private void UpdateTimer_Page1_CreateCommand() { label_TargetSection.Text = localData.MoveControlData.LocateControlData.TargetSection; MoveCommandData temp = localData.MoveControlData.MoveCommand; if (temp == null) { moveControlCommandStauts.SetValueAndColor(""); } else { moveControlCommandStauts.SetValueAndColor(temp.CommandStatus.ToString(), (int)temp.CommandStatus); } button_AutoCycleRun.BackColor = (loopThread != null && loopThread.IsAlive ? Color.Green : Color.Transparent); if (localData.LoginLevel == EnumLoginLevel.MirleAdmin) { panel_CreateCommand_Hide.Visible = true; panel_AdminAdressIDAdd.Visible = true; } else { panel_CreateCommand_Hide.Visible = false; panel_AdminAdressIDAdd.Visible = false; } moveControlReady.SetReady(localData.MoveControlData.Ready); moveControlError.SetError(localData.MoveControlData.ErrorBit); motionControlStatus.SetValueAndColor(moveControl.MotionControl.Status.ToString(), (int)moveControl.MotionControl.Status); locateControlStatus.SetValueAndColor(moveControl.LocateControl.Status.ToString(), (int)moveControl.LocateControl.Status); }
private void UpdateMoveControlSensorData() { VehicleLocation location = localData.Location; if (localData != null) { sensorData_Address.SetValueAndColor(location.LastAddress, (location.InAddress ? 100 : 0)); sensorData_Section.SetValueAndColor(location.NowSection); sensorData_Distance.SetValueAndColor(location.DistanceFormSectionHead.ToString("0")); } else { sensorData_Address.SetValueAndColor(""); sensorData_Section.SetValueAndColor(""); sensorData_Distance.SetValueAndColor(""); } sensorData_Real.SetValueAndColor(computeFunction.GetMapAGVPositionStringWithAngle(localData.Real)); sensorData_LocationAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.LocateControlData.LocateAGVPosition)); sensorData_MIPCAGVPosition.SetValueAndColor(computeFunction.GetLocateAGVPositionStringWithAngle(localData.MoveControlData.MotionControlData.EncoderAGVPosition)); MoveCommandData command = localData.MoveControlData.MoveCommand; if (command != null) { sensorData_CommandID.SetValueAndColor(command.CommandID); sensorData_CommandStartTime.SetValueAndColor(command.StartTime.ToString("HH:mm:ss")); sensorData_CommandStstus.SetValueAndColor(command.CommandStatus.ToString()); sensorData_MoveStatus.SetValueAndColor(command.MoveStatus.ToString(), (int)command.MoveStatus); sensorData_CommandEncoder.SetValueAndColor(command.CommandEncoder.ToString("0")); SetLabelTextAndColor(label_MoveControlSensorData_SensorSstatusValue, command.SensorStatus); SetLabelTextAndColor(label_MoveControlSensorData_ReserveValue, (command.WaitReserveIndex == -1 ? EnumVehicleSafetyAction.Normal : EnumVehicleSafetyAction.SlowStop)); SetLabelTextAndColor(label_MoveControlSensorData_PauseValue, command.AGVPause); } else { sensorData_CommandID.SetValueAndColor(""); sensorData_CommandStartTime.SetValueAndColor(""); sensorData_CommandStstus.SetValueAndColor(""); sensorData_MoveStatus.SetValueAndColor(""); sensorData_CommandEncoder.SetValueAndColor(""); label_MoveControlSensorData_SensorSstatusValue.Text = ""; label_MoveControlSensorData_ReserveValue.Text = ""; label_MoveControlSensorData_PauseValue.Text = ""; } SetLabelTextAndColor(label_MoveControlSensorData_SafetySensorValue, localData.MIPCData.SafetySensorStatus); SetLabelTextAndColor(label_MoveControlSensorData_LocalPauseValue, localData.MoveControlData.SensorStatus.LocalPause); sensorData_Velocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/", localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0"))); }
