MainWindow.xaml.cs
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using Infrastructure;
using Microsoft.AspNetCore.Builder;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.OpenApi.Models;
using Microsoft.Win32;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using RCS.Model.Entity;
using RCS.Model.PLC;
using RCS.WinClient.Common;
using RCS.WinClient.PLC;
using RCS.WinClient.Service;
using RCS.WinClient.TCP;
using RCS.WinClient.Views.Pages;
using RCS.WinClient.WebApi.Client;
using System;
using System.Configuration;
using System.Data;
using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Shapes;
using System.Xml.Linq;
namespace RCS.WinClient.Views
{
/// <summary>
/// MainWindow.xaml 的交互逻辑
/// </summary>
public partial class MainWindow : Window
{
public MainWindow()
{
InitializeComponent();
}
#region 缩放、滚动相关
public double Zoom = 0.5;
private Point? DownPoint;
private readonly double MaxZoom = 5;
private readonly double MinZoom = 0.5;
Point DefaultPoint = new(165, 145);
double DefaultZoom = 0.5;
TranslateTransform Transform = new();
RotateTransform RotateTransform = new();
TransformGroup TransformGroup = new();
#endregion
private Thread thSocket;
private Thread thTaskOperator;
private Thread thTaskIot;
private Thread thDataMaintain;
private Socket? SvrSocket;
private Sharp canvasSharp = new Sharp();
private WinTaskManager winTaskManager;
private WinTest winTest;
private WinOrganization winOrganization;
private WinParameter winParameter;
private WinHistoryTask winHistoryTask;
private Task _task;
//private System.Timers.Timer taskTimer = new System.Timers.Timer();
//private List<SiemensS7Net> S7NetList = new List<SiemensS7Net>();
//private List<KeyenceMcNet> keyenceList = new List<KeyenceMcNet>();
private void Window_Loaded(object sender, RoutedEventArgs e)
{
//Thread.Sleep(1000 * 20);
App.Canvas_Monit = Canvas_Monitor;
App.AppDispatcher = Dispatcher;
//设置全屏
Width = SystemParameters.PrimaryScreenWidth;
Height = SystemParameters.WorkArea.Height;
Left = (SystemParameters.PrimaryScreenWidth - Width) / 2;
Top = (SystemParameters.WorkArea.Height - Height) / 2;
#region 缩放事件
//缩放事件
this.Canvas_Monitor.RenderTransformOrigin = new Point(0.5, 0.5);
Transform = new TranslateTransform(DefaultPoint.X, DefaultPoint.Y);
//Canvas_Monitor.RenderTransform = Transform;
//Canvas_Monitor.RenderTransform = RotateTransform;
//TransformGroup transformGroup = new TransformGroup();
TransformGroup.Children.Add(Transform);
TransformGroup.Children.Add(RotateTransform);
Canvas_Monitor.RenderTransform = TransformGroup;
Canvas_Monitor.LayoutTransform = new ScaleTransform(0.5, 0.5);
MouseTool.CallbackErroeHandle += (IntPtr wParam, Mouse_LL_Hook_Data mhd) =>
{
System.Diagnostics.Debug.WriteLine($"mouse event:{wParam}, ({mhd.yx & 0xffffffff},{mhd.yx >> 32})");
if (wParam == MouseTool.WM_LBUTTONUP)
DownPoint = null;
};
MouseTool.InsertErrorHandle += (int error) =>
{
MessageBox.Show($"Failed to install global mouse hook. Error code: {error}");
};
#endregion
//初始化数据库数据
var result = Init.InitData();
if (!result.IsSuccess)
{
ComnMethod.Message(result.Message);
App.ExFile.MessageError("Window_Loaded", result.Message);
//Environment.Exit(0);
}
if (App.PointList.Count != 0)
{
int[] Area = canvasSharp.MoniterAreaInit();
Canvas_Monitor.Width = Area[0];
Canvas_Monitor.Height = Area[1];
try
{
//设置货架位置
canvasSharp.ShelfSet();
canvasSharp.AgvPointSet();
canvasSharp.PointSet();
canvasSharp.TextTostring();
canvasSharp.DrawMapLine(App.PointList);
}
catch (Exception ex)
{
ComnMethod.Message(ex.ToString());
}
}
DGrid_Agv.ItemsSource = App.AgvList.OrderBy(a => a.AgvNo);
//开启webapi通讯接口
thSocket = new Thread(StartWebApi);
thSocket.IsBackground = true;
thSocket.Start();
