private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
closing = true;
PortManager.closeAllPort();
ControlMethod.curState = ControlMethod.ctrlItem.DoNothing;
DisplayMethod.curState = DisplayMethod.displayItem.DoNothing;
ThreadManager.end();
}
private void button1_Click(object sender, EventArgs e)
{
PortManager.initPort();
PortManager.urgPort.openPort();
PortManager.drPort.openPort();
PortManager.drPort.setPosition(0, 0, 0);
timer.Interval = 100;
timer.Elapsed += Timer_Elapsed;
timer.Start();
cnt = 0;
}
/// <summary>
/// 选择模式旋钮
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void boxModel_SelectedIndexChanged(object sender, EventArgs e)
{
// 选择生成地图选项
if (boxModel.SelectedIndex == 0)
{
// 初始化串口信息
PortManager.initPort();
PortManager.openAllPort();
ProcessNewMap.init();
ProcessNewMap.startRefreshMap();
}
}
public static void routing()
{
// 路径文件未打开，则返回
if (DataArea.mapModel == null)
{
MessageBox.Show("未打开路径文件", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
// 初始化串口
PortManager.initPort();
PortManager.openAllPort();
PortManager.drPort.setPosition(0, 0, 0);
// 开始巡检
Navigation.updateLimit();
Route(DataArea.mapModel, PortManager.conPort, PortManager.drPort, PortManager.urgPort);
}
