262 lines
10 KiB
C#
262 lines
10 KiB
C#
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using LessokajiWeaverUtilities.Utilities;
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using SimpleLite.RCS;
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using SimpleLite.RCS.CarTypes;
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using SimpleLite.CADTools;
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using SimpleLite.Props;
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using SimpleLite.UI;
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using SimpleCore;
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using SimpleCore.Compiler;
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using SimpleCore.Library;
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using SimpleCore.PropType;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing;
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using System.Drawing.Drawing2D;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace StandardScene.CarTypes
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{
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class ArmCarSiteFields:KivaSiteFields
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{
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public bool putNeedTurn = false;
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}
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class ArmCarTrackFields:KivaTrackFields
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{
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}
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class ArmCarPlanFields:KivaPlanFields
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{
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public bool charge = false;
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}
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// 自 VDA5050Car.cs 下沉至 Core：ArmCar 的 siteFields 引用它（见下方 [TemplateTrackCoderSettings]）。
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// VDA5050 拆为独立 dll 后 ArmCar 留 Core，不能反依赖 VDA dll，故该字段类置于 Core。
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class VDA5050SiteField : BasicSiteFields
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{
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public bool DI41 = false;
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public int SleepTime = 0;
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public bool workPlace = false;
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}
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//[TemplateTrackCoderSettings(
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// priority = 1,
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// templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
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// "${track.id},${track.Speed},${track.Reverse||(track.ReverseDst==dst.id)}," +
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// "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.typeInfo});",
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// siteFields = typeof(KivaSiteFields),
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// trackFields = typeof(KivaTrackFields),
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// planFields = typeof(KivaPlanFields))]
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//[TemplateSiteCoderSettings(
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// priority = 5,
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// useVerb = "plan.action=='fetch'&&plan.curSeg==plan.segN-1",
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// blockVerb = "true",
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// templateString = "agv.Wait();agv.Fetch(\"${dst.name}\");agv.Wait();",
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// siteFields = typeof(ArmCarSiteFields),
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// trackFields = typeof(ArmCarTrackFields),
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// planFields = typeof(ArmCarPlanFields))]
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//[TemplateSiteCoderSettings(
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// priority = 5,
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// useVerb = "plan.action=='put'&&plan.curSeg==plan.segN-1",
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// blockVerb = "true",
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// templateString = "agv.Wait();agv.Put(${dst.putNeedTurn},\"${dst.name}\");agv.Wait();",
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// siteFields = typeof(ArmCarSiteFields),
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// trackFields = typeof(ArmCarTrackFields),
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// planFields = typeof(ArmCarPlanFields))]
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//[TemplateSiteCoderSettings(
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// priority = 5,
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// useVerb = "plan.action=='putEmpty'&&plan.curSeg==plan.segN-1",
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// blockVerb = "true",
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// templateString = "agv.Wait();agv.PutEmpty(\"${dst.name}\");agv.Wait();",
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// siteFields = typeof(ArmCarSiteFields),
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// trackFields = typeof(ArmCarTrackFields),
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// planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "plan.action=='pickFull'&&plan.curSeg==plan.segN-1",
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blockVerb = "true",
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templateString = "agv.Wait();agv.PickFull(\"${dst.name}\");agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "plan.action=='pickEmpty'&&plan.curSeg==plan.segN-1",
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blockVerb = "true",
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templateString = "agv.Wait();agv.PickEmpty(\"${dst.name}\");agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "plan.action=='putFull'&&plan.curSeg==plan.segN-1",
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blockVerb = "true",
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templateString = "agv.Wait();agv.PutFull(\"${dst.name}\");agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "plan.action=='putEmpty'&&plan.curSeg==plan.segN-1",
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blockVerb = "true",
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templateString = "agv.Wait();agv.PutEmpty(\"${dst.name}\");agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "plan.action=='MoveArm'&&plan.curSeg==plan.segN-1",
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blockVerb = "true",
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templateString = "agv.Wait();agv.MoveArm(${dst.MoveDirection});agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "dst.name=='charge'",
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templateString = "agv.Wait();agv.ControlChargePort(true);agv.Wait();",
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siteFields = typeof(ArmCarSiteFields),
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trackFields = typeof(ArmCarTrackFields),
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planFields = typeof(ArmCarPlanFields))]
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[TemplateSiteCoderSettings(
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priority = 5,
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useVerb = "dst.name=='charge'&&plan.curSeg==0",
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templateString = "agv.Wait();agv.ControlChargePort(false);",
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siteFields = typeof(VDA5050SiteField))]
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[CarType(Name = "ArmCar")]
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[I18N.DocumentTranslation(Name = "ArmCar", locale = "en")]
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public class ArmCar : GhostCar
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{
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public static async Task<ArmCar> Create()
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{
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var car = new ArmCar()
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{
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lstatus = "连接中",
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address = "127.0.0.1",
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name = $"Kiva",
