/// <summary>
/// 通过物料代码查找
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void txtMaterielCode_TextChanged(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(txtMaterielCode.Text))
{
string sql = " exec GetdataByTaskNo '','" + txtMaterielCode.Text + "'";
using (SqlConnection conn = new SqlConnection(MyDataLib.ConnString()))
{
conn.Open();
SqlCommand cmd = new SqlCommand(sql, conn);
SqlDataReader reader = cmd.ExecuteReader();
if (reader.Read()) //判断有数据
{
txtMaterielCode.Text = reader["fnumber"].ToString(); //物料单号
txtCustomer.Text = reader["f_102"].ToString(); //客户
txtSpec.Text = reader["fmodel"].ToString(); //规格
txtProTotal.Text = reader["FAuxQty"].ToString(); //数量
txtProNum.Text = reader["mtsl"].ToString(); //每托数量
txtProDirection.Text = reader["direction"].ToString(); //方向
}
else
{
return;//返回
}
}
}
}
/// <summary>
/// 删除产品
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnDeleteProduct_Click(object sender, EventArgs e)
{
if (dgvProductSetting.Rows.Count == 0)
{
MessageBox.Show("没有产品信息可以删除！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
else if (dgvProductSetting.CurrentRow.Selected == false)
{
MessageBox.Show("请选择要删除的产品信息条目！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
else
{
ProductInfo objProduct;
//通过夺取查找
objProduct = productMethod.GetProductByZone(int.Parse(dgvProductSetting.CurrentRow.Cells[5].Value.ToString()), GLB.objListProduct);
string info = "您确定要删除信息【任务单号：" + dgvProductSetting.CurrentRow.Cells[2].Value.ToString() + "垛区："
+ dgvProductSetting.CurrentRow.Cells[5].Value.ToString() + "】信息吗？";
DialogResult result = MessageBox.Show(info, "系统提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
try
{
//执行删除动作
productMethod.DeleteProduct(objProduct, GLB.objListProduct);
//待加数据库删除
string sql = "delete from dbo.StowMissionn_list where StowNo='" + objProduct.RobotID + "'and TaskNo='" + objProduct.MissionID + "'and area='" + objProduct.Zone + "' and yxbz='Y'";
int i = MyDataLib.ExecNoneQueryBySql(sql);
//提示删除成功
MessageBox.Show("删除成功！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
btnCancel_Click(null, null); //更新界面数据
}
catch (Exception ex)
{
MessageBox.Show("删除失败，具体原因：" + ex.Message, "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
else
{
return;
}
}
}
/// <summary>
/// 保存到数据库
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSave_Click(object sender, EventArgs e)
{
if (string.IsNullOrEmpty(txtRobotID.Text))
{
MessageBox.Show("机器人ID不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtcompleteStowCode.Text))
{
MessageBox.Show("完成堆垛托号不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtMaterielCode.Text))
{
MessageBox.Show("物料代码不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtCustomer.Text))
{
MessageBox.Show("客户名称不能为空,不为零", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtProTotal.Text) || int.Parse(txtProTotal.Text) == 0)
{
MessageBox.Show("产品总量不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtComepleteNum.Text))
{
MessageBox.Show("完成数量不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtProNum.Text))
{
MessageBox.Show("每垛可堆产品数量不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtProZone.Text))
{
MessageBox.Show("产品所属垛区不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtProDirection.Text))
{
MessageBox.Show("产品码垛方向不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (string.IsNullOrEmpty(txtCurrentCounts.Text))
{
MessageBox.Show("产品已经码垛数量不能为空", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
