, value); | |
| } | |
| private static void RobotTActionPropertyChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e) | |
| { | |
| var control = d as WaferRobotControl; | |
| var oldAct = (WaferRobotTAction)e.OldValue; | |
| var newAct = (WaferRobotTAction)e.NewValue; | |
| switch (newAct) | |
| { | |
| case WaferRobotTAction.T_Origin: | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| break; | |
| case WaferRobotTAction.T_CW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| case WaferRobotTAction.T_CCW: | |
| if (newAct != oldAct) | |
| { | |
| VisualStateManager.GoToState(control, newAct.ToString(), true); | |
| } | |
| break; | |
| default: | |
| break; | |
| } | |
| } | |
| public override void OnApplyTemplate() | |
| { | |
| base.OnApplyTemplate(); | |
| VisualStateManager.GoToState(this, WaferRobotZAction.Z_Origin.ToString(), true); | |
| VisualStateManager.GoToState(this, WaferRobotXAction.X_Origin.ToString(), true); | |
| VisualStateManager.GoToState(this, WaferRobotTAction.T_Origin.ToString(), true); | |
| } | |
| } |
三 Style
控件模板的实现思路。
将机器人的样式分为三部分，不动的底座部分，Z轴部分，包含T轴和X轴的手臂部分。
VisualStateGroup中定义出轴动作的VisualState，编写转换动画。
| <SolidColorBrush x:Key="robotBorderBrush" Color="#" /> | |
| <Style TargetType="{x:Type local:WaferRobotControl}" > | |
| <Setter Property="Cursor" Value="Hand" /> | |
| <Setter Property="Width" Value=""/> | |
| <Setter Property="Height" Value=""/> | |
| <Setter Property="Template"> | |
| <Setter.Value> | |
| <ControlTemplate TargetType="{x:Type local:WaferRobotControl}"> | |
| <Viewbox x:Name="viewbox" Stretch="Fill"> | |
| <VisualStateManager.VisualStateGroups> | |
| <VisualStateGroup Name="RobotActions"> | |
| <VisualStateGroup.Transitions> | |
| <VisualTransition To="Z_CW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y"> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y"> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| <VisualTransition To="Z_CCW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| </VisualStateGroup.Transitions> | |
| <VisualState Name="Z_Origin"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" > | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" > | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="Z_CW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" Duration="" > | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" > | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="Z_CCW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotZAct" Storyboard.TargetProperty="Y" > | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotUpDownAct" Storyboard.TargetProperty="Y" > | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| </VisualStateGroup> | |
| <VisualStateGroup Name="RobotXActions"> | |
| <VisualStateGroup.Transitions> | |
| <VisualTransition To="X_CW"> | |
| <Storyboard FillBehavior="HoldEnd" SpeedRatio=""> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:9"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTArmRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:0"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:9"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTAct" Storyboard.TargetProperty="X"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:9"/> | |
| <LinearDoubleKeyFrame Value=".126" KeyTime="0:0:8"/> | |
| <LinearDoubleKeyFrame Value=".443" KeyTime="0:0:7"/> | |
| <LinearDoubleKeyFrame Value=".756" KeyTime="0:0:6"/> | |
| <LinearDoubleKeyFrame Value=".753" KeyTime="0:0:5"/> | |
| <LinearDoubleKeyFrame Value=".009" KeyTime="0:0:4"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:3"/> | |
| <LinearDoubleKeyFrame Value=".117" KeyTime="0:0:2"/> | |
| <LinearDoubleKeyFrame Value=".689" KeyTime="0:0:1"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| <VisualTransition To="X_CCW"> | |
| <Storyboard FillBehavior="HoldEnd" SpeedRatio=""> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:9"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTArmRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:9"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTAct" Storyboard.TargetProperty="X"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| <LinearDoubleKeyFrame Value=".126" KeyTime="0:0:1"/> | |
| <LinearDoubleKeyFrame Value=".443" KeyTime="0:0:2"/> | |
| <LinearDoubleKeyFrame Value=".756" KeyTime="0:0:3"/> | |
| <LinearDoubleKeyFrame Value=".753" KeyTime="0:0:4"/> | |
| <LinearDoubleKeyFrame Value=".009" KeyTime="0:0:5"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:6"/> | |
| <LinearDoubleKeyFrame Value=".117" KeyTime="0:0:7"/> | |