if (result.IsSuccess)
{
#region PLC处理
if (App.EquipmentList.Count > 0)
{
// 开始执行PLC处理
result = EquipmentExecutor.Instance.StartExcute();
if (!result.IsSuccess)
{
ComnMethod.Message(result.Message);
App.ExFile.MessageError("Window_Loaded", result.Message);
return;
}
//显示各类设备的PLC交互信号监控
thTaskOperator = new Thread(PLCInfo);
thTaskOperator.IsBackground = true;
thTaskOperator.Start();
//用来监听输送线请求入库
//thTaskOperator = new Thread(CallContainer);
//thTaskOperator.IsBackground = true;
//thTaskOperator.Start();
}
#endregion
//和AGV通讯
thSocket = new Thread(SocketBuild);
thSocket.IsBackground = true;
thSocket.Start();
//任务处理
thTaskOperator = new Thread(TaskOperator);
thTaskOperator.IsBackground = true;
thTaskOperator.Start();
//异常数据处理
UpdateManage.UpdateAgvErrorToDB();
////数据维护
//thDataMaintain = new Thread(DataMaintain);
//thDataMaintain.IsBackground = true;
//thDataMaintain.Start();
//任务提交、任务完成、充电
//TaskTimer();
}
}
#region 任务回传
///// <summary>
///// 定时器
///// </summary>
//private void TaskTimer()
//{
// //开启一个定时器，定时去执行任务。
// taskTimer.Interval = 2000; //间隔时间
// taskTimer.Elapsed += AgvTaskFinish;
// taskTimer.AutoReset = true;
// taskTimer.Enabled = true;
//}
///// <summary>
///// 找出【动作完成】且【信号未发送】的子任务，然后向上游系统发送数据，成功后更新子任务状态为【信号已发送】
///// </summary>
///// <param name="sender"></param>
///// <param name="e"></param>
//private void AgvTaskFinish(object sender, System.Timers.ElapsedEventArgs e)
//{
// lock (new object())
// {
// if (stop_Tasktimer)
// {
// try
// {
// stop_Tasktimer = false;
// BaseDal<Base_SubTask> _sonTask = new BaseDal<Base_SubTask>();
// //子任务完成请求wcs确认是否进行下步动作
// var taskList = App.TaskList.Where(a => a.SubTaskList.Count != 0 &&
// a.SubTaskList[0].TaskRequestType < EnumMsg.TaskRequestType.信号发送完成 &&
// a.SubTaskList[0].SubTaskState == EnumMsg.SubTaskState.动作完成).ToList();
// for (var i = 0; i < taskList.Count(); i++)
// {
// var task = taskList[i];
// var agv = App.AgvList.Find(a => a.AgvNo == task.TaskAgvNo);
// var station = App.StationList.Find(a => a.PreBarcode == agv.Barcode);
// var sonTask = taskList[i].SubTaskList[0];
// var agvState = 0;
// if (agv.AgvType == EnumMsg.AgvType.差速)
// {
// if (sonTask.SubTaskType == EnumMsg.AgvTaskType.上升到顶)
// {
// //agvState = 20;
// }
// else if (sonTask.SubTaskType == EnumMsg.AgvTaskType.下降到底)
// {
// agvState = 100;
// }
// }
// else if (agv.AgvType == EnumMsg.AgvType.舵轮)
// {
// agvState = (int)sonTask.TaskRequestType;
// }
// ////如果舵轮车型在不需要的交互的地方，直接完成
// //if ((task.Initial.Contains("存放") && sonTask.SerialNo < 5)
// // || (task.Target.Contains("存放") && sonTask.SerialNo > 5))
// //{
// // sonTask.TaskRequestType = EnumMsg.TaskRequestType.信号发送完成;
// // continue;
// //}
// #region 测试环境注释 任务回传接口
// //向上游系统发送信息【AGV任务回传】
// var returnState = WebApiClient.ToAcsWebApiTaskState(taskList[i], agvState);
// if (!returnState.Success)
// {
// App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{returnState.Msg}\r");
// continue;
// }
// App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{(int)sonTask.TaskRequestType}\r");
// #endregion
// //var curTaskRequestType = (int)sonTask.TaskRequestType + 5;
// var updateresult0 = _sonTask.Update(it => it.SubTaskNo == sonTask.SubTaskNo,
// it => new Base_SubTask()
// {
// //TaskRequestType = (EnumMsg.TaskRequestType)curTaskRequestType,
// SubTaskState = EnumMsg.SubTaskState.信号已发送
// });
// if (!updateresult0.Success) continue;
// sonTask.SubTaskState = EnumMsg.SubTaskState.信号已发送;
// //sonTask.TaskRequestType = (EnumMsg.TaskRequestType)curTaskRequestType;
// }
// }
// catch (Exception ex)
// {
// App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{ex.Message}\n{ex.StackTrace}\r");
// }
// finally
// {
// stop_Tasktimer = true;
// Thread.Sleep(5000);
