/// <summary>
/// 加载数据表格
/// </summary>
/// <param name="paraworkline"></param>
/// <param name="paralinenum"></param>
private void LoadDataGrid(string paraworkline, int paralinenum)
{
if (paralinenum > 0)
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select l.*,m.Mark,m.WorkLine,m.XPos,m.YPos from T_Line as l LEFT OUTER JOIN T_Mark as m ON l.MarkID = m.ID where l.MarkID IS NOT NULL and l.MarkOrder IS NOT NULL and l.LineNum=" + Convert.ToString(paralinenum) + " and WorkLine=" + paraworkline + " order by l.MarkOrder");
canvas.Children.Remove(path);
if (sql1.Rows.Count > 1)
{
route.Points.Clear();
for (int i = 0; i < sql1.Rows.Count; i++)
{
if (!string.IsNullOrEmpty(sql1.Rows[i]["XPos"].ToString()) && !string.IsNullOrEmpty(sql1.Rows[i]["YPos"].ToString()))
{
route.Points.Add(new Point(Convert.ToDouble(sql1.Rows[i]["XPos"]), Convert.ToDouble(sql1.Rows[i]["YPos"])));
}
}
if (route.Points.Count >= 2)
{
pFigure.StartPoint = route.Points[0];
canvas.Children.Add(path);
}
}
dataGrid1.ItemsSource = sql1.m_table.DefaultView;
sql1.Close();
linenum = paralinenum;
}
else
{
dataGrid1.ItemsSource = null;
}
}
/// <summary>
/// Execute shutdown tasks
/// </summary>
/// <param name="sender">Object sending the event</param>
/// <param name="e">Event arguments</param>
private void Window_Closing(object sender, CancelEventArgs e)
{
// Stop Com,Unregister SPComCall data received event
if (null != SPComCall)
{
SPComCall.Close();
SPComCall.OnDataReceived -= this.SPComCall_OnDataReceived;
}
//close & clear SQL
if (null != callSql)
{
callSql.Close();
callSql = null;
}
//clear collection
if (null != memberData)
{
memberData.Clear();
memberData = null;
}
if (null != buf_callctl)
{
buf_callctl = null;
}
if (null != buf_callret)
{
buf_callret = null;
}
}
/// <summary>
/// 路口初始化,读取数据表T_Traffic
/// </summary>
/// <returns>初始化true成功orfalse失败(没有设置管制区)</returns>
public bool Init()
{
DAL.ZSql trafficSql = new DAL.ZSql();
bool flag = false;
try
{
trafficSql.Open("SELECT MAX(TrafficNum) AS MaxTrafficNum FROM T_Traffic");
if (trafficSql.rowcount < 1 || string.IsNullOrEmpty(trafficSql.Rows[0]["MaxTrafficNum"].ToString()))
{
trafficSql.Close();
return(false);
}
trafficCount = Convert.ToInt32(trafficSql.Rows[0]["MaxTrafficNum"]);
if (trafficCount > 0)
{
DAL.ZSql SqlLineNum = new DAL.ZSql();
for (int i = 0; i < trafficCount; i++)
{
agvTrafficList.Add(new AGVTraffic());
trafficSql.Open("SELECT COUNT(TrafficNum) AS MarkSum FROM T_Traffic WHERE TrafficNum =" + (i + 1).ToString()); //一定会有一行数据，不存在的管制区为iMarkSum=0
if (string.IsNullOrEmpty(trafficSql.Rows[0]["MarkSum"].ToString())) //存在一行数据，但是字段里面是空的，什么都没有
{
continue;
}
agvTrafficList[i].trafficMarkCount = Convert.ToInt32(trafficSql.Rows[0]["MarkSum"]);
if (agvTrafficList[i].trafficMarkCount == 0)
{
continue;
}
else
{
agvTrafficList[i].trafficNum = i + 1;
agvTrafficList[i].trafficName = "管制路口" + (i + 1).ToString();
agvTrafficList[i].trafficMarkArray = new TrafficMark[agvTrafficList[i].trafficMarkCount];
SqlLineNum.Open("Select T_Mark.WorkLine,T_Mark.Mark,T_Traffic.MarkID from T_Traffic Left Join T_Mark ON T_Traffic.MarkID = T_Mark.ID Where TrafficNum=" + Convert.ToString(i + 1));
for (int j = 0; j < SqlLineNum.Rows.Count; j++)
{
if (!string.IsNullOrEmpty(SqlLineNum.Rows[j]["WorkLine"].ToString().Trim()) && !string.IsNullOrEmpty(SqlLineNum.Rows[j]["Mark"].ToString().Trim()))
{
agvTrafficList[i].trafficMarkArray[j].workLineNum = Convert.ToInt32(SqlLineNum.Rows[j]["WorkLine"]);
agvTrafficList[i].trafficMarkArray[j].markNum = Convert.ToInt32(SqlLineNum.Rows[j]["Mark"]);
}
}
}
}
flag = true;
}
}
catch (System.Exception ex)
{
flag = false;
}
trafficSql.Close();
return(flag);
}
/// <summary>
