Manual.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using DeviceLibrary;
using Common;
namespace AGVControl
{
public partial class Manual : Form
{
public Manual(Agv_Info agv)
{
InitializeComponent();
Agv = agv;
chkBxAuto.Checked = agv.IsUse;
btnReSendTask.Enabled = agv.IsUse;
btnAssignTask.Enabled = !agv.IsUse;
}
Agv_Info Agv;
private bool isIni = false;
private void Manual_Load(object sender, EventArgs e)
{
lblInfo.Text = string.Format("[{0}]", Agv.IP);
foreach (Mission mission in MissionSys.Missions)
{
cmbBxMission.Items.Add(mission.AliceName);
}
cmbBxMission.SelectedIndex = 0;
isIni = true;
timer1.Enabled = true;
}
private void chkBxAuto_CheckedChanged(object sender, EventArgs e)
{
if (!isIni) return;
this.Invoke(new Action(() =>
{
btnReSendTask.Enabled = chkBxAuto.Checked;
btnAssignTask.Enabled = !chkBxAuto.Checked;
if (!chkBxAuto.Checked)
{
AGVManager.Charge.DelOccupyInfo(Agv);
if (Agv.IsCon)
{
MiR_API.Del_Mission(Agv);
//添加Init任务
MissionSys.AssignMission(Agv, SettingString.Init);
LogUtil.info(string.Format("{0} 开启手动，取消当前自动任务:{1}", Agv.Name, Agv.Msg));
Agv.CurJob = null;
if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
Agv.Place = "";
//MiR_API.Del_Mission(Agv);
Agv.RFID = "";
}
}
else
{
if (Agv.IsExistShelf)
{
LogUtil.error(string.Format("{0} 车上有料架，无法开启自动模式，请先清空小车负载！", Agv.Name));
MessageBox.Show(this,string.Format("{0} 车上有料架，无法开启自动模式，请先清空小车负载！", Agv.Name));
chkBxAuto.Checked = false;
Agv.IsUse = false;
return;
}
// if (MessageBox.Show(this, "是否继续上一次的任务?\r\n" + Agv.Msg, "提示", MessageBoxButtons.YesNo).Equals(DialogResult.No))
{
//LogUtil.info(string.Format("{0} 取消上一次自动任务:{1}", Agv.Name, Agv.Msg));
//Agv.CurJob = null;
//if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
// Agv.Place = "";
//MiR_API.Del_Mission(Agv);
//Agv.RFID = "";
}
//else
//{
// Agv.Resend(false);
//}
}
Agv.IsUse = chkBxAuto.Checked;
}));
}
private void btnReSendTask_Click(object sender, EventArgs e)
{
if (Agv.IsCon)
{
if (MessageBox.Show("确定对小车重发任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
return;
Task.Factory.StartNew(new Action(() =>
{
MiR_API.Clear_Error(Agv);
System.Threading.Thread.Sleep(1000);
MiR_API.State_Ready(Agv);
Agv.Resend(true);
LogUtil.info(string.Format("{0} 手动重发任务", Agv.Name));
}));
}
}
private void btnReady_Click(object sender, EventArgs e)
{
if (Agv.IsCon)
{
MiR_API.State_Ready(Agv);
LogUtil.info(string.Format("{0} 手动点击运行", Agv.Name));
}
}
private void btnPause_Click(object sender, EventArgs e)
{
if (Agv.IsCon)
{
MiR_API.State_Pause(Agv);
LogUtil.info(string.Format("{0} 手动点击暂停", Agv.Name));
}
}
private void btnClearErr_Click(object sender, EventArgs e)
{
if (Agv.IsCon)
{
MiR_API.Clear_Error(Agv);
LogUtil.info(string.Format("{0} 手动点击清除按钮", Agv.Name));
}
}
private void btnAssignTask_Click(object sender, EventArgs e)
{
try
{
if (Agv.IsCon)
{
string taskName = MissionSys.GetTaskNameByAliceName(cmbBxMission.SelectedItem.ToString());
if (taskName.Equals(SettingString.Enter) || taskName.Equals(SettingString.Leave))
if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
return;
Task.Factory.StartNew(delegate {
MissionSys.AssignMission(Agv, taskName);
LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, taskName));
});
}
}
catch (Exception ex)
{
LogUtil.error("手动发任务 ", ex);
}
}
private void btnExit_Click(object sender, EventArgs e)
{
Close();
}
private void timer1_Tick(object sender, EventArgs e)
{
this.Invoke(new Action(()=> {
label1.Text = Agv.IOInState;
label2.Text = Agv.IOOutState;
}));
}
}
}