public void PartMoveEnd(EnumSlotSelect openSlot = EnumSlotSelect.None)
{
FakeMoveArrivalQueue.Enqueue(new PositionArgs()
{
EnumLocalArrival = EnumLocalArrival.EndArrival,
MapPosition = MoveStatus.LastMapPosition
});
}
private void btnSendMove_Click(object sender, EventArgs e)
{
try
{
MapPosition mapPosition = new MapPosition(decimal.ToDouble(numMovePositionX.Value), decimal.ToDouble(numMovePositionY.Value));
int headAngle = decimal.ToInt32(numHeadAngle.Value);
int speed = decimal.ToInt32(numMoveSpeed.Value);
EnumAseMoveCommandIsEnd isEnd = (EnumAseMoveCommandIsEnd)boxIsEnd.SelectedItem;
EnumIsExecute isExecute = (EnumIsExecute)boxKeepOrGo.SelectedItem;
EnumSlotSelect slotOpen = (EnumSlotSelect)boxSlotOpen.SelectedItem;
asePackage.PartMove(mapPosition, headAngle, speed, isEnd, isExecute, slotOpen);
}
catch (Exception ex)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, ex.Message);
}
}
private void btnSendRobot_Click(object sender, EventArgs e)
{
try
{
string pioDirection = boxPioDirection.SelectedIndex.ToString("0");
string gateType = numGateType.Value.ToString("0");
EnumLDUD loadunload1 = (EnumLDUD)boxLDUD1.SelectedItem;
EnumSlotSelect slotSelect1 = (EnumSlotSelect)boxSlotSelect1.SelectedItem;
if (slotSelect1 == EnumSlotSelect.None || slotSelect1 == EnumSlotSelect.Both)
{
return;
}
string slot1 = slotSelect1 == EnumSlotSelect.Left ? "0000L" : "0000R";
string portNumber1 = numPortNumber1.Value.ToString("0");
string addressId1 = txtAddressId1.Text.Trim().PadLeft(5, '0').Substring(0, 5);
string robotCommandInfo = "";
switch (loadunload1)
{
case EnumLDUD.LD:
{
robotCommandInfo = string.Concat(pioDirection, addressId1, slot1, gateType, portNumber1);
}
break;
case EnumLDUD.UD:
{
robotCommandInfo = string.Concat(pioDirection, slot1, addressId1, gateType, portNumber1);
}
break;
case EnumLDUD.None:
default:
return;
}
EnumLDUD loadunload2 = (EnumLDUD)boxLDUD2.SelectedItem;
EnumSlotSelect slotSelect2 = (EnumSlotSelect)boxSlotSelect2.SelectedItem;
if (slotSelect2 == EnumSlotSelect.Both)
{
return;
}
string slot2 = slotSelect2 == EnumSlotSelect.Left ? "0000L" : "0000R";
string portNumber2 = numPortNumber2.Value.ToString("0");
string addressId2 = txtAddressId2.Text.Trim().PadLeft(5, '0').Substring(0, 5);
switch (loadunload2)
{
case EnumLDUD.LD:
{
robotCommandInfo = string.Concat(robotCommandInfo, addressId2, slot2, portNumber2);
}
break;
case EnumLDUD.UD:
{
robotCommandInfo = string.Concat(robotCommandInfo, slot2, addressId2, portNumber2);
}
break;
case EnumLDUD.None:
{
robotCommandInfo = robotCommandInfo.PadRight(24, '0');
}
break;
}
asePackage.DoRobotCommand(robotCommandInfo);
}
catch (Exception ex)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, ex.Message);
}
}
