chutian_terminal/action_window.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using chutian_parking_terminal.Media;
using tool;
using chutian_parking_terminal.data_buffer;
using chutian_parking_terminal.communication;
using chutian_parking_terminal.motion_executer;
using chutian_parking_terminal.front_terminal_manager;
using chutian_parking_terminal.process_manage;
using System.Threading;
using Kitware.VTK;
using Sunny.UI;
using chutian_parking_terminal.led_screen;
namespace chutian_parking_terminal
{
    public partial class action_window : Form
    {
        //显示点云
        FormVtk m_form_vtk;
        //自适应窗口大小
        AutoResizeForm m_auto_resize_form= new AutoResizeForm();
        //显示视频，图片，等
        private MediaPlayer m_mediaPlayer;

        //显示提示框
        private Thread m_tip_show_thread;
        private bool m_tip_show_condition;

        private int m_ternimalID;
        //显示点云线程
        private Thread m_show_cloud_thread;
        private bool m_show_cloud_condition;

        //显示车牌号
        private string m_car_license;
        public action_window()
        {
            InitializeComponent();
            m_car_license = "";

            parkingBtn.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
            fetchingBtn.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
            //初始化日志记录
            Log.Instance.LogInit();
            //初始化json文件操作
            json_file_operation.Instance.json_file_operation_init("../../../settings.json");
            m_ternimalID = int.Parse(json_file_operation.Instance.read_json_string("ternimalNumber"));
            //初始化数据缓冲区
            Front_terminal_manager.Instance.front_terminal_manager_init(int.Parse(json_file_operation.Instance.read_json_string("pickup_singleChip_connect_count")));
            //初始化通信
            Singlechip_communication.Instance.singlechip_communication_init();//单片机通信
            Singlechip_communication.Instance.singlechip_communication_connect();//默认从settings.json文件读取端口和IP
            
            Channel_communication.Instance.channel_communication_init();//出入口通信
            //添加一个方屏
            BroadcastBoardManager.Instance.AddSquareScreen(int.Parse(json_file_operation.Instance.read_json_string("ternimalNumber")),
                                                                Encoding.Default.GetBytes(json_file_operation.Instance.read_json_string("square_led_screen_ip")),
                                                                5005, ONNONLed5KSDKD.Led5kSDK.bx_5k_card_type.BX_6K3, 2, 0);
            //添加一个取车屏
            //BroadcastBoardManager.Instance.AddFetchScreen(int.Parse(json_file_operation.Instance.read_json_string("ternimalNumber")),
            //                                                    Encoding.Default.GetBytes(json_file_operation.Instance.read_json_string("square_led_screen_ip")),
            //                                                    5005, ONNONLed5KSDKD.Led5kSDK.bx_5k_card_type.BX_6K3, 2, 0);
            //初始化打印机
            PrintManual.Instance.PrintManualInit();
            //创建显示器
            m_mediaPlayer = new MediaPlayer();
            //初始化显示器
            m_mediaPlayer.MediaPlayerInit(this, ref this.pictureBox1, ref this.axWindowsMediaPlayer1, ref this.timeLab, ref this.dateLab, ref this.dateLab1);
            //初始化流程管理
            Process_manage.Instance.process_manage_init();
            //初始化通知管理
            Notify_manage.Instance.notify_manage_init();
            //初始化提示显示线程
            m_tip_show_thread = new Thread(tip_show_thread);

            //显示点云窗口
            m_form_vtk = new FormVtk();

            //显示点云线程
            m_show_cloud_thread = new Thread(show_cloud_thread);