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haveCoordination = true,
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speed = 0.3f,
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};
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return car;
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}
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private const float DrawWidth = 950, DrawLength = 650;
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private readonly Pen orientPen = new Pen(Color.White, 3);
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private bool twinkle = false;
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protected override void draw(Graphics eGraphics)
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{
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try
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{
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float scale = 1;
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var lineCap = new AdjustableArrowCap(5, 5, true);
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orientPen.CustomEndCap = lineCap;
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orientPen.StartCap = LineCap.RoundAnchor;
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var alarmLevel = Commons.GetCarStatus(this, "AlarmLevel");
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var soc = Commons.CarValue((Car)this, "Soc");
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var electricCurrent = Commons.CarValue((Car)this, "ElectricCurrent");
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var thresSpeed = Commons.CarValue(this, "ThresSpeed");
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LadderLogic.FlipFlop(ref twinkle, 500, true, false);
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Rectangle destRect = new Rectangle(
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(int)((int)(-DrawWidth / 2) * scale),
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(int)((int)(-DrawLength / 2) * scale),
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(int)((int)DrawWidth * scale),
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(int)((int)DrawLength * scale)
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);
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if (int.TryParse(alarmLevel, out var alarm) && alarm > 0)
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{
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eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.Green, destRect);
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}
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else if (alarmLevel == "-1" || this.siteID == -1)
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eGraphics.FillRectangle(Brushes.LightSeaGreen, destRect);
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else if (electricCurrent > 1)
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eGraphics.FillRectangle(Brushes.YellowGreen, destRect);
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else if (thresSpeed <= 0)
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{
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eGraphics.FillRectangle(twinkle ? Brushes.YellowGreen : Brushes.Green, destRect);
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}
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else if (soc < 25)
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{
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eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.LightSeaGreen, destRect);
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}
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else
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eGraphics.FillRectangle(Brushes.Green, destRect);
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eGraphics.DrawEllipse(Pens.Yellow, -160, -160, 320, 320);
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eGraphics.DrawLine(orientPen, 0, 0, 480, 0);
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}
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catch (Exception e)
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{
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Diagnosis.Post("绘制小车异常" + ExceptionFormatter.FormatEx(e), "绘制小车异常", true);
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}
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}
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public override string SetDisplayInfo()
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{
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try
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{
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var str = $"{name}({id})\n";
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status.enums.TryGetValue("ChassisMode", out var manual);
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var ms = manual == "0" ? "自动" : "手动";
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status.enums.TryGetValue("Soc", out var soc);
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str = $"{str}{ms}|soc:{soc}";
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var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
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if (alarmStr != "")
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str = $"{str}|{alarmStr}";
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//if (status.enums.TryGetValue("mAlarm", out var mAlarm) && mAlarm != "")
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// str = $"{str}|M:{mAlarm}";
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//var hasC = status.enums.TryGetValue("cAlarm", out var cAlarm) && cAlarm != "";
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//if (mAlarm != "" && hasC)
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// str = $"{str}|";
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//if (hasC)
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// str = $"{str}C:{cAlarm}";
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//var L_step = status.enums.TryGetValue("ls", out var ls) && ls != "";
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//if (L_step)
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//{
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// str = $"{str}|ls:{ls}";
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//}
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if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
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!string.IsNullOrEmpty(electricCurrent))
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{
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var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
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str = $"{str}|charge:{charging}";
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}
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var thresSpeed = Commons.CarValue(this, "ThresSpeed");
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str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
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return str;
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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return "bad car";
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}
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}
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[MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
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[I18N.DocumentTranslation(Name = "Open remote desktop", Description = "Open the car's remote desktop", locale = "en")]
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public void Mstsc()
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{
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var ip = this.address;
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// 启动mstsc并传递IP地址
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Process.Start(
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new ProcessStartInfo
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{
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FileName = "mstsc",
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Arguments = $"/v:{ip}",
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UseShellExecute = false,
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CreateNoWindow = true
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}
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);
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}
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}
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}
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