Sharp.cs
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using RCS.Model.Comm;
using RCS.Model.Entity;
using System.Drawing.Printing;
using System.Text;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Media;
using System.Windows.Media.Animation;
using System.Windows.Shapes;
namespace RCS.WinClient.Common
{
public class Sharp
{
LinearGradientBrush linearGradientBrush = new LinearGradientBrush();
ColorAnimation animation = new ColorAnimation();
/// <summary>
/// 初始化监控界面
/// </summary>
public int[] MoniterAreaInit()
{
//获取xy方向的最大值
App.WidthMax = App.PointList.Max(a => a.IntX + 1);
App.WidthMin = App.PointList.Min(a => a.IntX - 1);
App.HeightMax = App.PointList.Max(a => a.IntY + 1);
App.HeightMin = App.PointList.Min(a => a.IntY - 1);
//设置画布大小
int pointXCount = App.WidthMax - App.WidthMin;
int AreaWidth = pointXCount * App.GsWidth + pointXCount;
int pointYCount = App.HeightMax - App.HeightMin;
int AreaHeight = pointYCount * App.GsHeight + pointYCount;
return new int[] { AreaWidth, AreaHeight };
}
/// <summary>
/// 货架绘制
/// </summary>
public void ShelfSet()
{
foreach (Base_Point point in App.PointList.FindAll(x => x.PointType == EnumMsg.PointType.充电点 || x.PointType == EnumMsg.PointType.站台点))
{
var station = App.StationList.FirstOrDefault(x => x.Barcode == point.Barcode);
var rectangle = new Rectangle();
rectangle.ToolTip = point.Barcode;
ToolTipService.SetInitialShowDelay(rectangle, 100);
ToolTipService.SetShowDuration(rectangle, 5000); // 显示时长为 5000 毫秒
if (station != null)
{
rectangle.ToolTip += string.Format("\n名称：{0}\n防撞：{1}\n状态：{2}\n长度：{3}CM\n", (station.Name), station.Tim, station.StationState, station.LowHeight);
}
var dlAgvOri = point.GetAgvAngle(point.LockedAgv?.AgvNo);
if (dlAgvOri != 0)
{
rectangle.ToolTip += string.Format($"\n车头角度: {dlAgvOri}");
}
rectangle.Width = App.GsWidth;
rectangle.Height = App.GsHeight;
rectangle.Fill = new SolidColorBrush(Colors.Transparent);
rectangle.Stroke = new SolidColorBrush(Colors.DarkGray);
double[] xy = DrawSharp(point.IntX, point.IntY);
rectangle.SetValue(Canvas.TopProperty, xy[1]);
rectangle.SetValue(Canvas.LeftProperty, xy[0]);
rectangle.SetValue(Panel.ZIndexProperty, 10);
App.Canvas_Monit.Children.Add(rectangle);
App.ShelfSharp.Add(rectangle);
}
}
/// <summary>
/// 小车绘制
/// </summary>
public void AgvPointSet()
{
foreach (Base_Agv agv in App.AgvList)
{
var ellipse = App.AgvSharp.FirstOrDefault(new Func<Ellipse, bool>(a => a.Name == agv.AgvNo));
if (ellipse != null)
{
throw new Exception(agv.AgvNo + "小车已存在地图中");
}
ellipse = new Ellipse();
ellipse.Name = agv.AgvNo;
ellipse.ToolTip = ellipse.Name;
ellipse.Width = App.GsWidth;
ellipse.Height = App.GsHeight;
ellipse.Fill = new SolidColorBrush(Colors.Transparent);
ellipse.Stroke = new SolidColorBrush(Colors.Tan);
ellipse.StrokeThickness = 12;
ToolTipService.SetInitialShowDelay(ellipse, 100);
