private void InitConfig()
{
//rtAGV_Control宣告
DeliverData = new rtAGV_Control();
ThreatPara = new ThreadWithState();
GlobalVar.CurrentPosition = new NavigationInfo();
//宣告使用到的Region數量
DeliverData.tAGV_Cfg.tMapCfg.alRegionNum = 1;
DeliverData.tAGV_Cfg.tMapCfg.Init();
//宣告有幾個Region
DeliverData.tAGV_Cfg.tMapCfg.alNodeNumLocal = new int[1];
//Region裡面分別的節點數量
DeliverData.tAGV_Cfg.tMapCfg.alNodeNumLocal[0] = 5;
//宣告節點使用到的空間
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal = new rtAGV_MAP_node[1][];
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0] = new rtAGV_MAP_node[5];
//節點座標資訊
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][0].tCoordinate.eX = 5000;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][0].tCoordinate.eY = -3500;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][0].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][0].tNodeId.lIndex = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][1].tCoordinate.eX = 5000;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][1].tCoordinate.eY = -950;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][1].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][1].tNodeId.lIndex = 1;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][2].tCoordinate.eX = 17100;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][2].tCoordinate.eY = -950;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][2].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][2].tNodeId.lIndex = 2;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][3].tCoordinate.eX = 8400;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][3].tCoordinate.eY = -950;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][3].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][3].tNodeId.lIndex = 3;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][4].tCoordinate.eX = 11550;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][4].tCoordinate.eY = -950;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][4].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[0][4].tNodeId.lIndex = 4;
//11550
//宣告貨物空間
DeliverData.tAGV_Cfg.atWarehousingCfg = new rtWarehousingInfo[1][];
DeliverData.tAGV_Cfg.atWarehousingCfg[0] = new rtWarehousingInfo[4];
//貨物資訊
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].eHeight = 51;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].DistanceDepth = 4500;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].eHeight = 110;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].DistanceDepth = 4500;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].eHeight = 110;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].DistanceDepth = 4500;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].eHeight = 110;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].DistanceDepth = 4500;
//貨物地標
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].tCoordinate.eX = 17050;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].tCoordinate.eY = 120;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].eDirection = 90;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].tCoordinate.eX = 8400;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].tCoordinate.eY = 120;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].eDirection = 90;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].tCoordinate.eX = 5000;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].tCoordinate.eY = -4000;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].eDirection = 90;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].tCoordinate.eX = 11550;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].tCoordinate.eY = 120;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].eDirection = 90;
//貨物對應到的節點索引
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].tNodeId.lIndex = 2;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][0].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].tNodeId.lIndex = 3;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][1].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].tNodeId.lIndex = 0;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][2].tNodeId.lRegion = 0;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].tNodeId.lIndex = 4;
DeliverData.tAGV_Cfg.atWarehousingCfg[0][3].tNodeId.lRegion = 0;
//路徑權重宣告
DeliverData.tAGV_Cfg.tMapCfg.alPathTableLocal = new int[1][];
DeliverData.tAGV_Cfg.tMapCfg.alPathTableLocal[0] = new int[]
{ 0, 2550, 99999, 99999, 99999,
2550, 0, 12080, 3400 , 6550,
99999, 12080, 0, 8680, 5550,
99999, 3400, 8680, 0, 3150,
99999, 6550, 5550, 3150, 0
};
}
private void btnReadData_Click(object sender, EventArgs e)
{
if (txtDataIndex.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
int Select_Index = Convert.ToInt16(txtDataIndex.Text) + 1;
DeliverData = new rtAGV_Control();
dataGridView_Log.Rows.Clear();
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][2].ToString());
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][3].ToString());
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][0].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][10].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][11].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][4].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][5].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][6].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][7].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][8].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][9].ToString());
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][1].ToString());
//DeliverData.tAGV_Data.tSensorData.tForkInputData.height = (int)GlobalVar.ForkCurrentHeight;
//取得Path資訊
string[] DataSrc = Main_Data.Tables[0].Rows[Select_Index][9].ToString().Split('/');
string[] DataDst = Main_Data.Tables[0].Rows[Select_Index][10].ToString().Split('/');