/// 线路号绑定
/// </summary>
/// <param name="worklinenum">生产区</param>
private void BindLineCombox(string worklinenum)
{
if (!string.IsNullOrEmpty(worklinenum))
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select DISTINCT LineNum from T_Line LEFT OUTER JOIN T_Mark ON T_Line.MarkID = T_Mark.ID where LineNum > 0 AND WorkLine=" + worklinenum + " order by LineNum");
cbRoute.ItemsSource = sql1.m_table.DefaultView;
cbRoute.DisplayMemberPath = "LineNum";
cbRoute.SelectedValuePath = "LineNum";
sql1.Close();
}
}
private void Loginbutton_Click(object sender, RoutedEventArgs e)
{
string UserName = this.UserNametextBox.Text.ToLower().Trim();
string PassWord = this.passwordBox.Password.ToLower().Trim();
DAL.ZSql sql = new DAL.ZSql();
int i = sql.Open("select * from T_UserInfo where UserName=@username and Pwd=@password", new SqlParameter[] { new SqlParameter("username", UserName), new SqlParameter("password", PassWord) });
if (i < 0)
{
sql.Close();
MessageBox.Show("数据库连接失败，请检查是否开启数据库服务或正确配置系统连接字符串", "登录错误", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
if (sql.Rows.Count > 0)
{
if (sql.Rows[0]["IsManager"].ToString() == "True")
{
GlobalPara.IsManager = true;
}
else
{
GlobalPara.IsManager = false;
}
GlobalPara.strName = UserName;
GlobalPara.userid = sql.Rows[0]["ID"].ToString();
sql.Close();
try
{
MainWindow mn = new MainWindow();
mn.Show();
this.Close();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + "系统发生严重错误！！！即将退出系统！！！", "系统异常", MessageBoxButton.OK, MessageBoxImage.Error);
Application.Current.Shutdown();
}
}
else
{
MessageBox.Show("用户名或密码错误，请检查", "警告");
this.UserNametextBox.Clear();
this.passwordBox.Clear();
this.UserNametextBox.Focus();
}
sql.Close();
}
/// <summary>
/// 修改密码
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnModify_Click(object sender, RoutedEventArgs e)
{
if (pwdboxNew.Password.ToLower().Trim() == string.Empty)
{
MessageBox.Show("密码不能为空");
return;
}
else if (pwdboxNew.Password.ToLower().Trim() != pwdboxNewagain.Password.ToLower().Trim())
{
MessageBox.Show("两次输入密码不一致");
return;
}
DAL.ZSql sql = new DAL.ZSql();
sql.Open("update T_UserInfo set Pwd='" + pwdboxNew.Password.ToLower().Trim() + "' where ID=" + GlobalPara.userid);
MessageBox.Show("修改密码成功！");
}
private void btnModify_Click(object sender, RoutedEventArgs e)
{
if (pwdboxNew.Password.ToLower().Trim() == string.Empty)
{
MessageBox.Show("密码不能为空");
return;
}
else if (pwdboxNew.Password.ToLower().Trim() != pwdboxNewagain.Password.ToLower().Trim())
{
MessageBox.Show("两次输入密码不一致");
return;
}
DAL.ZSql sql = new DAL.ZSql();
sql.Open("update T_UserInfo set Pwd='" + pwdboxNew.Password.ToLower().Trim() + "' where ID=" + GlobalPara.userid);
MessageBox.Show("修改密码成功！");
}
//修改日期：2013-12-1
/// <summary>
/// 生产区下拉框绑定
/// </summary>
private void BindWorkLineCombox()
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("Select DISTINCT WorkLine from T_Mark");
cbWorkLine.ItemsSource = sql1.m_table.DefaultView;
cbWorkLine.DisplayMemberPath = "WorkLine";
cbWorkLine.SelectedValuePath = "WorkLine";
sql1.Close();
//修改日期：2013-12-30
DAL.ZSql sql2 = new DAL.ZSql();
sql2.Open("Select DISTINCT WorkLine from T_Mark");
cbRoute_WorkLine.ItemsSource = sql2.m_table.DefaultView;
cbRoute_WorkLine.DisplayMemberPath = "WorkLine";
cbRoute_WorkLine.SelectedValuePath = "WorkLine";
sql2.Close();
}
private void Loginbutton_Click(object sender, RoutedEventArgs e)
{
string UserName = this.UserNametextBox.Text.ToLower().Trim();
string PassWord = this.passwordBox.Password.ToLower().Trim();
DAL.ZSql sql = new DAL.ZSql();
int i = sql.Open("select * from T_UserInfo where UserName=@username and Pwd=@password", new SqlParameter[] { new SqlParameter("username", UserName), new SqlParameter("password", PassWord) });
