FrmPointCode.cs
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using ConveyorLine.EditPointCode;
using CtuDeviceLib;
using DeviceLibrary;
using Mushiny;
using OneWay;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using TheMachine;
namespace ConveyorLine
{
public partial class FrmPointCode : Form
{
public FrmPointCode()
{
InitializeComponent();
ucPointCode1.PointCodeChanged += UcPointCode1_PointCodeChanged;
}
private void UcPointCode1_PointCodeChanged()
{
showPointCodes();
}
void showPointCodes()
{
listBox1.Items.Clear();
listBox2.Items.Clear();
EditPointCodeHelper.pointCodes.Sort((a, b) => { return ((int)a.Id - (int)b.Id); });
EditPointCodeHelper.pointCodes.ForEach(s =>
{
if (s.X == -1 || s.Y == -1)
{
listBox1.Items.Add($"{s.Id}");
}
else
{
listBox2.Items.Add($"{s.Id}");
}
}
);
if (curSlelectIdx < listBox1.Items.Count)
{
listBox1.SelectedIndex = curSlelectIdx;
}
else if (curSlelectIdx < listBox2.Items.Count)
{
listBox2.SelectedIndex = curSlelectIdx;
}
}
int curSlelectIdx;
private void listBox1_SelectedIndexChanged(object sender, EventArgs e)
{
var lstBox = (ListBox)sender;
if (lstBox == null)
{
return;
}
var idStr = lstBox.SelectedItem.ToString();
curSlelectIdx = lstBox.SelectedIndex;
if (uint.TryParse(idStr, out var id))
{
var code = EditPointCodeHelper.pointCodes.Find(s => s.Id == id);
ucPointCode1.CurPointCode = code;
}
}
private void button1_Click(object sender, EventArgs e)
{
EditPointCodeHelper.pointCodes.ForEach(s => { s.X = -1; s.Y = -1; });
showPointCodes();
}
private void button2_Click(object sender, EventArgs e)
{
FrmReplace frmReplace = new FrmReplace();
frmReplace.ShowDialog();
showPointCodes();
}
private void button3_Click(object sender, EventArgs e)
{
FrmBasePoint frmBasePoint = new FrmBasePoint();
frmBasePoint.ShowDialog();
if (EditPointCodeHelper.BasePointCode != null)
{
showPointCodes();
}
}
private void 加载ToolStripMenuItem1_Click(object sender, EventArgs e)
{
if (EditPointCodeHelper.LoadPointCodes())
{
showPointCodes();
}
else
{
textBox1.Text = ("加载地标失败");
}
}
private void 保存ToolStripMenuItem1_Click(object sender, EventArgs e)
{
EditPointCodeHelper.SavePointsCodes();
}
/// <summary>
/// 更新坐标
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void button4_Click(object sender, EventArgs e)
{
if (EditPointCodeHelper.pointCodes.Count == 0) return;
var waitUpdateCodes = EditPointCodeHelper.pointCodes.FindAll(s => s.X == -1 && s.Y == -1);
var updatedCodes = EditPointCodeHelper.pointCodes.FindAll(s => s.X >= 0 && s.Y >= 0);
int preWaitUpdateCnt = waitUpdateCodes.Count;
while (waitUpdateCodes.Count > 0)
{
for (var i = updatedCodes.Count - 1; i >= 0; i--)
{
var item = updatedCodes[i];
var side = item.Above;
if (side != null)
{
var tmp = waitUpdateCodes.Find(s => s.Id == side.Id);
if (tmp != null)
{
tmp.X = item.X;
tmp.Y = item.Y - side.Distance;
}
}
side = item.Right;
if (side != null)
{
var tmp = waitUpdateCodes.Find(s => s.Id == side.Id);
if (tmp != null)
{
tmp.X = item.X + side.Distance;
tmp.Y = item.Y;
}
}
side = item.Below;
if (side != null)
{
var tmp = waitUpdateCodes.Find(s => s.Id == side.Id);
if (tmp != null)
{
tmp.X = item.X;
tmp.Y = item.Y + side.Distance;
}
}
side = item.Left;
if (side != null)
{
var tmp = waitUpdateCodes.Find(s => s.Id == side.Id);
if (tmp != null)
{
tmp.X = item.X - side.Distance;
tmp.Y = item.Y;
}
}