| <LinearDoubleKeyFrame Value=".689" KeyTime="0:0:8"/> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:9"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| </VisualStateGroup.Transitions> | |
| <VisualState Name="X_Origin"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTArmRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTAct" Storyboard.TargetProperty="X"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="X_CW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTArmRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTAct" Storyboard.TargetProperty="X"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="X_CCW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTArmRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="-" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="armXTAct" Storyboard.TargetProperty="X"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| </VisualStateGroup> | |
| <VisualStateGroup Name="RobotTActions"> | |
| <VisualStateGroup.Transitions> | |
| <VisualTransition To="T_Origin"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| <VisualTransition To="T_CW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| <VisualTransition To="T_CCW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:1"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualTransition> | |
| </VisualStateGroup.Transitions> | |
| <VisualState Name="T_Origin"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="T_CCW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| <VisualState Name="T_CW"> | |
| <Storyboard FillBehavior="HoldEnd"> | |
| <DoubleAnimationUsingKeyFrames Storyboard.TargetName="robotRotateAct" Storyboard.TargetProperty="Angle"> | |
| <LinearDoubleKeyFrame Value="" KeyTime="0:0:0"/> | |
| </DoubleAnimationUsingKeyFrames> | |
| </Storyboard> | |
| </VisualState> | |
| </VisualStateGroup> | |
| </VisualStateManager.VisualStateGroups> | |
| <Canvas Width="" Height="300" > | |
| <Canvas x:Name="robotZ" Width="" Height="120" Canvas.Top="170" Canvas.Left="80" > | |
| <Canvas.RenderTransform> | |
| <TransformGroup> | |
| <TranslateTransform x:Name="robotZAct"></TranslateTransform> | |
| </TransformGroup> | |
| </Canvas.RenderTransform> | |
| <Path Stroke="#" StrokeStartLineCap="Round" StrokeEndLineCap="Round"> | |
| <Path.Fill> | |
| <LinearGradientBrush EndPoint=",0.5" StartPoint="0,0.5"> | |
| <GradientStop Color="#B696A" Offset="0" /> | |
| <GradientStop Color="#B696A" Offset="1" /> | |
| <GradientStop Color="#AA7BE" Offset="0.5" /> | |
| </LinearGradientBrush> | |
| </Path.Fill> | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 20" IsClosed="True"> | |
| <LineSegment Point=" 2"/> | |
| <LineSegment Point=" 2"/> | |
| <LineSegment Point=" 5"/> | |
| <LineSegment Point=" 5" /> | |
| <LineSegment Point=" 2"/> | |
| <LineSegment Point=" 2"/> | |
| <LineSegment Point=" 20" /> | |
| <LineSegment Point=" 20" /> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 20" > | |
| <LineSegment Point=" 24"/> | |
| <LineSegment Point=" 24" /> | |
| <LineSegment Point=" 20"/> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 24" > | |
| <LineSegment Point=" 24"/> | |
| <LineSegment Point=" 28"/> | |
| <LineSegment Point=" 28"/> | |
| <LineSegment Point=" 28" /> | |
| <LineSegment Point=" 28" /> | |
| <LineSegment Point=" 24"/> | |
| <LineSegment Point=" 24"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="#" StrokeStartLineCap="Round" StrokeEndLineCap="Round"> | |
| <Path.Fill> | |
| <LinearGradientBrush EndPoint=",0.5" StartPoint="0,0.5"> | |
| <GradientStop Color="#B696A" Offset="0" /> | |
| <GradientStop Color="#B696A" Offset="1" /> | |
| <GradientStop Color="#AA7BE" Offset="0.5" /> | |
| </LinearGradientBrush> | |
| </Path.Fill> | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 28.5" > | |
| <LineSegment Point=" 120"/> | |
| <LineSegment Point=" 120"/> | |
| <LineSegment Point=" 28.5"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| </Canvas> | |
| <Canvas x:Name="dizuo" Width="" Height="100" Canvas.Top="200" Canvas.Left="60"> | |
| <Path Stroke="#" Fill="#A1A7BE" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 0" IsClosed="True"> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 92"/> | |
| <LineSegment Point=" 92"/> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 92" IsClosed="True"> | |
| <LineSegment Point=" 92"/> | |
| <LineSegment Point=" 100"/> | |
| <LineSegment Point=" 100"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="#" Fill="#7A7E90" Canvas.Left="20"> | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 0" IsClosed="True"> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 92"/> | |
| <LineSegment Point=" 92"/> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 92" IsClosed="True"> | |