if (i < 0)
{
sql.Close();
MessageBox.Show("数据库连接失败，请检查是否开启数据库服务或正确配置系统连接字符串", "登录错误", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
if (sql.Rows.Count > 0)
{
if (sql.Rows[0]["IsManager"].ToString() == "True")
{
GlobalPara.IsManager = true;
}
else
{
GlobalPara.IsManager = false;
}
GlobalPara.strName = UserName;
GlobalPara.userid = sql.Rows[0]["ID"].ToString();
sql.Close();
try
{
MainWindow mn = new MainWindow();
mn.Show();
this.Close();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + "系统发生严重错误！！！即将退出系统！！！", "系统异常", MessageBoxButton.OK, MessageBoxImage.Error);
Application.Current.Shutdown();
}
}
else
{
MessageBox.Show("用户名或密码错误，请检查", "警告");
this.UserNametextBox.Clear();
this.passwordBox.Clear();
this.UserNametextBox.Focus();
}
sql.Close();
}
/// <summary>
/// 加载表格中数据
/// </summary>
private void LoadData()
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select * from T_Mark Order by WorkLine,Mark");
//加载地图中地标
canvas.Children.Clear();
double x = 0, y = 0;
for (int i = 0; i < sql1.Rows.Count; i++)
{
x = Convert.ToDouble(sql1.Rows[i]["XPos"]);
y = Convert.ToDouble(sql1.Rows[i]["YPos"]);
Ellipse markellipse = new Ellipse();
markellipse.Height = MarkDiameter;
markellipse.Width = MarkDiameter;
markellipse.ToolTip = "ID:" + sql1.Rows[i]["ID"].ToString() + "\r\nWorkLine:" + sql1.Rows[i]["WorkLine"].ToString() + " Mark:" + sql1.Rows[i]["Mark"];
Canvas.SetLeft(markellipse, x - MarkDiameter / 2);
Canvas.SetTop(markellipse, y - MarkDiameter / 2);
//设置虚拟点颜色
if (Convert.ToBoolean(sql1.Rows[i]["VirtualMark"]))
{
markellipse.Fill = IsVirtualMark;
}
else
{
//非虚拟点加入ID显示
markellipse.Fill = NotVirtualMark;
Label marklable = new Label();
marklable.FontSize = 10;
marklable.Foreground = Brushes.Black;
marklable.Content = sql1.Rows[i]["ID"].ToString();
Canvas.SetLeft(marklable, x - 14);
Canvas.SetTop(marklable, y - 20);
canvas.Children.Add(marklable);
}
//地标都显示出来
canvas.Children.Add(markellipse);
}
//加载表格
dataGrid1.ItemsSource = sql1.m_table.DefaultView;
sql1.Close();
}
/// <summary>
/// 加载表格中数据
/// </summary>
private void LoadData()
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select * from T_Mark Order by WorkLine,Mark");
//加载地图中地标
canvas.Children.Clear();
double x = 0, y = 0;
for (int i = 0; i < sql1.Rows.Count; i++)
{
x = Convert.ToDouble(sql1.Rows[i]["XPos"]);
y = Convert.ToDouble(sql1.Rows[i]["YPos"]);
Ellipse markellipse = new Ellipse();
markellipse.Height = MarkDiameter;
markellipse.Width = MarkDiameter;
markellipse.ToolTip = "ID:" + sql1.Rows[i]["ID"].ToString() + "\r\nWorkLine:" + sql1.Rows[i]["WorkLine"].ToString() + " Mark:" + sql1.Rows[i]["Mark"];
Canvas.SetLeft(markellipse, x - MarkDiameter/2);
Canvas.SetTop(markellipse, y - MarkDiameter/2);
//设置虚拟点颜色
if (Convert.ToBoolean(sql1.Rows[i]["VirtualMark"]))
{
markellipse.Fill = IsVirtualMark;
}
else
{
//非虚拟点加入ID显示
markellipse.Fill = NotVirtualMark;
Label marklable = new Label();
marklable.FontSize = 10;
marklable.Foreground = Brushes.Black;
marklable.Content = sql1.Rows[i]["ID"].ToString();
Canvas.SetLeft(marklable, x - 14);
Canvas.SetTop(marklable, y - 20);
canvas.Children.Add(marklable);
}
//地标都显示出来
canvas.Children.Add(markellipse);
}
//加载表格
dataGrid1.ItemsSource=sql1.m_table.DefaultView;
sql1.Close();
}
/// <summary>
/// 控制面板中数据初始化
/// </summary>
private void ControlAreaInit()
{
//小车编号加载初始化
for (int i = 0; i < AGVNUM_MAX; i++)
{
cb_AgvNum.Items.Add("AGV" + (i + 1).ToString());
}
//线路加载初始化
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select DISTINCT LineNum from T_Line order by LineNum");
cb_LineNum.ItemsSource = sql1.m_table.DefaultView;
cb_LineNum.DisplayMemberPath = "LineNum";
