/// <summary>
/// 微笑，这个函数存在的原因是网上魔改的buttonEnabled函数无法在线程中使用，只能在定时器定时刷新
/// </summary>
/// <param name="button"></param>
/// <param name="button_state"></param>
private void button_Enabled_Text_Set(System.Windows.Forms.Button button, ROBOT_State button_state)
{
switch (button_state)
{
case ROBOT_State.Off_line:
{
SetControlEnabled(button, false);
button.Text = button.Text.Split('\n')[0] + "\noff-line";
break;
}
case ROBOT_State.On_line_alive:
{
SetControlEnabled(button, true);
button.Text = button.Text.Split('\n')[0] + "\nalive";
break;
}
case ROBOT_State.On_line_controlled:
{
SetControlEnabled(button, true);
button.Text = button.Text.Split('\n')[0] + "\ncontroled";
break;
}
default:
{
break;
}
}
}
private void timer_MsgSend_Tick(object sender, EventArgs e)
{
if (IsKeyDown(Keys.W))//前
{
commonVx = MOTION_SPEED + 1000;
}
else if (IsKeyDown(Keys.S))
{
commonVx = -MOTION_SPEED + 1000;
}
else
{
//commonVx = 1000;//回中放在UP事件中
}
if (IsKeyDown(Keys.D))//右
{
commonVy = MOTION_SPEED + 1000;
}
else if (IsKeyDown(Keys.A))
{
commonVy = -MOTION_SPEED + 1000;
}
if (IsKeyDown(Keys.NumPad6) || IsKeyDown(Keys.E))//顺 //D6是一排数字键，NumPad6是小键盘区6
{
commonVw = MOTION_SPEED + 1000;
}
else if (IsKeyDown(Keys.NumPad4) || IsKeyDown(Keys.Q))
{
commonVw = -MOTION_SPEED + 1000;
}
if (RobotInfo[(int)msgSendRovotIndex].On_line_state == ROBOT_State.On_line_controlled)
{
sendMsgArray[0] = 0x5A;
sendMsgArray[1] = 0x00;
sendMsgArray[2] = (byte)(msgSendRovotIndex + 1);
sendMsgArray[3] = (Byte)(commonVx >> 8);
sendMsgArray[4] = (Byte)(commonVx);
sendMsgArray[5] = (Byte)(commonVy >> 8);
sendMsgArray[6] = (Byte)(commonVy);
sendMsgArray[7] = (Byte)(commonVw >> 8);
sendMsgArray[8] = (Byte)(commonVw);
serial.Write(sendMsgArray, 0, 9);
}
msgSendRovotIndex++;
if ((int)msgSendRovotIndex > 3) //只检索ID 0-3
{
msgSendRovotIndex = 0;
}
}
private void button_color_set(System.Windows.Forms.Button button, ROBOT_State button_state)
{
//button.Name.Length//可以通过长度、字符串识别来识别传入的按钮属于什么684835
switch (button_state)
{
case ROBOT_State.Off_line:
{
button.BackColor = Color.FromArgb(65, 65, 65); //灰色 disconnect
button.ForeColor = Color.FromArgb(140, 140, 140); //160 160 160
//button.Enabled = false;
//SetControlEnabled(button, false);
//button.Text = button.Text.Split('\n')[0]+ "\noff-line";//f**k this!线程中连按钮文本都不能改变？？？？服 了
break;
}
case ROBOT_State.On_line_alive:
{
button.BackColor = Color.FromArgb(2, 80, 120); //浅色alive 20 140 210
button.ForeColor = Color.FromArgb(160, 160, 160); //160 160 160 字体颜色//200 200 200
// button.Enabled = false;
//SetControlEnabled(button, false);//转移到定时器里了
//button.Text = button.Text.Split('\n')[0] + "\nhas_occupied";//f**k this!线程中连按钮文本都不能改变？？？？服 了
break;
}
case ROBOT_State.On_line_controlled:
{
button.BackColor = Color.FromArgb(2, 131, 201);
button.ForeColor = Color.FromArgb(243, 249, 252); //46 58 132
// button.Enabled = false;
//SetControlEnabled(button, false); //转移到定时器里去了
//button.Text = button.Text.Split('\n')[0] + "\nconnect_OK";//f**k this!线程中连按钮文本都不能改变？？？？服 了
/////////////////////////button.Text = button.Text.Replace("click_connect", "off-line");
break;
}
default:
{
break;
}
}
}
private void test_button_Click(object sender, EventArgs e)
{
test_button_state++;
if (test_button_state == ROBOT_State.ROBOT_State_num)
{
test_button_state = 0;
}
test_button.Text = test_button_state.ToString();
button_color_set(btnRobot1State, test_button_state);
button_color_set(btnRobot2State, test_button_state);
button_color_set(btnRobot3State, test_button_state);
button_color_set(btnRobot4State, test_button_state);
button_color_set(btnRobot5State, test_button_state);
button_color_set(btnRobot6State, test_button_state);
button_color_set(btnRobot7State, test_button_state);
button_color_set(btnRobot8State, test_button_state);
button_Enabled_Text_Set(btnRobot1State, test_button_state);
button_Enabled_Text_Set(btnRobot2State, test_button_state);
}