waitUpdateCodes = EditPointCodeHelper.pointCodes.FindAll(s => s.X == -1 && s.Y == -1);
updatedCodes = EditPointCodeHelper.pointCodes.FindAll(s => s.X >= 0 && s.Y >= 0);
}
if (preWaitUpdateCnt == waitUpdateCodes.Count)
{
break;
}
else
{
preWaitUpdateCnt = waitUpdateCodes.Count;
}
}
if (preWaitUpdateCnt > 0)
{
StringBuilder sb = new StringBuilder();
waitUpdateCodes.ForEach(s => sb.AppendLine(s.Id.ToString()));
textBox1.Text = ("坐标更新失败：\r\n" + sb.ToString());
}
else
{
textBox1.Text = ("坐标更新成功");
}
showPointCodes();
}
private void button5_Click(object sender, EventArgs e)
{
if (EditPointCodeHelper.pointCodes.Count == 0)
{
textBox1.Text = ("无可检查的地码");
return;
}
textBox1.Text = "";
var finds = EditPointCodeHelper.pointCodes.FindAll(s => s.Above == null && s.Below == null && s.Left == null && s.Right == null);
if (finds != null && finds.Count > 0)
{
StringBuilder sb = new StringBuilder("如下地码无相邻地码，请检查：");
foreach (var find in finds)
{
sb.AppendLine(find.Id.ToString());
}
textBox1.Text = (sb.ToString());
}
else
{
var codes = EditPointCodeHelper.pointCodes;
StringBuilder sb = new StringBuilder();
foreach (var item in codes)
{
var side = item.Above;
if (side != null)
{
var tmp = codes.Find(s => s.Id == side.Id);
if (tmp != null)
{
if (tmp.Below?.Id != item.Id)
{
sb.AppendLine($"请检查：地码【{item.Id}】上方是【{side.Id}】，但【{side.Id}】下方是【{tmp.Below?.Id}】");
}
}
else
{
sb.AppendLine($"请检查：地码【{item.Id}】上方是【{side.Id}】，但【{side.Id}】不存在");
}
}
else
{
sb.AppendLine($"请确认：地码【{item.Id}】上方为空");
}
side = item.Right;
if (side != null)
{
var tmp = codes.Find(s => s.Id == side.Id);
if (tmp != null)
{
if (tmp.Left?.Id != item.Id)
{
sb.AppendLine($"请检查：地码【{item.Id}】右侧是【{side.Id}】，但【{side.Id}】左侧是【{tmp.Left?.Id}】");
}
}
else
{
sb.AppendLine($"请检查：地码【{item.Id}】右侧是【{side.Id}】，但【{side.Id}】不存在");
}
}
else
{
sb.AppendLine($"请确认：地码【{item.Id}】右为空");
}
side = item.Below;
if (side != null)
{
var tmp = codes.Find(s => s.Id == side.Id);
if (tmp != null)
{
if (tmp.Above?.Id != item.Id)
{
sb.AppendLine($"请检查：地码【{item.Id}】下方是【{side.Id}】，但【{side.Id}】上方是【{tmp.Above?.Id}】");
}
}
else
{
sb.AppendLine($"请检查：地码【{item.Id}】下方是【{side.Id}】，但【{side.Id}】不存在");
}
}
else
{
sb.AppendLine($"请确认：地码【{item.Id}】下方为空");
}
side = item.Left;
if (side != null)
{
var tmp = codes.Find(s => s.Id == side.Id);
if (tmp != null)
{
if (tmp.Right?.Id != item.Id)
{
sb.AppendLine($"请检查：地码【{item.Id}】左侧是【{side.Id}】，但【{side.Id}】右侧是【{tmp.Right?.Id}】");
}
}
else
{
sb.AppendLine($"请检查：地码【{item.Id}】左侧是【{side.Id}】，但【{side.Id}】不存在");
}
}
else
{
sb.AppendLine($"请确认：地码【{item.Id}】左侧为空");
}
}
var res = sb.ToString();
if (string.IsNullOrEmpty(res))
{
textBox1.Text = ("检查完成");
}
else
{
textBox1.Text = ("检查结果：\r\n" + res);
}
}
}
private void button6_Click(object sender, EventArgs e)
{
//int width = pictureBox1.Width;
//int height = pictureBox1.Height;
// Bitmap bmp = new Bitmap(width, height);
// Brush noneBrush = new SolidBrush(Color.Black);
// Brush shelfBrush = new SolidBrush(Color.Blue);
// Brush turningBrush = new SolidBrush(Color.Brown);
// Brush dockBrufh = new SolidBrush(Color.Green);
// using (Graphics g = Graphics.FromImage(bmp))
// {
// int xRange = EditPointCodeHelper.pointCodes.Max(x => x.X) - EditPointCodeHelper.pointCodes.Min(x => x.X);
// int yRange = EditPointCodeHelper.pointCodes.Max(x => x.Y) - EditPointCodeHelper.pointCodes.Min(x => x.Y);
// var coefX = (float)(width * 0.96 / xRange);