cb_LineNum.SelectedValuePath = "LineNum";
cb_LineNum.SelectedValue = "0";
sql1.Close();
}
//修改日期：2013-12-1
/// <summary>
/// 生产区下拉框绑定
/// </summary>
private void BindWorkLineCombox()
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("Select DISTINCT WorkLine from T_Mark");
cbWorkLine.ItemsSource = sql1.m_table.DefaultView;
cbWorkLine.DisplayMemberPath = "WorkLine";
cbWorkLine.SelectedValuePath = "WorkLine";
sql1.Close();
//修改日期：2013-12-30
DAL.ZSql sql2 = new DAL.ZSql();
sql2.Open("Select DISTINCT WorkLine from T_Mark");
cbRoute_WorkLine.ItemsSource = sql2.m_table.DefaultView;
cbRoute_WorkLine.DisplayMemberPath = "WorkLine";
cbRoute_WorkLine.SelectedValuePath = "WorkLine";
sql2.Close();
}
/// <summary>
/// 自定义初始化
/// </summary>
private void CustomInit()
{
DAL.ZSql sql1 = new DAL.ZSql();
//地标功能定义
sql1.Open("select CmdFunction from T_Custom where CustomType=1 order by CmdNum");
if (sql1.rowcount > 0)
{
MarkFuncOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
MarkFuncOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置地标功能！");
}
//运行状态定义
sql1.Open("select CmdFunction from T_Custom where CustomType=2 order by CmdNum");
if (sql1.rowcount > 0)
{
StatusOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
StatusOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置AGV运行状态！");
}
sql1.Close();
}
/// <summary>
/// 加载数据表格
/// </summary>
/// <param name="paraworkline"></param>
/// <param name="paralinenum"></param>
private void LoadDataGrid(string paraworkline, int paralinenum)
{
if (paralinenum > 0)
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select l.*,m.Mark,m.WorkLine,m.XPos,m.YPos from T_Line as l LEFT OUTER JOIN T_Mark as m ON l.MarkID = m.ID where l.MarkID IS NOT NULL and l.MarkOrder IS NOT NULL and l.LineNum=" + Convert.ToString(paralinenum) + " and WorkLine=" + paraworkline + " order by l.MarkOrder");
canvas.Children.Remove(path);
if (sql1.Rows.Count > 1)
{
route.Points.Clear();
for (int i = 0; i < sql1.Rows.Count; i++)
{
if (!string.IsNullOrEmpty(sql1.Rows[i]["XPos"].ToString()) && !string.IsNullOrEmpty(sql1.Rows[i]["YPos"].ToString()))
{
route.Points.Add(new Point(Convert.ToDouble(sql1.Rows[i]["XPos"]), Convert.ToDouble(sql1.Rows[i]["YPos"])));
}
}
if (route.Points.Count >= 2)
{
pFigure.StartPoint = route.Points[0];
canvas.Children.Add(path);
}
}
dataGrid1.ItemsSource = sql1.m_table.DefaultView;
sql1.Close();
linenum = paralinenum;
}
else
{
dataGrid1.ItemsSource = null;
}
}
/// <summary>
/// 线路号绑定
/// </summary>
/// <param name="worklinenum">生产区</param>
private void BindLineCombox(string worklinenum)
{
if (!string.IsNullOrEmpty(worklinenum))
{
DAL.ZSql sql1 = new DAL.ZSql();
sql1.Open("select DISTINCT LineNum from T_Line LEFT OUTER JOIN T_Mark ON T_Line.MarkID = T_Mark.ID where LineNum > 0 AND WorkLine=" + worklinenum + " order by LineNum");
cbRoute.ItemsSource = sql1.m_table.DefaultView;
cbRoute.DisplayMemberPath = "LineNum";
cbRoute.SelectedValuePath = "LineNum";
sql1.Close();
}
}
/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
Point pStart = new Point(), pVirtual = new Point();
//待测试
//if (agvDock != null && agvCharge != null && agvCall != null)
//{
// if (Convert.ToInt32(temp1.txtDockNum) == 0)
// {
// if (agvDock.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //充电返回后，清除状态
// if (temp1.txtagvCharge == 4) { AGVStatus[iagvnum - 1].agvCharge = 0; }
// CarLine carline = agvDock.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtDockNum = carline.dockNum.ToString();
// temp1.txtLineNum = carline.lineNum.ToString();
// AGVStatus[iagvnum - 1].dockNum = carline.dockNum;
// //启动车辆，发送变更为待装停靠区路线
// //进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }
