private void ForkliftManualCtrlToolStripMenuItem_Click(object sender, EventArgs e)
{
AGVManualCtrlForm amcForm = AGVInitialize.getInitialize().getAGVManualCtrlForm();
amcForm.updateAGVMCForm();
amcForm.ShowDialog();
}
private void cancelItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
TaskRecord tr = (TaskRecord)selectedButton.getBindValue();
if (tr != null && tr.taskRecordStat == TASKSTAT_T.TASK_READY_SEND)
{
selectedButton.BackColor = Color.White;
AGVInitialize.getInitialize().getSchedule().removeTaskRecord(tr.singleTask, TASKSTAT_T.TASK_READY_SEND);
selectedButton.bindValue(null);
}
/*
* if (item.Name.Equals("cancelTaskItem"))
* {
*
* st = (SingleTask)this.SingleTaskDTG.CurrentCell.Value;
* }
* if (st != null)
* {
* st.taskStat = TASKSTAT_T.TASK_NOT_ASSIGN;
* this.SingleTaskDTG.CurrentCell.Style.BackColor = Color.White;
* AGVInitialize.getInitialize().getSchedule().removeTaskRecord(st, TASKSTAT_T.TASK_READY_SEND);
* }*/
}
private void mainForm_Closing(Object sender, FormClosingEventArgs e)
{
List <TaskRecord> trList = AGVInitialize.getInitialize().getAGVUtil().updateTaskRecordList();
DialogResult dr = System.Windows.Forms.DialogResult.No;
if (trList.Count > 0)
{
dr = MessageBox.Show("当前有任务没完成，确认退出?", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button2);
}
else if (AGVInitialize.getInitialize().getAGVCom().getOutCommand() != util.LIFT_OUT_COMMAND_T.LIFT_OUT_COMMAND_MIN)
{
dr = MessageBox.Show("升降机上有任务，确认退出？", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button2);
}
else
{
dr = MessageBox.Show("确认退出？", "退出提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Asterisk, MessageBoxDefaultButton.Button2);
}
if (dr == System.Windows.Forms.DialogResult.OK)
{
this.Dispose();
System.Environment.Exit(0);
}
else if (dr == System.Windows.Forms.DialogResult.Cancel)
{
e.Cancel = true;
}
}
private void loginFrm_Closing(object sender, FormClosingEventArgs e)
{
this.Hide();
if (AGVInitialize.getInitialize().getCurrentUser() == null)
{
System.Environment.Exit(0);
}
}
public static AGVInitialize getInitialize() //初始化单例
{
if (initialize == null)
{
initialize = new AGVInitialize();
}
return(initialize);
}
private void cancelItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
TaskRecord tr = (TaskRecord)selectedButton.getBindValue();
if (tr != null && tr.taskRecordStat == TASKSTAT_T.TASK_READY_SEND)
{
int number = 0;
try
{
if (selectedButton.st.taskText.Length == 2)
{
number = int.Parse(selectedButton.st.taskText.Substring(0, 1));
}
else if (selectedButton.st.taskText.Length == 3)
{
number = int.Parse(selectedButton.st.taskText.Substring(0, 2));
}
}
catch (Exception ex)
{
Console.WriteLine("parse task nunber err");
}
if (number % 2 == 1) //当前添加的是奇数任务，1，3，5，7，9，11号任务
{
bool exist = checkDoubleTaskRecord(selectedButton.st.taskID + 1);
if (exist)
{
DialogResult dr;
dr = MessageBox.Show(number + 1 + "号任务已经缓存，确定要取消该任务?", "任务添加提示", MessageBoxButtons.YesNo); //有偶数号任务被添加时，取消前面的任务，如果前面的货没有被移走，AGV会撞到前面的货
if (dr == DialogResult.No)
{
Console.WriteLine(" cancelItemClick cancel ");
return;
}
}
}
selectedButton.BackColor = Color.White;
AGVInitialize.getInitialize().getSchedule().removeTaskRecord(tr.singleTask, TASKSTAT_T.TASK_READY_SEND);
selectedButton.bindValue(null);
}
/*
* if (item.Name.Equals("cancelTaskItem"))
* {
*
* st = (SingleTask)this.SingleTaskDTG.CurrentCell.Value;
* }
* if (st != null)
* {
* st.taskStat = TASKSTAT_T.TASK_NOT_ASSIGN;
* this.SingleTaskDTG.CurrentCell.Style.BackColor = Color.White;
* AGVInitialize.getInitialize().getSchedule().removeTaskRecord(st, TASKSTAT_T.TASK_READY_SEND);
* }*/
}
public List <SingleTask> getSingleTaskList() //获取供选择任务列表
