private void refreshAgv()
{
if (_map != null)
{
foreach (AgvMarker marker in agvLayer.Children)
{
AgvInfo agv = marker.AgvInfo;
if (agv.Online)
{
UInt16 cardId = agv.PositionCardId;
Point position;
if (_map.getCardPosition(cardId, out position))
{
marker.SetValue(Canvas.LeftProperty, position.X - marker.OffsetX);
marker.SetValue(Canvas.TopProperty, position.Y - marker.OffsetY);
marker.Visibility = Visibility.Visible;
}
}
else
{
marker.Visibility = Visibility.Collapsed;
}
}
}
}
private void agvListView_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
AgvInfo agvinfo = agvListView.SelectedItem as AgvInfo;
AgvInfoManager.instance.SetCurrent(agvinfo.Id);
currentAgvChanged();
}
private AgvInfoManager()
{
_agvs = new ObservableCollection <AgvInfo>();
List <Agv> agvs = getAgvs();
foreach (Agv agv in agvs)
{
AgvInfo info = new AgvInfo();
info.Id = agv.Id;
info.Online = false;
_agvs.Add(info);
}
}
public void AddOrUpdate(ushort agvId, AgvInfo info)
{
if (vehicleInited == false)
{
return;
}
if (agvId >= vehicles.Length)
{
Logs.Error("程序预设的agv数量少了");
return;
}
if (info == null)
{
return;
}
vehicles[(int)agvId].agvInfo = info;
}
public void AddOrUpdate(ushort agvId, AgvInfo info)
{
if (vehicleInited == false)
{
return;
}
//if (agvId >= vehicles.Length)
//{
// Logs.Error("程序预设的agv数量少了");
// return;
//}
if (info == null)
{
return;
}
//
vehicles[(int)agvId].agvInfo = info;
// Console.WriteLine(info.CurLocation.AgvAngle.Angle);
}
protected override void Run()
{
try
{
if (sqlConn != null && sqlConn.State == ConnectionState.Open)
{
//if (CmdTxtQueue.Instance.IsHasData())
//{
// string cmdStr = CmdTxtQueue.Instance.Dequeue();
// SqlHelper.ExecNonQuery(sqlConn, cmdStr);
//}
ConcurrentDictionary <ushort, AgvInfo> agvInfo = AgvServerManager.Instance.GetAgvInfo;
foreach (var key in agvInfo.Keys)
{
int id = key;
AgvInfo info = null;
agvInfo.TryGetValue(key, out info);
if (info != null)
{
string str = string.Format("update Vehicle set CurX={0} ,CurY={1}, DesX={2}, DesY={3} where Id={4}",
info.CurLocation.CurNode.X, info.CurLocation.CurNode.Y,
info.CurLocation.DesNode.X, info.CurLocation.DesNode.Y,
id);
SqlHelper.ExecNonQuery(sqlConn, str);
}
}
}
else
{
Console.WriteLine("数据库未连接");
}
Thread.Sleep(ConstDefine.UPDATA_SQL_TIME);
}
catch (Exception ex)
{
Logs.Error("更新小车信息到数据库异常，退出UpdatasqlThread线程，异常：" + ex.ToString());
}
}
public AgvInfoPacket(byte[] data)
: base("AgvInfoPacket", data)
{
this.info = new AgvInfo(data, 7);
this.CheckSum = data[NeedLen() - 1];
}