// else
// {
// if (agvDock.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvDock.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// temp1.txtDockNum = "0";
// AGVStatus[iagvnum - 1].dockNum = 0;
// //此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
// //1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
// //2.当temp1.txtagvCharge ==0时，为执行任务的路线
// if (temp1.txtagvCharge == 1)
// {
// AGVStatus[iagvnum - 1].agvCharge = 2;
// }
// AGVControlCommand(iagvnum, 0, 0, Convert.ToByte(agvDock.outDockLine[iagvnum - 1]));
// agvDock.outDockLine[iagvnum - 1] = 0;
// }
// }
// if (temp1.txtagvCharge == 2)
// {
// if (agvCharge.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// CarLine carline = agvCharge.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtagvCharge = 3;//充电状态
// AGVStatus[iagvnum - 1].agvCharge = 3;//充电状态
// temp1.txtLineNum = carline.lineNum.ToString();
// //启动车辆，发送变更路线
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
// else if (temp1.txtagvCharge == 3)
// {
// if (agvCharge.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvCharge.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, 0);
// agvDock.outDockLine[iagvnum - 1] = agvCharge.chargeLine;//在出待装区的时候改变路线使用
// }
// temp1.txtagvCharge = 4;
// AGVStatus[iagvnum - 1].agvCharge = 4;
// }
// }
//}
#region 停靠区
if (agvDock != null)
{
// 判断是否进入停靠区
if (temp1.DockNum == 0)
{
if (agvDock.dockStartStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//已经进入停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//车辆进入停靠区
CarLine carline = agvDock.Add(temp1.AGVNum);
if (carline != null)
{
temp1.DockNum = carline.dockNum;
temp1.LineNum = carline.lineNum;
//更新停靠区参数
AGVStatus[listindex].DockNum = carline.dockNum;
//启动车辆，发送变更为待装停靠区路线
//进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
AGVControlCommand(temp1.AGVNum, 3, 0, carline.lineNum);
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(temp1.AGVNum, 2, 0, 0);
}
//启用充电区
if (agvCharge != null)
{
//充电返回后，清除状态
if (temp1.AGVCharge == 4) { AGVStatus[listindex].AGVCharge = 0; }
}
else//不启用充电区
{
}
}
else
{
//未进入停靠区，一直处于停靠区外面；暂不做处理
}
}
else//判断是否出停靠区
{
if (agvDock.dockEndStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//离开停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//移除待装区排队
CarLine carline = agvDock.Delete(temp1.AGVNum);
//更新AGV停靠区参数
temp1.DockNum = 0;
AGVStatus[listindex].DockNum = 0;
//更新AGV路线
//有车辆等待排队
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
IEnumerable<AGVCar> dockmember = AGVStatus.Where<AGVCar>(p => p.AGVNum == carline.agvNum);
int indexfind = AGVStatus.IndexOf(dockmember.First());
AGVStatus[indexfind].DockNum = carline.dockNum;
//如果在等待排队中有车辆，启动等待的车辆
AGVControlCommand(carline.agvNum, 3, 0, carline.lineNum);
}
//启用充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(temp1.LineNum);
//充电路线，当linenum=0,说明用户没有定义
agvDock.outDockLine[temp1.AGVNum - 1] = linenum;//充电路线
if (linenum > 0)
{
AGVStatus[listindex].AGVCharge = 2;
}
}
}
else
{
//不启动充电区
}
//车辆驶出停靠区后变更路线
//此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
//1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
//2.当temp1.txtagvCharge ==0时，为执行任务的路线
if (agvDock.outDockLine[temp1.AGVNum - 1] > 0)
{
AGVControlCommand(temp1.AGVNum, 0, 0, agvDock.outDockLine[temp1.AGVNum - 1]);
agvDock.outDockLine[temp1.AGVNum - 1] = 0;
}
}
else
{
//已经进入停靠区，但一直在停靠区内；暂不做处理
}
}
}
#endregion
#region 充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 2)
{
if (agvCharge.dockStartStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
CarLine carline = agvCharge.Add(temp1.AGVNum, temp1.LineNum);
if (carline != null)
{
temp1.AGVCharge = 3;//充电状态
AGVStatus[listindex].AGVCharge = 3;//充电状态
