private void button3_Click(object sender, EventArgs e)
{
try
{
if (waringPointList.Count > 0)
{
for (int i = 0; i < waringPointList.Count; i++)
{
WarningRegionClass wariningregion = new WarningRegionClass();
string strJson = JsonConvert.SerializeObject(waringPointList[i]);
mainform.dbBridge.onDBnodearea_Insert(strJson);
}
}
}
catch
{
}
}
private void pictureBox1_MouseUp(object sender, MouseEventArgs e)
{
int nx = e.X;
int ny = e.Y;
W_x_2 = e.X;
W_y_2 = e.Y;
Graphics g = pictureBox1.CreateGraphics();
Pen pen = new Pen(Color.Red, 2);
if (bMapMouseDN)
{
RectangleF rectT = RectTmp;
//rectT.X = (float)((rectT.X / ratio) -translate_x);
//rectT.Y = (float)((rectT.Y / ratio)-translate_y);
rectT.X = (float)((rectT.X - 0) / Wheelratio);
rectT.Y = (float)((rectT.Y - 0) / Wheelratio);
rectT.Width = (float)(rectT.Width / Wheelratio);
rectT.Height = (float)(rectT.Height / Wheelratio);
waringRectList.Add(rectT);
WarningRegionClass wariningregion = new WarningRegionClass();
wariningregion.nX1 = (float)(((W_x_1 - dOrignX) * resolution)) / Wheelratio;
wariningregion.nY1 = (float)(((W_y_1 - dOrignY) * resolution)) / Wheelratio * -1;
wariningregion.nX2 = (float)(((W_x_2 - dOrignX) * resolution)) / Wheelratio;
wariningregion.nY2 = (float)(((W_y_2 - dOrignY) * resolution)) / Wheelratio * -1;
waringPointList.Add(wariningregion);
picturebox_paint();
g.Dispose();
pen.Dispose();
}
}
private void picturebox_paint()
{
try
{
dOrignX = ((ori_x * -1) / resolution);
dOrignY = ((ori_y) / resolution);
if (dOrignY < 0)
{
dOrignY *= -1;
}
dOrignY = img.Height - dOrignY;
dOrignX = dOrignX * (float)Wheelratio;
dOrignY = dOrignY * (float)Wheelratio;
Bitmap sourceBMP = new Bitmap(img, img.Width, img.Height);
Image image_resize;
image_resize = ZoomIn(sourceBMP, (float)Wheelratio);
Bitmap displayBMP = new Bitmap(image_resize.Width, image_resize.Height);
displayBMP.SetResolution(image_resize.HorizontalResolution, image_resize.VerticalResolution);
Graphics g = Graphics.FromImage(displayBMP);
g.DrawImage(image_resize, new PointF(0, 0));
Pen pen4 = new Pen(Brushes.Red, 5);
pen4.DashStyle = DashStyle.Dot;
if (pictureBox1.Image != null)
{
if (Data.Instance.isConnected)
{
if (Data.Instance.robot_liveinfo.robotinfo.msg != null)
{
for (int i = 0; i < Data.Instance.robot_liveinfo.robotinfo.msg.robolist.Count; i++)
{
if (Data.Instance.robot_liveinfo.robotinfo.msg.robolist.Count > 0)
{
float robotx = (float)Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].pose.x;
float roboty = (float)Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].pose.y;
float cellX = (float)(robotx / resolution);
float cellY = (float)(roboty / resolution);
PointF pos = new PointF();
pos.X = dOrignX + cellX * (float)Wheelratio;
pos.Y = dOrignY - cellY * (float)Wheelratio;
Pen pen_robot = new Pen(Brushes.BlueViolet, 3);
pen_robot.DashStyle = DashStyle.Solid;
g.DrawEllipse(pen_robot, pos.X - 10, pos.Y - 10, 20, 20);
g.DrawString(string.Format("{0}", Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].RID), new Font("고딕체", 30), Brushes.Black, pos.X - 20, pos.Y + 10);
pen_robot.Dispose();
}
}
}
}
}
Pen bb = new Pen(Brushes.Red, 4);
if (aa.Count > 0)
{
for (int i = 0; i < save.Count; i++)
{
g.DrawEllipse(bb, aa[i].X - 1, aa[i].Y - 1, 2, 2);
}
}
Paint_conveyor();
if (mainform.node_area_.Count() > 0)
{
for (int i = 0; i < waringPointList.Count; i++)
{
WarningRegionClass wariningregion = new WarningRegionClass();
wariningregion = waringPointList[i];
float wx = wariningregion.nX1;
float wy = wariningregion.nY1;
float wx2 = wariningregion.nX2;
float wy2 = wariningregion.nY2;
float cellX = wx / resolution;
float cellY = wy / resolution;
float cellX2 = wx2 / resolution;
float cellY2 = wy2 / resolution;
PointF pos = new PointF();
pos.X = dOrignX + cellX * Wheelratio;
pos.Y = dOrignY - cellY * Wheelratio;
PointF pos2 = new PointF();
pos2.X = dOrignX + cellX2 * Wheelratio;
pos2.Y = dOrignY - cellY2 * Wheelratio;
g.DrawRectangle(pen4, pos.X, pos.Y, pos2.X - pos.X, pos2.Y - pos.Y);
}
}
pictureBox1.Image = displayBMP;
if (pictureBox1.Image != null)
{
sourceBMP.Dispose();
g.Dispose();
pen4.Dispose();
}
}
catch
{
}
}
