/// <summary>
/// 线程处理 放置程序卡顿
/// </summary>
private void ThreadFunc()
{
while (true)
{
Thread.Sleep(2000);
try
{
if (!WcfDispatchHelper.IsConnected)
{
WcfDispatchHelper.Open();
}
if (!WcfMainHelper.IsConnected)
{
WcfMainHelper.Open();
}
if (!WcfTaskHelper.IsConnected)
{
WcfTaskHelper.Open();
}
CheckDispatch();
UpdateMap();
}
catch
{ }
}
}
/// <summary>
///
/// </summary>
private void SendTask()
{
#region SendNow
List <int> selectTar = GetSelectedTars();
if (selectTar == null || selectTar.Count < 1)
{
MessageBox.Show("未选择有效任务", "提示");
return;
}
///构建任务
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
TaskPathNode node = null;
int lastTar = 0;
///添加任务节点
foreach (var item in selectTar)
{
node = new TaskPathNode("", item, false);
task.TaskPathNode.Add(node);
lastTar = item;
}
///启动本地AGV
task.StartSiteList.Add(LocSite.ToString());
///执行任务
if (MessageBox.Show(string.Format("确定要执行任务【{0}】", textBoxNextTars.Text), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲AGV，" + "请稍后再试！", "提示");
}
else
{
ResetBackCorlor();
SetOutputMsg(string.Format("开启新任务"));
MessageBox.Show("派发任务成功,点击启动开始运行！", "提示");
}
}
#endregion
}
/// <summary>
/// 返回待命点
/// </summary>
private void BackWaitPoint()
{
#region BackWaitPoint
StationMember staMem = GetRelateMember(_locTar);
if (staMem == null)
{
MessageBox.Show("没有配置相关的站点，请检查！", "提示");
return;
}
///构建任务
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
TaskPathNode node = null;
int lastTar = 0;
///添加任务节点
foreach (var item in staMem.BackTarList)
{
node = new TaskPathNode("", item, false);
task.TaskPathNode.Add(node);
lastTar = item;
}
///启动本地AGV
task.StartSiteList.Add(LocSite.ToString());
///执行任务
if (MessageBox.Show(string.Format("确定要返回待命点？"), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲AGV，" + "请稍后再试！", "提示");
}
else
{
ResetBackCorlor();
SetOutputMsg(string.Format("开启新任务"));
MessageBox.Show("派发任务成功,点击启动开始运行！", "提示");
}
}
#endregion
}
/// <summary>
/// 初始化参数
/// </summary>
private void InitPara()
{
string Section = "ShowConfig";
int num = 0;
#region 钮宽度
string key = "BtnWidth";
string read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _btnWidth.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_btnWidth = num;
}
#endregion
#region 钮高度
key = "BtnHeight";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _btnHeight.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_btnHeight = num;
}
#endregion
#region 横向距离
key = "XDis";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _xDis.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_xDis = num;
}
#endregion
#region 纵向距离
key = "YDis";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = _yDis.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
_yDis = num;
}
#endregion
#region 起始坐标
int x = 0, y = 0;
key = "StartPoint_X";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = x.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
x = num;
}
key = "StartPoint_Y";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = y.ToString();
ConfigHelper.IniWriteValue(Section, key, read);
}
if (Int32.TryParse(read, out num))
{
y = num;
}
_startLoc = new Point(x, y);
#endregion
#region 客户端配置
Section = "CientConfig";
key = "LoctionSite";
read = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(read))
{
read = "-1";
ConfigHelper.IniWriteValue(Section, key, read);
}
Int32.TryParse(read, out _locTar);
key = "SeverIP";
_severIp = ConfigHelper.IniReadValue(Section, key, 100);
if (string.IsNullOrEmpty(_severIp))
{
_severIp = "127.0.0.1";
ConfigHelper.IniWriteValue(Section, key, _severIp);
}
#endregion
WcfDispatchHelper.InitPara(_severIp, "", "");
WcfMainHelper.InitPara(_severIp, "", "");
WcfTaskHelper.InitPara(_severIp, "", "");
_clientMark = string.Format("微科创新_客户端【{0}】", _locTar);
this.Text = string.Format("{0} IP:{1}", _clientMark, IPHelper.GetLocalIntranetIP());
}
/// <summary>
/// 呼叫AGV
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonCallAGv_Click(object sender, EventArgs e)
{
try
{
if (_isCalling)
{
MessageBox.Show("AGV过来的途中,请等待!", "提示"); return;
}
TaskDispatch task = new TaskDispatch();
task.Descip = _clientMark;
StationMember sta = _staDic.Values.ToList().Find(c => { return(c.StaSite == LocSite); });
if (sta == null)
{
MessageBox.Show("未找到与本客户端绑定的站点", "提示"); return;
}
TaskPathNode node = new TaskPathNode(sta.StaSite.ToString(), sta.StaTarget, true);
task.TaskPathNode.Add(node);
if (sta != null && sta.WaitList != null)
{
foreach (var item in sta.WaitList)
{
task.StartSiteList.Add(item.ToString());
}
}
if (task.StartSiteList == null || task.StartSiteList.Count < 1)
{
MessageBox.Show("未正确配置其相应的待命点,请检查配置!", "提示");
return;
}
if (MessageBox.Show(string.Format("确定要呼叫AGV到【{0}】位置", sta.StaTarget), "提示", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
WcfDispatchHelper.InitPara(_severIp, "", "");
string result = WcfDispatchHelper.IStartTaskDispatch(task);
SetOutputMsg(string.Format("开启新任务"));
if (result != "s")
{
SetOutputMsg(result);
MessageBox.Show("当前没有空闲的AGV，请稍后再试！", "提示");
}
else
{
_isCalling = true;
_callingTask = task;
DispatchBackMember disback = WcfMainHelper.GetDispatch(task.DisGuid);
if (disback != null)
{
_callingAGV = disback.DisDevId;
DeviceBackImf devback = WcfMainHelper.GetDev(_callingAGV);
if (devback != null)
{
_callingSite = devback.SensorList.Find(c => { return(c.SenId == string.Format("{0}0002", devback.DevId)); }).RValue;
}
else
{
_callingSite = null;
}
}
else
{
_callingAGV = null;
}
MessageBox.Show("呼叫成功,请等待AGV过来!", "提示");
}
}
}
catch { }
}