{
lock (lockData)
{
if (singleTaskList == null)
{
singleTaskList = AGVInitialize.getInitialize().getDBConnect().SelectSingleTaskList();
}
}
return(singleTaskList);
}
private bool checkDoubleTaskRecord(int taskID) //检查是是否缓存了相对应的偶数任务,偶数不是指ID，是指任务号
{
bool exist = false;
List <TaskRecord> tsList = AGVInitialize.getInitialize().getAGVUtil().SelectReadySendTaskdBySingleTaskID(taskID);
if (tsList.Count > 0)
{
exist = true;
}
return(exist);
}
private void confirm_Click(object sender, EventArgs e)
{
DialogResult dr;
string message = "确认禁用" + disableForkLiftNumber + "号车吗";
dr = MessageBox.Show(message, "禁用单车确认", MessageBoxButtons.YesNo);
if (dr == System.Windows.Forms.DialogResult.Yes)
{
AGVInitialize.getInitialize().getAGVUtil().disableForklift(disableForkLiftNumber);
this.Hide();
}
}
private void initUserPanel()
{
User user = AGVInitialize.getInitialize().getCurrentUser();
if (user == null)
{
this.userLabel.Text = "无";
}
else
{
this.userLabel.Text = user.userName;
}
}
private bool checkUser(string userName, string passwd)
{
foreach (User user in userList)
{
if (user.userPasswd.Equals(passwd) && user.userName.Equals(userName))
{
AGVInitialize.getInitialize().setCurrentUser(user);
return(true);
}
}
return(false);
}
/// <summary>
/// 点击后，注意查看主界面车子是否启动，如果没有启动，可以进来再次点击启动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void pauseCtroButton_Click(object sender, EventArgs e)
{
Button button = (Button)sender;
if (forklift.getPauseStr().Equals("暂停"))
{
AGVInitialize.getInitialize().getAGVUtil().setForkCtrl(forklift, 0);
forklift.shedulePause = 0;
forklift.calcPositionArea();
button.Text = "运行";
button.Enabled = false;
}
}
private void _updateSystemPause()
{
bool systemPause = AGVInitialize.getInitialize().getSchedule().getSystemPause();
if (systemPause && this.systemPauseButton.Name.Equals("pause"))
{
setFrmEnableExcludeControPanel(false);
}
else if (!systemPause && this.systemPauseButton.Name.Equals("start"))
{
setFrmEnableExcludeControPanel(true);
}
}
public void setSingleTaskByTaskName(string taskName)
{
SingleTask st = AGVInitialize.getInitialize().getDBConnect().SelectSingleTaskByName(taskName);
Console.WriteLine("TaskRecord taskName = " + taskName);
if (st != null)
{
this.singleTask = st;
}
else
{
Console.WriteLine("TaskRecord Set Name error");
}
}
private TaskRecord lookTaskRecordByTaskId(int taskID) //获取taskID对应的任务，如果任务列表中没有，则返回空
{
List <TaskRecord> trList = AGVInitialize.getInitialize().getAGVUtil().updateTaskRecordList();
foreach (TaskRecord tr in trList)
{
if (tr.singleTask != null && tr.singleTask.taskID == taskID)
{
return(tr);
}
}
return(null);
}
private void handleRecordTask(string taskName, string cmd)
{
SingleTask st = AGVInitialize.getInitialize().getSingleTaskByTaskName(taskName);
if (cmd.Equals("add"))
{
st.taskStat = TASKSTAT_T.TASK_SEND;
AGVInitialize.getInitialize().getSchedule().addTaskRecord(TASKSTAT_T.TASK_READY_SEND, st);
}
else if (cmd.Equals("remove"))
{
AGVInitialize.getInitialize().getSchedule().removeTaskRecord(st, TASKSTAT_T.TASK_READY_SEND);
}
}
private void palletItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
Console.WriteLine("select button name = " + selectedButton.Name);
TaskRecord tr = (TaskRecord)selectedButton.getBindValue();
if (tr == null)
{
int number = 0;
try
{
if (selectedButton.st.taskText.Length == 2)
{
number = int.Parse(selectedButton.st.taskText.Substring(0, 1));
}
else if (selectedButton.st.taskText.Length == 3)
{
number = int.Parse(selectedButton.st.taskText.Substring(0, 2));
}
}catch (Exception ex)
{
Console.WriteLine("parse task nunber err");
}