temp1.LineNum = carline.lineNum;
//启动车辆，发送变更路线
AGVControlCommand(temp1.AGVNum, 3, 0, carline.lineNum);
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(temp1.AGVNum, 2, 0, 0);
}
}
}//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
else if (temp1.AGVCharge == 3)
{
if (agvCharge.dockEndStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//移除待装区排队
CarLine carline = agvCharge.Delete(temp1.AGVNum);
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
IEnumerable<AGVCar> dockmember = AGVStatus.Where<AGVCar>(p => p.AGVNum == carline.agvNum);
int indexfind = AGVStatus.IndexOf(dockmember.First());
AGVStatus[indexfind].DockNum = carline.dockNum;
//如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
temp1.LineNum = carline.lineNum;
AGVControlCommand(carline.agvNum, 3, 0, carline.lineNum);
}
temp1.AGVCharge = 4;
AGVStatus[listindex].AGVCharge = 4;
AGVControlCommand(temp1.AGVNum, 0, 0, agvCharge.beforeEnterLine[temp1.DockNum]);
}
}
}
#endregion
DAL.ZSql TrafficPara = new DAL.ZSql();
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.WorklineNum.ToString() + " and Mark=" + temp1.MarkNum.ToString() + " and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List<Point> pointcollection1 = new List<Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
//线路起点处检测电量
if (currentOrder == 2)
{
//AGV到达起点位置，空闲状态；当检测到AGV状态为运行时，为执行任务
AGVStatus[listindex].AGVTask = 0;
//启用充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(temp1.LineNum);
//当linenum=0时，说明管理员没有设置充电路线，不会启动自动充电
if (linenum > 0)
{
AGVControlCommand(temp1.AGVNum, 1, 0, linenum);
AGVStatus[listindex].AGVCharge = 2;
}
}
}
}
bool isvirtualpoint = true;
double dMarkdistance = 0;
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
else
{
isvirtualpoint = false;
break;
}
}
while (isvirtualpoint);
if (pointcollection1.Count >= 2)
{
double dAgvspeed = SpeedOpt[temp1.AGVSpeed].Speed / 60.0;
if (dAgvspeed == 0)
{
dAgvspeed = dMarkdistance;
}
AGVStatus[listindex].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[temp1.AGVNum % ColorOpt.Length], dMarkdistance / dAgvspeed);
}
}
TrafficPara.Close();
}
/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
Point pStart = new Point(), pVirtual = new Point();
DAL.ZSql TrafficPara = new DAL.ZSql();
try
{
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.WorklineNum.ToString() + " and Mark=" + temp1.MarkNum.ToString() + " and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List<Point> pointcollection1 = new List<Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
bool isvirtualpoint = true;
double dMarkdistance = 0;
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
else
{
isvirtualpoint = false;
break;
}
}
while (isvirtualpoint);
if (pointcollection1.Count >= 2)
{
double dAgvspeed = SpeedOpt[temp1.AGVSpeed].Speed / 60.0;
if (dAgvspeed == 0)
{
dAgvspeed = dMarkdistance;
}
App.Current.Dispatcher.Invoke((Action)(() =>
{
AGVStatus[listindex].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[temp1.AGVNum % ColorOpt.Length], dMarkdistance / dAgvspeed);
}));
}
}
}
catch (Exception)
{
throw;
}
finally
{
TrafficPara.Close();
}
}
/// <summary>
/// 运行状态属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void StatusChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
AGVStatus[listindex].agvAnimation.StatusChangeAnimation(temp1.AGVStatus, temp1.AGVNum, temp1.DockNum);
switch (temp1.AGVStatus)
{
case 0x40://"运行":
AGVStatus[listindex].AGVTask = 1;
break;
case 0x41://"暂停":
break;
case 0x42://"结束地标停止":
//if (agvCall.lineNum.Count > 0)//有叫料信息，需要车辆运送
//{
// if (agvCall.lineNum[0] > 0)
// {
// agvDock.outDockLine[iagvnum - 1] = agvCall.lineNum[0];
// AGVControlCommand(iagvnum, 3, 0, 0);
// }
//}
