private void Start_Car(object sender, MouseEventArgs e)//小车启动函数
{
xml_con.read();
Redraw_Panel(route.map);
string portName = "";
string portBaudrate = "";
int flag = 0;
this.alarm_list.BeginUpdate(); //数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
for (int i = 0; i < 3; i++)
{
switch (xml_con.data[i * 2])
{
case 0: portName = "COM1"; break;
case 1: portName = "COM2"; break;
case 2: portName = "COM3"; break;
case 3: portName = "COM4"; break;
case 4: portName = "COM5"; break;
case 5: portName = "COM6"; break;
case 6: portName = "COM7"; break;
case 7: portName = "COM8"; break;
case 8: portName = "COM9"; break;
case 9: portName = "COM10"; break;
}
switch (xml_con.data[i * 2 + 1])
{
case 0: portBaudrate = "9600"; break;
case 1: portBaudrate = "115200"; break;
}
switch (i)
{
case 0:
if (urg_port.OpenPort(portName, portBaudrate) == false)
{
ListViewItem lvi = new ListViewItem();
lvi.Text = DateTime.Now.ToString();;
lvi.SubItems.Add("激光雷达串口未打开");
this.alarm_list.Items.Add(lvi);
system_light.FillColor = System.Drawing.Color.Red;
system_label.Text = "系统状态：串口异常";
flag = 1;
}
break;
case 1:
if (con_port.OpenPort(portName, portBaudrate) == false)
{
ListViewItem lvi = new ListViewItem();
lvi.Text = DateTime.Now.ToString();;
lvi.SubItems.Add("控制串口未打开");
this.alarm_list.Items.Add(lvi);
system_light.FillColor = System.Drawing.Color.Red;
system_label.Text = "系统状态：串口异常";
flag = 1;
}
break;
case 2:
if (dr_port.OpenPort(portName, portBaudrate) == false)
{
ListViewItem lvi = new ListViewItem();
lvi.Text = DateTime.Now.ToString();;
lvi.SubItems.Add("编码器串口未打开");
this.alarm_list.Items.Add(lvi);
system_light.FillColor = System.Drawing.Color.Red;
system_label.Text = "系统状态：串口异常";
flag = 1;
}
break;
}
}
this.alarm_list.EndUpdate(); //结束数据处理，UI界面一次性绘制。
if (flag == 0)
{
//Thread goMap = new Thread(new ThreadStart(this.goAlongMap));
//goMap.Start();
goAlongMap();
//goAlongMap(route.map.listLine);
system_light.FillColor = System.Drawing.Color.Blue;
system_label.Text = "系统状态：正在运行";
}
system_light.FillColor = System.Drawing.Color.Gray;
system_label.Text = "系统状态：运行完成";
}
private void Collect_Route1_Click(object sender, EventArgs e)
{
if (Collect_Route1.Text == "获取路径信息")
{
Urg_Point.Visible = true;
Com_Point.Visible = true;
Delete_Point.Visible = true;
groupBox1.Visible = true;
xml_con.read();
string portName = "";
string portBaudrate = "";
switch (xml_con.data[4])
{
case 0: portName = "COM1"; break;
case 1: portName = "COM2"; break;
case 2: portName = "COM3"; break;
case 3: portName = "COM4"; break;
case 4: portName = "COM5"; break;
case 5: portName = "COM6"; break;
case 6: portName = "COM7"; break;
case 7: portName = "COM8"; break;
case 8: portName = "COM9"; break;
case 9: portName = "COM10"; break;
}
switch (xml_con.data[5])
{
case 0: portBaudrate = "9600"; break;
case 1: portBaudrate = "115200"; break;
}
if (dr_port.OpenPort(portName, portBaudrate) == false)
{
MessageBox.Show("编码器串口未能打开，请配置串口！");
return;
}
Collect_Route1.Text = "初始位置校准";
route.map.listLine.Clear();
route.map.listPoint.Clear();
route.map.listFixedRect.Clear();
dr_port.clearData();
}
else if (Collect_Route1.Text == "初始位置校准")
{
string portName = "";
string portBaudrate = "";
switch (xml_con.data[2])
{
case 0: portName = "COM1"; break;
case 1: portName = "COM2"; break;
case 2: portName = "COM3"; break;
case 3: portName = "COM4"; break;
case 4: portName = "COM5"; break;
case 5: portName = "COM6"; break;
case 6: portName = "COM7"; break;
case 7: portName = "COM8"; break;
case 8: portName = "COM9"; break;
case 9: portName = "COM10"; break;
}
switch (xml_con.data[3])
{
case 0: portBaudrate = "9600"; break;
case 1: portBaudrate = "115200"; break;
}
if (con_port.OpenPort(portName, portBaudrate) == false)
{
MessageBox.Show("控制串口未能打开，请配置串口！");
return;
}
//new CameraControl().cameraLeading(dr_port, con_port);
Collect_Route1.Text = "结束路径信息";
route.map.listLine.Clear();
route.map.listPoint.Clear();
route.map.listFixedRect.Clear();
dr_port.clearData();
}
else
{
route.map.listLine.Clear();
for (int i = 0; i < route.map.listPoint.Count() - 1; i++)
{
Line r_line = new Line();
r_line.startpoint = route.map.listPoint[i];
r_line.endpoint = route.map.listPoint[i + 1];
route.map.listLine.Add(r_line);
}
dr_port.ClosePort();
con_port.ClosePort();
Collect_Route1.Text = "获取路径信息";
Redraw_Panel1(route.map);
}
}