// }
// }
// }
// #region MyRegion
// //try
// //{
// // BaseDal<Base_SubTask> _sonTask = new BaseDal<Base_SubTask>();
// // //子任务完成请求wcs确认是否进行下步动作
// // var taskList = App.TaskList.Where(a => a.SubTaskList.Count != 0 && a.SubTaskList[0].SubTaskState ==
// // EnumMsg.SubTaskState.动作完成
// // && (int)a.SubTaskList[0].TaskRequestType < 101).ToList();
// // for (var i = 0; i < taskList.Count(); i++)
// // {
// // var task = taskList[i];
// // var agv = App.AgvList.Find(a => a.AgvNo == task.TaskAgvNo);
// // var station = App.StationList.Find(a => a.PreBarcode == agv.Barcode);
// // var sonTask = taskList[i].SubTaskList[0];
// // var agvState = 0;
// // if (agv.AgvType == EnumMsg.AgvType.差速)
// // {
// // if (sonTask.SubTaskType == EnumMsg.AgvTaskType.顶升)
// // {
// // //agvState = 20;
// // }
// // else if (sonTask.SubTaskType == EnumMsg.AgvTaskType.下降)
// // {
// // agvState = 100;
// // }
// // }
// // else if (agv.AgvType == EnumMsg.AgvType.舵轮)
// // {
// // agvState = (int)sonTask.TaskRequestType;
// // }
// // //如果舵轮车型在不需要的交互的地方，直接完成
// // if ((task.Initial.Contains("存放") && sonTask.SerialNo < 5)
// // || (task.Target.Contains("存放") && sonTask.SerialNo > 5))
// // {
// // sonTask.TaskRequestType = EnumMsg.TaskRequestType.信号发送完成;
// // continue;
// // }
// // //更新AGV搬运进度
// // var returnState = WebApiClient.ToAcsWebApiTaskState(taskList[i], agvState);
// // if (!returnState.Success)
// // {
// // App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{returnState.Msg}\r");
// // continue;
// // }
// // App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{(int)sonTask.TaskRequestType}\r");
// // var curTaskRequestType = (int)sonTask.TaskRequestType + 5;
// // var updateresult0 = _sonTask.Update(it => it.SubTaskNo == sonTask.SubTaskNo, it => new Base_SubTask()
// // {
// // TaskRequestType = (EnumMsg.TaskRequestType)curTaskRequestType,
// // SubTaskState = EnumMsg.SubTaskState.信号已发送
// // });
// // if (!updateresult0.Success) continue;
// // sonTask.SubTaskState = EnumMsg.SubTaskState.信号已发送;
// // sonTask.TaskRequestType = (EnumMsg.TaskRequestType)curTaskRequestType;
// // }
// //}
// //catch (Exception ex)
// //{
// // App.ExFile.MessageWebApi("AcsWebApiError", $"接口(AgvTaskFinish)，{ex.Message}\n{ex.StackTrace}\r");
// //}
// #endregion
//}
#endregion
/// <summary>
/// 开启web通讯接口
/// </summary>
private void StartWebApi()
{
try
{
var builder = WebApplication.CreateBuilder();
builder.Services.AddControllers();
builder.Services.AddEndpointsApiExplorer();
// 添加 CORS 策略
builder.Services.AddCors(options =>
{
options.AddPolicy("default", policy =>
{
policy.AllowAnyOrigin()
.AllowAnyMethod()
.AllowAnyHeader();
});
});
builder.Services.AddSwaggerGen(options =>
{
options.SwaggerDoc("v1", new OpenApiInfo { Title = "RCSAPI", Version = "v1" });
// 添加XML注释，如果你想要Swagger UI显示注释
//var xmlFile = $"{Assembly.GetExecutingAssembly().GetName().Name}.xml";
//var xmlPath = Path.Combine(AppContext.BaseDirectory, xmlFile);
//options.IncludeXmlComments(xmlPath);
// 其他设置，比如添加认证、授权、过滤器等
});
var app = builder.Build();
app.UseCors("default");
app.Urls.Add(App.AppConfig.RcsWebApi);
// 启用Swagger中间件生成JSON文件
app.UseSwagger();
// 启用Swagger UI中间件
app.UseSwaggerUI(c =>
{
c.SwaggerEndpoint("/swagger/v1/swagger.json", "RCSAPI V1");
// 你可以设置默认打开的文档，比如：
c.RoutePrefix = string.Empty; // 设置路由前缀为空，Swagger UI将直接显示在根路径下
});
app.MapControllers();
app.UseRouting();
app.UseAuthorization();
//_ = app.UseEndpoints(endpoints =>
//{
// endpoints.MapControllers();
//});
Console.WriteLine("Application started, listening on: " + string.Join(", ", app.Urls));
app.Run();
#region 全面的写法，暂时先不用
//var builder = WebApplication.CreateBuilder();
//// Add services to the container.