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(DataSrc[0]);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(DataSrc[1]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(DataDst[0]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(DataDst[1]);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = 2;
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
object[] obj = new object[12] { Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX+"/"+ DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY};
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Log, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Log.Rows.Add(dgvr);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_LogPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_LogMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
private void btnCalculationResults_Click(object sender, EventArgs e)
{
if (textBox_PositionX.Text == "" || textBox_PositionY.Text == "" || textBox_Angle.Text == ""
|| textBox_CarTireSpeedLeft.Text == "" || textBox_CarTireSpeedRight.Text == "" || textBox_CarTirepositionR_X.Text == ""
|| textBox_CarTirepositionR_Y.Text == "" || textBox_CarTirepositionL_X.Text == "" || textBox_CarTirepositionL_Y.Text == ""
|| textBox_MotorPosition_X.Text == "" || textBox_MotorPosition_Y.Text == "" || textBox_WheelAngle.Text == ""
|| textBox_Src_X.Text == "" || textBox_Src_Y.Text == "" || textBox_Dest_X.Text == "" || textBox_Dest_Y.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
if (textBox_PositionX.Text == "")
{
return;
}
//int Select_Index = 1;
DeliverData = new rtAGV_Control();
dataGridView_Text.Rows.Clear();
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(textBox_PositionX.Text);
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(textBox_PositionY.Text);
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(textBox_Angle.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(textBox_CarTireSpeedLeft.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(textBox_CarTireSpeedRight.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(textBox_CarTirepositionR_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(textBox_CarTirepositionR_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(textBox_CarTirepositionL_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(textBox_CarTirepositionL_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(textBox_MotorPosition_X.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(textBox_MotorPosition_Y.Text);
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(textBox_WheelAngle.Text);
//取得Path資訊
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(textBox_Src_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(textBox_Src_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(textBox_Dest_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(textBox_Dest_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = Convert.ToByte(textBox_TurnType.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
object[] obj = new object[11] { DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX+"/"+ DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY};
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Text, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Text.Rows.Add(dgvr);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_TextPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_TextMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
public rtAGV_Control Read_ini_Cfg2(rtAGV_Control DeliverData)
{
//rtAGV_Control宣告
DeliverData = new rtAGV_Control();
DeliverData.tIS_Cfg.tMapCfg.Init();
int size = 3000; //temp file source size
StringBuilder temp = new StringBuilder(size); //temp file source
#region 自走車地圖設定
GetPrivateProfileString("AGV MAP Cfg", "Region_Num", "", temp, size, ".\\" + filename_Cfg2);
Region_Num = Convert.ToInt32(temp.ToString());
//宣告使用到的Region數量
DeliverData.tIS_Cfg.tMapCfg.alRegionNum = Region_Num;
//宣告節點使用到的空間
//DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal = new rtIS_MAP_node[Region_Num][];
//DeliverData.tAGV_Cfg.tMapCfg.alPathTableLocal = new int[Region_Num][];
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg = new RegionOfMap[Region_Num];
for (int i = 0; i < Region_Num; i++)
{
GetPrivateProfileString("AGV MAP Cfg", "Node_Num_Local_" + i.ToString(), "", temp, size, ".\\" + filename_Cfg2);
Node_Num_Local = Convert.ToInt32(temp.ToString());
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].lNodeNum = Node_Num_Local;
// DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[i] = new rtIS_MAP_node[Node_Num_Local];
//第i區的路徑權重 (有Node_Num_Local個節點，所以table大小是 Node_Num_Local x Node_Num_Local = )
int Array_count = 0;
int[] Array_Region_Path_Table = new int[Node_Num_Local * Node_Num_Local];
for (int j = 0; j < Node_Num_Local; j++)
{
for (int k = 0; k < Node_Num_Local; k++)
{
GetPrivateProfileString("AGV MAP Cfg", "Region_Path_Table_" + i.ToString() + "_" + j.ToString() + "_" + k.ToString(), "", temp, size, ".\\" + filename_Cfg2);
Array_Region_Path_Table[Array_count++] = Convert.ToInt32(temp.ToString());
}
}
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].alPathTableNode = Array_Region_Path_Table;
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atNode = new rtNode[Node_Num_Local];
for (int j = 0; j < Node_Num_Local; j++)
{
GetPrivateProfileString("AGV MAP Cfg", "Region_Coordinate_X_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atNode[j].tCoordinate.eX = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("AGV MAP Cfg", "Region_Coordinate_Y_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atNode[j].tCoordinate.eY = Convert.ToInt32(temp.ToString());
}
}
#endregion
#region 區域資訊設定
for (int i = 0; i < Region_Num; i++)
{
GetPrivateProfileString("Block Info", "Block_Number_" + i.ToString(), "", temp, size, ".\\" + filename_Cfg2);
Block_Number = Convert.ToInt32(temp.ToString());
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].lBlockNum = Block_Number;
/*int iiii = DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[0].lBlockNum;
* DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[0].lBlockNum = 9; // by ancre ???????
