private void goAlongMap()//小车行进执行函数
{
List <Line> map = route.map.listLine;
double todayTime = (DateTime.Today.ToUniversalTime().Ticks - 621355968000000000) / 10000000; //Unix时间戳计算（基准时间）
DateTime file_time = DateTime.Now;
string year = file_time.Year.ToString(), month = "", day = "", hour = "", minute = "";
if (file_time.Month < 10)
{
month = "0" + file_time.Month.ToString();
}
if (file_time.Day < 10)
{
day = "0" + file_time.Day.ToString();
}
if (file_time.Hour < 10)
{
hour = "0" + file_time.Hour.ToString();
}
if (file_time.Minute < 10)
{
minute = "0" + file_time.Minute.ToString();
}
string file_name = "../../road_sign/" + year + month + day + hour + minute + ".txt";
/////摄像头////
//new CameraControl().cameraLeading(dr_port, con_port);
dr_port.clearData();
for (int i = 0; i < map.Count; ++i)
{
//showPosition();
string str = "";
if (map[i].num != 0)//开始时间
{
if (map[i].num < 10)
{
str += '0';
}
str += map[i].num.ToString();
str += ' ';
double epoch = (DateTime.Now.ToUniversalTime().Ticks - 621355968000000000) / 10000000 - todayTime;
str += epoch.ToString();
}
c_point = map[i].startpoint;
Redraw_Panel(route.map);
if (!map[i].startpoint.direc || !map[i].endpoint.direc)
{
if (i == 0)
{
dr_port.clearData();
}
if (map[i].startpoint.direc && map[i].endpoint.direc)
{
DrPort.distance.Sx = map[i].startpoint.x;
DrPort.distance.Sy = map[i].startpoint.y;
DrPort.distance.Sw = map[i].startpoint.w;
}
goWithPP2(map[i].startpoint, map[i].endpoint, con_port, dr_port, urg_port);
//goWithPP(map[i].startpoint, map[i].endpoint, con_port, dr_port, urg_port);
}
else
{
// setSpeed
int setSpeed = 50;
goWithRadar(map[i].startpoint, map[i].endpoint, con_port, dr_port, urg_port, setSpeed);
}
if (map[i].num != 0)//结束时间
{
str += ' ';
double epoch = (DateTime.Now.ToUniversalTime().Ticks - 621355968000000000) / 10000000 - todayTime;
str += epoch.ToString();
FileStream syxstream = new FileStream(file_name, FileMode.Append, FileAccess.Write);
StreamWriter sw = new StreamWriter(syxstream);
sw.WriteLine(str);
sw.Close();
}
// showPosition();
}
}
private void Collect_Route1_Click(object sender, EventArgs e)
{
if (Collect_Route1.Text == "获取路径信息")
{
Urg_Point.Visible = true;
Com_Point.Visible = true;
Delete_Point.Visible = true;
groupBox1.Visible = true;
xml_con.read();
string portName = "";
string portBaudrate = "";
switch (xml_con.data[4])
{
case 0: portName = "COM1"; break;
case 1: portName = "COM2"; break;
case 2: portName = "COM3"; break;
case 3: portName = "COM4"; break;
case 4: portName = "COM5"; break;
case 5: portName = "COM6"; break;
case 6: portName = "COM7"; break;
case 7: portName = "COM8"; break;
case 8: portName = "COM9"; break;
case 9: portName = "COM10"; break;
}
switch (xml_con.data[5])
{
case 0: portBaudrate = "9600"; break;
case 1: portBaudrate = "115200"; break;
}
if (dr_port.OpenPort(portName, portBaudrate) == false)
{
MessageBox.Show("编码器串口未能打开，请配置串口！");
return;
}
Collect_Route1.Text = "初始位置校准";
route.map.listLine.Clear();
route.map.listPoint.Clear();
route.map.listFixedRect.Clear();
dr_port.clearData();
}
else if (Collect_Route1.Text == "初始位置校准")
{
string portName = "";
string portBaudrate = "";
switch (xml_con.data[2])
{
case 0: portName = "COM1"; break;
case 1: portName = "COM2"; break;
case 2: portName = "COM3"; break;
case 3: portName = "COM4"; break;
case 4: portName = "COM5"; break;
case 5: portName = "COM6"; break;
case 6: portName = "COM7"; break;
case 7: portName = "COM8"; break;
case 8: portName = "COM9"; break;
case 9: portName = "COM10"; break;
}
switch (xml_con.data[3])
{
case 0: portBaudrate = "9600"; break;
case 1: portBaudrate = "115200"; break;
}
if (con_port.OpenPort(portName, portBaudrate) == false)
{
MessageBox.Show("控制串口未能打开，请配置串口！");
return;
}
//new CameraControl().cameraLeading(dr_port, con_port);
Collect_Route1.Text = "结束路径信息";
route.map.listLine.Clear();
route.map.listPoint.Clear();
route.map.listFixedRect.Clear();
dr_port.clearData();
}
else
{
route.map.listLine.Clear();
for (int i = 0; i < route.map.listPoint.Count() - 1; i++)
{
Line r_line = new Line();
r_line.startpoint = route.map.listPoint[i];
r_line.endpoint = route.map.listPoint[i + 1];
route.map.listLine.Add(r_line);
}
dr_port.ClosePort();
con_port.ClosePort();
Collect_Route1.Text = "获取路径信息";
Redraw_Panel1(route.map);
}
}