private void btnCloneAction_Click(object sender, EventArgs e)
{
if (dgActions.SelectedRows.Count > 0 && dgActions.SelectedRows[0].Tag != null)
{
if (MessageBox.Show("真的要克隆吗?", "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
Robot_Actions actionObj = (Robot_Actions)dgActions.SelectedRows[0].Tag;
Robot_Steps[] stepList = DBInstance.DbHelper.table("Robot_Steps").where ("ActionId=?", new object[] { actionObj.Id }).select("*").getList <Robot_Steps>(new Robot_Steps()).ToArray();
if (stepList != null)
{
//添加Action
actionObj.Id = DBInstance.DbHelper.table("Robot_Actions").select("max(Id)").getValue <long>(0) + 1;
DBInstance.DbHelper.table("Robot_Actions").set("Id", actionObj.Id).set("Code", actionObj.Code).set("Name", actionObj.Name).set("Condition", actionObj.Condition).insert();
//添加StepList
foreach (Robot_Steps step in stepList)
{
step.Id = DBInstance.DbHelper.table("Robot_Steps").select("max(Id)").getValue <long>(0) + 1;
step.ActionId = actionObj.Id;
DBInstance.DbHelper.table("Robot_Steps").set("Id", step.Id).set("ActionId", step.ActionId).set("MotorIndex", step.MotorIndex).set("MotorType", step.MotorType).set("Value", step.Value).set("BeforeSleep", step.BeforeSleep).set("AfterSleep", step.AfterSleep).insert();
}
}
}
}
LoadActions();
LoadQuestions();
}
/// <summary>
/// 发送指令
/// </summary>
/// <param name="stepList"></param>
public void RunAction(Robot_Actions action, List <Robot_Steps> stepList)
{
lock (TaskQueues)
{
if (action != null && stepList != null)
{
StringBuilder sb = new StringBuilder();
sb.Append("动作名称:").Append(action.Name).Append("\n");
foreach (Robot_Steps step in stepList)
{
//编译指令
byte[] cmdBytes = MainService.MotorControlService.GetCommand(step);
if (cmdBytes != null)
{
sb.Append("-------------\n");
sb.Append("电机序号:").Append(step.MotorIndex).Append(",类型:").Append(step.MotorType).Append(",值:").Append(step.Value).Append("\n");
sb.Append("=============\n");
sb.Append(CRC.PrintBytesString(cmdBytes) + "\n");
//发送前等待
sb.Append("+++++++++++++\n");
sb.Append("等待" + step.BeforeSleep + "毫秒");
try
{
Thread.Sleep((int)step.BeforeSleep);
}
catch (Exception ex) { }
//发送指令
MainService.MotorControlService.SendMessage(cmdBytes);
//发送后等待
sb.Append("+++++++++++++\n");
sb.Append("等待" + step.AfterSleep + "毫秒");
try
{
Thread.Sleep((int)step.AfterSleep);
}
catch (Exception ex) { }
//需要停留20ms(指令之间固定时间)
try
{
Thread.Sleep(200);
}
catch (Exception ex) { }
}
}
System.Console.WriteLine(sb.ToString());
}
}
}
private void btnDeleteAction_Click(object sender, EventArgs e)
{
if (dgActions.SelectedRows.Count > 0 && dgActions.SelectedRows[0].Tag != null)
{
Robot_Actions obj = (Robot_Actions)dgActions.SelectedRows[0].Tag;
if (MessageBox.Show("真的要删除吗?", "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
DBInstance.DbHelper.table("Robot_Actions").where ("Id = ?", new object[] { obj.Id }).delete();
DBInstance.DbHelper.table("Robot_Steps").where ("ActionId = ?", new object[] { obj.Id }).delete();
}
}
LoadActions();
LoadQuestions();
}
/// <summary>
/// 检查是否同意运行
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool IsAcceptRun(TaskQueueObject queueObj, Robot_Actions action)
{
if (action != null && queueObj != null && queueObj.Value != null)
{
if (string.IsNullOrEmpty(action.Condition))
{