*/
//DeliverData.tAGV_Cfg.tMapCfg.atNodeLocal[i] = new rtIS_MAP_node[Node_Num_Local];
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atBlockCfg = new rtBlockInfo[Block_Number];
for (int j = 0; j < Block_Number; j++)
{
GetPrivateProfileString("Block Info", "Block_X_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atBlockCfg[j].tCoordinate.eX = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Block Info", "Block_Y_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atBlockCfg[j].tCoordinate.eY = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Block Info", "Block_Width_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atBlockCfg[j].eWidth = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Block Info", "Block_Height_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atBlockCfg[j].eHeight = Convert.ToInt32(temp.ToString());
}
}
#endregion
#region 貨倉資訊設定
/*GetPrivateProfileString("Warehousing Info", "Container_Number_Region", "", temp, size, ".\\" + filename_Cfg2);
* Container_Number_Region = Region_Num;*/
/*GetPrivateProfileString("Warehousing Info", "Container_Number_0", "", temp, size, ".\\" + filename_Cfg2);
* Container_Number_0 = Convert.ToInt32(temp.ToString());*/
for (int i = 0; i < Region_Num; i++)
{
GetPrivateProfileString("Warehousing Info", "Container_Number_" + i.ToString(), "", temp, size, ".\\" + filename_Cfg2);
Container_Number = Convert.ToInt32(temp.ToString());
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].lWarehouseNum = Container_Number;
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg = new rtWarehouseInfo[Container_Number];
for (int j = 0; j < Container_Number; j++)
{
GetPrivateProfileString("Warehousing Info", "Container_Region_Id_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].lRegion = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_Index_Id_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].lNodeId = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_Height_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].eHeight = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_Depth_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].DistanceDepth = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_X_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].tCoordinate.eX = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_Y_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].tCoordinate.eY = Convert.ToInt32(temp.ToString());
GetPrivateProfileString("Warehousing Info", "Container_Direction_" + i.ToString() + "_" + j.ToString(), "", temp, size, ".\\" + filename_Cfg2);
DeliverData.tIS_Cfg.tMapCfg.atRegionCfg[i].atWarehouseCfg[j].eDirection = Convert.ToInt32(temp.ToString());
}
}
#endregion
GetPrivateProfileString("Car Cfg", "MACHINE_TYPE", "", temp, size, ".\\" + filename_Cfg1);
MACHINE_TYPE = Convert.ToInt32(temp.ToString());
return(DeliverData);
}
private void btnReadData_Click(object sender, EventArgs e)
{
if (txtDataIndex.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
int Select_Index = Convert.ToInt16(txtDataIndex.Text) + 1;
DeliverData = new rtAGV_Control();
dataGridView_Log.Rows.Clear();
try
{
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][2].ToString());
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][3].ToString());
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][0].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][10].ToString());
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][11].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][4].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][5].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][6].ToString());
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][7].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][8].ToString());
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][9].ToString());
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(CarInfo.Tables[0].Rows[Select_Index][1].ToString());
//DeliverData.tAGV_Data.tSensorData.tForkInputData.height = (int)GlobalVar.ForkCurrentHeight;
//取得Path資訊
string[] DataSrc = Main_Data.Tables[0].Rows[Select_Index][9].ToString().Split('/');
string[] DataDst = Main_Data.Tables[0].Rows[Select_Index][10].ToString().Split('/');
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(DataSrc[0]);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(DataSrc[1]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(DataDst[0]);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(DataDst[1]);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = 2;
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
obj = new object[12] {
Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.MediumCar)
{
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.SmallCar)
{
obj = new object[8] {
Select_Index, DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.Other)
{
}
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Log, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Log.Rows.Add(dgvr);
//判斷現在車種為何
DeliverData.rtAGV_Chang_Type_Self_Carriage(MainForm.comboBox_MachineType_Num);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_LogPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_LogMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