| <LineSegment Point="- 92"/> | |
| <LineSegment Point="- 100"/> | |
| <LineSegment Point=" 100"/> | |
| <LineSegment Point=" 92"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="#" Fill="#585368" Canvas.Left="60"> | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 0" IsClosed="True"> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 92"/> | |
| <LineSegment Point=" 92"/> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 92" IsClosed="True"> | |
| <LineSegment Point=" 92"/> | |
| <LineSegment Point=" 100"/> | |
| <LineSegment Point=" 100"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| </Canvas> | |
| <Canvas x:Name="robot" Width="" Height="150" RenderTransformOrigin="1 1" > | |
| <Canvas.RenderTransform> | |
| <TransformGroup> | |
| <RotateTransform x:Name="robotRotateAct"/> | |
| <TranslateTransform x:Name="robotUpDownAct"></TranslateTransform> | |
| </TransformGroup> | |
| </Canvas.RenderTransform> | |
| <Canvas x:Name="armXT" Width="200" Height="100" Canvas.Top="100" RenderTransformOrigin="0.5 0.5"> | |
| <Canvas.RenderTransform> | |
| <RotateTransform x:Name="armXTRotateAct"/> | |
| </Canvas.RenderTransform> | |
| <Canvas x:Name="armXTArm" Width="70" Height="30" Canvas.Left="30" Canvas.Top="35" RenderTransformOrigin="1 0.5"> | |
| <Path Stroke="{StaticResource robotBorderBrush}" Fill="#FFF50" StrokeThickness="1" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 5" IsClosed="True"> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 30" IsStroked="False"/> | |
| <LineSegment Point=" 25"/> | |
| <LineSegment Point=" 5" IsStroked="False"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="" Canvas.Left="0" | |
| StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#FFF50" | |
| Data="M,5 A 10,10 0 0 0 0,25"> | |
| </Path> | |
| </Canvas> | |
| <Canvas x:Name="armXTCenter" Width="40" Height="40" Canvas.Left="80" Canvas.Top="30" > | |
| <Path Stroke="{StaticResource robotBorderBrush}" Fill="#FFF50" StrokeThickness="1" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 6" IsClosed="True"> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 0"/> | |
| <LineSegment Point=" 6"/> | |
| <LineSegment Point=" 34"/> | |
| <LineSegment Point=" 40"/> | |
| <LineSegment Point=" 40"/> | |
| <LineSegment Point=" 34"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| </Canvas> | |
| </Canvas> | |
| <Canvas x:Name="armXT" Width="120" Height="40" Canvas.Left="-90" Canvas.Top="130"> | |
| <Canvas.RenderTransform> | |
| <TransformGroup> | |
| <TranslateTransform x:Name="armXTAct"></TranslateTransform> | |
| </TransformGroup> | |
| </Canvas.RenderTransform> | |
| <Canvas x:Name="armXTArm" Width="70" Height="20" Canvas.Left="50" Canvas.Top="10" RenderTransformOrigin="0 0.5" Background="#6495ED"> | |
| <Canvas.RenderTransform> | |
| <RotateTransform x:Name="armXTArmRotateAct"/> | |
| </Canvas.RenderTransform> | |
| <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="" Canvas.Left="70" | |
| StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#ED" | |
| Data="M,0 A 10,10 0 0 1 0,20"> | |
| </Path> | |
| <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="" Canvas.Left="0" | |
| StrokeEndLineCap="Round" StrokeStartLineCap="Round" Fill="#ED" | |
| Data="M,0 A 10,10 0 0 0 0,20"> | |
| </Path> | |
| <Path Stroke="{StaticResource robotBorderBrush}" Fill="#ED" StrokeThickness="1" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 0" > | |
| <LineSegment Point=" 0" /> | |
| <LineSegment Point=" 20" IsStroked="False"/> | |
| <LineSegment Point=" 20"/> | |
| <LineSegment Point=" 0" IsStroked="False"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Ellipse Width="" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent" | |
| Canvas.Top="" Canvas.Left="62"/> | |
| </Canvas> | |
| <Canvas x:Name="armGripper" Height="" Width="50" Canvas.Left="0" Canvas.Top="0"> | |
| <Path Stroke="{StaticResource robotBorderBrush}" StrokeThickness="" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 14" > | |
| <LineSegment Point=" 14" /> | |
| <LineSegment Point=" 8" /> | |
| <LineSegment Point="- 8" /> | |
| </PathFigure> | |
| <PathFigure StartPoint=" 26" > | |
| <LineSegment Point=" 26" /> | |
| <LineSegment Point=" 32" /> | |
| <LineSegment Point="- 32" /> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="{StaticResource robotBorderBrush}" Fill="#A7E90" StrokeThickness="1" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 0" > | |
| <LineSegment Point=" 0" /> | |
| <LineSegment Point=" 40" /> | |
| <LineSegment Point=" 40" /> | |
| <LineSegment Point=" 30" /> | |
| <LineSegment Point=" 10" /> | |