break;
default:
{
//将报警记录写入到数据库
string txttimer = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
DAL.ZSql TrafficPara = new DAL.ZSql();
TrafficPara.Open("Insert into T_Ex (CarID,ExTimer,ExType,ExRouteNum,ExMarkNum,ExWorkLine) VALUES (" + temp1.AGVNum.ToString() + ",'" + txttimer + "','" + StatusOpt[temp1.AGVStatus] + "'," + temp1.LineNum.ToString() + "," + temp1.MarkNum.ToString() + "," + temp1.WorklineNum.ToString() + ")");
TrafficPara.Close();
break;
}
}
}
/// <summary>
/// 自定义初始化
/// </summary>
private void CustomInit()
{
DAL.ZSql sql1 = new DAL.ZSql();
try
{
//地标功能定义
sql1.Open("select CmdFunction from T_Custom where CustomType=1 order by CmdNum");
if (sql1.rowcount > 0)
{
MarkFuncOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
MarkFuncOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置地标功能！");
}
//运行状态定义
sql1.Open("select CmdFunction from T_Custom where CustomType=2 order by CmdNum");
if (sql1.rowcount > 0)
{
StatusOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
StatusOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置AGV运行状态！");
}
//速度定义
sql1.Open("select SpeedGrade,Speed,CmdNum from T_Speed order by CmdNum");
if (sql1.rowcount > 0)
{
SpeedOpt = new SortedList <int, SpeedStr>();
for (int i = 0; i < sql1.rowcount; i++)
{
string speedgrade = sql1.Rows[i]["SpeedGrade"].ToString();
int cmdnum;
Int32.TryParse(sql1.Rows[i]["CmdNum"].ToString(), out cmdnum);
double speed;
Double.TryParse(sql1.Rows[i]["Speed"].ToString(), out speed);
SpeedOpt.Add(cmdnum, new SpeedStr(cmdnum, speed, speedgrade));
}
}
else
{
MessageBox.Show("请在“速度设置”中设置AGV速度信息！", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
}
}
catch (Exception ex)
{
throw new Exception("初始化定义读取数据库失败！" + ex.Message);
}
finally
{
sql1.Close();
sql1 = null;
}
}
/// <summary>
/// 生产区初始化
/// </summary>
private byte DrvWlConWorkLineInit(byte agvid)
{
DAL.ZSql TrafficPara = new DAL.ZSql();
try
{
Object workline = TrafficPara.GetScalar("select WorkLine from T_WorkLine Where CarID = " + agvid.ToString());
if (workline == null)
{
MessageBox.Show("AGV" + agvid.ToString() + "车辆未设置生产区号，启动系统前请设置后再重启软件！");
return 0;
}
return Convert.ToByte(workline);
}
catch (System.Exception ex)
{
MessageBox.Show("数据库连接异常,请检查后再重启软件！");
return 0;
}
finally
{
TrafficPara.Close();
}
}
/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGVCar temp1)
{
IEnumerable <AGVCar> member = AGVStatus.Where <AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First <AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
Point pStart = new Point(), pVirtual = new Point();
DAL.ZSql TrafficPara = new DAL.ZSql();
try
{
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.WorklineNum.ToString() + " and Mark=" + temp1.MarkNum.ToString() + " and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List <Point> pointcollection1 = new List <Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
bool isvirtualpoint = true;
double dMarkdistance = 0;
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
else
{
isvirtualpoint = false;
break;
}
}while (isvirtualpoint);
if (pointcollection1.Count >= 2)
{
double dAgvspeed = SpeedOpt[temp1.AGVSpeed].Speed / 60.0;
if (dAgvspeed == 0)
{
dAgvspeed = dMarkdistance;
}
App.Current.Dispatcher.Invoke((Action)(() =>
{
AGVStatus[listindex].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[temp1.AGVNum % ColorOpt.Length], dMarkdistance / dAgvspeed);
}));
}
}
}
catch (Exception)
{
throw;
}
finally
{
TrafficPara.Close();
}
}
/// <summary>
/// 自定义初始化
/// </summary>
private void CustomInit()
{
DAL.ZSql sql1 = new DAL.ZSql();
try
{
//地标功能定义
sql1.Open("select CmdFunction from T_Custom where CustomType=1 order by CmdNum");
if (sql1.rowcount > 0)
