private void loginFrm_Closing(object sender, FormClosingEventArgs e)
{
this.Hide();
if (AGVEngine.getInstance().getCurrentUser() == null)
{
System.Environment.Exit(0);
}
}
private void clearBeep()
{
if (AGVEngine.getInstance().getUseUsbAlarm())
{
clearUsbBeep();
}
else
{
setKeepBeep(false);
}
}
private void startBeep(AGVMessageHandler_TYPE_T message_type)
{
if (AGVEngine.getInstance().getUseUsbAlarm())
{
setUsbBeep(message_type); //使用usb报警灯报警
}
else
{
startKeepBeepThread(); //使用电脑声音报警
}
}
private bool checkUser(string userName, string passwd)
{
foreach (User user in AGVCacheData.getUserList())
{
if (user.userPasswd.Equals(passwd) && user.userName.Equals(userName))
{
AGVEngine.getInstance().setCurrentUser(user);
return(true);
}
}
return(false);
}
private void initUserPanel()
{
User user = AGVEngine.getInstance().getCurrentUser();
if (user == null)
{
this.userLabel.Text = "无";
}
else
{
this.userLabel.Text = user.userName;
}
}
public void click(object sender, EventArgs e)
{
string cmd = "cmd=set task by name;name=" + this.Name + ";";
AGVLog.WriteError("向AGV下达命令: " + cmd, new StackFrame(true));
Console.WriteLine("向AGV下达命令: " + cmd);
if (AGVEngine.getInstance().isAgvReady())
{
ForkLiftWrappersService.getInstance().getForkLiftByNunber(1).getAGVSocketClient().SendMessage(cmd);
}
else
{
MessageBox.Show("环境中AGV尚未准备妥当");
}
}
private void send(string cmd)
{
if (AGVEngine.getInstance().isAgvReady())
{
while (true)
{
if (ForkLiftWrappersService.getInstance().getForkLiftByNunber(1).getAGVSocketClient().SendMessage(cmd))
{
break;
}
Thread.Sleep(5000);
}
}
else
{
AGVLog.WriteSendInfo("向AGV下达命令: " + cmd, new StackFrame(true));
}
}
public void sendCommand()
{
AGVLog.WriteSendInfo("开始处理！", new StackFrame(true));
TaskexeBean taskexeBean = TaskexeService.getInstance().getNextTaskexeBean();
if (taskexeBean == null)
{
return;
}
string cmd = "cmd=set task by name;name=" + taskexeBean.getTaskid() + ".xml";
SingleTask singleTask = AGVCacheData.getSingleTaskByID(taskexeBean.getTaskid());
sendContinueCommand();
Thread.Sleep(1000);
int i = -2;
if ("1".Equals(singleTask.getAllocOpType()))
{
while (string.IsNullOrEmpty(latestMsgFromClient) || latestMsgFromClient.IndexOf("task_isfinished=") < 0 || !"0".Equals(latestMsgFromClient.Substring(latestMsgFromClient.IndexOf("task_isfinished=") + "task_isfinished=".Length, 1)))
{
send(cmd);
AGVLog.WriteSendInfo("发送命令:" + cmd, new StackFrame(true));
Thread.Sleep(3000);
if (!AGVEngine.getInstance().isAgvReady())
{
latestMsgFromClient = "task_isfinished=" + (i++) + ";";
}
}
}
while (true)
{
AGVLog.WriteSendInfo("判断任务" + taskexeBean.getTaskid() + "是否Over！", new StackFrame(true));
if ("Over".Equals(TaskexeDao.getDao().selectTaskexeByUuid(taskexeBean.getUuid()).getOpflag()))
{
break;
}
Thread.Sleep(5000);
}
Thread.Sleep(1000);
}