        }
        //显示提示框
        private void tip_show_thread()
        {
            while (m_tip_show_condition)
            {
                if (this.InvokeRequired)
                {
                    this.Invoke(new Action(() =>
                    {
                        tip_label.Text = Front_terminal_manager.Instance.get_tip_data_buffer().get_tip_str();
                        statu_label.Text = "入口任务数:" + Process_manage.Instance.get_entrance_task_count().ToString() + "\n出口任务数:" + Process_manage.Instance.get_exit_task_count().ToString();
                    }));
                }
                else
                {
                    tip_label.Text = Front_terminal_manager.Instance.get_tip_data_buffer().get_tip_str();
                    statu_label.Text = "入口任务数:" + Process_manage.Instance.get_entrance_task_count().ToString() + "\n出口任务数:" + Process_manage.Instance.get_exit_task_count().ToString();
                }
                Thread.Sleep(100);
            }
        }
        //显示点云
        private void show_cloud_thread()
        {
            while (m_show_cloud_condition )
            {
                //Random rd = new Random();
                //vtkPoints points = new vtkPoints();
                //double offset = (rd.Next() % 10 - 5) * 0.1;
                //for (int i = -50; i < 50; ++i)
                //{
                //    for (int j = -50; j < 50; ++j)
                //    {
                //        points.InsertNextPoint(i * 0.01 + offset, j * 0.01, Math.Sin(i * 0.05));
                //    }
                //}
                //var red = 255;
                //var green = 0;
                //var blue = 0;

                //Color color = Color.FromArgb((int)red, (int)green, (int)blue);

                //m_form_vtk.SetCloud(points);
                //m_form_vtk.SetCloudColor(color);
                //points.Dispose();

                //FormVtk.Car_info car_Info1 = new FormVtk.Car_info();
                //car_Info1.correct = true;
                //car_Info1.cx = 0;
                //car_Info1.cy = 0;
                //car_Info1.theta = offset * 10 / 180.0 * Math.PI;
                //car_Info1.front_theta = offset * 30 / 180.0 * Math.PI;
                //car_Info1.wheel_base = 2.8;
                //car_Info1.width = 1.7;
                //m_form_vtk.SetCarInfo(car_Info1);

                //Thread.Sleep(100);



                if (!Front_terminal_manager.Instance.get_ground_radar_data_buffer().has_ground_statu_msg())
                {
                    m_form_vtk.set_tip_label("雷达未连接！");
                }
                else if (!Front_terminal_manager.Instance.get_singlechip_data_bufferr().has_entrance_singlechip_msg())
                {
                    m_form_vtk.set_tip_label("单片机未连接！");
                }
                else
                {
                    //填充信息
                    Message.Ground_status_msg t_ground_status_msg = Front_terminal_manager.Instance.get_ground_radar_data_buffer().get_ground_status_msg();
                    if (t_ground_status_msg.TerminalId == m_ternimalID)
                    {

                        string t_license = Process_manage.Instance.get_entrance_task_license();
                        if (t_license != "")
                        {
                            m_car_license = t_license;
                        }
                        string t_car_type = Process_manage.Instance.get_entrance_task_car_type();

                        FormVtk.Car_info car_Info = new FormVtk.Car_info();
                        //雷达测量结果是否正确
                        car_Info.correct = t_ground_status_msg.LocateInformationRealtime.LocateCorrect;
                        if (!car_Info.correct)
                        {
                            m_form_vtk.set_tip_label("测量中！");
                            m_form_vtk.isArrowsVisible(false);
                            t_ground_status_msg.LocateInformationRealtime.LocateWheelWidth = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateWheelBase = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateWidth = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateLength = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateFrontTheta = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateAngle = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateX = 0;
                            t_ground_status_msg.LocateInformationRealtime.LocateY = 0;
                        }
                        car_Info.cx = t_ground_status_msg.LocateInformationRealtime.LocateX;
                        car_Info.cy = t_ground_status_msg.LocateInformationRealtime.LocateY;
                        car_Info.front_theta = t_ground_status_msg.LocateInformationRealtime.LocateFrontTheta / 180.0 * Math.PI;
                        car_Info.theta = (t_ground_status_msg.LocateInformationRealtime.LocateAngle - 90) / 180.0 * Math.PI;
                        car_Info.wheel_base = t_ground_status_msg.LocateInformationRealtime.LocateWheelBase;
                        car_Info.width = t_ground_status_msg.LocateInformationRealtime.LocateWheelWidth;

