/// <summary>
/// AGV后退
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvBackwardBtn_Click(object sender, EventArgs e)
{
if (agvList.FocusedItem == null)
{
MessageBox.Show("请选中需要操作的车辆", "提示");
return;
}
else
{
if (!AgvForwardBtn.Enabled)
{
StopAGV();
}
if (WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("后退", 1, 2)))
{
//记录agv状态
agvStatus[agvList.FocusedItem.Text] = "backmove";
AgvBackwardBtn.Enabled = false;
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
}
/// <summary>
/// 清除站点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void AgvClearSiteBtn_Click(object sender, EventArgs e)
{
if (agvList.FocusedItem == null)
{
MessageBox.Show("请选中需要操作的车辆", "提示");
return;
}
else
{
WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("清除站点", 3, 0));
}
}
/// <summary>
/// 停止函数
/// </summary>
public void StopAGV()
{
//WcfMainHelper.InitPara(_severIp, "", "");
// 1是快速停止、0是慢速
if (WcfMainHelper.SendOrder(agvList.FocusedItem.Text, new FControlOrder("停止", 2, 0)))
{
AgvForwardBtn.Enabled = true;
AgvBackwardBtn.Enabled = true;
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
/// <summary>
/// 返回区域二附近的待命点
/// </summary>
private void BackToPointAround()
{
if (_devArea2 == null)
{
return;
}
if (_devTarWait == null)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DispatchBackMember> diss = WcfMainHelper.GetDispatchList();
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
foreach (var item in _waitAreaTwoList)
{
if ((!IsDispatchContainPath(diss, item.StaTarget)) && (!IsDevOnSite(devs, item.StaSite)))
{
_devTarWait = item;
break;
}
}
}
if (_devTarWait != null)
{
WcfMainHelper.InitPara(_severIp, "", "");
DeviceBackImf result = WcfMainHelper.GetDev(_devArea2.DevId);
if (result != null)
{
if (result.SensorList.Find(c => { return(c.SenId == string.Format("{0}0003", _devArea2.DevId)); }).RValue == _devTarWait.StaTarget.ToString())
{
_devTarWait = null;
_devArea2 = null;
}
else
{
WcfMainHelper.SendOrder(_devArea2.DevId, new CommonDeviceOrderObj(DeviceOrderTypeEnum.OrderIndexThree, _devTarWait.StaTarget));
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonSendRun_Click(object sender, EventArgs e)
{
WcfMainHelper.InitPara(_severIp, "", "");
List <DeviceBackImf> devs = WcfMainHelper.GetDevList();
SensorBackImf sens = null;
if (devs != null && devs.Count > 0)
{
foreach (var item in devs)
{
if (item.DevType == "AGV")
{
sens = item.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", item.DevId)); });
if (sens != null && sens.RValue == LocSite.ToString())
{
if (MessageBox.Show(string.Format("确定要启动【{0}】地标上AGV【{1}】", LocSite, item.DevId), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
if (WcfMainHelper.SendOrder(item.DevId, new CommonDeviceOrderObj("定点启动" + LocSite, 1)))
{
SetOutputMsg(string.Format("启动【{0}】地标上AGV【{1}】", LocSite, item.DevId));
MessageBox.Show("启动成功！", "提示");
}
else
{
MessageBox.Show("请尝试再操作一次", "提示");
}
}
return;
}
}
}
}
else
{
SetOutputMsg(string.Format("未获取到服务端的AGV"));
}
SetOutputMsg(string.Format("地标【{0}】上未找到AGV", LocSite));
MessageBox.Show(string.Format("地标【{0}】上未找到AGV", LocSite), "提示");
}
/// <summary>
/// 给棍台发送相应动作
/// </summary>
/// <param name="oper"></param>
/// <param name="para"></param>
/// <returns></returns>
public bool SendOrdr(EnumType oper, EnumPara para)
{
return(WcfMainHelper.SendOrder(_id, new FControlOrder("远程", 1, (int)oper, (int)para)));
}
