FrmMain.cs
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using BLL;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
public partial class FrmMain : Form
{
private bool exit = false;
private bool change;
private NotifyIcon notify;
private ContextMenuStrip notifyMenu;
private System.Timers.Timer showTimer;
public FrmMain()
{
InitializeComponent();
showTimer = new System.Timers.Timer();
showTimer.Interval = 3000;
//showTimer.Enabled = true;
showTimer.Elapsed += ShowTimer_Elapsed;
// showTimer.Start();
Common.logTextBox = TxtLog;
}
private void ShowConfig()
{
int n;
for (int i = 0; i < Common.agvInfo.Count; i++)
{
n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow());
DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString();
if (!Common.agvInfo[i].IsCon)
DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
}
cmbBoxLineName.Items.Add("产线名称");
foreach (var item in Common.agvProductionLine.Keys)
{
cmbBoxLineName.Items.Add(item);
}
cmbBoxLineName.SelectedIndex = 0;
for (int i = 0; i < Common.nodeInfo.Count; i++)
{
n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
if (!Common.nodeInfo[i].Online)
DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
}
LstAgvPlace.Items.Clear();
LstAgvPlace.Items.AddRange(Common.showNameMissionName.Keys.ToArray());
LstAgvPlace.SelectedIndex = 0;
}
private void Server_NodeChanged(int nodeIndex)
{
Invoke(new Action(() =>
{
DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
}));
ShowEmptyTask();
System.GC.Collect();
}
private void Server_NodeOnline(int nodeIndex)
{
Invoke(new Action(() => { DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red; }));
ShowEmptyTask();
System.GC.Collect();
}
private void Control_AgvChanged(int agvIndex)
{
Invoke(new Action(() =>
{
DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());
}));
if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
Invoke(new Action(() =>
{
txtBoxAGV_EmptyTask.Text = Common.missionManager.AGV_Name_EmptyTask;
}));
ShowEmptyTask();
try
{
Invoke(new Action(() =>
{
for (int i = 0; i < Common.nodeInfo.Count; i++)
{
DgvNode.Rows[i].SetValues(Common.nodeInfo[i].ToRow());
}
}));
}
catch { };
System.GC.Collect();
}
private void Control_AgvOnline(int agvIndex)
{
Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].IsCon ? Color.Black : Color.Red; }));
System.GC.Collect();
}
private void ItemShow_Click(object sender, EventArgs e)
{
Show();
if (WindowState == FormWindowState.Minimized)
WindowState = FormWindowState.Normal;
}
private void ItemExit_Click(object sender, EventArgs e)
{
notify.Dispose();
exit = true;
Close();
}
private void Notify_MouseDoubleClick(object sender, MouseEventArgs e)
{
Show();
if (WindowState == FormWindowState.Minimized)
WindowState = FormWindowState.Normal;
}
private void FrmMain_Load(object sender, EventArgs e)
{
//托盘菜单
notifyMenu = new ContextMenuStrip();
ToolStripMenuItem itemShow = new ToolStripMenuItem("显示(&S)");
itemShow.Click += ItemShow_Click;
ToolStripMenuItem itemExit = new ToolStripMenuItem("退出(&X)");
itemExit.Click += ItemExit_Click;
notifyMenu.Items.Add(itemShow);
notifyMenu.Items.Add(itemExit);
//托盘控件
notify = new NotifyIcon { Icon = Icon, Visible = true, ContextMenuStrip = notifyMenu, Text = Text };
notify.MouseDoubleClick += Notify_MouseDoubleClick;
ShowConfig();
change = true;
ChkAutoCharge.Checked = Common.chargeStatus.AutoCharge;
change = false;
Common.control.AgvChanged += Control_AgvChanged;
Common.control.AgvOnline += Control_AgvOnline;
Common.server.NodeChanged += Server_NodeChanged;
Common.server.NodeOnline += Server_NodeOnline;
foreach (var item in Common.agvInfo)
{
cmbBoxAGVName.Items.Add(item.Name);
}
cmbBoxAGVName.Items.Add("None");
cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