if (number % 2 == 1) //当前添加的是奇数任务，1，3，5，7，9，11号任务
{
bool exist = checkDoubleTaskRecord(selectedButton.st.taskID + 1);
if (exist)
{
DialogResult dr;
dr = MessageBox.Show(number + 1 + "号任务已经缓存，该任务不能被添加", "任务添加提示", MessageBoxButtons.OK); //有偶数号任务被添加时，前面的奇数号任务不能被添加，否则AGV会撞到前面的货
if (dr == DialogResult.OK)
{
Console.WriteLine(" palletItemClick invalid ");
return;
}
}
}
selectedButton.BackColor = Color.LightGray;
tr = new TaskRecord();
tr.singleTask = selectedButton.st;
tr.taskRecordName = selectedButton.st.taskName;
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
AGVInitialize.getInitialize().getSchedule().addTaskRecord(tr);
selectedButton.bindValue(tr);
}
}
/*
* /// <summary>
* /// 插入任务记录
* /// </summary>
* /// <param name="taskRecordStat"></param>
* /// <param name="st"></param>
* public List<TaskRecord> SelectTaskRecordBySingleTaskAndStat(int taskRecordStat, SingleTask st)
* {
* string sql = "select * from taskrecord where taskRecordStat = " + taskRecordStat + " and singleTask = " + st.taskID;
* List<TaskRecord> taskRecordList = new List<TaskRecord>();
*
* if (this.OpenConnection() == true)
* {
* Console.WriteLine("sql = " + sql);
* MySqlCommand cmd = new MySqlCommand(sql, connection);
* MySqlDataReader dataReader = cmd.ExecuteReader();
* while (dataReader.Read())
* {
* TaskRecord taskRecord = new TaskRecord();
* taskRecord.taskRecordID = int.Parse(dataReader["taskRecordID"] + "");
* taskRecord.taskRecordStat = (TASKSTAT_T) int.Parse(dataReader["taskRecordStat"] + "");
* try
* {
* taskRecord.forkLift = AGVInitialize.getInitialize().getForkLiftByID(int.Parse(dataReader["forklift"] + ""));
* }
* catch (FormatException fx)
* {
* Console.WriteLine("message = " + fx.Message);
* }
* Console.WriteLine("----------------------------");
* //taskRecord.singleTask = AGVInitialize.getInitialize().getSingleTaskByID(int.Parse(dataReader["singleTask"] + ""));
* taskRecordList.Add(taskRecord);
* }
*
* dataReader.Close();
* }
*
* this.CloseConnection();
* return taskRecordList;
* }
* */
/// <summary>
/// 插入任务记录
/// </summary>
/// <param name="taskRecordStat"></param>
/// <param name="st"></param>
public List <TaskRecord> SelectTaskRecordBySql(string sql)
{
List <TaskRecord> taskRecordList = new List <TaskRecord>();
try
{
lock (lockDB)
{
if (this.OpenConnection() == true)
{
//Console.WriteLine("sql = " + sql);
MySqlCommand cmd = new MySqlCommand(sql, connection);
MySqlDataReader dataReader = cmd.ExecuteReader();
while (dataReader.Read())
{
TaskRecord taskRecord = new TaskRecord();
taskRecord.taskRecordID = int.Parse(dataReader["taskRecordID"] + "");
taskRecord.taskRecordStat = (TASKSTAT_T)int.Parse(dataReader["taskRecordStat"] + "");
taskRecord.taskLevel = int.Parse(dataReader["taskLevel"] + "");
try
{
if (!String.IsNullOrEmpty(dataReader["forklift"].ToString()))
{
taskRecord.forkLift = AGVInitialize.getInitialize().getForkLiftByID(int.Parse(dataReader["forklift"] + ""));
}
}
catch (FormatException fx)
{
Console.WriteLine("message = " + fx.Message);
}
taskRecord.singleTask = AGVInitialize.getInitialize().getSingleTaskByID(int.Parse(dataReader["singleTask"] + ""));
taskRecord.taskRecordName = taskRecord.singleTask.taskName;
taskRecord.updateTime = (DateTime)(dataReader["taskRecordUpdateTime"]);
taskRecordList.Add(taskRecord);
}
dataReader.Close();
this.CloseConnection();
}
}
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
this.CloseConnection();
}
return(taskRecordList);
}
private void palletItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
Console.WriteLine("Name = " + item.Name + "value = " + this.SingleTaskDTG.CurrentCell.Value);
SingleTask st = null;