{
MarkFuncOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
MarkFuncOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置地标功能！");
}
//运行状态定义
sql1.Open("select CmdFunction from T_Custom where CustomType=2 order by CmdNum");
if (sql1.rowcount > 0)
{
StatusOpt = new string[sql1.rowcount];
for (int i = 0; i < sql1.rowcount; i++)
{
StatusOpt[i] = sql1.Rows[i]["CmdFunction"].ToString();
}
}
else
{
MessageBox.Show("警告：请在“自定义设置”中设置AGV运行状态！");
}
//速度定义
sql1.Open("select SpeedGrade,Speed,CmdNum from T_Speed order by CmdNum");
if (sql1.rowcount > 0)
{
SpeedOpt = new SortedList<int, SpeedStr>();
for (int i = 0; i < sql1.rowcount; i++)
{
string speedgrade = sql1.Rows[i]["SpeedGrade"].ToString();
int cmdnum;
Int32.TryParse(sql1.Rows[i]["CmdNum"].ToString(),out cmdnum);
double speed;
Double.TryParse(sql1.Rows[i]["Speed"].ToString(),out speed);
SpeedOpt.Add(cmdnum,new SpeedStr(cmdnum,speed,speedgrade));
}
}
else
{
MessageBox.Show("请在“速度设置”中设置AGV速度信息！","错误",MessageBoxButton.OK,MessageBoxImage.Error);
}
}
catch (Exception ex)
{
throw new Exception("初始化定义读取数据库失败！"+ ex.Message);
}
finally
{
sql1.Close();
sql1 = null;
}
}
/// <summary>
/// 路口初始化,读取数据表T_Traffic
/// </summary>
/// <returns>初始化true成功orfalse失败(没有设置管制区)</returns>
public bool Init()
{
DAL.ZSql trafficSql = new DAL.ZSql();
bool flag = false;
try
{
trafficSql.Open("SELECT MAX(TrafficNum) AS MaxTrafficNum FROM T_Traffic");
if (trafficSql.rowcount < 1 || string.IsNullOrEmpty(trafficSql.Rows[0]["MaxTrafficNum"].ToString()))
{
trafficSql.Close();
return false;
}
trafficCount = Convert.ToInt32(trafficSql.Rows[0]["MaxTrafficNum"]);
if (trafficCount > 0)
{
DAL.ZSql SqlLineNum = new DAL.ZSql();
for (int i = 0; i < trafficCount; i++)
{
agvTrafficList.Add(new AGVTraffic());
trafficSql.Open("SELECT COUNT(TrafficNum) AS MarkSum FROM T_Traffic WHERE TrafficNum =" + (i + 1).ToString());//一定会有一行数据，不存在的管制区为iMarkSum=0
if (string.IsNullOrEmpty(trafficSql.Rows[0]["MarkSum"].ToString()))//存在一行数据，但是字段里面是空的，什么都没有
{
continue;
}
agvTrafficList[i].trafficMarkCount = Convert.ToInt32(trafficSql.Rows[0]["MarkSum"]);
if (agvTrafficList[i].trafficMarkCount == 0)
{
continue;
}
else
{
agvTrafficList[i].trafficNum = i + 1;
agvTrafficList[i].trafficName = "管制路口" + (i + 1).ToString();
agvTrafficList[i].trafficMarkArray = new TrafficMark[agvTrafficList[i].trafficMarkCount];
SqlLineNum.Open("Select T_Mark.WorkLine,T_Mark.Mark,T_Traffic.MarkID from T_Traffic Left Join T_Mark ON T_Traffic.MarkID = T_Mark.ID Where TrafficNum=" + Convert.ToString(i + 1));
for (int j = 0; j < SqlLineNum.Rows.Count; j++)
{
if (!string.IsNullOrEmpty(SqlLineNum.Rows[j]["WorkLine"].ToString().Trim()) && !string.IsNullOrEmpty(SqlLineNum.Rows[j]["Mark"].ToString().Trim()))
{
agvTrafficList[i].trafficMarkArray[j].workLineNum = Convert.ToInt32(SqlLineNum.Rows[j]["WorkLine"]);
agvTrafficList[i].trafficMarkArray[j].markNum = Convert.ToInt32(SqlLineNum.Rows[j]["Mark"]);
}
}
}
}
flag = true;
}
}
catch (System.Exception ex)
{
flag = false;
}
trafficSql.Close();
return flag;
}
/// <summary>
/// Execute shutdown tasks
/// </summary>
/// <param name="sender">Object sending the event</param>
/// <param name="e">Event arguments</param>
private void Window_Closing(object sender, CancelEventArgs e)
{
// Stop Com,Unregister SPComCall data received event
if (null != SPComCall)
{
SPComCall.Close();
SPComCall.OnDataReceived -= this.SPComCall_OnDataReceived;
}
//close & clear SQL
if (null != callSql)
{
callSql.Close();
callSql = null;
}
//clear collection
if (null != memberData)
{
memberData.Clear();
memberData = null;
}
if (null != buf_callctl)
{
buf_callctl = null;
}
if (null != buf_callret)
{
buf_callret = null;
}
}