//builder.Services.AddSingleton(new Appsettings(builder.Configuration));
//builder.AddSerilog();
//builder.Services.AddCorsSetup();
//builder.Services.AddSignalR().AddNewtonsoftJsonProtocol();
//builder.Services.AddHostedService<HubClientService>();
//builder.Services.AddHostedService<SoundService>();
//builder.Services.Configure<KestrelServerOptions>(builder.Configuration.GetSection("Kestrel"));
//builder.Services.AddControllers();
//var app = builder.Build();
//// Configure the HTTP request pipeline.
////跨域
//app.UseCors("Cors");
//app.UseDefaultFiles();
//// 启用默认静态资源目录(wwwroot)
//app.UseStaticFiles();
//var baseDirec = Path.Combine(AppContext.BaseDirectory, "webfile");
//if (!Directory.Exists(baseDirec)) Directory.CreateDirectory(baseDirec);
//app.UseFileServer(new FileServerOptions()
//{
// FileProvider = new PhysicalFileProvider(baseDirec),
// RequestPath = new PathString("/webfile"),
// EnableDirectoryBrowsing = false
//});
//app.UseStatusCodePages();
//app.UseRouting();
//app.UseEndpoints(endpoints =>
//{
// endpoints.MapHub<ChatHub>("/hub");
// endpoints.MapControllers();
//});
//app.Run();
#endregion
}
catch (Exception ex)
{
App.ExFile.MessageError("StartWebApi", $"开放接口异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
}
}
/// <summary>
/// Socket通讯
/// </summary>
private void SocketBuild()
{
if (SvrSocket != null)
{
SvrSocket.Close();
SvrSocket = null;
}
try
{
//用指定的端口号和服务器的ip建立一个IPEndPoint对象
var ip = IPAddress.Parse(App.AppConfig.ServiceIP);
var ipe = new IPEndPoint(IPAddress.Any, App.AppConfig.ServicePort);
//创建一个用于监听连接的Socket对象
SvrSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
//用socket对象的Bind()方法绑定IPEndPoint；
SvrSocket.Bind(ipe);
ManageTcp.ServerListen(App.ServerConactNum, SvrSocket);
}
catch (Exception ex)
{
App.ExFile.MessageError("SocketBuild", $"创建AGV监听线程异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
Thread.Sleep(1000 * 3);
thSocket = new Thread(SocketBuild);
thSocket.IsBackground = true;
thSocket.Start();
}
}
/// <summary>
/// 任务处理
/// </summary>
private void TaskOperator()
{
try
{
while (true)
{
//任务分解
TaskManage.TaskSplit();
//给任务分配AGV
TaskManage.AgvGetTask();
//解锁充电桩
ComnMethod.UnLockStation();
//清理点位的AGV锁定
ComnMethod.ClearPointOccupy();
//清理点位的方向锁
ComnMethod.ClearPointDirection();
////为路径卡住，无法分配路线的车增加一条行走子任务，来避让
//TaskManage.AvoidSubTask();
//分配路径
GetPath.AssignePath();
////建立回家、充电任务
ChargeManager.AgvCharge();
#region 测试任务
if (App.RadomTaskConfig.IsStartRadom)
{
var diff = App.RadomTaskConfig.Concurrency - App.TaskList.Count;
for (int i = 0; i < diff; i++)
{
TaskManage.AddRadomTasks(null, App.RadomTaskConfig.TaskTypes, true);
}
}
//简易版取消充电
//Business.TaskManage.ChargeCancle();
//调用WCS补空货架
//Business.TaskManage.PlatformListen();
//建立回库任务
//Business.TaskManage.MoveBack();
//建立循环行走任务
//if (App.StartCycle == 1)
//{
// TaskManage.WalkTask();
//}
//if (App.RotateTask == 1)
//{
// Business.TaskManage.RotateTask();
//}
//if (App.LiftTask == 1)
//{
// Business.TaskManage.LiftTask();
//}
//if (App.PalletTask == 1)
//{
// Business.TaskManage.PalletTask();
//}
#endregion 测试任务
//判断心跳
ComnMethod.CheckAgvOnline();
//发送IOT数据
//if (_task == null || _task.Status >= TaskStatus.RanToCompletion)
//{
// _task = Task.WhenAll(Task.Run(WebApiClient.UpdateClientStatus), Task.Run(WebApiClient.SendAGVInfoToIot));
//}
Thread.Sleep(1000);
}
}
catch (Exception ex)
{