}
private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
{
if (!exit)
{
e.Cancel = true;
Hide();
}
showTimer.Enabled = false;
showTimer.Stop();
Common.control.AgvChanged -= Control_AgvChanged;
Common.control.AgvOnline -= Control_AgvOnline;
Common.server.NodeChanged -= Server_NodeChanged;
Common.server.NodeOnline -= Server_NodeOnline;
}
private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
{
if (e.RowIndex == -1) return;
if (e.ColumnIndex == 11) //调用
{
Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.AppSettings.Settings[Common.agvInfo[e.RowIndex].Name].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.Save();
}
else if (e.ColumnIndex == 12) //清除缓存
{
//清除小车缓存
Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place));
string place = Common.agvInfo[e.RowIndex].Place;
Common.agvInfo[e.RowIndex].Place = "";
Common.agvInfo[e.RowIndex].PlaceAliceName = "";
Common.agvInfo[e.RowIndex].RFID = "";
Common.agvInfo[e.RowIndex].NextPlace = "";
Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
Common.agvInfo[e.RowIndex].TaskSend = "";
//清除执行空架任务的小车
if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
Common.missionManager.AGV_Name_EmptyTask = "";
DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
//清除节点缓存
//int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
//if (idx > -1)
//{
// Common.nodeInfo[idx].AgvName = "";
// DgvNode.Rows[idx].Cells[5].Value = "";
//}
////添加Init任务
//Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.Add_Mission(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
}
}
private void DgvNode_CellClick(object sender, DataGridViewCellEventArgs e)
{
if (e.RowIndex == -1) return;
if (e.ColumnIndex == 7) //调用
{
Common.nodeInfo[e.RowIndex].IsUse = !Common.nodeInfo[e.RowIndex].IsUse;
DgvNode.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.nodeInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.AppSettings.Settings[Common.nodeInfo[e.RowIndex].Name].Value = Common.nodeInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.Save();
}
else if (e.ColumnIndex == 8) //清除缓存
{
//清除节点缓存
Common.LogInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
//string name = Common.nodeInfo[e.RowIndex].AgvName;
Common.nodeInfo[e.RowIndex].AgvName = "";
DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
Common.nodeInfo[e.RowIndex].RFID = "";
DgvNode.Rows[e.RowIndex].Cells[4].Value = "";
//清除小车缓存
//int idx = Common.agvInfo.FindIndex(s => s.Name == name);
//if (idx > -1)
//{
// Common.agvInfo[idx].Mark = "";
// Common.agvInfo[idx].Place = "";
// Common.agvInfo[idx].RFID = "";
// Common.agvInfo[idx].NextMission = "";
// DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
// //添加Init任务
// Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["Init"]);
// Common.mir.State_Ready(Common.agvInfo[idx]);
//}
}
}
private void BtnMissionReady_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
Common.mir.State_Ready(Common.agvInfo[idx]);
}
private void BtnMissionPause_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
Common.mir.State_Pause(Common.agvInfo[idx]);
}
private void BtnMissionAdd_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
{
bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
if (!rtn)
return;
//Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
}
}
private void BtnClearError_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
Common.mir.Clear_Error(Common.agvInfo[idx]);
}
private void ShowTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
ShowEmptyTask();
}
private void ShowEmptyTask()
{
if (dgvLineMission.InvokeRequired)
{
dgvLineMission.Invoke(new Action(() => ShowEmptyTask()));
return;
}
try
{
if (dgvLineMission.Rows.Count != 0)
dgvLineMission.Rows.Clear();
