Пример #1
0
        private void button3_Click(object sender, EventArgs e)
        {
            try
            {
                if (waringPointList.Count > 0)
                {
                    for (int i = 0; i < waringPointList.Count; i++)
                    {
                        WarningRegionClass wariningregion = new WarningRegionClass();

                        string strJson = JsonConvert.SerializeObject(waringPointList[i]);

                        mainform.dbBridge.onDBnodearea_Insert(strJson);
                    }
                }
            }
            catch
            {
            }
        }
Пример #2
0
        private void pictureBox1_MouseUp(object sender, MouseEventArgs e)
        {
            int nx = e.X;
            int ny = e.Y;

            W_x_2 = e.X;
            W_y_2 = e.Y;
            Graphics g   = pictureBox1.CreateGraphics();
            Pen      pen = new Pen(Color.Red, 2);

            if (bMapMouseDN)
            {
                RectangleF rectT = RectTmp;
                //rectT.X = (float)((rectT.X / ratio) -translate_x);
                //rectT.Y = (float)((rectT.Y / ratio)-translate_y);

                rectT.X = (float)((rectT.X - 0) / Wheelratio);
                rectT.Y = (float)((rectT.Y - 0) / Wheelratio);

                rectT.Width  = (float)(rectT.Width / Wheelratio);
                rectT.Height = (float)(rectT.Height / Wheelratio);
                waringRectList.Add(rectT);

                WarningRegionClass wariningregion = new WarningRegionClass();
                wariningregion.nX1 = (float)(((W_x_1 - dOrignX) * resolution)) / Wheelratio;
                wariningregion.nY1 = (float)(((W_y_1 - dOrignY) * resolution)) / Wheelratio * -1;
                wariningregion.nX2 = (float)(((W_x_2 - dOrignX) * resolution)) / Wheelratio;
                wariningregion.nY2 = (float)(((W_y_2 - dOrignY) * resolution)) / Wheelratio * -1;

                waringPointList.Add(wariningregion);

                picturebox_paint();
                g.Dispose();
                pen.Dispose();
            }
        }
Пример #3
0
        private void picturebox_paint()
        {
            try
            {
                dOrignX = ((ori_x * -1) / resolution);
                dOrignY = ((ori_y) / resolution);

                if (dOrignY < 0)
                {
                    dOrignY *= -1;
                }
                dOrignY = img.Height - dOrignY;

                dOrignX = dOrignX * (float)Wheelratio;
                dOrignY = dOrignY * (float)Wheelratio;
                Bitmap sourceBMP = new Bitmap(img, img.Width, img.Height);

                Image image_resize;
                image_resize = ZoomIn(sourceBMP, (float)Wheelratio);

                Bitmap displayBMP = new Bitmap(image_resize.Width, image_resize.Height);
                displayBMP.SetResolution(image_resize.HorizontalResolution, image_resize.VerticalResolution);
                Graphics g = Graphics.FromImage(displayBMP);
                g.DrawImage(image_resize, new PointF(0, 0));
                Pen pen4 = new Pen(Brushes.Red, 5);
                pen4.DashStyle = DashStyle.Dot;
                if (pictureBox1.Image != null)
                {
                    if (Data.Instance.isConnected)
                    {
                        if (Data.Instance.robot_liveinfo.robotinfo.msg != null)
                        {
                            for (int i = 0; i < Data.Instance.robot_liveinfo.robotinfo.msg.robolist.Count; i++)
                            {
                                if (Data.Instance.robot_liveinfo.robotinfo.msg.robolist.Count > 0)
                                {
                                    float robotx = (float)Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].pose.x;
                                    float roboty = (float)Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].pose.y;
                                    float cellX  = (float)(robotx / resolution);
                                    float cellY  = (float)(roboty / resolution);

                                    PointF pos = new PointF();
                                    pos.X = dOrignX + cellX * (float)Wheelratio;
                                    pos.Y = dOrignY - cellY * (float)Wheelratio;
                                    Pen pen_robot = new Pen(Brushes.BlueViolet, 3);
                                    pen_robot.DashStyle = DashStyle.Solid;

                                    g.DrawEllipse(pen_robot, pos.X - 10, pos.Y - 10, 20, 20);
                                    g.DrawString(string.Format("{0}", Data.Instance.robot_liveinfo.robotinfo.msg.robolist[i].RID), new Font("고딕체", 30), Brushes.Black, pos.X - 20, pos.Y + 10);
                                    pen_robot.Dispose();
                                }
                            }
                        }
                    }
                }
                Pen bb = new Pen(Brushes.Red, 4);

                if (aa.Count > 0)
                {
                    for (int i = 0; i < save.Count; i++)
                    {
                        g.DrawEllipse(bb, aa[i].X - 1, aa[i].Y - 1, 2, 2);
                    }
                }
                Paint_conveyor();
                if (mainform.node_area_.Count() > 0)
                {
                    for (int i = 0; i < waringPointList.Count; i++)
                    {
                        WarningRegionClass wariningregion = new WarningRegionClass();
                        wariningregion = waringPointList[i];
                        float wx  = wariningregion.nX1;
                        float wy  = wariningregion.nY1;
                        float wx2 = wariningregion.nX2;
                        float wy2 = wariningregion.nY2;

                        float cellX = wx / resolution;
                        float cellY = wy / resolution;

                        float cellX2 = wx2 / resolution;
                        float cellY2 = wy2 / resolution;

                        PointF pos = new PointF();
                        pos.X = dOrignX + cellX * Wheelratio;
                        pos.Y = dOrignY - cellY * Wheelratio;

                        PointF pos2 = new PointF();
                        pos2.X = dOrignX + cellX2 * Wheelratio;
                        pos2.Y = dOrignY - cellY2 * Wheelratio;


                        g.DrawRectangle(pen4, pos.X, pos.Y, pos2.X - pos.X, pos2.Y - pos.Y);
                    }
                }

                pictureBox1.Image = displayBMP;
                if (pictureBox1.Image != null)
                {
                    sourceBMP.Dispose();
                    g.Dispose();
                    pen4.Dispose();
                }
            }
            catch
            {
            }
        }