App.ExFile.MessageError("TaskOperator", $"任务处理线程异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
thTaskOperator = new Thread(TaskOperator);
thTaskOperator.IsBackground = true;
thTaskOperator.Start();
}
}
/// <summary>
/// 数据维护
/// </summary>
private void DataMaintain()
{
try
{
if (!int.TryParse(ConfigurationManager.AppSettings["DataMaintainInterval"], out int dataMaintainInterval))
{
var msg = "配置文件没有设置【数据维护间隔时间】，无法启动数据维护，请设置！";
ComnMethod.Message(msg);
App.ExFile.MessageError("Window_Loaded", msg);
return;
};
while (true)
{
UpdateManage.DataMaintain();
Thread.Sleep(1000 * 60 * dataMaintainInterval);
}
}
catch (Exception ex)
{
App.ExFile.MessageError("DataMaintain", $"数据维护线程异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
thDataMaintain = new Thread(DataMaintain);
thDataMaintain.IsBackground = true;
thDataMaintain.Start();
}
}
#region S7通讯处理
/// <summary>
/// 显示设备的PLC交互信号监控
/// </summary>
private void PLCInfo()
{
try
{
while (true)
{
try
{
#region 更新界面的实体
//更新华恒站台交互信号
foreach (var huahengStaion in App.HuahengStaionList)
{
var equipment = App.EquipmentList.FirstOrDefault(t => t.Name == huahengStaion.EquipmentName);
if (equipment != null)
{
huahengStaion.SetProp(equipment.EquipmentProps);
}
}
#endregion
#region 信号监控，如果PLC有信号，但是没有车正在执行，就清除RCS信号，同时恢复任务初始状态
var equipmentList = App.EquipmentList.Where(t => !t.Name.EndsWith("心跳")).ToList();
foreach (var equipment in equipmentList)
{
//MsgManage.CheckPLC(equipment);
MsgManage.ClearRequest(equipment);
}
#endregion
Thread.Sleep(EquipmentExecutor.Instance.Count * EquipmentExecutor.Instance.Delay);
}
catch (Exception ex)
{
App.ExFile.MessageError("PLCInfo", $"PLC交互信号监控出现异常: {ex.Message}，\n 堆栈：{ex.StackTrace}");
}
}
}
catch (Exception ex)
{
App.ExFile.MessageError("PLCInfo", $"创建显示设备的PLC交互信号监控线程失败：{ex.Message}，\n 堆栈：{ex.StackTrace}");
thTaskOperator = new Thread(PLCInfo);
thTaskOperator.IsBackground = true;
thTaskOperator.Start();
}
}
/// <summary>
/// 输送线P1002、P1004请求WMS入库
/// </summary>
private void CallContainer()
{
try
{
while (true)
{
//处理站台请求
var stations = App.EquipmentList.Where(t => t.Type == EnumPLC.EquipmentType.HuaHengStation.ToString() && t.Name == "P1002");
foreach (var equipment in stations)
{
var pickReady = equipment[EnumPLC.PLCHuaHengProps.PickReady.ToString()];
var weight = equipment[EnumPLC.PLCHuaHengProps.Weight.ToString()];
var code = equipment[EnumPLC.PLCHuaHengProps.Code.ToString()];
if (pickReady?.Value == EnumPLC.PLCBool.True.ToString())
{
if (weight == null || string.IsNullOrEmpty(weight.Value))
{
App.ExFile.MessageError("CallContainer", $"输送线{equipment.Name}请求WMS入库出错，输送线的重量为空！");
continue;
}
if (!double.TryParse(weight.Value, out double weightValue))
{
App.ExFile.MessageError("CallContainer", $"输送线{equipment.Name}请求WMS入库出错，输送线的重量【{weight.Value}】不能转为双精度类型！");
continue;
}
if (weightValue == 0)
{
App.ExFile.MessageError("CallContainer", $"输送线{equipment.Name}请求WMS入库出错，输送线的重量【{weight.Value}】不能为0！");
continue;
}
if (code == null || string.IsNullOrEmpty(code.Value))
{
App.ExFile.MessageError("CallContainer", $"输送线{equipment.Name}请求WMS入库出错，输送线的条码为空！");
continue;
}
if (App.TaskList.Any(t => t.TaskPallet == code.Value))
{
continue;
}
var returnState = WebApiClient.ToWMSContainerInfo(code.Value, weightValue, 0, equipment.Name);
if (!returnState.IsSuccess)
{
App.ExFile.MessageError("CallContainer", $"输送线{equipment.Name}请求WMS入库出错，调用方法【ToWMSContainerInfo】失败，原因：{returnState.Message}\r");