                        m_form_vtk.set_car_data_label("车牌号：" + m_car_license + "\n\n" +
                                                      "车辆类型：" + t_car_type + "\n\n" +
                                                      "左右轮距：" + t_ground_status_msg.LocateInformationRealtime.LocateWheelWidth.ToString() + "\n\n" +
                                                      "前后轮距：" + t_ground_status_msg.LocateInformationRealtime.LocateWheelBase.ToString() + "\n\n" +
                                                      "整车宽度：" + t_ground_status_msg.LocateInformationRealtime.LocateWidth.ToString() + "\n\n" +
                                                      "整车长度：" + t_ground_status_msg.LocateInformationRealtime.LocateLength.ToString() + "\n\n" +
                                                      "前轮旋转角度：" + t_ground_status_msg.LocateInformationRealtime.LocateFrontTheta.ToString() + "\n\n" +
                                                      "整车旋转角：" + t_ground_status_msg.LocateInformationRealtime.LocateAngle.ToString() + "\n\n" +
                                                      "中心点X：" + t_ground_status_msg.LocateInformationRealtime.LocateX.ToString() + "\n\n" +
                                                      "中心点Y：" + t_ground_status_msg.LocateInformationRealtime.LocateY.ToString() + "\n\n\n\n\n\n\n");
 
                        vtkPoints vtkPoints = new vtkPoints();
                        for (int i = 0; i < t_ground_status_msg.Cloud.Count; ++i)
                        {
                            vtkPoints.InsertNextPoint(t_ground_status_msg.Cloud[i].X, t_ground_status_msg.Cloud[i].Y, t_ground_status_msg.Cloud[i].Z);
                        }
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.correct = " + car_Info.correct.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.cx = " + car_Info.cx.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.cy = " + car_Info.cy.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.front_theta = " + car_Info.front_theta.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.wheel_base = " + car_Info.wheel_base.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.width = " + car_Info.width.ToString());
                        //Log.Instance.WriteLog(LogType.PROCESS, tool.LogFile.LOG, "car_Info.theta = " + car_Info.theta.ToString());

                        m_form_vtk.SetCarInfo(car_Info);
                        m_form_vtk.SetCloud(vtkPoints);

                        SingleChip.initial_singlechip_msg initial_Singlechip_Msg = Front_terminal_manager.Instance.get_singlechip_data_bufferr().get_entrance_singlechip_msg();