if (!string.IsNullOrEmpty(txtProZone.Text) && GLB.zoneCheckStatus[int.Parse(txtProZone.Text)] == false)
{
MessageBox.Show("该托盘没有识别位置成功！", "系统消息", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
ProductInfo product = new ProductInfo
{
RobotID = txtRobotID.Text.Trim().ToString(), //机器人编号
completeStowCode = txtcompleteStowCode.Text.Trim(), //完成堆垛托号
MissionID = txtMissionID.Text.Trim().ToString(), //任务单号
Customer = txtCustomer.Text.Trim().ToString(), //客户
Zone = int.Parse(txtProZone.Text.Trim()), //垛区
Total = (int)double.Parse(txtProTotal.Text.Trim()), //总数
ComepleteNum = int.Parse(txtComepleteNum.Text.Trim()), //完成数量
CurrentCounts = int.Parse(txtCurrentCounts.Text.Trim()), //已码数量
PerZoneNumbers = int.Parse(txtProNum.Text.Trim()), //每垛数量
Direction = int.Parse(txtProDirection.Text.Trim()), //方向
MaterielCode = txtMaterielCode.Text.Trim().ToString(), //物料代码
Spec = txtSpec.Text.Trim().ToString(), //规格
};
DialogResult result = MessageBox.Show("是否覆盖第" + txtProZone.Text.Trim() + "垛区订单？", "系统提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result == DialogResult.No)
{
return;
}
if (product.Zone == 0)
{
if (product.CurrentCounts == 0)
{
//删除不良品记录
string sql = "delete from StowNgStatus ";
MyDataLib.ExecNoneQueryBySql(sql);
MessageBox.Show("确保不良区已经清空？", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
else if (int.Parse(txtCurrentCounts.Text) > int.Parse(txtProNum.Text))
{
MessageBox.Show("垛区当前产品数量大于每垛产品总数量", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
switch (actionFlag)
{
case 1: //Add
try
{
productMethod.AddProduct(product, GLB.objListProduct);
gpbProductSet.Enabled = false;
MessageBox.Show("新增产品信息成功", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
btnCancel_Click(null, null); //更新界面数据
productMethod.updateMyDataLib(product); //添加新产品---更新数据库
}
catch (Exception ex)
{
MessageBox.Show("添加失败，具体原因：" + ex.Message, "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
break;
case 2: //Modify
try
{
productMethod.ChangeProduct(product, GLB.objListProduct);
gpbProductSet.Enabled = false;
MessageBox.Show("修改产品信息成功", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
btnCancel_Click(null, null); //更新界面数据
productMethod.changeProInfo(product); //修改产品--更新数据库
}
catch (Exception ex)
{
MessageBox.Show("修改失败，具体原因：" + ex.Message, "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
break;
default:
break;
}
}
FileOperation fileOperation = new FileOperation();//实例化处理文本的类
/// <summary>
/// 获取各区块的轮廓
/// </summary>
public void getContours(TextBox txtTypeName, PictureBox ptb) //找最近的轮廓
{
GLB.Match_success = false; //重新检测赋值
Image <Gray, byte> dnc = new Image <Gray, byte>(GLB.BUFW, GLB.BUFH);
Image <Gray, byte> threshImage = new Image <Gray, byte>(GLB.BUFW, GLB.BUFH);
CvInvoke.CvtColor(GLB.frame, threshImage, ColorConversion.Bgra2Gray);//灰度化
//CvInvoke.BilateralFilter(threshImage, threshImage, 10, 10, 4);//双边滤波
//CvInvoke.GaussianBlur(threshImage, threshImage, new Size(3, 3), 4);//高斯滤波
CvInvoke.BoxFilter(threshImage, threshImage, Emgu.CV.CvEnum.DepthType.Cv8U, new Size(3, 3), new Point(-1, -1));//方框滤波
#region
//var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
//CvInvoke.Dilate(threshImage, threshImage, kernal1, new Point(-1, -1), 2, BorderType.Default, new MCvScalar());//膨胀
//var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
//CvInvoke.Erode(threshImage, threshImage, kernal1, new Point(-1, -1), 2, BorderType.Default, new MCvScalar());//腐蚀
//方式1