st = (SingleTask)this.SingleTaskDTG.CurrentCell.Value;
if (st != null)
{
st.taskStat = TASKSTAT_T.TASK_READY_SEND;
AGVInitialize.getInitialize().getSchedule().addTaskRecord(TASKSTAT_T.TASK_READY_SEND, st);
this.SingleTaskDTG.CurrentCell.Style.BackColor = Color.LightGray;
}
}
private void systemPauseButton_Click(object sender, EventArgs e)
{
Button button = (Button)sender;
if (button.Name.Equals("pause"))
{
AGVInitialize.getInitialize().getSchedule().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
setFrmEnableExcludeControPanel(false);
}
else if (button.Name.Equals("start"))
{
AGVInitialize.getInitialize().getSchedule().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN);
setFrmEnableExcludeControPanel(true);
}
}
public static void Send(Socket handler)
{
StringBuilder sb = new StringBuilder();
sb.Append("battery_soc=");
sb.Append(forklift.getBatterySoc() + ";");
sb.Append("agvMessage=");
sb.Append((int)AGVInitialize.getInitialize().getAGVMessage().getMessage().getMessageType());
Console.WriteLine(" send data = " + sb.ToString());
AGVLog.WriteError(" send data = " + sb.ToString(), new StackFrame(true));
byte[] byteData = Encoding.ASCII.GetBytes(sb.ToString());
handler.Send(byteData);
}
private void addAllTaskRecordButton_Click(object sender, EventArgs e)
{
List <TaskRecord> listTaskRecords = AGVInitialize.getInitialize().getAGVUtil().SelectReadySendTask();
if (listTaskRecords.Count > 0)
{
DialogResult dr;
dr = MessageBox.Show("有缓存任务，禁止一键添加", "提示", MessageBoxButtons.OK);
}
else
{
AGVInitialize.getInitialize().getAGVUtil().addAllTaskRecord();
updateFrm();
}
}
public List <SingleTask> getDownPickSingleTask()
{
List <SingleTask> sList = AGVInitialize.getInitialize().getDBConnect().SelectSingleTaskList();
List <SingleTask> downList = new List <SingleTask>();
foreach (SingleTask st in sList)
{
if (st.taskType == TASKTYPE_T.TASK_TYPE_DOWN_PICK)
{
downList.Add(st);
}
}
return(downList);
}
void openNewForm()
{
int i = 0;
DataGridViewRow dgvw = new DataGridViewRow();
this.SingleTaskDTG.Rows.Clear(); //移除所有的行 重新绘制
singleTaskList = AGVInitialize.getInitialize().getSingleTaskList();
foreach (SingleTask sl in singleTaskList)
{
if (i % TASK_COLUMN_NUM == 0)
{
dgvw = new DataGridViewRow();
}
DataGridViewTextBoxCell tb = new DataGridViewTextBoxCell();
tb.Value = sl;
if (sl.taskStat == TASKSTAT_T.TASK_READY_SEND || sl.taskStat == TASKSTAT_T.TASK_END) //待可以发送状态，可以取消该任务
{
tb.Style.BackColor = Color.LightGray;
}
else if (sl.taskStat == TASKSTAT_T.TASK_SEND || sl.taskStat == TASKSTAT_T.TASK_SEND_SUCCESS)
{
Console.WriteLine("sl name = " + sl.taskName);
tb.Style.BackColor = Color.Green;
}
dgvw.Cells.Add(tb);
if ((i + 1) % TASK_COLUMN_NUM == 0)
{
this.SingleTaskDTG.Rows.Add(dgvw);
}
i++;
}
if ((i + 1) % TASK_COLUMN_NUM != 0)
{
this.SingleTaskDTG.Rows.Add(dgvw);
}
if (isFirstShow)
{
isFirstShow = false;
this.ShowDialog();
}
else
{
this.Update();
}
}
static void Main()
{
AGVLog agvLog = new AGVLog();
//List<SingleTask> sList = new List<SingleTask>();
agvLog.initAGVLog(); //初始化log
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
AGVInitialize.getInitialize().getLoginFrm().ShowDialog();
//agvTask.startConnectForkLift(); //开始与车子建立连接
//agvTask.startPLCRecv(); //开始采集PLC数据
//agvTask.startToHandleTaskList(); //开始处理任务发送
AGVInitialize.getInitialize().agvInit();
AGVInitialize.getInitialize().getAGVTcpServer().StartAccept();
AGVInitialize.getInitialize().getSchedule().startShedule();
AGVInitialize.getInitialize().getAGVMessage().setUsbGreenLed(); //default green led
AGVInitialize.getInitialize().getAGVMessage().StartHandleMessage();
int i = 0;
//while(i < 1)