return(false);
}
else
{
bool result = false;
switch (queueObj.ActionType)
{
case TaskActionType.Voice:
if (action.Condition.StartsWith("语音="))
{
result = action.Condition.Replace("语音=", string.Empty).Equals(queueObj.Value.ToString());
}
break;
case TaskActionType.Angle:
if (action.Condition.StartsWith("角度="))
{
string angleRangeStr = action.Condition.Replace("角度=", string.Empty);
string[] temps = angleRangeStr.Split(',');
if (temps != null && temps.Length >= 2)
{
short min = 0;
short max = 0;
try
{
min = short.Parse(temps[0]);
}
catch (Exception ex) { }
try
{
max = short.Parse(temps[1]);
}
catch (Exception ex) { }
short angle = short.Parse(queueObj.Value.ToString());
result = angle >= min && angle <= max;
}
}
break;
case TaskActionType.Joy:
if (action.Condition.StartsWith("手柄="))
{
result = action.Condition.Replace("手柄=", string.Empty).Equals(queueObj.Value.ToString());
}
break;
}
return(result);
}
}
else
{
return(false);
}
}
private void btnSave_Click(object sender, EventArgs e)
{
if (string.IsNullOrEmpty(tbCode.Text))
{
MessageBox.Show("请输入代码！");
return;
}
if (string.IsNullOrEmpty(tbName.Text))
{
MessageBox.Show("请输入名称！");
return;
}
if (IsNewRecord)
{
_object = new Robot_Actions();
Object.Id = DBInstance.DbHelper.table("Robot_Actions").select("max(Id)").getValue <long>(0) + 1;
}
//更新Code和Name
Object.Code = tbCode.Text;
Object.Name = tbName.Text;
Object.Condition = aceConditionControl.GetConditionString();
//清理Steps
DBInstance.DbHelper.table("Robot_Steps").where ("ActionId=?", new object[] { Object.Id }).delete();
//更新Action
if (IsNewRecord)
{
//新境加
DBInstance.DbHelper.table("Robot_Actions").set("Id", Object.Id).set("Code", Object.Code).set("Name", Object.Name).set("Condition", Object.Condition).insert();
}
else
{
//更新
DBInstance.DbHelper.table("Robot_Actions").set("Code", Object.Code).set("Name", Object.Name).set("Condition", Object.Condition).where ("Id=?", Object.Id).update();
}
foreach (ITimelineTrack track in adcActionControl.DefaultParts.TrackElementList)
{
if (track is StartTrack)
{
continue;
}
else
{
MotorTrackBase mt = (MotorTrackBase)track;
Robot_Steps step = new Robot_Steps();
step.Id = DBInstance.DbHelper.table("Robot_Steps").select("max(Id)").getValue <long>(0) + 1;
step.ActionId = Object.Id;
step.MotorIndex = mt.MotorIndex;
step.BeforeSleep = mt.BeforeSleep;
step.AfterSleep = mt.AfterSleep;
switch (mt.MotorType)
{
case MotorTypes.C_旋转电机:
step.MotorType = 0;
step.Value = ((RevolveTrack)mt).Angle;
break;
case MotorTypes.C_行进电机:
step.MotorType = 1;
step.Value = ((TravelTrack)mt).TravelActionType == TravelActionTypes.C_停止 ? 0 : ((TravelTrack)mt).TravelActionType == TravelActionTypes.C_前进 ? 1 : 2;
break;
case MotorTypes.C_其它设备:
step.MotorType = 2;
step.Value = ((LightTrack)mt).LightStateType == LightStateType.C_灭 ? 0 : (((LightTrack)mt).LightStateType == LightStateType.C_红灯 ? 1 : (((LightTrack)mt).LightStateType == LightStateType.C_绿灯 ? 2 : 3));
break;
}
//添加到数据库
DBInstance.DbHelper.table("Robot_Steps").set("Id", step.Id).set("ActionId", step.ActionId).set("MotorIndex", step.MotorIndex).set("MotorType", step.MotorType).set("Value", step.Value).set("BeforeSleep", step.BeforeSleep).set("AfterSleep", step.AfterSleep).insert();
}
}
MessageBox.Show("操作完成！");
Close();
}