| <LineSegment Point=" 0" /> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Path Stroke="{StaticResource robotBorderBrush}" Fill="#A7E90" StrokeThickness="1" StrokeEndLineCap="Round" > | |
| <Path.Data> | |
| <PathGeometry> | |
| <PathFigure StartPoint=" 10" > | |
| <LineSegment Point=" 10" /> | |
| <LineSegment Point=" 30" /> | |
| <LineSegment Point=" 30" /> | |
| <LineSegment Point=" 10" IsStroked="False"/> | |
| </PathFigure> | |
| </PathGeometry> | |
| </Path.Data> | |
| </Path> | |
| <Ellipse Width="" Height="12" Stroke="#030303" StrokeThickness="2" Fill="Transparent" | |
| Canvas.Top="" Canvas.Left="44"/> | |
| <Ellipse x:Name="wafer" Width="" Height="40" StrokeThickness="1" Stroke="Black" Canvas.Left="-24" | |
| Visibility="{Binding Wafer,Converter={StaticResource WaferIntToVisibilityConverter}, | |
| RelativeSource={RelativeSource TemplatedParent}}" | |
| Fill="{Binding Wafer,Converter={StaticResource WaferIntToColorConverter}, | |
| RelativeSource={RelativeSource TemplatedParent}}"/> | |
| </Canvas> | |
| </Canvas> | |
| </Canvas> | |
| </Canvas> | |
| </Viewbox> | |
| </ControlTemplate> | |
| </Setter.Value> | |
| </Setter> | |
| </Style> |
四 效果演示
界面代码如下：
| <Window x:Class="WpfApp.MainWindow" | |
| xmlns="http://schemas.microsoft.com/winfx//xaml/presentation" | |
| xmlns:x="http://schemas.microsoft.com/winfx//xaml" | |
| xmlns:d="http://schemas.microsoft.com/expression/blend/" | |
| xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/" | |
| xmlns:wpfapp="clr-namespace:WpfApp1" | |
| mc:Ignorable="d" Background="WhiteSmoke" | |
| Title="MainWindow" Height="" Width="1200"> | |
| <Canvas> | |
| <wpfapp:WaferRobotControl Canvas.Left="472" Canvas.Top="171" x:Name="robot"/> | |
| <Button Content="Z CW" Canvas.Left="" Canvas.Top="338" Width="60" Height="30" Click="ZCWButton_Click" /> | |
| <Button Content="Z CCW" Canvas.Left="" Canvas.Top="388" Width="60" Height="30" Click="ZCCWButton_Click"/> | |
| <Button Content="X CW" Canvas.Left="" Canvas.Top="338" Width="60" Height="30" Click="XCWButton_Click"/> | |
| <Button Content="X CCW" Canvas.Left="" Canvas.Top="389" Width="60" Height="30" Click="XCCWButton_Click"/> | |
| <Button Content="T CW" Canvas.Left="" Canvas.Top="338" Width="60" Height="30" Click="TCWButton_Click"/> | |
| <Button Content="T CCW" Canvas.Left="" Canvas.Top="389" Width="60" Height="30" Click="TCCWButton_Click"/> | |
| <Button Content="Auto" Canvas.Left="" Canvas.Top="439" Width="60" Height="30" Click="AutoButton_Click"/> | |
| </Canvas> | |
| </Window> |
后台代码如下：
| public partial class MainWindow : Window | |
| { | |
| public MainWindow() | |
| { | |
| InitializeComponent(); | |
| } | |
| private void ZCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotZAction = WaferRobotZAction.Z_CW; | |
| } | |
| private void ZCCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotZAction = WaferRobotZAction.Z_CCW; | |
| } | |
| private void XCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotXAction = WaferRobotXAction.X_CW; | |
| } | |
| private void XCCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotXAction = WaferRobotXAction.X_CCW; | |
| } | |
| private void TCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotTAction = WaferRobotTAction.T_CW; | |
| } | |
| private void TCCWButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| robot.RobotTAction = WaferRobotTAction.T_CCW; | |
| } | |
| private void AutoButton_Click(object sender, RoutedEventArgs e) | |
| { | |
| Task.Run(async () => | |
| { | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotTAction = WaferRobotTAction.T_CCW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotXAction = WaferRobotXAction.X_CW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke( | |
| () => { this.robot.Wafer =; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke( | |
| () => { this.robot.RobotXAction = WaferRobotXAction.X_CCW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke( | |
| () => { this.robot.RobotZAction = WaferRobotZAction.Z_CW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotTAction = WaferRobotTAction.T_CW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotXAction = WaferRobotXAction.X_CW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke( | |
| () => { this.robot.Wafer =; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke( | |
| () => { this.robot.RobotXAction = WaferRobotXAction.X_CCW; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotTAction = WaferRobotTAction.T_Origin; } | |
| ); | |
| await Task.Delay(); | |
| Application.Current.Dispatcher?.Invoke | |
| ( | |
| () => { this.robot.RobotZAction = WaferRobotZAction.Z_CCW; } | |
| ); | |
| await Task.Delay(); | |
| }); | |
| } | |
| } |