private void HomeScreenForm_Load(object sender, EventArgs e)
{
DashboardForm dashboardForm = new DashboardForm();
Initial_Form(dashboardForm);
pnMain.Controls.Add(dashboardForm);
dashboardForm.BringToFront();
dashboardForm.Show();
}
private void dashoardToolStripMenuItem_Click(object sender, EventArgs e)
{
//Thread.Sleep(200);
DashboardForm dashboardForm = new DashboardForm();
Initial_Form(dashboardForm);
pnMain.Controls.Add(dashboardForm);
dashboardForm.BringToFront();
dashboardForm.Show();
}
// public static System.Windows.Forms.Timer timerToSendPath2Again;
public static void GetDataRecieve()
{
int rxBufferSize = 18;
byte[] rxBuffer = new byte[rxBufferSize];
int rxByteCount = Communication.SerialPort.Read(rxBuffer, 0, rxBufferSize);
// add to a list of bytes received
for (int i = 0; i < rxByteCount; i++)
{
bytesReceived.Add(rxBuffer[i]);
}
int startIndex = 0;
byte functionCode = new byte();
// check header
if (bytesReceived.Count < 3)
{
return;
}
for (int i = 0; i < bytesReceived.Count - 3; i++)
{
if (bytesReceived[i] == 0xAA && bytesReceived[i + 1] == 0xFF)
{
startIndex = i;
functionCode = bytesReceived[i + 2];
if (functionCode == 0xA0)
{
// waitting for receive enough frame data of this function code
if (bytesReceived.Count - startIndex < PIDInfoReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PIDInfoReceivePacketSize];
for (int j = 0; j < PIDInfoReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PIDInfoReceivePacket receiveFrame = PIDInfoReceivePacket.FromArray(data);
// check sum
// ushort crc = 0;
// for (int j = 0; j < PIDInfoReceivePacketSize - 4; j++)
// crc += data[j];
// if (crc != receiveFrame.CheckSum) continue;
bytesReceived.RemoveRange(0, startIndex + PIDInfoReceivePacketSize - 1);
// update AGV info to lists of AGVs (real-time mode)
// if (receiveFrame.Header[0] == 0xAA && receiveFrame.Header[1] == 0xFF && receiveFrame.EndOfFrame[0] == 0x0D && receiveFrame.EndOfFrame[1] == 0x0A)
speed = receiveFrame.Velocity;
//dk_Speed = receiveFrame.UdkVelocity;
line = receiveFrame.LinePos;
var agv = AGV.ListAGV.Find(a => a.ID == receiveFrame.AGVID);
if (agv == null)
{
continue;
}
//udk_LinePos = receiveFrame.UdkLinePos;
//if(receiveFrame.CurrentNode >=0 || receiveFrame.CurrentNode <= 56)
agv.CurrentNode = receiveFrame.CurrentNode;
agv.CurrentOrient = receiveFrame.currentOrient;
agv.Velocity = receiveFrame.Velocity;
agv.DistanceToCurrentNode = receiveFrame.distanceToPreNode;
//Display.UpdateComStatus("receive", agv.ID, "Receive AGV Information", Color.Green);
}
if (functionCode == 0xE0) //Xac nhan chay xong Path1
{
// waitting for receive enough frame data of this function code
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
Debug.Write("PathRun_Completed");
AGV agv = AGV.ListAGV[0];
agv.PathCopmpleted = 1;
Debug.WriteLine("PathComplete = 1");
FlagPath1Complete++;
if (FlagPath1Complete == 1)
{
Display.UpdateComStatus("receive", agv.ID, " AGV Complete Path 1", Color.Green);
}
}
if (functionCode == 0xE1) //Xac nhan chay xong Path2
{
// waitting for receive enough frame data of this function code
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
Debug.Write("PathRun_Completed");
AGV agv = AGV.ListAGV[0];
agv.PathCopmpleted = 3;
Debug.WriteLine("PathComplete = 3");
FlagPath2Complete++;
if (FlagPath2Complete == 1)
{
Display.UpdateComStatus("receive", agv.ID, " AGV Complete Path 2", Color.Green);
}
}
if (functionCode == 0xC1) // ACK Speed
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
if (DashboardForm.timerToSendSpeedAgain.Enabled == true)
{
DashboardForm.timerToSendSpeedAgain.Stop();
}
Display.UpdateComStatus("receive", receiveFrame.AGVID, " ACK Speed", Color.Green);
}
else if (functionCode == 0xD0) //NAK Speed
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
Display.UpdateComStatus("receive", receiveFrame.AGVID, " NAK Speed", Color.Red);
// if (DashboardForm.timerToSendSpeedAgain.Enabled == true)
// DashboardForm.timerToSendSpeedAgain.Stop();
DashboardForm.sendSpeedFrame();
}
if (functionCode == 0xC2) //ACK Line
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
if (DashboardForm.timerToSendLineAgain.Enabled == true)
{
DashboardForm.timerToSendLineAgain.Stop();
}
Display.UpdateComStatus("receive", receiveFrame.AGVID, " ACK Line", Color.Green);
}
else if (functionCode == 0xD1) //NAK Line
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
// if (DashboardForm.timerToSendLineAgain.Enabled == true)
// DashboardForm.timerToSendLineAgain.Stop();
DashboardForm.sendLineFrame();
Display.UpdateComStatus("receive", receiveFrame.AGVID, " NAK Line", Color.Red);
}
if (functionCode == 0xC3) //ACK Path
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
FlagPath1Complete = 0;
FlagPath2Complete = 0;
if (AGV.ListAGV[0].PathCopmpleted == 1)
{
AGV.ListAGV[0].PathCopmpleted = 2;
//if (DashboardForm.timerToSendPathAgain.Enabled == true)
// DashboardForm.timerToSendPathAgain.Stop();
}
else if (AGV.ListAGV[0].PathCopmpleted == 0)
{
AGV.ListAGV[0].Tasks[0].Status = "Doing";
AGV.ListAGV[0].Status = "Running";
// if (DashboardForm.timerToSendPathAgain.Enabled == true)
// DashboardForm.timerToSendPathAgain.Stop();
}
Debug.WriteLine("AcK Path");
Display.UpdateComStatus("receive", receiveFrame.AGVID, " ACK Path", Color.Green);
}
else if (functionCode == 0xD2) //NAK Path
{
if (bytesReceived.Count - startIndex < PathCompleteReceivePacketSize)
{
return;
}
// put data in an array
byte[] data = new byte[PathCompleteReceivePacketSize];
for (int j = 0; j < PathCompleteReceivePacketSize; j++)
{
data[j] = bytesReceived[startIndex + j];
}
PathCompleteRecievePacket receiveFrame = PathCompleteRecievePacket.FromArray(data);
bytesReceived.RemoveRange(0, startIndex + PathCompleteReceivePacketSize - 1);
if (AGV.ListAGV[0].PathCopmpleted == 1)
{
AGV.ListAGV[0].PathCopmpleted = 1;
}
else if (AGV.ListAGV[0].PathCopmpleted == 0)
{
AGV.ListAGV[0].PathCopmpleted = 0;
// DashboardForm.timerToSendPathAgain.Stop();
// Task currentTask = AGV.ListAGV[0].Tasks[0];
// currentTask.Status = "Waiting";
// AGV.ListAGV[0].PathCopmpleted = 0;
}
Debug.WriteLine("NAK Path");
Display.UpdateComStatus("receive", receiveFrame.AGVID, " NAK Path", Color.Red);
}
}
}
}