}
catch (Exception)
{
MessageBox.Show("此筆數據為非導航狀態");
}
}
private void btnCalculationResults_Click(object sender, EventArgs e)
{
if (textBox_PositionX.Text == "" || textBox_PositionY.Text == "" || textBox_Angle.Text == "" ||
textBox_CarTireSpeedLeft.Text == "" || textBox_CarTireSpeedRight.Text == "" || textBox_CarTirepositionR_X.Text == "" ||
textBox_CarTirepositionR_Y.Text == "" || textBox_CarTirepositionL_X.Text == "" || textBox_CarTirepositionL_Y.Text == "" ||
textBox_MotorPosition_X.Text == "" || textBox_MotorPosition_Y.Text == "" || textBox_WheelAngle.Text == "" ||
textBox_Src_X.Text == "" || textBox_Src_Y.Text == "" || textBox_Dest_X.Text == "" || textBox_Dest_Y.Text == "")
{
MessageBox.Show("請輸入數值");
return;
}
if (textBox_PositionX.Text == "")
{
return;
}
//int Select_Index = 1;
DeliverData = new rtAGV_Control();
dataGridView_Text.Rows.Clear();
try
{
//if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
//更新車體資訊
DeliverData.tAGV_Data.tCarInfo.tPosition.eX = Convert.ToDouble(textBox_PositionX.Text);
DeliverData.tAGV_Data.tCarInfo.tPosition.eY = Convert.ToDouble(textBox_PositionY.Text);
DeliverData.tAGV_Data.tCarInfo.eAngle = Convert.ToDouble(textBox_Angle.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft = Convert.ToDouble(textBox_CarTireSpeedLeft.Text);
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight = Convert.ToDouble(textBox_CarTireSpeedRight.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX = Convert.ToDouble(textBox_CarTirepositionR_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY = Convert.ToDouble(textBox_CarTirepositionR_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX = Convert.ToDouble(textBox_CarTirepositionL_X.Text);
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY = Convert.ToDouble(textBox_CarTirepositionL_Y.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eX = Convert.ToDouble(textBox_MotorPosition_X.Text);
DeliverData.tAGV_Data.tCarInfo.tMotorPosition.eY = Convert.ToDouble(textBox_MotorPosition_Y.Text);
//更新車Sensor資訊
DeliverData.tAGV_Data.tCarInfo.eWheelAngle = Convert.ToDouble(textBox_WheelAngle.Text);
//取得Path資訊
DeliverData.tAGV_Data.atPathInfo = new rtPath_Info[1];
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX = Convert.ToDouble(textBox_Src_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY = Convert.ToDouble(textBox_Src_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX = Convert.ToDouble(textBox_Dest_X.Text);
DeliverData.tAGV_Data.atPathInfo[0].tDest.eY = Convert.ToDouble(textBox_Dest_Y.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucTurnType = Convert.ToByte(textBox_TurnType.Text);
DeliverData.tAGV_Data.atPathInfo[0].ucStatus = 1;
//車種不同 顯示也會不一樣
if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.BigCar)
{
obj = new object[11] {
DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionR.eY,
DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eX, DeliverData.tAGV_Data.tCarInfo.tCarTirepositionL.eY, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.MediumCar)
{
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.SmallCar)
{
obj = new object[7] {
DeliverData.tAGV_Data.tCarInfo.tPosition.eX, DeliverData.tAGV_Data.tCarInfo.tPosition.eY,
DeliverData.tAGV_Data.tCarInfo.eAngle, DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedLeft,
DeliverData.tAGV_Data.tCarInfo.eCarTireSpeedRight, DeliverData.tAGV_Data.atPathInfo[0].tSrc.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tSrc.eY,
DeliverData.tAGV_Data.atPathInfo[0].tDest.eX + "/" + DeliverData.tAGV_Data.atPathInfo[0].tDest.eY
};
}
else if (MainForm.comboBox_MachineType_Num == (byte)rtAGV_Control.Type_Self_Carriage.Other)
{
}
DataGridViewRow dgvr = new DataGridViewRow();
dgvr.CreateCells(dataGridView_Text, obj);
dgvr.Height = 35;
dgvr.DefaultCellStyle.BackColor = Color.LightBlue;
dataGridView_Text.Rows.Add(dgvr);
//判斷現在車種為何
DeliverData.rtAGV_Chang_Type_Self_Carriage(MainForm.comboBox_MachineType_Num);
DeliverData.rtAGV_MotorCtrl(ref DeliverData.tAGV_Data.atPathInfo, 0, true);
//Console.WriteLine("Power:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString());
//Console.WriteLine("lMotorAngle:" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString());
label_TextPower.Text = "Power：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorPower.ToString();
label_TextMotorAngle.Text = "MotorAngle：" + DeliverData.tAGV_Data.CMotor.tMotorData.lMotorAngle.ToString();
//將數值寫回儲存資料內
PositionX = textBox_PositionX.Text;
PositionY = textBox_PositionY.Text;
Angle = textBox_Angle.Text;
CarTireSpeedLeft = textBox_CarTireSpeedLeft.Text;
CarTireSpeedRight = textBox_CarTireSpeedRight.Text;
CarTirepositionR_X = textBox_CarTirepositionR_X.Text;
CarTirepositionR_Y = textBox_CarTirepositionR_Y.Text;
CarTirepositionL_X = textBox_CarTirepositionL_X.Text;
CarTirepositionL_Y = textBox_CarTirepositionL_Y.Text;
MotorPosition_X = textBox_MotorPosition_X.Text;
MotorPosition_Y = textBox_MotorPosition_Y.Text;
WheelAngle = textBox_WheelAngle.Text;
TurnType = textBox_TurnType.Text;
Src_X = textBox_Src_X.Text;
Src_Y = textBox_Src_Y.Text;
Dest_X = textBox_Dest_X.Text;
Dest_Y = textBox_Dest_Y.Text;
}
}
catch (Exception)
{
MessageBox.Show("請正確輸入數值");
}
}