ToolTipService.SetShowDuration(ellipse, 50000); // 显示时长为 5000 毫秒
ellipse.ToolTipOpening += Ellipse_ToolTipOpening;
var point = App.PointList.FirstOrDefault(a => a.Barcode == agv.Barcode);
if (point != null)
{
double[] xy = DrawSharp(point.IntX, point.IntY);
ellipse.SetValue(Canvas.TopProperty, xy[1]);
ellipse.SetValue(Canvas.LeftProperty, xy[0]);
ellipse.SetValue(Panel.ZIndexProperty, 50);
}
App.Canvas_Monit.Children.Add(ellipse);
App.AgvSharp.Add(ellipse);
if (!agv.IsEnable)
{
ellipse.Visibility = System.Windows.Visibility.Hidden;
}
else
{
ellipse.Visibility = System.Windows.Visibility.Visible;
}
}
}
private void Ellipse_ToolTipOpening(object sender, ToolTipEventArgs e)
{
if (sender is Ellipse ellipse)
{
var agv = App.AgvList.Find(x => x.AgvNo == ellipse.Name) ?? throw new Exception($"agv{ellipse.Name}不存在");
var toolTip = @$"小车编号：{agv.AgvNo}
是否在线：{(agv.IsOnline ? "是" : "否")}
运行状态：{agv.AgvState}
货物状态：{agv.SensorStatus}
顶升高度：{agv.AgvHeight}
当前坐标：{agv.XLength},{agv.YLength}
异常信息：{agv.Error}";
ellipse.ToolTip = toolTip;
}
}
/// <summary>
/// 地图坐标点绘制
/// </summary>
public void PointSet()
{
foreach (Base_Point point in App.PointList.FindAll(a => a.PointType != EnumMsg.PointType.死点))
{
var sb = new StringBuilder();
sb.AppendLine($" 地标编码:：{point.Barcode}");
sb.AppendLine($" 点位类型：{point.PointType}");
sb.AppendLine($" 地图位置：{point.IntX}, {point.IntY}");
sb.AppendLine($" 坐标：{point.XLength}, {point.YLength}");
//区域类型
//sb.AppendLine("AreaType:{0}", point.pointAreaType.ToString();
//点方向锁
if (point.XPosPoint != null)
{
sb.AppendLine($" X+：{point.IsXPos} 间距：{Math.Abs(point.XPosPoint.YLength - point.YLength)}");
}
if (point.XNegPoint != null)
{
sb.AppendLine($" X-：{point.IsXNeg} 间距：{Math.Abs(point.XNegPoint.YLength - point.YLength)}");
}
if (point.YPosPoint != null)
{
sb.AppendLine($" Y+：{point.IsYPos} 间距：{Math.Abs(point.YPosPoint.XLength - point.XLength)}");
}
if (point.YNegPoint != null)
{
sb.AppendLine($" Y-：{point.IsYNeg} 间距：{Math.Abs(point.YNegPoint.XLength - point.XLength)}");
}
if (!string.IsNullOrEmpty(point.RegionName))
{
sb.AppendLine($" 限制区域：{point.RegionName}");
}
var ellipse = new Ellipse();
ellipse.ToolTip = sb.ToString();
ellipse.Name = "Code_" + point.Barcode;
ToolTipService.SetInitialShowDelay(ellipse, 100);
ToolTipService.SetShowDuration(ellipse, 50000); // 显示时长为 5000 毫秒
ellipse.Tag = sb.ToString();
ellipse.ToolTipOpening += PointEllipse_ToolTipOpening;
//大小
ellipse.Width = 12;
ellipse.Height = 12;
switch (point.PointType)
{
case EnumMsg.PointType.普通行走点:
ellipse.Fill = new SolidColorBrush(Colors.Maroon);
break;
case EnumMsg.PointType.充电点:
ellipse.Fill = new SolidColorBrush(Colors.Green);
break;
case EnumMsg.PointType.站台点:
ellipse.Fill = new SolidColorBrush(Colors.Blue);
break;
case EnumMsg.PointType.站台附属点:
case EnumMsg.PointType.暂停点:
ellipse.Fill = new SolidColorBrush(Colors.LightBlue);
