AgvControl.cs
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using DeviceLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AutoScanAndLabel.UC
{
public partial class AgvControl : UserControl
{
public AgvControl()
{
InitializeComponent();
}
private void button_rightneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
Task.Run(() =>
{
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到 R40_InShelf的结束步骤里去
});
}
else
MessageBox.Show("当前有料串不能请求进入料串");
}
private void button_rightleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
{
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到R30_OutShelf的结束步骤里去
});
}
else
MessageBox.Show("当前没有料串不能请求取料串");
}
private void button_Leftleavefull_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
Task.Run(() =>
{
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到L50_OutShelf的结束步骤里去
});
}
else
MessageBox.Show("当前没有料串不能请求取料串");
}
private void button_leftneedempty_Click(object sender, EventArgs e)
{
if (!RobotManage.isRunning)
{
MessageBox.Show("机器尚未启动不能呼叫Agv");
return;
}
if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
{
//请求AGV代码放这里
//等待agv到位
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
Task.Run(() =>
{
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
Task.Delay(1000).Wait();
}
//通知agv上料结束, 也可以把上料结束的代码放到 L60_InShelf的结束步骤里去
});
}
else
MessageBox.Show("当前有料串不能请求进入料串");
}
}
}