private void btnAGVRun_Click_1(object sender, EventArgs e)
{
if (btnAGVRun.Text == "开")
{
btnAGVRun.Text = "停";
for (int j = 0; j <= Config.i; j++)
{
Config.AGVStar1[j] = 1;
AGVClass.AGVLabelRun(Config.AGVNum1[j]);
}
for (int j = 4000; j > 0; j--) //*使有足够时间去通知所有阻塞线程*/
{
Config.autoEvent.Set(); //通知阻塞的线程继续执行
}
}
else
{
btnAGVRun.Text = "开";
for (int j = 0; j <= Config.i; j++)
{
AGVClass.AGVLabelStop(Config.AGVNum1[j]); /*j 表示Config.AGVNum1第j个的内容*/ //暂停所有AGV线程
Config.AGVStar1[j] = 0; /////停止移动AGV
}
}
}
private void BtnADD_Click(object sender, EventArgs e)
{
Config.i++;
Config.Equal = "false";
try
{
for (int j = 0; j < Config.i; j++)
{
if (Config.AGVNum1[j] == int.Parse(ComAGVNum.Text)) ///如果输入的AGV已经存在，那么就把当前的目的地值赋给它
{
Config.Equal = "true";
Config.AGVTar1[j] = (int.Parse(ComAGVTar.Text));
Config.i--;
}
}
if (Config.Equal == "false")
{
Config.AGVNum1.Add(int.Parse(ComAGVNum.Text));
Config.AGVPath1.Add(int.Parse(ComAGVPath.Text));
Config.AGVTar1.Add(int.Parse(ComAGVTar.Text));
}
}
catch
{
for (int j = 0; j < Config.i; j++)
{
if (Config.AGVNum1[j] == 0)
{
Config.Equal = "true";
Config.i--;
}
}
if (Config.Equal == "false")
{
Config.AGVNum1.Add(0);
Config.AGVPath1.Add(11);
Config.AGVTar1.Add(1);
}
}
Config.AGVLoct1.Add(1); ///////路径上的位置
Config.AGVStar1.Add(1);
if (Config.Equal == "false")
{
AGVClass.AGVThread(Config.i, Config.AGVLabel[Config.AGVNum1[Config.i]]); //创建线程
}
AGVClass.AGVLabelStop(Config.AGVNum1[Config.i]); //阻塞线程
btnAGVRun.Text = "开";
if (Config.AGVLabel[Config.i] != null) ///////使增加的AGV可视
{
if (Config.AGVStar1[Config.i] == 1)
{
AGVClass.MoveAGV(Config.i, Config.AGVPath1[Config.i]);
Config.AGVLabel[Config.AGVNum1[Config.i]].Visible = true;
}
}
}
private void TimMoveAGV_Tick(object sender, EventArgs e)
{
for (int j = 0; j <= Config.i; j++)
{
if (Config.AGVLabel[j] != null)
{
if (Config.AGVStar1[j] == 1)
{
AGVClass.MoveAGV(j, Config.AGVPath1[j]); /*更新AGVLabel的位置*/
}
}
}
}
/// <summary>
/// 构造地标（地标数组）
/// </summary>
/// <param name="Path">地标所在路径</param>
/// <param name="Percent">地标所在位置相对于路劲长度的百分比</param>
public Station(int StationNum, int Path, double Percent)
{
_Num = StationNum;
_path = Path;
if (Config.PathList[path] != null)
{
_loct = (int)(Config.PathList[path].PathLength * Percent);
if (_loct < 1)
{
_loct = 1;
}
AGVClass.CalPoint(_path, _loct, out _CenX, out _CenY);
}
else
{
_loct = 0;
_CenX = 0;
_CenY = 0;
}
}
private void MainForm_Load(object sender, EventArgs e)
{
#region ///////打开启动窗口，并初始化
/*启动欢迎窗体*/
StartForm MyStartForm = new StartForm();
MyStartForm.ShowDialog();
BringToFront();///移到前面显示
/*调整锁定窗体大小*/
this.Width = 1440;
this.Height = 870;
this.Top = 0;
this.Left = 0;
/*修改窗体标题*/
this.Text = "AGV调度系统 佛山市顺德区嘉腾电子有限公司 http://www.sdpaten.com";
/*调整画布位置大小*/
AGVMap.Top = Config.MapInitY;
AGVMap.Left = Config.MapInitX;
AGVMap.Width = 1400;
AGVMap.Height = 800;
#endregion
#region /*下拉单数据添加*/ /*初始化并实例化AGV标签，AGV站点*/
ComAGVNum.DropDownStyle = ComboBoxStyle.DropDownList;
ComAGVPath.DropDownStyle = ComboBoxStyle.DropDownList;
ComAGVTar.DropDownStyle = ComboBoxStyle.DropDownList;
for (int i = 0; i <= Config.AGVNum; i++)
{
ComAGVNum.Items.Add(i);
}
ComAGVPath.Items.Add(11);
ComAGVPath.Items.Add(21);
ComAGVPath.Items.Add(31);
ComAGVPath.Items.Add(41);
for (int i = 1; i <= 4; i++)
{
ComAGVTar.Items.Add(i);
}
AGVClass.InitAGVPic();
Config.StationPic[0] = PicTarget01;
Config.StationPic[1] = PicTarget02;
Config.StationPic[2] = PicTarget03;
Config.StationPic[3] = PicTarget04;
Config.StationPic[4] = PicTarget05;
Config.StationPic[5] = PicTarget06;
Config.StationPic[6] = PicTarget07;
Config.StationPic[7] = PicTarget08;
Config.AGVLabel[0] = AGVPic0;
Config.AGVLabel[1] = AGVPic1;
Config.AGVLabel[2] = AGVPic2;
Config.AGVLabel[3] = AGVPic3;
Config.AGVLabel[4] = AGVPic4;
Config.AGVLabel[5] = AGVPic5;
Config.AGVLabel[6] = AGVPic6;
Config.AGVLabel[7] = AGVPic7;
Config.AGVLabel[8] = AGVPic8;
Config.AGVLabel[9] = AGVPic9;
Config.AGVLabel[10] = AGVPic10;
Config.AGVLabel[11] = AGVPic11;
Config.AGVLabel[12] = AGVPic12;
Config.AGVLabel[13] = AGVPic13;
TimMoveAGV.Enabled = true;
#endregion
}