break;
case EnumMsg.PointType.走弧点:
case EnumMsg.PointType.虚拟点:
case EnumMsg.PointType.电梯点:
case EnumMsg.PointType.电梯等待点:
case EnumMsg.PointType.电梯关门点:
case EnumMsg.PointType.对接点:
case EnumMsg.PointType.对接等待点:
case EnumMsg.PointType.托盘旋转点:
ellipse.Fill = new SolidColorBrush(Colors.Orange);
break;
case EnumMsg.PointType.避让点:
case EnumMsg.PointType.回家点:
ellipse.Fill = new SolidColorBrush(Colors.Orange);
break;
case EnumMsg.PointType.旋转点:
case EnumMsg.PointType.整体旋转点:
ellipse.Fill = new SolidColorBrush(Colors.Blue);
ellipse.Width = 14;
ellipse.Height = 14;
break;
case EnumMsg.PointType.旋转附属点:
ellipse.Fill = new SolidColorBrush(Colors.LightYellow);
break;
case EnumMsg.PointType.死点:
ellipse.Fill = new SolidColorBrush(Colors.Black);
ellipse.Width = 16;
ellipse.Height = 16;
break;
default:
//throw new Exception(point.strBarcode + "未配色点属性" + point.pointType);
break;
}
int[] xy = DrawPoint(point.IntX, point.IntY, (int)ellipse.Width);
ellipse.SetValue(Canvas.TopProperty, (double)xy[1]);
ellipse.SetValue(Canvas.LeftProperty, (double)xy[0]);
ellipse.SetValue(Panel.ZIndexProperty, 100);
App.Canvas_Monit.Children.Add(ellipse);
App.PointSharp.Add(ellipse);
}
}
private void PointEllipse_ToolTipOpening(object sender, ToolTipEventArgs e)
{
if (sender is Ellipse ellipse)
{
var point = App.PointList.Find(x => x.Barcode == ellipse.Name[5..]) ?? throw new Exception($"Point{ellipse.Name}不存在");
var toolTip = ellipse.Tag.ToString();
if (point.LockedAgv != null)
{
toolTip += $" 被AGV锁定：{point.LockedAgv.AgvNo}";
}
ellipse.ToolTip = toolTip;
}
}
/// <summary>
/// 显示站台名称
/// </summary>
public void TextTostring()
{
var stationGroupList = App.StationList.GroupBy(t => t.Barcode).ToList();
foreach (var stationGroup in stationGroupList)
{
var station = stationGroup.First();
var point = App.PointList.Find(x => x.Barcode == station.Barcode) ?? throw new Exception($"站台{station.Name}对应的点{station.Barcode}为空");
//取出当前站台的名称，和第一个比较，如果不一样旧显示名字，不显示重复的。
var stationName = string.Empty;
var direction = EnumMsg.Direction.无方向;
if (station.Name.IsNullOrEmpty()) throw new Exception("站台名称为空");
stationName = station.Name.Replace("-01", "").Replace("-", "");
if (stationName.Length >= 5 && !stationName.StartsWith("B"))
{
stationName = stationName[..5];
}
//if (point!.IsXNeg)
//{
// direction = EnumMsg.Direction.X正方向;
//}
//else if (point!.IsXPos)
//{
// direction = EnumMsg.Direction.X负方向;
//}
//else if (point!.IsYNeg)
//{
// direction = EnumMsg.Direction.Y正方向;
//}
//else if (point!.IsYPos)
//{
// direction = EnumMsg.Direction.Y负方向;
//}
if (point!.IsYNeg)
{
direction = EnumMsg.Direction.Y正方向;
}
else
{
direction = EnumMsg.Direction.Y负方向;
}
if (stationName != "" && direction != EnumMsg.Direction.无方向)
{
double[] xy = new double[2];
var tempPoint = App.PointList.First(a => a.Barcode == station.Barcode);
switch (direction)
