private void UpdateTimer_Page1_CreateCommand()
{
label_TargetSection.Text = localData.MoveControlData.LocateControlData.TargetSection;
MoveCommandData temp = localData.MoveControlData.MoveCommand;
if (temp == null)
{
moveControlCommandStauts.SetValueAndColor("");
}
else
{
moveControlCommandStauts.SetValueAndColor(temp.CommandStatus.ToString(), (int)temp.CommandStatus);
}
button_AutoCycleRun.BackColor = (loopThread != null && loopThread.IsAlive ? Color.Green : Color.Transparent);
if (localData.LoginLevel == EnumLoginLevel.MirleAdmin)
{
panel_CreateCommand_Hide.Visible = true;
panel_AdminAdressIDAdd.Visible = true;
}
else
{
panel_CreateCommand_Hide.Visible = false;
panel_AdminAdressIDAdd.Visible = false;
}
moveControlReady.SetReady(localData.MoveControlData.Ready);
moveControlError.SetError(localData.MoveControlData.ErrorBit);
motionControlStatus.SetValueAndColor(moveControl.MotionControl.Status.ToString(), (int)moveControl.MotionControl.Status);
locateControlStatus.SetValueAndColor(moveControl.LocateControl.Status.ToString(), (int)moveControl.LocateControl.Status);
}
private void UpdateMoveControlSensorData()
{
VehicleLocation location = localData.Location;
if (localData != null)
{
sensorData_Address.SetValueAndColor(location.LastAddress, (location.InAddress ? 100 : 0));
sensorData_Section.SetValueAndColor(location.NowSection);
sensorData_Distance.SetValueAndColor(location.DistanceFormSectionHead.ToString("0"));
}
else
{
sensorData_Address.SetValueAndColor("");
sensorData_Section.SetValueAndColor("");
sensorData_Distance.SetValueAndColor("");
}
sensorData_Real.SetValueAndColor(computeFunction.GetMapAGVPositionStringWithAngle(localData.Real));
sensorData_LocationAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.LocateControlData.LocateAGVPosition));
sensorData_MIPCAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.MotionControlData.EncoderAGVPosition));
MoveCommandData command = localData.MoveControlData.MoveCommand;
if (command != null)
{
sensorData_CommandID.SetValueAndColor(command.CommandID);
sensorData_CommandStartTime.SetValueAndColor(command.StartTime.ToString("HH:mm:ss"));
sensorData_CommandStstus.SetValueAndColor(command.CommandStatus.ToString());
sensorData_MoveStatus.SetValueAndColor(command.MoveStatus.ToString(), (int)command.MoveStatus);
sensorData_CommandEncoder.SetValueAndColor(command.CommandEncoder.ToString("0"));
SetLabelTextAndColor(label_MoveControlSensorData_SensorSstatusValue, command.SensorStatus);
SetLabelTextAndColor(label_MoveControlSensorData_ReserveValue, (command.WaitReserveIndex == -1 ? EnumVehicleSafetyAction.Normal : EnumVehicleSafetyAction.SlowStop));
SetLabelTextAndColor(label_MoveControlSensorData_PauseValue, command.AGVPause);
}
else
{
sensorData_CommandID.SetValueAndColor("");
sensorData_CommandStartTime.SetValueAndColor("");
sensorData_CommandStstus.SetValueAndColor("");
sensorData_MoveStatus.SetValueAndColor("");
sensorData_CommandEncoder.SetValueAndColor("");
label_MoveControlSensorData_SensorSstatusValue.Text = "";
label_MoveControlSensorData_ReserveValue.Text = "";
label_MoveControlSensorData_PauseValue.Text = "";
}
SetLabelTextAndColor(label_MoveControlSensorData_SafetySensorValue, localData.MIPCData.SafetySensorStatus);
SetLabelTextAndColor(label_MoveControlSensorData_LocalPauseValue, localData.MoveControlData.SensorStatus.LocalPause);
