public void FixedPropertiesRobotUnity(String nameID, PropertiesRobotUnity properties)
{
/* DialogResult result = System.Windows.Forms.MessageBox.Show("Bạn chắc chắn Robot đang nằm ở vùng Charge/Ready?", "Confirmation", MessageBoxButtons.YesNo);
* if (result == DialogResult.Yes)
* {
* RobotUnity Rd = RobotUnityRegistedList[nameID];
* Rd.RemoveDraw();
* Rd.Dispose();
* RemoveRobotUnityRegistedList(nameID);
* RemoveRobotUnityWaitTaskList(nameID);
* RemoveRobotUnityReadyList(nameID);
* Rd = null;
* RobotUnity rn = new RobotUnity();
* // cài đặt canvas
* rn.Initialize(this.canvas);
* rn.UpdateProperties(properties);
*
* // update properties
*
* // connect ros
* rn.Start(properties.Url);
* // đăng ký giao thông
* rn.Registry(trafficManagementService);
* RobotUnityRegistedList.Add(nameID, rn);
* RobotUnityReadyList.Add( rn);
* // dăng ký robot list
* rn.RegisteRobotInAvailable(RobotUnityRegistedList);
* }
* else if (result == DialogResult.No)
* {
* //...
* }*/
}
private void FixedBtn_Click(object sender, RoutedEventArgs e)
{
PropertiesRobotUnity properties = (sender as Button).DataContext as PropertiesRobotUnity;
robotManagementService.FixedPropertiesRobotUnity(properties.NameId, properties);
robotManagementService.SaveConfig(JsonConvert.SerializeObject(MainDataGrid.ItemsSource, Formatting.Indented));
}
public override void UpdateProperties(PropertiesRobotUnity proR)
{
base.UpdateProperties(proR);
DfL1 = proR.L1;
DfL2 = proR.L2;
DfWS = proR.WS;
DfDistanceInter = proR.DistInter;
DfL1Cv = proR.L1 * properties.Scale;
DfL2Cv = proR.L2 * properties.Scale;
DfWSCv = proR.WS * properties.Scale;
DfDistInterCv = proR.DistInter * properties.Scale;
L1Cv = proR.L1 * properties.Scale;
L2Cv = proR.L2 * properties.Scale;
WSCv = proR.WS * properties.Scale;
DistInterCv = proR.DistInter * properties.Scale;
//Draw ();
}
public void Initialize()
{
//#if false
PropertiesRobotUnity prop1 = new PropertiesRobotUnity();
prop1.NameId = "RSD" + RobotUnityRegistedList.Count;
prop1.L1 = 2.5;
prop1.L2 = 4;
prop1.WS = 3;
prop1.Label = "R1";
prop1.BatteryLevelRb = 40;
prop1.Url = "ws://192.168.1.184:9090"; //59 -> 181
prop1.ipMcuCtrl = "192.168.1.214";
prop1.portMcuCtrl = 8081;
prop1.DistInter = 8;
prop1.BatteryLowLevel = BAT_LOW_LEVEL;
prop1.RequestChargeBattery = false;
prop1.Width = 1.8;
prop1.Height = 2.5;
prop1.Length = 2.2;
prop1.ChargeID = ChargerId.CHARGER_ID_1;
prop1.Scale = 10;
prop1.enableChage = false;
RobotUnity r1 = new RobotUnity();
r1.name = "Robot1";
r1.Initialize(this.canvas);
r1.UpdateProperties(prop1);
r1.ConnectionStatusHandler += ConnectionStatusHandler;
r1.mcuCtrl = new McuCtrl(r1);
//r1.mcuCtrl.TurnOnLampRb();
//Thread.Sleep(1000);
//r1.mcuCtrl.TurnOffLampRb();
PropertiesRobotUnity_List.Add(r1.properties);
RobotUnityRegistedList.Add(r1.properties.NameId, r1);
// r1.Radius_S = 40;
// r1.Radius_B = 40;
// r1.Radius_Y = 40;
// đăng ký robot list to many robot quan trong
// AddRobotUnityReadyList(r1);
// AddRobotUnityReadyList(r1);
r1.RegistryRobotService(this);
r1.TurnOnSupervisorTraffic(false);
/* r1.properties.pose.Position = new Point(-7.2,0.5);
* r1.properties.pose.Angle = -180;
* r1.properties.pose.AngleW = -180*Math.PI/180;*/
PropertiesRobotUnity prop2 = new PropertiesRobotUnity();
prop2.NameId = "RSD" + RobotUnityRegistedList.Count;
prop2.L1 = 2.5;
prop2.L2 = 4;
prop2.WS = 3;
prop2.Label = "R2";
prop2.BatteryLevelRb = 40;
prop2.Url = "ws://192.168.1.185:9090";
prop2.ipMcuCtrl = "192.168.1.215";
prop2.portMcuCtrl = 8081;
prop2.DistInter = 8;
prop2.BatteryLowLevel = BAT_LOW_LEVEL;
prop2.RequestChargeBattery = false;
prop2.Width = 1.8;
prop2.Height = 2.5;
prop2.Length = 2.2;
prop2.ChargeID = ChargerId.CHARGER_ID_2;
prop2.Scale = 10;
prop2.enableChage = false;
RobotUnity r2 = new RobotUnity();
r2.name = "Robot1";
r2.Initialize(this.canvas);
r2.UpdateProperties(prop2);
r2.mcuCtrl = new McuCtrl(r2);
r2.ConnectionStatusHandler += ConnectionStatusHandler;
PropertiesRobotUnity_List.Add(r2.properties);
RobotUnityRegistedList.Add(r2.properties.NameId, r2);
// r2.Start(prop2.Url);
// đăng ký robot list to many robot quan trong
// AddRobotUnityReadyList(r2);
r2.RegistryRobotService(this);
r2.TurnOnSupervisorTraffic(false);
// r2.Radius_S = 40;
// r2.Radius_B = 40;
// r2.Radius_Y = 40;
//#endif
r1.properties.pose.Position = new Point(30, -15);
r1.properties.pose.Angle = 90;
r1.properties.pose.AngleW = 90 * Math.PI / 180;
r1.properties.poseRoot.Position = new Point(30, -15);
r1.properties.poseRoot.Angle = 90;
r1.properties.poseRoot.AngleW = 90 * Math.PI / 180;
r2.properties.pose.Position = new Point(32, -15);
r2.properties.pose.Angle = 90;
r2.properties.pose.AngleW = 90 * Math.PI / 180;
r2.properties.poseRoot.Position = new Point(32, -15);
r2.properties.poseRoot.Angle = 90;
r2.properties.poseRoot.AngleW = 90 * Math.PI / 180;
r1.Registry(trafficManagementService);
r2.Registry(trafficManagementService);
r2.RegisteRobotInAvailable(RobotUnityRegistedList);
r1.RegisteRobotInAvailable(RobotUnityRegistedList);
r1.StartTraffic();
r2.StartTraffic();
r1.PreProcedureAs = ProcedureControlAssign.PRO_READY;
r2.PreProcedureAs = ProcedureControlAssign.PRO_READY;
// add robot trong traffic quản lý
trafficManagementService.RegistryRobotList(RobotUnityRegistedList);
//
// r1.Start(prop1.Url);
// r2.Start(prop2.Url);
}