{
case EnumMsg.Direction.Y负方向:
xy = DrawSharp(tempPoint.IntX, tempPoint.IntY - 1);
break;
case EnumMsg.Direction.Y正方向:
xy = DrawSharp(tempPoint.IntX, tempPoint.IntY + 1);
break;
case EnumMsg.Direction.X正方向:
xy = DrawSharp(tempPoint.IntX + 1, tempPoint.IntY);
break;
case EnumMsg.Direction.X负方向:
xy = DrawSharp(tempPoint.IntX - 1, tempPoint.IntY);
break;
}
var tb = new TextBox();
if (direction == EnumMsg.Direction.Y正方向)
{
Thickness margin = new Thickness(0, App.GsWidth / 2 - 2, 0, 0);
tb.Margin = margin;
}
Version osVersion = Environment.OSVersion.Version;
//if (osVersion.Major >= 10)
// tb.Height = App.GsWidth / 2 - 2;
tb.TextWrapping = System.Windows.TextWrapping.Wrap;
tb.Foreground = new SolidColorBrush(Color.FromRgb(200, 100, 100));
tb.FontSize = 10;
tb.FontFamily = new FontFamily("Segoe UI");
tb.IsReadOnly = true;
tb.Text = stationName;
tb.SetValue(Canvas.TopProperty, xy[1]);
tb.SetValue(Canvas.LeftProperty, xy[0]);
App.Canvas_Monit.Children.Add(tb);
}
}
}
/// <summary>
/// 绘制地图点
/// </summary>
/// <param name="intX"></param>
/// <param name="intY"></param>
/// <returns></returns>
public int[] DrawPoint(int intX, int intY, int flag)
{
int y = 0, x = 0;
if (App.Rotote == 2)
{
y = ((int)App.HeightMax - intY) * App.GsHeight + App.GsHeight / 2 - flag / 2 + 1;
x = (intX - (int)App.WidthMin) * App.GsWidth + App.GsWidth / 2 - flag / 2 + 1;
}
else
{
y = (intY - (int)App.HeightMin) * App.GsHeight + App.GsHeight / 2 - flag / 2 + 1;
x = ((int)App.WidthMax - intX) * App.GsWidth + App.GsWidth / 2 - flag / 2 + 1;
}
return new int[] { x, y };
}
/// <summary>
/// 绘制小车货架
/// </summary>
/// <param name="intX"></param>
/// <param name="intY"></param>
/// <returns></returns>
public double[] DrawSharp(int intX, int intY)
{
int y = 0, x = 0;
if (App.Rotote == 2)
{
y = ((int)App.HeightMax - intY) * App.GsHeight + 1;
x = (intX - (int)App.WidthMin) * App.GsWidth + 1;
}
else
{
y = (intY - (int)App.HeightMin) * App.GsHeight + 1;
x = ((int)App.WidthMax - intX) * App.GsWidth + 1;
}
return new double[] { x, y };
}
/// <summary>
/// 小车移动绘制
/// </summary>
/// <param name="agv"></param>
public void AgvChange(Base_Agv agv)
{
App.AppDispatcher.Invoke(new Action(() =>
{
var point = App.PointList.FirstOrDefault(a => a.Barcode == agv.Barcode);
var ellipse = App.AgvSharp.FirstOrDefault(new Func<Ellipse, bool>(a => a.Name == agv.AgvNo));
if (ellipse == null)
{
throw new Exception(agv.AgvNo + "在地图中未添加");
}
if (ellipse.Visibility != System.Windows.Visibility.Visible)
{
ellipse.Visibility = System.Windows.Visibility.Visible;
}
if (!agv.IsEnable)
{
ellipse.Visibility = System.Windows.Visibility.Hidden;
}
double[] xy = { 0, 0 };
if (point != null)
{
xy = DrawSharp(point.IntX, point.IntY);
}
ellipse.SetValue(Canvas.LeftProperty, xy[0]);
ellipse.SetValue(Canvas.TopProperty, xy[1]);
}));
}
/// <summary>
/// 小车状态绘制