// var coefY = (float)(height * 0.96 / yRange);
// var linePen = new Pen(Color.Black, 2);
// g.FillRectangle(Brushes.White, new Rectangle(0, 0, width, height));
// foreach (var item in EditPointCodeHelper.pointCodes)
// {
// var point = new PointF() { X = item.X * coefX, Y = item.Y * coefY };
// if (item.Type == LandmarkType.None)
// g.DrawString($"{item.Id}", new Font("黑体", 9), noneBrush, point);
// else if (item.Type == LandmarkType.Turning)
// g.DrawString($"{item.Id}", new Font("黑体", 9), turningBrush, point);
// else if (item.Type == LandmarkType.Shelves)
// {
// g.DrawString($"{item.Id}", new Font("黑体", 9), shelfBrush, point);
// }
// else if (item.Type == LandmarkType.Docking_0 ||
// item.Type == LandmarkType.Docking_90 ||
// item.Type == LandmarkType.Docking_180 ||
// item.Type == LandmarkType.Docking_270
//)
// {
// g.DrawString($"{item.Id}", new Font("黑体", 9), dockBrufh, point);
// }
// var curPoint = new PointF(item.X, item.Y);
// if (item.Above != null)
// {
// var side = item.Above;
// var find = EditPointCodeHelper.pointCodes.Find(s => s.Id == side.Id);
// if (find != null)
// {
// var nexPoint = new PointF(find.X, find.Y);
// g.DrawLine(linePen, curPoint, nexPoint);
// }
// }
// else if (item.Below != null)
// {
// var side = item.Below;
// var find = EditPointCodeHelper.pointCodes.Find(s => s.Id == side.Id);
// if (find != null)
// {
// var nexPoint = new PointF(find.X, find.Y);
// g.DrawLine(linePen, curPoint, nexPoint);
// }
// }
// else if (item.Left != null)
// {
// var side = item.Left;
// var find = EditPointCodeHelper.pointCodes.Find(s => s.Id == side.Id);
// if (find != null)
// {
// var nexPoint = new PointF(find.X, find.Y);
// g.DrawLine(linePen, curPoint, nexPoint);
// }
// }
// else if (item.Right != null)
// {
// var side = item.Right;
// var find = EditPointCodeHelper.pointCodes.Find(s => s.Id == side.Id);
// if (find != null)
// {
// var nexPoint = new PointF(find.X, find.Y);
// g.DrawLine(linePen, curPoint, nexPoint);
// }
// }
// }
// }
// pictureBox1.Image = bmp;
}
private void button7_Click(object sender, EventArgs e)
{
//CTUBean ctuBean = new CTUBean("测试", null);
//StringBuilder stringBuilder = new StringBuilder();
//ctuBean.PointCodes.AddRange(EditPointCodeHelper.pointCodes);
//foreach (var code1 in EditPointCodeHelper.pointCodes)
//{
// foreach (var code2 in EditPointCodeHelper.pointCodes)
// {
// if (code1.Id == code2.Id) { continue; }
// var startPoint = ctuBean.GetPointCode(code1.Id);
// var start = new AStartPoint(startPoint);
// var endPoint = ctuBean.GetPointCode(code2.Id);
// var end = new AStartPoint(endPoint);
// if (startPoint == null || endPoint == null)
// {
// if (startPoint == null)
// {
// MessageBox.Show($"地码【{code1.Id}】未维护");
// }
// if (endPoint == null)
// {
// MessageBox.Show($"地码【{code2.Id}】未维护");
// }
// return;
// }
// var result = ctuBean.AStart.FindPath(start, end);
// if (result == null)
// {
// stringBuilder.AppendLine($"【{code1.Id}】->【{code2.Id}】：规划失败");
// }
// else
// {
// var ways = new List<PointCode>();
// while (result != null)
// {
// ways.Add(result.Landmark);
// Console.WriteLine($"{result.Id}({result.X},{result.Y})");
// result = result.ParentPoint;
// }
// ways.Reverse();
// ways.ForEach(s => stringBuilder.Append($"{s.Id}->"));
// stringBuilder.AppendLine();
// }
// }
//}
//string str = stringBuilder.ToString();