private void UpdateTimer_Page2_MoveCommand() { agvVelocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/", localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0"))); MoveCommandData temp = localData.MoveControlData.MoveCommand; if (temp != null) { commandStatus.SetValueAndColor(temp.CommandStatus.ToString()); moveStatus.SetValueAndColor(temp.MoveStatus.ToString()); commandEncoder.SetValueAndColor(temp.CommandEncoder.ToString("0")); sensorStatus.SetValueAndColor(temp.SensorStatus.ToString()); } else { commandStatus.SetValueAndColor(""); moveStatus.SetValueAndColor(""); commandEncoder.SetValueAndColor(""); sensorStatus.SetValueAndColor(""); } sensorStatus.SetValueAndColor(localData.MoveControlData.MotionControlData.AllServoStatus.ToString()); double sleepTime = moveControl.LoopTime; if (sleepTime > localData.MoveControlData.MoveControlConfig.TimeValueConfig.IntervalTimeList[EnumIntervalTimeType.ThreadSleepTime] * 2) { label_LoopTime.ForeColor = Color.Red; } else { label_LoopTime.ForeColor = Color.Green; } label_LoopTime.Text = sleepTime.ToString("0"); UpdateMoveCommandInfo(temp); MapAGVPosition agvPosition = localData.Real; real.SetValueAndColor(computeFunction.GetMapAGVPositionString(agvPosition, "0")); }
private void timer_Tick(object sender, EventArgs e) { LoginLevelAction(); AutoManaulAction(); agv.UpdateLocate(localData.Real); button_SetPosition.Enabled = (localData.AutoManual == EnumAutoState.Manual && localData.MoveControlData.MoveCommand == null); #region label更新. loginLevelMessage.SetValueAndColor(localData.LoginLevel.ToString()); soc.SetValueAndColor(String.Concat(localData.BatteryInfo.SOC.ToString("0.0"), " / ", localData.BatteryInfo.V.ToString("0.0"), "V")); charge.SetValueAndColor(""); loading.SetValueAndColor(""); cstID.SetValueAndColor(""); lastAddress.SetValueAndColor(localData.Location.LastAddress); sectionID.SetValueAndColor(localData.Location.NowSection); sectionDistance.SetValueAndColor(localData.Location.DistanceFormSectionHead.ToString("0.0")); real.SetValueAndColor(String.Concat("( ", computeFunction.GetMapAGVPositionString(localData.Real, "0"), " )")); moveControlCommand.SetValueAndColor(localData.MoveControlData.CommnadID); bool moveControlReadyAndNotErrorBit = localData.MoveControlData.Ready && !localData.MoveControlData.ErrorBit; moveControlStatus.SetValueAndColor((moveControlReadyAndNotErrorBit ? "Ready" : "NotReady"), (moveControlReadyAndNotErrorBit ? 100 : 300)); loadUnloadCommand.SetValueAndColor(localData.LoadUnloadData.CommnadID); loadUnloadStatus.SetValueAndColor(localData.LoadUnloadData.CommandStatus.ToString(), (int)localData.LoadUnloadData.CommandStatus); stopSingal.SetValueAndColor(""); lowSpeedSingal.SetValueAndColor(""); #endregion if (mainFlow.MoveControl.LocateControl.Status == EnumControlStatus.Ready) { label_LocateStatus.Text = "定位OK"; label_LocateStatus.ForeColor = Color.Green; } else { label_LocateStatus.Text = "定位NG"; label_LocateStatus.ForeColor = Color.Red; } tbxNowAlarm.Text = mainFlow.AlarmHandler.NowAlarm; tbxNowAlarmHistory.Text = mainFlow.AlarmHandler.AlarmHistory; pB_Alarm.BackColor = (mainFlow.AlarmHandler.HasAlarm ? Color.Red : Color.Transparent); pB_Warn.BackColor = (mainFlow.AlarmHandler.HasWarn ? Color.Yellow : Color.Transparent); SetSectionColor(); }