private void timer_Tick(object sender, EventArgs e)
{
LoginLevelAction();
AutoManaulAction();
agv.UpdateLocate(localData.Real);
button_SetPosition.Enabled = (localData.AutoManual == EnumAutoState.Manual && localData.MoveControlData.MoveCommand == null);
#region label更新.
loginLevelMessage.SetValueAndColor(localData.LoginLevel.ToString());
soc.SetValueAndColor(String.Concat(localData.BatteryInfo.SOC.ToString("0.0"), " / ", localData.BatteryInfo.V.ToString("0.0"), "V"));
charge.SetValueAndColor("");
loading.SetValueAndColor("");
cstID.SetValueAndColor("");
lastAddress.SetValueAndColor(localData.Location.LastAddress);
sectionID.SetValueAndColor(localData.Location.NowSection);
sectionDistance.SetValueAndColor(localData.Location.DistanceFormSectionHead.ToString("0.0"));
real.SetValueAndColor(String.Concat("( ", computeFunction.GetMapAGVPositionString(localData.Real, "0"), " )"));
moveControlCommand.SetValueAndColor(localData.MoveControlData.CommnadID);
bool moveControlReadyAndNotErrorBit = localData.MoveControlData.Ready && !localData.MoveControlData.ErrorBit;
moveControlStatus.SetValueAndColor((moveControlReadyAndNotErrorBit ? "Ready" : "NotReady"), (moveControlReadyAndNotErrorBit ? 100 : 300));
loadUnloadCommand.SetValueAndColor(localData.LoadUnloadData.CommnadID);
loadUnloadStatus.SetValueAndColor(localData.LoadUnloadData.CommandStatus.ToString(), (int)localData.LoadUnloadData.CommandStatus);
stopSingal.SetValueAndColor("");
lowSpeedSingal.SetValueAndColor("");
#endregion
if (mainFlow.MoveControl.LocateControl.Status == EnumControlStatus.Ready)
{
label_LocateStatus.Text = "定位OK";
label_LocateStatus.ForeColor = Color.Green;
}
else
{
label_LocateStatus.Text = "定位NG";
label_LocateStatus.ForeColor = Color.Red;
}
tbxNowAlarm.Text = mainFlow.AlarmHandler.NowAlarm;
tbxNowAlarmHistory.Text = mainFlow.AlarmHandler.AlarmHistory;
pB_Alarm.BackColor = (mainFlow.AlarmHandler.HasAlarm ? Color.Red : Color.Transparent);
pB_Warn.BackColor = (mainFlow.AlarmHandler.HasWarn ? Color.Yellow : Color.Transparent);
SetSectionColor();
}
private void UpdateTimer_Page2_MoveCommand()
{
agvVelocity.SetValueAndColor(String.Concat(localData.MoveControlData.MotionControlData.LineVelocity.ToString("0"), "/",
localData.MoveControlData.MotionControlData.SimulateLineVelocity.ToString("0")));
MoveCommandData temp = localData.MoveControlData.MoveCommand;
if (temp != null)
{
commandStatus.SetValueAndColor(temp.CommandStatus.ToString());
moveStatus.SetValueAndColor(temp.MoveStatus.ToString());
commandEncoder.SetValueAndColor(temp.CommandEncoder.ToString("0"));
sensorStatus.SetValueAndColor(temp.SensorStatus.ToString());
}
else
{
commandStatus.SetValueAndColor("");
moveStatus.SetValueAndColor("");
commandEncoder.SetValueAndColor("");
sensorStatus.SetValueAndColor("");
}
sensorStatus.SetValueAndColor(localData.MoveControlData.MotionControlData.AllServoStatus.ToString());
double sleepTime = moveControl.LoopTime;
if (sleepTime > localData.MoveControlData.MoveControlConfig.TimeValueConfig.IntervalTimeList[EnumIntervalTimeType.ThreadSleepTime] * 2)
{
label_LoopTime.ForeColor = Color.Red;
}
else
{
label_LoopTime.ForeColor = Color.Green;
}
label_LoopTime.Text = sleepTime.ToString("0");
UpdateMoveCommandInfo(temp);
MapAGVPosition agvPosition = localData.Real;
real.SetValueAndColor(computeFunction.GetMapAGVPositionString(agvPosition, "0"));
}
