public void initPanel(ForkLift fl)
{
this.forklift = fl;
forkNumberLabel.Text = fl.forklift_number.ToString() + "号车";
if (fl.getPauseStr().Equals("暂停"))
{
pauseCtrlButton.Text = "启动";
}
else
{
pauseCtrlButton.Text = fl.getPauseStr();
}
forkNumberLabel.Location = new Point(10, 20);
forkNumberLabel.Size = new Size(60, 30);
pauseCtrlButton.Location = new Point(80, 10);
pauseCtrlButton.Size = new Size(60, 30);
if (fl.getPauseStr().Equals("运行")) //不支持运行的时候设置暂停
{
pauseCtrlButton.Enabled = false;
}
pauseCtrlButton.Click += pauseCtroButton_Click;
this.Controls.Add(forkNumberLabel);
this.Controls.Add(pauseCtrlButton);
}
public DateTime updateTime; //发送成功时候的时间
public TaskRecord(TASKSTAT_T taskRecordStat, SingleTask singleTask, ForkLift forkLift = null)
{
this.forkLift = forkLift;
this.taskRecordStat = taskRecordStat;
this.singleTask = singleTask;
this.taskRecordName = singleTask.taskName;
}
public void startRecvMsg(ForkLift fl)
{
recvThread = new Thread(new ParameterizedThreadStart(receive));
recvThread.IsBackground = true;
this.isRecvMsgFlag = true; //设置接收标志
recvThread.Start(fl);
}
public ForkLift getForkLiftByID(int forkLiftID)
{
ForkLift forkLift = null;
foreach (ForkLift fl in forkLiftList)
{
if (fl.id == forkLiftID)
{
forkLift = fl;
}
}
return(forkLift);
}
public void initPanel(ForkLift fl)
{
numberLabel.Text = fl.forklift_number.ToString();
stateLabel.Text = "任务状态";
batteryLabel.Text = "电池电量";
pauseLabel.Text = "暂停状态";
batteryLabel_c.Text = "";
numberLabel.Location = new Point(70, 0);
numberLabel.Size = new Size(20, 20);
stateLabel_c.Text = "";
stateLabel.Location = new System.Drawing.Point(10, 25);
stateLabel.Size = new System.Drawing.Size(60, 29);
stateLabel_c.Location = new System.Drawing.Point(85, 25);
stateLabel_c.Size = new System.Drawing.Size(40, 29);
batteryLabel.Location = new System.Drawing.Point(10, 65);
batteryLabel.Size = new System.Drawing.Size(60, 29);
batteryLabel_c.Location = new System.Drawing.Point(85, 65);
batteryLabel_c.Size = new System.Drawing.Size(40, 29);
pauseLabel.Location = new System.Drawing.Point(10, 105);
pauseLabel.Size = new System.Drawing.Size(60, 29);
pauseLabel_c.Location = new System.Drawing.Point(85, 105);
pauseLabel_c.Size = new System.Drawing.Size(40, 29);
this.fl = fl;
this.infoPanel.Location = new Point(0, 30);
this.infoPanel.Size = new Size(150, 140);
this.infoPanel.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
this.Name = "panel_a" + fl.forklift_number;
this.infoPanel.Controls.Add(stateLabel);
this.infoPanel.Controls.Add(stateLabel_c);
this.infoPanel.Controls.Add(batteryLabel);
this.infoPanel.Controls.Add(batteryLabel_c);
this.infoPanel.Controls.Add(pauseLabel);
this.infoPanel.Controls.Add(pauseLabel_c);
this.Controls.Add(numberLabel);
this.Controls.Add(infoPanel);
}
public List <ForkLift> SelectForkList()
{
string query = "select * from forklift order by number";
//Create a list to store the result
List <ForkLift> list = new List <ForkLift>();
AGVLog.WriteInfo("SelectForkList sql = " + query, new StackFrame(true));
try
{
//Open connection
lock (lockDB)
{
if (this.OpenConnection() == true)
{
//Create Command
MySqlCommand cmd = new MySqlCommand(query, connection);
//Create a data reader and Execute the command
MySqlDataReader dataReader = cmd.ExecuteReader();
//Read the data and store them in the list
while (dataReader.Read())
{
ForkLift fl = new ForkLift();
fl.id = int.Parse(dataReader["id"] + "");
fl.forklift_number = int.Parse(dataReader["number"] + "");
fl.ip = dataReader["ip"] + "";
fl.port = int.Parse(dataReader["port"] + "");
list.Add(fl);
}
//close Data Reader
dataReader.Close();
//close Connection
this.CloseConnection();
}
}
}catch (Exception ex)
{
Console.WriteLine(" sql err " + ex.ToString());
this.CloseConnection();
}
return(list);
}
public void receive(object fl)
{
ForkLift forklift = (ForkLift)fl;
byte[] buffer = new byte[512];
Socket msock;
TcpClient vClient = null;
Console.WriteLine("receive ConnectStatus: " + ConnectStatus);
if (ConnectStatus == false) //检查连接状态
{
return;
}
while (isRecvMsgFlag)
{
try
{
vClient = getTcpClient();
msock = client.Client;
Array.Clear(buffer, 0, buffer.Length);
int bytes = msock.Receive(buffer);
readTimeOutTimes = 0; //读取超时次数清零
if (hrmCallback != null) //处理消息
{
hrmCallback(forklift.id, buffer, bytes);
Thread.Sleep(10);
}
}
catch (SocketException ex)
{
if (ex.ErrorCode == 10060 && readTimeOutTimes < 10) //超时次数超过10次，关闭socket进行重连
{
AGVLog.WriteWarn("read msg timeout", new StackFrame(true));
Console.WriteLine("read msg timeout");
readTimeOutTimes++;
continue;
}
AGVLog.WriteError("读取消息错误" + ex.ErrorCode, new StackFrame(true));
Console.WriteLine("recv msg client close" + ex.ErrorCode);
Closeclient();
}
}
}
/// <summary>
/// 更新车子状态
/// </summary>
/// <param name="fl"></param>
public void updateForkLift(ForkLift fl)
{
string sql = "update forklift set currentTask = \"" + fl.currentTask + "\", taskStep = " + (int)fl.taskStep + " where id = " + fl.id;
AGVLog.WriteInfo("updateForkLift sql = " + sql, new StackFrame(true));
try
{
lock (lockDB)
{
if (this.OpenConnection() == true)
{
Console.WriteLine("sql = " + sql);
MySqlCommand cmd = new MySqlCommand(sql, connection);
cmd.ExecuteNonQuery();
this.CloseConnection();
}
}
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
this.CloseConnection();
}
}
public AGVTcpClient(ForkLift fl)
{
this.ip = fl.ip;
this.port = fl.port;
t_forklift = fl;
}
public void setForkLift(ForkLift fl)
{
this.fl = fl;
}