//CvInvoke.Threshold(threshImage, threshImage, 100, 255, ThresholdType.BinaryInv | ThresholdType.Otsu);//二值化
//if (Mainform.runMode == 6)//匹配托盘
//{
// var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(9, 9), new Point(-1, -1));
// CvInvoke.Erode(threshImage, threshImage, kernal1, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());//腐蚀
//}
//else//匹配箱子
//{
// var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
// CvInvoke.Erode(threshImage, threshImage, kernal1, new Point(-1, -1), 2, BorderType.Default, new MCvScalar());//腐蚀
//}
//方式2
//if (Mainform.runMode == 6)//匹配托盘
//{
// var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(9, 9), new Point(-1, -1));
// CvInvoke.Dilate(threshImage, threshImage, kernal1, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());//膨胀
//}
//else //加了膨胀跳动更大
//{
// var kernal1 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(5, 5), new Point(-1, -1));
// CvInvoke.Dilate(threshImage, threshImage, kernal1, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());//膨胀
//}
//ptb.Image = threshImage.ToBitmap();
#endregion
//检测连通域，每一个连通域以一系列的点表示，FindContours方法只能得到第一个域:
try
{
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint(2000); //区块集合
CvInvoke.FindContours(threshImage, contours, dnc, RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple); //轮廓集合
GLB.block_num = 0;
Dictionary <int, VectorOfPoint> mycontours = new Dictionary <int, VectorOfPoint>(100);//序号，轮廓
mycontours.Clear();
for (int k = 0; k < contours.Size; k++)
{
double area = CvInvoke.ContourArea(contours[k]); //获取各连通域的面积
if (area > 100000 && area < 800000) //根据面积作筛选(指定最小面积,最大面积):
{
if (!mycontours.ContainsKey(k))
{
mycontours.Add(k, contours[k]);
}
}
}
float my_depth_temp = GLB.myp3d[(GLB.BUFH / 2 * GLB.BUFW + GLB.BUFW / 2) * 3 + 2];
if (mycontours.Count == 0 && Mainform.ProduceArrive == true && Mainform.CarryMode == 0 && Mainform.runMode == 1 && (my_depth_temp > 1400 || double.IsNaN(my_depth_temp)))//空车来，小车自动离开
{
Mainform.ProduceArrive = false;
Mainform.SetCarryArrive(0); //修改产品没送到
ArrayList array = new ArrayList(); //多条SQL语句数组
string sql = "update Agv_list set isworking =0,stowerid ='',pronum =0 where agvid in(select agvid from Agvmission_list where fstatus =7 and messionType =1 and stowerid='" + GLB.RobotId + "')"; //修改小车状态
string sql1 = "update Agvmission_list set fstatus =6 ,actionenddate=getdate() where fstatus =7 and messionType =1 and stowerid='" + GLB.RobotId + "'"; //修改任务 等待状态为完成状态
array.Add(sql);
array.Add(sql1);
bool isok = MyDataLib.transactionOp_list(array);
Mainform.SetRobotStatus(2, "等待送货");//修改码垛机器人状态
}
//按面积最大排序 生成新的字典
Dictionary <int, VectorOfPoint> mycontours_SortedByKey = new Dictionary <int, VectorOfPoint>(100);//序号，轮廓;
mycontours_SortedByKey.Clear();
mycontours_SortedByKey = mycontours.OrderByDescending(o => CvInvoke.ContourArea(o.Value)).ToDictionary(p => p.Key, o => o.Value);
GLB.obj.Clear();
foreach (int k in mycontours_SortedByKey.Keys)
{
OBJ obj = new OBJ();
{
if (!GLB.obj.ContainsKey(GLB.block_num))
{
GLB.obj.Add(GLB.block_num, obj); //不含这个，就添加
}
GLB.obj[GLB.block_num].typName = txtTypeName.Text.Replace(" ", ""); // 对象名称
if (getMinAreaRect(mycontours_SortedByKey[k], GLB.block_num) == true) //获取最小外接矩形并处理相关参数
{
if (GLB.img_mode == 0) //匹配模式
{
if (Device_Macth(GLB.block_num) == true) //与库对比，生成工件位置，法向量,旋转角
{
Thread.Sleep(400);
break;
}
}
}
GLB.TitleStr += "block_num=" + GLB.block_num;
GLB.block_num++;//区块计数器
}
}
}
catch (Exception ex)
{
Console.WriteLine("发生错误： " + ex.Message);
throw;
}
}
