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(AgvInfo agv)
{
InitializeComponent();
Agv = agv;
chkBxAuto.Checked = agv.Auto;
btnReSendTask.Enabled = agv.Auto;
btnAssignTask.Enabled = !agv.Auto;
}
AgvInfo Agv;
private bool isIni = false;
private void Manual_Load(object sender, EventArgs e)
{
lblInfo.Text = string.Format("[{0}]", Agv.IP);
AgvTaskManager.InitView(cmbBxMission,Agv);
InState.AddRange(new PictureBox[] { pictureBox1, pictureBox2, pictureBox3, pictureBox4 });
OutState.AddRange(new PictureBox[] { pictureBox5, pictureBox6, pictureBox7, pictureBox8 });
timer1.Enabled = true;
isIni = true;
}
List<PictureBox> InState = new List<PictureBox>();
List<PictureBox> OutState = new List<PictureBox>();
private void timer1_Tick(object sender, EventArgs e)
{
if (!IsHandleCreated)
return;
this.Invoke(new Action(() =>
{
try
{
if (Agv.IOStatus[0] != null && Agv.IOStatus[0].Inputs !=null)
{
for (int i = 0; i < Agv.IOStatus[0].Inputs.Length; i++)
{
if (Agv.GetInput(0,i))
{
InState[i].Image = AGVDispatch.Properties.Resources.green1;
}
else
{
InState[i].Image = AGVDispatch.Properties.Resources.gray2;
}
}
}
if(Agv.IOStatus[0]!=null && Agv.IOStatus[0].Inputs!=null)
{
for (int i = 0; i < Agv.IOStatus[0].Inputs.Length; i++)
{
if (Agv.GetOutput(0, i))
{
OutState[i].Image = AGVDispatch.Properties.Resources.green1;
}
else
{
OutState[i].Image = AGVDispatch.Properties.Resources.gray2;
}
}
}
}
catch { }
}));
}
private void chkBxAuto_CheckedChanged(object sender, EventArgs e)
{
if (!isIni) return;
this.Invoke(new Action(() =>
{
if (!chkBxAuto.Checked && !Agv.JobContext.MissionId.Equals(""))
{
if(MessageBox.Show($"正在执行任务[{Agv.JobContext.MissionId}]，切到手动后该任务无法继续执行，确定切到手动状态？", "警告",MessageBoxButtons.YesNo).Equals(
DialogResult.No))
{
chkBxAuto.Checked = true;
return;
}
LogUtil.info($"人员切换到手动，{Agv.Name}当前执行的任务为{Agv.JobContext.MissionId}");
}
btnReSendTask.Enabled = chkBxAuto.Checked;
btnAssignTask.Enabled = !chkBxAuto.Checked;
cmbBxMission.Enabled = !chkBxAuto.Checked;
if (!chkBxAuto.Checked)
{
Agv.Auto = false;
ChargePileManager.StopCharge(Agv);
if (Agv.IsCon)
{
LogUtil.info($"取消自动任务，当前运行信息是：{Agv.Msg}");
try
{
//Agv.CurJob != null && Agv.CurJob.JobParam != null &&
if ( Agv.CurJob.JobParam.GetMissionInfo() != null)
{
if (MessageBox.Show($"是否删除该任务[{Agv.JobContext.MissionId}]？", "提示", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
{
DeviceLibrary.manager.MissionManager.SetMissionState(Agv.CurJob.JobParam.GetMissionInfo().missionId, DeviceLibrary.service.model.MissionState.中止, out string msg);
LogUtil.info($"{Agv.Name}取消自动任务，并终止当前任务：{Common.JsonHelper.SerializeObject(Agv.CurJob.JobParam.GetMissionInfo())}");
}
else
{
LogUtil.info($"{Agv.Name}取消自动任务，任务不中止：{Common.JsonHelper.SerializeObject(Agv.CurJob.JobParam.GetMissionInfo())}");
}
}
}
catch { }
//MiR_API.Del_Mission(Agv);
//添加Init任务
AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");
}
Agv.CurJob = null;
Agv.JobContext = new DeviceLibrary.bean.agv.JobContext();
}
else
{
if (Agv.IsExistShelf)
{
chkBxAuto.Checked = false;
MessageBox.Show(this, string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name), "警告");
LogUtil.error(string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name));
return;
}
Agv.Auto = true;
}
}));
}
private void btnReSendTask_Click(object sender, EventArgs e)
{
if (Agv.IsCon)
{
if (Agv.CurJob.Task.Name.Equals(""))
return;
if (MessageBox.Show($"确定对小车重发任务:{Agv.CurJob.Task.AliceName}?", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
return;
System.Threading.Tasks.Task.Factory.StartNew(new Action(() =>
{
MiR_API.Clear_Error(Agv);
System.Threading.Thread.Sleep(1000);
MiR_API.State_Ready(Agv);
Agv.Resend();
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)
{
DeviceLibrary.AgvTask task = AgvTaskManager.GetTaskByName((cmbBxMission.SelectedItem as DeviceLibrary.AgvTask).Name,Agv);
if (task.Type.Equals(TaskType.InOut))
if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
return;
AgvTaskManager.AssignMission(Agv, task.Name);
AgvTask agvTask = cmbBxMission.SelectedItem as AgvTask;
LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, agvTask.Name));
}
}
catch (Exception ex)
{
LogUtil.error("手动发任务 ", ex);
}
}
private void btnExit_Click(object sender, EventArgs e)
{
Close();
}
}
}