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;
bool isInit = false;
private void Manual_Load(object sender, EventArgs e)
{
lblInfo.Text = string.Format("[{0}]", Agv.IP);
cmbBxMission.Items.AddRange(DeviceLibrary.Context.showNameMissionName.Values.ToArray());
cmbBxMission.SelectedIndex = 0;
InState.AddRange(new PictureBox[] { pictureBox1,pictureBox2,pictureBox3,pictureBox4});
OutState.AddRange(new PictureBox[] { pictureBox5, pictureBox6, pictureBox7, pictureBox8 });
timer1.Enabled = true;
isInit = true;
}
private void chkBxAuto_CheckedChanged(object sender, EventArgs e)
{
if (!isInit) return;
this.Invoke(new Action(() =>
{
btnReSendTask.Enabled = chkBxAuto.Checked;
btnAssignTask.Enabled = !chkBxAuto.Checked;
if (!chkBxAuto.Checked)//自动-》手动
{
if (Agv.IsCon)
{
MiR_API.Del_Mission(Agv);
//添加Init任务
LogUtil.info(string.Format("{0} 运行模式改变：自动-》手动", Agv.Name));
Agv.AssignTask(SettingString.Init);
}
DeviceLibrary.Context.Standby.DelOccupyInfo(Agv.Name);
DeviceLibrary.Context.Charge.DelOccupyInfo(Agv.Name);
}
else
{
//if (Agv.IsExistShelf)
//{
// 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;
//}
// 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} 运行模式改变：手动-》自动【不继续上一次任务：{1}】", Agv.Name, Agv.Msg));
Agv.CurJob = null;
if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
Agv.Place = "";
if (Agv.IsCon)
{
MiR_API.Del_Mission(Agv);
}
Agv.RFID = "";
}
//else
//{
// if (Agv.IsCon)
// {
// Agv.Resend();
// LogUtil.info(string.Format("{0} 运行模式改变：手动-》自动【继续上一次任务：{1}】", Agv.Name, Agv.Msg));
// }
//}
}
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();
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)
{
if (Agv.IsCon)
{
try
{
var key = Context.showNameMissionName.Where(qq => qq.Value == cmbBxMission.SelectedItem.ToString()).Select(qq => qq.Key);
string taskName = key.ToList()[0];
if(!DeviceLibrary.Context.agvMission.Keys.Contains(taskName))
{
LogUtil.error("无选定任务: "+ taskName);
return;
}
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;
Agv.AssignTask(taskName);
Agv.StateKanban.ShowInfo("目的地", "");
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)
{
timer1.Enabled = false;
Close();
Dispose();
}
List<PictureBox> InState = new List<PictureBox>();
List<PictureBox> OutState = new List<PictureBox>();
private void timer1_Tick(object sender, EventArgs e)
{
this.Invoke(new Action(() => {
try
{
if (Agv.IOInState != null && Agv.IOInState.Length == 4)
{
for (int i = 0; i < Agv.IOInState.Length; i++)
{
if (Agv.IOInState[i])
{
InState[i].Image = AGVDispatch.Properties.Resources.green1;
}
else
{
InState[i].Image = AGVDispatch.Properties.Resources.gray2;
}
}
}
if (Agv.IOOutState != null && Agv.IOOutState.Length == 4)
{
for (int i = 0; i < Agv.IOOutState.Length; i++)
{
if (Agv.IOOutState[i])
{
OutState[i].Image = AGVDispatch.Properties.Resources.green1;
}
else
{
OutState[i].Image = AGVDispatch.Properties.Resources.gray2;
}
}
}
}
catch { }
}));
}
}
}