public static void CreatePoint(PictureBox pic, AGV agv, int raddix, Color corlo, int sw)
{
try
{
if (pic.InvokeRequired)
{
pic.BeginInvoke(new AddCreatPoint(CreatePoint), new object [] { pic, agv, raddix, corlo, sw });
}
else
{
SingleAgv itemagv = new SingleAgv(agv, sw);
Graphics g = pic.CreateGraphics();
g.FillEllipse(new SolidBrush(Color.Black), (float)ORIGIN.X - 3, (float)ORIGIN.Y - 3, 6, 6);
foreach (double[] barr in itemagv.BarrierLocator)
{
g.FillEllipse(new SolidBrush(corlo), (float)barr[1] - raddix, (float)barr[2] - raddix, raddix * 2, raddix * 2);
if ((int)barr[4] != 0)
{
g.DrawLine(Pens.Blue, new Point((int)agv.AgvLocation_X, (int)agv.AgvLocation_Y), new Point((int)barr [1], (int)barr [2]));
}
}
g.Dispose();
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
GC.Collect();
Application.DoEvents();
}
/// <
/// summary>
///
/// </summary>
void GetAGVLocation()
{
if (agv.Polar != null && agv.Angle != null)
{
int [] poalte = agv.Polar.ToList().Distinct().ToArray();
float [] antem = agv.Angle.ToList().Distinct().ToArray();
double [,] edge = new double[poalte.Length, poalte.Length];
TheLightNode [] worldcoord = new TheLightNode[poalte.Length];
for (int i = 0; i < poalte.Length; i++)
{
worldcoord [i] = new TheLightNode();
}
edge = GetEdge(poalte, antem);
worldcoord = G.GetCurrentWorldCoordinate(edge);
GetBatter(worldcoord, poalte, antem);
AgvAbsoluteLocation agvlocation = new AgvAbsoluteLocation(ref agv);
if (LidarMode.TargetDetectionState) //靶标探测模式
{
SingleAgv addbiaoba = new SingleAgv(agv);
}
}
GC.Collect();
}