                        //前超界
                        if (initial_Singlechip_Msg.InPutDi.Di0 == 1)
                        {
                            m_form_vtk.set_tip_label("车辆前超界！");
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_down);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请后退！");
                        }
                        //后超界
                        if (initial_Singlechip_Msg.InPutDi.Di1 == 1)
                        {
                            m_form_vtk.set_tip_label("车辆后超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_top);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请前进！");
                        }
                        //左超界
                        else if (t_ground_status_msg.GroundStatus == Message.Ground_statu.CarLeftOut)
                        {
                            m_form_vtk.set_tip_label("车辆左超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_right);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向右！");
                        }
                        //右超界
                        else if (t_ground_status_msg.GroundStatus == Message.Ground_statu.CarRightOut)
                        {
                            m_form_vtk.set_tip_label("车辆右超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_left);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向左！");
                        }
                        //前超界+左超界
                        if (initial_Singlechip_Msg.InPutDi.Di0 == 1 && t_ground_status_msg.GroundStatus == Message.Ground_statu.CarLeftOut)
                        {
                            m_form_vtk.set_tip_label("车辆左前超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_lowerright);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向右后！");
                        }
                        //前超界+右超界
                        else if (initial_Singlechip_Msg.InPutDi.Di0 == 1 && t_ground_status_msg.GroundStatus == Message.Ground_statu.CarRightOut)
                        {
                            m_form_vtk.set_tip_label("车辆右前超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_lowerleft);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向左后！");
                        }
                        //后超界+左超界
                        if (initial_Singlechip_Msg.InPutDi.Di1 == 1 && t_ground_status_msg.GroundStatus == Message.Ground_statu.CarLeftOut)
                        {
                            m_form_vtk.set_tip_label("车辆左后超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_upperright);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向右前！");
                        }
                        //后超界+右超界
                        else if (initial_Singlechip_Msg.InPutDi.Di1 == 1 && t_ground_status_msg.GroundStatus == Message.Ground_statu.CarRightOut)
                        {
                            m_form_vtk.set_tip_label("车辆右后超界！");
                            m_form_vtk.isCorrect(false);
                            m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_upperleft);
                            m_form_vtk.isArrowsVisible(true);
                            m_form_vtk.set_tip_car_label("请向左前！");
                        }
                        //if ((t_ground_status_msg.LocateInformationRealtime.UniformedCarY +
                        //    t_ground_status_msg.LocateInformationRealtime.LocateWheelBase / 2) < -4.25)
                        //{
                        //    m_form_vtk.set_tip_label("行程不够！");
                        //    m_form_vtk.SetScore(0);
                        //    m_form_vtk.SetArrows(FormVtk.Arrows.eArrows_top);
                        //    m_form_vtk.isArrowsVisible(true);
                        //    m_form_vtk.set_tip_car_label("请前进！");
                        //}

                        if (initial_Singlechip_Msg.InPutDi.Di0 != 1 &&
                            initial_Singlechip_Msg.InPutDi.Di1 != 1 &&
                            t_ground_status_msg.GroundStatus == Message.Ground_statu.CarCorrect &&
                            initial_Singlechip_Msg.InPutDi.Di6 == 1)
                        {
                            m_form_vtk.isCorrect(true) ;
                            m_form_vtk.isArrowsVisible(false);
                            m_form_vtk.set_tip_car_label("车已摆正！");
                        }
                    }
                    else
                    {
                        m_form_vtk.set_tip_label("未接收到本终端雷达信息！");
                    }
                }
                Thread.Sleep(1);
            }
        }
        private void parkingBtn_Click(object sender, EventArgs e)
        {

            //检查单片机通信状态
            if (Singlechip_communication.Instance.check_entrance_statu())
            {
                //点击停车按钮时 判断入口能否进行停车、
                if (Process_manage.Instance.check_entrance_statu())
                {
                    //开始停车流程
                    Process_manage.Instance.entrance_task_run();
                    //修改方屏状态
                    BroadcastBoardManager.Instance.squareBoardList[0].UpdateStatus(BroadcastSquareBoard.Entrance_statu.ENTRANCE_OCCUPIED, false);
                }
                else
                {
                    if (Front_terminal_manager.Instance.get_tip_data_buffer().get_tip_str() == "")
                    {
                        MessageBoxForm messageBoxForm = new MessageBoxForm();
                        messageBoxForm.ShowDialog("未检测到车辆！");
                    }
                    else
                    {
                        MessageBoxForm messageBoxForm = new MessageBoxForm();
                        messageBoxForm.ShowDialog(Front_terminal_manager.Instance.get_tip_data_buffer().get_tip_str());
                    }

                }
            }
            else
            {
                MessageBoxForm messageBoxForm = new MessageBoxForm();
                messageBoxForm.ShowDialog("单片机未连接...");
            }
            
        }
        private void fetchingBtn_Click(object sender, EventArgs e)
        {
            //MessageBoxForm messageBoxForm = new MessageBoxForm();
            //messageBoxForm.setText("该终端为停车终端，暂时无法用于取车！");
            //messageBoxForm.ShowDialog();