}
}
}
Thread.Sleep(1000);
}
}
catch (Exception ex)
{
App.ExFile.MessageError("CallContainer", $"创建输送线请求WMS入库的线程失败：{ex.Message}，\n 堆栈：{ex.StackTrace}");
thTaskOperator = new Thread(CallContainer);
thTaskOperator.IsBackground = true;
thTaskOperator.Start();
}
}
#endregion S7通讯处理
#region 界面操作
/// <summary>
/// 关闭程序事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Window_Closed(object sender, EventArgs e)
{
if (MessageBox.Show("请确认是否退出程序？\n退出后将无法继续全部或部分功能!", "警告", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
{
Environment.Exit(0);
}
}
/// <summary>
/// 左键拖框事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Image_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
{
DragMove();
}
/// <summary>
/// 最小化按钮事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BtnMin_Click(object sender, RoutedEventArgs e)
{
this.WindowState = System.Windows.WindowState.Minimized;
}
/// <summary>
/// 最大化按钮事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BtnMax_Click(object sender, RoutedEventArgs e)
{
if (WindowState == WindowState.Normal)
{
WindowState = WindowState.Maximized;
}
else if (WindowState == WindowState.Maximized)
{
WindowState = WindowState.Normal;
}
}
/// <summary>
/// 关闭按钮事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BtnClose_Click(object sender, RoutedEventArgs e)
{
if (MessageBox.Show("请确认是否退出程序？\n退出后将无法继续全部或部分功能!", "警告", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
{
Environment.Exit(0);
}
}
/// <summary>
/// 菜单栏点击事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void StackPanel_Click(object sender, RoutedEventArgs e)
{
if (e.OriginalSource is not Button btn) return;
//任务管理
if (btn.Name == Btn_TaskManager.Name)
{
if (winTaskManager == null || winTaskManager.IsVisible == false)
{
winTaskManager ??= new WinTaskManager();
winTaskManager.Show();
}
else
{
winTaskManager.Activate();
winTaskManager.WindowState = WindowState.Normal;
}
}
//手动任务
else if (btn.Name == Btn_Test.Name)
{
if (winTest == null || winTest.IsVisible == false)
{
winTest ??= new WinTest();
winTest.Show();
}
else
{
winTest.Activate();
winTest.WindowState = WindowState.Normal;
}
}
else if (btn.Name == Btn_MachineManager.Name)
{
if (winOrganization == null || winOrganization.IsVisible == false)
{
winOrganization ??= new WinOrganization();
winOrganization.Show();
}
else
{
winOrganization.Activate();
winOrganization.WindowState = WindowState.Normal;
}
}
else if (btn.Name == Btn_Parameter.Name)
{
if (winParameter == null || winParameter.IsVisible == false)
{
winParameter ??= new WinParameter();
winParameter.Show();
}
else
{
winParameter.Activate();
winParameter.WindowState = WindowState.Normal;
}
}
else if (btn.Name == Btn_History.Name)
{
if (winHistoryTask == null || !winHistoryTask.IsVisible)
{
winHistoryTask ??= new WinHistoryTask();
winHistoryTask.Show();
}
else
{
winHistoryTask.Activate();
winHistoryTask.WindowState = WindowState.Normal;
}
}
else if (btn.Name == Btn_LogInfoView.Name)
{
if (this.StackMsg.Visibility == Visibility.Collapsed)
this.StackMsg.Visibility = Visibility.Visible;
else
{
this.StackMsg.Visibility = Visibility.Collapsed;
}
}
}
/// <summary>
/// 异常信息清除
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TBox_EMessage_Clear_Click(object sender, RoutedEventArgs e)
{
TBox_EMessage.Clear();
}
/// <summary>
/// 系统异常信息清除