sensorData_Velocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/",
localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0")));
}
private void UpdateTimer_Page2_MoveCommand()
{
agvVelocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/",
localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0")));
MoveCommandData temp = localData.MoveControlData.MoveCommand;
if (temp != null)
{
commandStatus.SetValueAndColor(temp.CommandStatus.ToString());
moveStatus.SetValueAndColor(temp.MoveStatus.ToString());
commandEncoder.SetValueAndColor(temp.CommandEncoder.ToString("0"));
sensorStatus.SetValueAndColor(temp.SensorStatus.ToString());
}
else
{
commandStatus.SetValueAndColor("");
moveStatus.SetValueAndColor("");
commandEncoder.SetValueAndColor("");
sensorStatus.SetValueAndColor("");
}
sensorStatus.SetValueAndColor(localData.MoveControlData.MotionControlData.AllServoStatus.ToString());
double sleepTime = moveControl.LoopTime;
if (sleepTime > localData.MoveControlData.MoveControlConfig.TimeValueConfig.IntervalTimeList[EnumIntervalTimeType.ThreadSleepTime] * 2)
{
label_LoopTime.ForeColor = Color.Red;
}
else
{
label_LoopTime.ForeColor = Color.Green;
}
label_LoopTime.Text = sleepTime.ToString("0");
UpdateMoveCommandInfo(temp);
MapAGVPosition agvPosition = localData.Real;
real.SetValueAndColor(computeFunction.GetMapAGVPositionString(agvPosition, "0"));
}
private void timer_Tick(object sender, EventArgs e)
{
LoginLevelAction();
AutoManaulAction();
agv.UpdateLocate(localData.Real);
button_SetPosition.Enabled = (localData.AutoManual == EnumAutoState.Manual && localData.MoveControlData.MoveCommand == null);
#region label更新.
loginLevelMessage.SetValueAndColor(localData.LoginLevel.ToString());
soc.SetValueAndColor(String.Concat(localData.BatteryInfo.SOC.ToString("0.0"), " / ", localData.BatteryInfo.V.ToString("0.0"), "V"));
charge.SetValueAndColor("");
loading.SetValueAndColor("");
cstID.SetValueAndColor("");
lastAddress.SetValueAndColor(localData.Location.LastAddress);
sectionID.SetValueAndColor(localData.Location.NowSection);
sectionDistance.SetValueAndColor(localData.Location.DistanceFormSectionHead.ToString("0.0"));
real.SetValueAndColor(String.Concat("( ", computeFunction.GetMapAGVPositionString(localData.Real, "0"), " )"));
moveControlCommand.SetValueAndColor(localData.MoveControlData.CommnadID);
bool moveControlReadyAndNotErrorBit = localData.MoveControlData.Ready && !localData.MoveControlData.ErrorBit;
moveControlStatus.SetValueAndColor((moveControlReadyAndNotErrorBit ? "Ready" : "NotReady"), (moveControlReadyAndNotErrorBit ? 100 : 300));
loadUnloadCommand.SetValueAndColor(localData.LoadUnloadData.CommnadID);
loadUnloadStatus.SetValueAndColor(localData.LoadUnloadData.CommandStatus.ToString(), (int)localData.LoadUnloadData.CommandStatus);
stopSingal.SetValueAndColor("");
lowSpeedSingal.SetValueAndColor("");
#endregion
if (mainFlow.MoveControl.LocateControl.Status == EnumControlStatus.Ready)
{
label_LocateStatus.Text = "定位OK";
label_LocateStatus.ForeColor = Color.Green;
}
else
{
label_LocateStatus.Text = "定位NG";
label_LocateStatus.ForeColor = Color.Red;
}
tbxNowAlarm.Text = mainFlow.AlarmHandler.NowAlarm;
tbxNowAlarmHistory.Text = mainFlow.AlarmHandler.AlarmHistory;
pB_Alarm.BackColor = (mainFlow.AlarmHandler.HasAlarm ? Color.Red : Color.Transparent);
pB_Warn.BackColor = (mainFlow.AlarmHandler.HasWarn ? Color.Yellow : Color.Transparent);
SetSectionColor();
}