ucCtuRunInfo.cs
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using CtuDeviceLib;
using DeviceLibrary.CtuService;
using Mushiny;
using OnlineStore.Common;
using System;
using System.Drawing;
using System.Linq;
using System.Windows.Forms;
namespace TheMachine
{
public partial class ucCtuRunInfo : UserControl
{
public ucCtuRunInfo(CTU ctu)
{
InitializeComponent();
curCtu = ctu;
}
CTU curCtu;
public void UpdateInfo()
{
if (!IsHandleCreated) return;
this.Invoke(new Action(() =>
{
try
{
groupBox1.Text = $"[{curCtu.Name}][{curCtu.IP}][{curCtu.SOC}%]";
lblRobotState.Text = curCtu.RobotState.ToString();
if (curCtu.Enabled)
{
lblEnabled.Text = "已启用";
}
else
{
lblEnabled.Text = "已关闭";
}
if (curCtu.RunState == RunState.Offline)
{
this.BackColor = Color.Red;
}
else if (curCtu.RunState == RunState.Online)
{
this.BackColor = Color.LightGreen;
}
else if (curCtu.RunState == RunState.Reset)
{
this.BackColor = Color.Yellow;
}
else if (curCtu.RunState == RunState.Executing)
{
this.BackColor = Color.LightBlue;
}
if (curCtu.FaultInfo?.HasFault ?? false)
{
lblError.BackColor = Color.Red;
}
listBox1.Items.Clear();
listBox1.Items.Add($"当前地码：{curCtu.CurLandMark} 当前角度：{curCtu.CurDir}°");
if (curCtu.RobotState == RobotState.空闲状态 && curCtu.CurLandMark == 10001)
{
listBox1.Items.Add($"CTU在辅助码上，请移动到维护的码上");
}
listBox1.Items.Add($"限制区域：{string.Join(",", curCtu.curLimitAreas)}");
listBox1.Items.Add($"占用地码：{string.Join(",", curCtu.UsedPoint)}");
curCtu.GetAllBaskets().ForEach(s =>
{
if (!string.IsNullOrEmpty(s.BoxCode))
{
string isShield = "";
if (s.Shield)
{
isShield = ",已屏蔽";
}
listBox1.Items.Add($"R{s.Row}:{s.BoxCode},{s.DstName},{(s.IsPutted ? "有料箱" : "无料箱")}{isShield}");
}
});
}
catch (Exception ex)
{
LogUtil.error($"【{curCtu.Name}】更新信息异常", ex);
}
}));
}
private void 清空所有背篓信息ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (MessageBox.Show($"是否清空背篓的所有信息?", curCtu?.Name, MessageBoxButtons.YesNo).Equals(DialogResult.No))
{
return;
}
for (byte i = 1; i <= CTUManager.basketCnt; i++)
{
curCtu?.ClearBasket(i);
}
LogUtil.info($"【{curCtu.Name}】手动清空所有背篓信息");
}
private void 启用ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (curCtu != null)
{
var lst = ConfigAppSettings.GetValue(Mushiny.Common.Mushiny_ + "EnabledCtus", new string[] { "" }).ToList();
if (!lst.Contains(curCtu.Name))
{
lst.Add(curCtu.Name);
ConfigAppSettings.SaveValue(Mushiny.Common.Mushiny_ + "EnabledCtus", lst.ToArray());
}
LogUtil.info($"【{curCtu.Name}】手动启用");
}
}
private void 关闭ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (curCtu != null)
{
var lst = ConfigAppSettings.GetValue(Mushiny.Common.Mushiny_ + "EnabledCtus", new string[] { "" }).ToList();
if (lst.Contains(curCtu.Name))
{
lst.Remove(curCtu.Name);
curCtu?.ClearUsedPoints();
ConfigAppSettings.SaveValue(Mushiny.Common.Mushiny_ + "EnabledCtus", lst.ToArray());
}
LogUtil.info($"【{curCtu.Name}】手动关闭");
string msg = $"[{curCtu.CtuTask?.Name}][{curCtu.CtuTask?.DstName}][{curCtu.CtuTask?.boxCode}]";
if (MessageBox.Show($"是否清空{curCtu.Name}当前执行的任务:{msg}", "", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
{
curCtu.CtuTask = null;
LogUtil.info($"【{curCtu.Name}】手动关闭时清空当前任务：{msg}");
}
}
}
private void 清空待机点ToolStripMenuItem_Click(object sender, EventArgs e)
{
}
private void 清空占用路线点ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (curCtu != null)
{
curCtu.ClearUsedPoints();
LogUtil.info($"【{curCtu.Name}】手动清空待机点占用");
}
}
private void 清空当前任务ToolStripMenuItem_Click(object sender, EventArgs e)
{
string msg = $"[{curCtu.CtuTask?.Name}][{curCtu.CtuTask?.DstName}][{curCtu.CtuTask?.boxCode}]";
if (MessageBox.Show($"是否清空{curCtu.Name}当前执行的任务:{msg}", "", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
{
curCtu.CtuTask = null;
LogUtil.info($"【{curCtu.Name}】手动清空当前任务：{msg}");
}
}
private void 清空未放箱状态背篓ToolStripMenuItem_Click(object sender, EventArgs e)
{
curCtu.ClearUnPuttedBox();
LogUtil.info("手动清空未放箱状态背篓");
}
}
}