{
i++;
//AGVInitialize.getInitialize().getAGVCom().setDataCommand(LIFT_IN_COMMAND_T.LIFT_IN_COMMAND_UP);
}
AGVInitialize.getInitialize().getMainFrm().ShowDialog();
//Application.Run(AGVInitialize.getInitialize().getMainFrm());
//AGVTcpClient tcpClient = new AGVTcpClient();
//Thread.Sleep(1000);
//tcpClient.SendMessage("cmd=set task by name;name=abing;");
//connectDB();
//AGVInitialize init = AGVInitialize.getInitialize();
//init.getAllForkLifts(false);
//
//while (!isExit) { Thread.Sleep(5); };
}
/// <summary>
/// 可能有缓存任务，刚启动时，车子的状态需要设置
/// </summary>
private void setForkliftStateFirst()
{
foreach (ForkLift fl in forkLiftList)
{
List <TaskRecord> taskRecordList = AGVInitialize.getInitialize().getAGVUtil().updateTaskRecordList();
foreach (TaskRecord tr in taskRecordList)
{
if (tr.taskRecordStat == TASKSTAT_T.TASK_SEND || tr.taskRecordStat == TASKSTAT_T.TASK_SEND_SUCCESS)
{
if (tr.forkLift != null && tr.forkLift.forklift_number == fl.forklift_number)
{
fl.taskStep = ForkLift.TASK_STEP.TASK_EXCUTE;
}
}
}
}
}
private void handleMessage(String content)
{
Console.WriteLine("Content : " + content);
int pos_c = -1;
string cmd = null;
pos_c = content.IndexOf("cmd=");
if (pos_c != -1)
{
cmd = content.Substring(pos_c + 4);
Console.WriteLine("cmd = " + cmd);
if (cmd.StartsWith("add_recordTask")) //添加任务
{
pos_c = cmd.IndexOf("param=");
if (pos_c != -1)
{
string taskName = cmd.Substring(pos_c + 6);
handleRecordTask(taskName, "add");
Console.WriteLine("taskName = " + taskName);
}
}
else if (cmd.StartsWith("setSystemPause")) //移除任务
{
pos_c = cmd.IndexOf("param=");
if (pos_c != -1)
{
string tmp = cmd.Substring(pos_c + 6);
Console.WriteLine(" pauseStat = " + tmp);
if (tmp.Equals("0"))
{
AGVInitialize.getInitialize().getSchedule().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_TYPE_MIN);
}
else if (tmp.Equals("1"))
{
AGVInitialize.getInitialize().getSchedule().setPause(SHEDULE_PAUSE_TYPE_T.SHEDULE_PAUSE_SYSTEM_WITH_START);
}
}
}
else if (cmd.StartsWith("updateDownTask"))
{
//AGVInitialize.getInitialize().getSchedule().updateDownPickSingleTask();
}
}
}
private void palletItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
Console.WriteLine("select button name = " + selectedButton.Name);
TaskRecord tr = (TaskRecord)selectedButton.getBindValue();
if (tr == null)
{
selectedButton.BackColor = Color.LightGray;
tr = new TaskRecord();
tr.singleTask = selectedButton.st;
tr.taskRecordName = selectedButton.st.taskName;
tr.taskRecordStat = TASKSTAT_T.TASK_READY_SEND;
AGVInitialize.getInitialize().getSchedule().addTaskRecord(tr);
selectedButton.bindValue(tr);
}
}
private void cancelItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
Console.WriteLine("Name = " + item.Name + "value = " + this.SingleTaskDTG.CurrentCell.Value);
SingleTask st = null;
if (item.Name.Equals("cancelTaskItem"))
{
st = (SingleTask)this.SingleTaskDTG.CurrentCell.Value;
}
if (st != null)
{
st.taskStat = TASKSTAT_T.TASK_NOT_ASSIGN;
this.SingleTaskDTG.CurrentCell.Style.BackColor = Color.White;
AGVInitialize.getInitialize().getSchedule().removeTaskRecord(st, TASKSTAT_T.TASK_READY_SEND);
}
}
/// <summary>
/// 将该任务的优先级提到最高 设置该任务的优先级，默认查询任务的时候将会参考该任务的有先级来查询
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void topItemClick(object sender, EventArgs e)
{
MenuItem item = (MenuItem)sender;
TaskRecord tr = (TaskRecord)selectedButton.getBindValue();
Console.WriteLine(" tr is nulll " + tr == null);
try
{
if (checkTopFunc(tr))
{
selectedButton.BackColor = Color.Gray;
AGVInitialize.getInitialize().getSchedule().topTaskRecord(tr);
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