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TBox_BussErrMsg_Clear_Click(object sender, RoutedEventArgs e)
{
TBox_BussErrMsg.Clear();
}
/// <summary>
/// 关闭DataGrid选择
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void DataGrid_MouseLeftDown(object sender, MouseButtonEventArgs e)
{
if (sender is not DataGrid grid) return;
var border = FindParent<Border>((DependencyObject)e.OriginalSource);
if (border?.Name == "Border_AGVDetails") return; //this.Border_AGVDetails.Name
// if (border?.Name == this.Border_AGVDetails.Name) return;
var row = FindParent<DataGridRow>((DependencyObject)e.OriginalSource);
if (row != null && row.DataContext == grid.SelectedItem)
{
grid.SelectedItem = null;
}
}
private T? FindParent<T>(DependencyObject child) where T : DependencyObject
{
while (child != null)
{
if (child is T parent)
{
return parent;
}
child = VisualTreeHelper.GetParent(child);
}
return null;
}
private void DataGrid_RowDetailsVisibilityChanged(object sender, DataGridRowDetailsEventArgs e)
{
if (e.Row.DataContext is Base_Agv _agv)
if (e.DetailsElement.Visibility == Visibility.Visible)
{
// expandedItems.Add(e.Row.DataContext); // 添加到集合中
}
else
{
// expandedItems.Remove(e.Row.DataContext); // 从集合中移除
}
//// 显示所有展开的行
//ShowExpandedItems();
}
/// <summary>
/// 界面变换方向
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BtnRotote_Click(object sender, RoutedEventArgs e)
{
try
{
// RotateTransform.Angle = (RotateTransform.Angle + 90) % 360;
if (App.Rotote == 1)
{
App.Rotote = 2;
}
else
{
App.Rotote = 1;
}
App.Canvas_Monit.Children.Clear();
App.PointSharp.Clear();
App.ShelfSharp.Clear();
App.AgvSharp.Clear();
//设置货架位置
canvasSharp.ShelfSet();
canvasSharp.AgvPointSet();
canvasSharp.PointSet();
canvasSharp.TextTostring();
}
catch (Exception ex)
{
ComnMethod.Message(ex.ToString());
}
}
#endregion 界面操作
#region 页面缩放
//滚轮时间
private void Canvas_Monitor_MouseWheel(object sender, MouseWheelEventArgs e)
{
var zoom = e.Delta > 0 ? 0.1 : -0.1;
Zoom += zoom;
if (Zoom < MinZoom) { Zoom = MinZoom; return; }
else if (Zoom > MaxZoom) { Zoom = MaxZoom; return; }
Zoom = Math.Round(Zoom, 1);
#region 缩放页面
ScaleTransform scaleTransform = new(Zoom, Zoom);
Canvas_Monitor.LayoutTransform = scaleTransform;
var pos = Mouse.GetPosition(Canvas_Monitor);
var x = -pos.X * zoom;
var y = -pos.Y * zoom;
Transform.X += x;
Transform.Y += y;
#endregion
}
private void MonitorPanel_MouseMove(object sender, MouseEventArgs e)
{
e.Handled = true;
if (DownPoint == null) return;
var pos = Mouse.GetPosition(Canvas_Top);
var x = pos.X - ((Point)DownPoint).X;
var y = pos.Y - ((Point)DownPoint).Y;
Transform.X += x;
Transform.Y += y;
DownPoint = pos;
}
private void MonitorPanel_MouseDown(object sender, MouseButtonEventArgs e)
{
e.Handled = true;
DownPoint = Mouse.GetPosition(Canvas_Top);
MouseTool.InsertMouseHook();
}
private void MonitorPanel_MouseUp(object sender, MouseButtonEventArgs e)
{
e.Handled = true;
DownPoint = null;
MouseTool.RemoveMouseHook();
}
private void BtnReset_Click(object sender, RoutedEventArgs e)
{
Zoom = DefaultZoom;
Canvas_Monitor!.LayoutTransform = new ScaleTransform(Zoom, Zoom);
this.Transform.X = DefaultPoint.X;
this.Transform.Y = DefaultPoint.Y;
this.RotateTransform.Angle = 0;
//this.Transform = new TranslateTransform(Canvas_Monitor.RenderTransformOrigin.X, Canvas_Monitor.RenderTransformOrigin.Y);
// Canvas_Monitor.RenderTransform. = Transform;
//TransformGroup.