            //检查单片机通信状态
            if (Singlechip_communication.Instance.check_exit_statu())
            {
                //此窗口只获取车牌号
                FetchingForm fetchingForm = new FetchingForm();
                fetchingForm.StartPosition = FormStartPosition.CenterScreen;
                fetchingForm.BringToFront();
                fetchingForm.ShowDialog();
                if (fetchingForm.m_is_return)
                {
                    return;
                }
                //检查车牌号是否合法
                if (Process_manage.Instance.check_exit_task_license())
                {
                    Process_manage.Instance.add_exit_task();
                }
                else
                {
                    MessageBoxForm messageBoxForm = new MessageBoxForm();
                    messageBoxForm.ShowDialog("非正常车牌号！");
                }
            }
            else
            {
                MessageBoxForm messageBoxForm = new MessageBoxForm();
                messageBoxForm.ShowDialog("单片机未连接...");
            }
            
        }

        private void action_window_Load(object sender, EventArgs e)
        {
            if (MessageBox.Show("是否最大化？", "tip", MessageBoxButtons.YesNo, MessageBoxIcon.Asterisk) == DialogResult.Yes)
            {
                //设置最大化
                this.WindowState = FormWindowState.Maximized;
            }

            //启动播放器
            m_mediaPlayer.mediaplayer_run();
            //显示提示

            m_tip_show_condition = true;
            m_tip_show_thread.Start();
            //启动打印机
            PrintManual.Instance.Start();
            m_show_cloud_condition = true;
            m_show_cloud_thread.Start();
            m_auto_resize_form.controllInitializeSize(this);

            Screen[] sc = Screen.AllScreens;
            if (sc.Count() > 1)
            {
                m_form_vtk.StartPosition = FormStartPosition.Manual;
                m_form_vtk.Location = new Point(sc[1].Bounds.Left, sc[1].Bounds.Top);
                m_form_vtk.WindowState = FormWindowState.Maximized;
            }
            m_form_vtk.SetBound(-2, 2, -3, 3, 0, 2.0);
            m_form_vtk.Show();
        }
        private void action_window_FormClosing(object sender, FormClosingEventArgs e)
        {
   
            //关闭点云显示
            m_show_cloud_condition = false;
            m_show_cloud_thread.Abort();
            m_form_vtk.FormVtkUninit();

            //关闭播放器
            m_mediaPlayer.mediaplayer_uninit();

            //关闭单片机通信
            Singlechip_communication.Instance.singlechip_communication_uninit();

            //关闭出入口通信
            Channel_communication.Instance.channel_communication_uninit();

            //关闭流程管理
            Process_manage.Instance.process_manage_uninit();
            //关闭通知管理
            Notify_manage.Instance.notify_manage_uninit();

            //关闭显示提示
            m_tip_show_condition = false;
            m_tip_show_thread.Abort();

            //关闭数据管理的线程
            Front_terminal_manager.Instance.front_terminal_manager_uninit();
            //关闭打印机
            PrintManual.Instance.Close();
            //设置屏幕无信号
            BroadcastBoardManager.Instance.squareBoardList[0].UpdateStatus(BroadcastSquareBoard.Entrance_statu.ENTRANCE_NOSIGNAL, false);
            BroadcastBoardManager.Instance.squareBoardList[0].set_disp_str(" 无信号  X");
            Thread.Sleep(160);
            //关闭led屏
            BroadcastBoardManager.Instance.Close();
        }

        private void axWindowsMediaPlayer1_MouseDownEvent(object sender, AxWMPLib._WMPOCXEvents_MouseDownEvent e)
        {
            if (this.axWindowsMediaPlayer1.fullScreen == true)
            {
                this.axWindowsMediaPlayer1.fullScreen = false;           
            }
        }

        private void action_window_SizeChanged(object sender, EventArgs e)
        {
            m_auto_resize_form.controlAutoSize(this);
        }
    }
}