//if (!string.IsNullOrEmpty(str))
// textBox1.Text = ($"{str}");
}
private void button8_Click_1(object sender, EventArgs e)
{
EditPointCodeHelper.SavePathWays();
}
private void button5_Click_1(object sender, EventArgs e)
{
var fileDialog = new OpenFileDialog();
fileDialog.InitialDirectory = Application.StartupPath + $"/CtuService/Config/CSV/CTU/Edit/";
var rtn = fileDialog.ShowDialog();
if (rtn == DialogResult.OK)
{
string file = fileDialog.FileName;
var info = new FileInfo(file);
FrmOneway frmOneway = new FrmOneway(info.Directory.FullName);
frmOneway.ShowDialog();
}
}
void calibCoord()
{
if (EditPointCodeHelper.pointCodes == null || EditPointCodeHelper.pointCodes.Count == 0) return;
//if (EditPointCodeHelper.BasePointCode == null)
//{
// MessageBox.Show("未设置基准地码");
// return;
//}
#region 修改地码坐标问题
List<Point_CTU> points = new List<Point_CTU>();
foreach (PointCode ctuPoint in EditPointCodeHelper.pointCodes)
{
//Point_CTU point = new Point_CTU(ctuPoint.Above.Id, ctuPoint.Below.Id, ctuPoint.Left.Id, ctuPoint.Right.Id, ctuPoint.Above.Distance, ctuPoint.Below.Distance, ctuPoint.Left.Distance, ctuPoint.Right.Distance, ctuPoint.X, ctuPoint.Y, ctuPoint.Id);
Point_CTU point = new Point_CTU(ctuPoint.X, ctuPoint.Y, ctuPoint.Id);
#region
//左
{
if (ctuPoint.Left != null)
{
uint id = ctuPoint.Left.Id;
point.LeftID = id;
point.LeftDistance = ctuPoint.Left.Distance;
}
}
//右
{
if (ctuPoint.Right != null)
{
uint id = ctuPoint.Right.Id;
point.RightID = id;
point.RightDistance = ctuPoint.Right.Distance;
}
}
//上
{
if (ctuPoint.Above != null)
{
uint id = ctuPoint.Above.Id;
point.UpID = id;
point.UpDistance = ctuPoint.Above.Distance;
}
}
//下
{
if (ctuPoint.Below != null)
{
uint id = ctuPoint.Below.Id;
point.DownID = id;
point.DownDistance = ctuPoint.Below.Distance;
}
}
#endregion
points.Add(point);
}
//为图的坐标点确定上下左右的点
foreach (var point in points)
{
point.Up = points.Find(m => m.Id == point.UpID);
point.Down = points.Find(m => m.Id == point.DownID);
point.Left = points.Find(m => m.Id == point.LeftID);
point.Right = points.Find(m => m.Id == point.RightID);
}
// 创建GraphTraversal实例并执行遍历
GraphTraversal_CTU traversal = new GraphTraversal_CTU();
traversal.Traverse(points.First(m => m.Id == 617)); // 从点(0, 0)开始遍历
//修改并保存文件
int maxPointX = int.MinValue;
int maxPointY = int.MinValue;
int minPointX = int.MaxValue;
int minPointY = int.MaxValue;
int RangX = int.MaxValue;
int RangY = int.MaxValue;
foreach (var point in traversal.PointCodes)
{
if (maxPointX < point.X)
{
maxPointX = point.X;
}
if (maxPointY < point.Y)
{
maxPointY = point.Y;
}
if (minPointX > point.X)
{
minPointX = point.X;
}
if (minPointY > point.Y)
{
minPointY = point.Y;
}
}
List<Point_CTU> tempPointCodes = new List<Point_CTU>();
Point_CTU temp = null;
foreach (var point in traversal.PointCodes)
{
temp = point;
temp.X = point.X - minPointX;
temp.Y = point.Y - minPointY;
tempPointCodes.Add(temp);
}
StringBuilder sb = new StringBuilder();
sb.AppendLine("修正的坐标信息：");
foreach (var point in tempPointCodes)
{
var row = EditPointCodeHelper.pointCodes.First(m => m.Id == point.Id);
if (row != null)
{
sb.AppendLine($"[{row.Id}] ({row.X},{row.Y})->({point.X},{point.Y})");
row.X = point.X;
row.Y = point.Y;
}
}
textBox1.Text = sb.ToString();
MessageBox.Show("坐标修正完成");
#endregion
}
private void button6_Click_1(object sender, EventArgs e)
{
calibCoord();
}
}
}