foreach (var item in Common.missionManager.missionList)
{
var key = Common.agvProductionLine.Where(q => q.Value == item.NodeName).Select(q => q.Key);
dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]);
}
}
catch (Exception ex)
{
Common.log.Error(ex);
}
}
private void BtnReadWriteCharge_Click(object sender, EventArgs e)
{
string name = (sender as System.Windows.Forms.Control).Name;
int num = Convert.ToInt32(name.Substring(name.Length - 1, 1));
//if (DgvAgv.SelectedCells.Count == 0) return;
int idx = cmbBoxAGVName.SelectedIndex;
if (idx >= Common.agvInfo.Count) return;
if (name.IndexOf("Read") > 0)
{
if (num == 3)
TxtCharge3.Text = Common.chargeStatus.charge3;
else if (num == 4)
TxtCharge4.Text = Common.chargeStatus.charge4;
else if (num == 5)
TxtCharge5.Text = Common.chargeStatus.charge5;
else if (num == 6)
TxtCharge6.Text = Common.chargeStatus.charge6;
}
else if (name.IndexOf("Write") > 0)
{
if (num == 3)
{
//if(!Common.chargeStatus.charge3.Equals(""))
//{
// MessageBox.Show("该充电桩已有小车");
//}
Common.chargeStatus.charge3 = TxtCharge3.Text;
}
else if (num == 4)
Common.chargeStatus.charge4 = TxtCharge4.Text;
else if (num == 5)
Common.chargeStatus.charge5 = TxtCharge5.Text;
else if (num == 6)
Common.chargeStatus.charge6 = TxtCharge6.Text;
if (Common.agvInfo[idx].IsCon)
{
bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission["AutoCharge" + num.ToString()]);
if (!rtn)
return;
Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString();
}
}
}
private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
{
if (change) return;
Common.chargeStatus.AutoCharge = ChkAutoCharge.Checked;
}
private void cmbBoxAGVName_SelectedIndexChanged(object sender, EventArgs e)
{
if (cmbBoxAGVName.SelectedItem != null)
{
switch (cmbBoxAGVName.SelectedIndex)
{
case 0:
TxtCharge4.Text = "MiR_R1763";
break;
case 1:
TxtCharge3.Text = "MiR_R1764";
break;
case 2:
TxtCharge5.Text = "MiR_R1767";
break;
case 3:
TxtCharge6.Text = "MiR_R1768";
break;
default:
TxtCharge3.Text = "";
TxtCharge4.Text = "";
TxtCharge5.Text = "";
TxtCharge6.Text = "";
break;
}
}
//if(cmbBoxAGVName.SelectedItem!=null)
//{
// if(cmbBoxAGVName.SelectedItem.ToString()=="None")
// {
// TxtCharge3.Text = "";
// TxtCharge4.Text = "";
// TxtCharge5.Text = "";
// TxtCharge6.Text = "";
// }
// else
// {
// TxtCharge3.Text = cmbBoxAGVName.SelectedItem.ToString();
// TxtCharge4.Text = cmbBoxAGVName.SelectedItem.ToString();
// TxtCharge5.Text = cmbBoxAGVName.SelectedItem.ToString();
// TxtCharge6.Text = cmbBoxAGVName.SelectedItem.ToString();
// }
//}
}
private void btnDeleteMission_Click(object sender, EventArgs e)
{
try
{
if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
{
ShowEmptyTask();
return;
}
if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
return;
//int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);
if (Common.DelLinePlace(Common.agvProductionLine[cmbBoxLineName.SelectedItem.ToString()]))
{
ShowEmptyTask();
Common.LogInfo("手动删除任务成功：" + cmbBoxLineName.SelectedItem.ToString());
}
else
{
ShowEmptyTask();
Common.LogInfo("手动删除任务失败");
}
}
catch (Exception ex)
{
ShowEmptyTask();
Common.log.Error("手动删除任务失败：" + ex.Message);
}
}
private void button1_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(new Action(() =>
{
Common.IsAllowLeaveOrEnter = true;
Common.LogInfo("IsAllowLeaveOrEnter="+ Common.IsAllowLeaveOrEnter);
Thread.Sleep(20000);
Common.IsAllowLeaveOrEnter = false;
Common.LogInfo("IsAllowLeaveOrEnter=" + Common.IsAllowLeaveOrEnter);
}
));
}
private void btnSetRFID_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
{
Common.agvInfo[idx].RFID = txtAgvRFID.Text.ToUpper();
Common.LogInfo("设置 " + Common.agvInfo[idx].Name +" RFID="+ txtAgvRFID.Text);
}
}
}
}