}
#endregion
private void BtnPrint_Click(object sender, RoutedEventArgs e)
{
// 创建保存文件对话框
SaveFileDialog saveFileDialog = new SaveFileDialog
{
Filter = "PNG Image|*.png",
Title = "保存图片"
};
saveFileDialog.FileName = $"AGV运行地图{DateTime.Now:yyyyMMddhhmmss}.png";
if (saveFileDialog.ShowDialog() != true) return;
try
{
// 设置高分辨率
double dpi = 300 / Zoom; // 300 DPI 是打印的标准分辨率
double scaleFactor = dpi / 96.0; // 96 DPI 是默认 DPI
var width = Canvas_Monitor.ActualWidth * scaleFactor * Zoom + Math.Abs(Transform.X * scaleFactor);
var height = Canvas_Monitor.ActualHeight * scaleFactor * Zoom + Math.Abs(Transform.Y * scaleFactor);
//var width = Canvas_Monitor.ActualWidth * scaleFactor * Zoom +1000;
//var height = Canvas_Monitor.ActualHeight * scaleFactor * Zoom + 1000;
// 创建 RenderTargetBitmap，使用更高的宽度和高度
RenderTargetBitmap renderBitmap = new RenderTargetBitmap(
(int)width,
(int)height,
dpi, dpi,
PixelFormats.Pbgra32);
renderBitmap.Render(Canvas_Monitor);
#region 用于缩放 注释
//// 创建一个 VisualBrush，用于渲染内容
//VisualBrush visualBrush = new(Canvas_Monitor);
//DrawingVisual drawingVisual = new();
//using (DrawingContext context = drawingVisual.RenderOpen())
//{
// //控制内容在画布中的偏移
// //context.PushTransform(new TranslateTransform(-Transform.X,-Transform.Y));
// context.PushTransform(new TranslateTransform(-Transform.X,-Transform.Y));
// //context.PushTransform(new ScaleTransform(Zoom/Zoom, Zoom / Zoom));
// context.PushTransform(new ScaleTransform(Zoom/Zoom, Zoom / Zoom));
// context.DrawRectangle(visualBrush, null,
// new Rect(new Point(0.5, 0.5),
// new Size(width, height)
// )
// );
//}
//renderBitmap.Render(drawingVisual);
#endregion
// 保存为 PNG 文件
PngBitmapEncoder encoder = new PngBitmapEncoder();
encoder.Frames.Add(BitmapFrame.Create(renderBitmap));
using (FileStream fileStream = new FileStream(saveFileDialog.FileName, FileMode.Create))
{
encoder.Save(fileStream);
}
MessageBox.Show("保存成功");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
App.ExFile.MessageError("BtnPrint_Click", $"{ex}");
}
}
private void MItem_LoaclAGV_Click(object sender, RoutedEventArgs e)
{
if (sender is not MenuItem menuItem) return;
var menu = menuItem.Parent as ContextMenu;
if (menu?.PlacementTarget is not DataGrid dataGrid) return;
if (dataGrid.SelectedItem is not Base_Agv _agv) return;
var agvElemnet = App.AgvSharp.Find(x => x.Name == _agv.AgvNo);
if (agvElemnet == null)
{
MessageBox.Show($"所选agv{_agv.AgvNo}在界面中不存在");
return;
}
// 获取元素在窗口中的位置
var pointInWindow = agvElemnet.TransformToAncestor(this).Transform(new Point(0, 0));
//获取窗口的中心位置
double centerX = this.Left + (this.Width / 2);
double centerY = this.Top + (this.Height / 2);
var moveX = pointInWindow.X - centerX;
var moveY = pointInWindow.Y - centerY;
Transform.X -= moveX;
Transform.Y -= moveY;
}
private void DGrid_Agv_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
}
}
public class MakeupFonts : System.Windows.Markup.MarkupExtension
{
private string SizeType;
public MakeupFonts(string fontType)
{ SizeType = fontType; }
public override object ProvideValue(IServiceProvider Isp)
{
double FontSize = 0d;
switch (SizeType)
{
case "Title":
FontSize = 20;
break;
case "Normal":
FontSize = 12;
break;
case "BottomTitle":
FontSize = 20;
break;
}
return FontSize;
}
}
//定义值转换器
[ValueConversion(typeof(string), typeof(string))]
public class AgvBackGroundConvert : IValueConverter
{
public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
{
if (value == null) return new SolidColorBrush(Colors.Transparent);
if ((int)value == 0) return new SolidColorBrush(Colors.Transparent);
else if ((int)value == 1) return new SolidColorBrush(Colors.Red);
else if ((int)value == 2) return new SolidColorBrush(Colors.Yellow);
else if ((int)value == 3) return new SolidColorBrush(Colors.SkyBlue);
else if ((int)value == 4) return new SolidColorBrush(Colors.LightGreen);
else if ((int)value == 90) return new SolidColorBrush(Colors.Gray);
else return new SolidColorBrush(Colors.Red);
//return Application.res
}
public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
{
throw new NotImplementedException();
}
}
}