/// </summary>
/// <param name="Agv"></param>
public void AgvStateChange(Base_Agv agv)
{
App.AppDispatcher.Invoke(new Action(() =>
{
var ellipse = App.AgvSharp.FirstOrDefault(new Func<Ellipse, bool>(a => a.Name == agv.AgvNo));
if (ellipse == null)
{
throw new Exception(agv.AgvNo + "在地图中未添加");
}
if (agv.Error != "")
{
ellipse.Stroke = new SolidColorBrush(Colors.Red);
}
else if (!agv.IsOnline)
{
ellipse.Stroke = new SolidColorBrush(Colors.Tan);
}
else if (agv.AgvState == EnumMsg.AGVState.自动空闲)
{
if (!agv.StopReason.IsNullOrEmpty())
{
//// 创建一个线性渐变画刷
//if (linearGradientBrush == null)
//{
// linearGradientBrush = new LinearGradientBrush();
// linearGradientBrush.StartPoint = new Point(0, 0);
// linearGradientBrush.EndPoint = new Point(1, 0);
// linearGradientBrush.GradientStops.Add(new GradientStop(Colors.Blue, 0.0));
// linearGradientBrush.GradientStops.Add(new GradientStop(Colors.Cyan, 1.0));
//}
//// 创建颜色动画
//if (animation == null)
//{
// animation = new ColorAnimation();
// animation.From = Colors.Blue;
// animation.To = Colors.Cyan;
// animation.Duration = TimeSpan.FromSeconds(2);
// animation.AutoReverse = true;
// animation.RepeatBehavior = RepeatBehavior.Forever;
//}
//if (ellipse.Stroke != linearGradientBrush)
//{
// // 将渐变画刷应用到需要动画的对象上
// ellipse.Stroke = linearGradientBrush;
// // 将动画应用到渐变画刷的颜色属性
// linearGradientBrush.BeginAnimation(LinearGradientBrush.GradientStopsProperty, animation);
//}
ellipse.Stroke = new SolidColorBrush(Colors.Cyan);
}
else
{
ellipse.Stroke = new SolidColorBrush(Colors.Cyan);
}
}
else if (agv.AgvState == EnumMsg.AGVState.自动忙碌)
ellipse.Stroke = new SolidColorBrush(Colors.Blue);
else if (agv.AgvState == EnumMsg.AGVState.充电中)
ellipse.Stroke = new SolidColorBrush(Colors.Green);
else
ellipse.Stroke = new SolidColorBrush(Colors.Yellow);
}));
}
public void DrawMapLine(List<Base_Point> points)
{
var newPoints = new List<Base_Point>();
Line line;
//line = new Line
//{
// X1 = 1,
// X2 = 1000,
// Y1 = 1,
// Y2 = 1000,
// StrokeThickness = 3,
// Stroke = Brushes.Black,
//};
//App.Canvas_Monit.Children.Add(line);
foreach (var point in points)
{
var aroundPoints = ComnMethod.GetAroundPoint(point);
foreach (var aroundPoint in aroundPoints)
{
var start = DrawPoint(point.IntX, point.IntY, 0);
var end = DrawPoint(aroundPoint.IntX, aroundPoint.IntY, 0);
line = new Line
{
X1 = start[0],
X2 = end[0],
Y1 = start[1],
Y2 = end[1],
StrokeThickness = 1,
Stroke = Brushes.Gray,
};
if (!App.MapLines.Any(x => x.X1 == line.X2 && x.X2 == line.X1 && x.Y1 == line.Y2 && x.Y2 == line.Y1))
{
line.SetValue(Panel.ZIndexProperty, 1);
App.MapLines.Add(line);
App.Canvas_Monit.Children.Add(line);
//int[] xy = DrawPoint(point.IntX, point.IntY, (int)line.StrokeThickness);
//line.SetValue(Canvas.TopProperty, (double)xy[1]);
//line.SetValue(Canvas.LeftProperty, (double)xy[0]);
}
}
}
}
}
}