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using HalconDotNet;
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using Rs.Framework;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Data.Common;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Xml.Serialization;
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namespace Rs.Controls
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{
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public enum ESortDir
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{
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Horizontal,
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Vertical
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}
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public enum ESlotStatus
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{
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Have,
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NotHave,
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Ok,
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Ng,
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Disable
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}
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public partial class RsTray : UserControl
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{
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public string RecipeName { get; set; } = "default";
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private int CurrentSlot { get; set; } = 1;
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private TrayInfo trayInfo;
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public string ItemName { get; set; }
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public ESortDir SortDir { get; set; } = ESortDir.Horizontal;
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public event Action<TraySlot, MouseEventArgs> SlotClickEvent;
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private bool mShowStatus = true;
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public bool ShowStatus
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{
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get { return mShowStatus; }
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set { mShowStatus = value;
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lblStatus.Visible = mShowStatus;
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}
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}
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private string mStatus;
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public string Status
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{
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get { return mStatus; }
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set {
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mStatus = value;
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lblStatus.Text = mStatus;
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Invalidate();
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}
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}
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public RsTray()
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{
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InitializeComponent();
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DoubleBuffered = true;
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InitSlot(InitSlotStatus);
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this.SizeChanged += (s, e) => {
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UpdateSlotPos();
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};
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}
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public void NextSlot()
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{
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CurrentSlot++;
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}
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public void ResetTray()
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{
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CurrentSlot = 1;
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}
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public bool IsLastSlot()
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{
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if(CurrentSlot == RowNum*ColumnNum) {
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return true;
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}
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return false;
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}
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private ESlotStatus _InitSlotStatus = ESlotStatus.Have;
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public ESlotStatus InitSlotStatus
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{
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get { return _InitSlotStatus; }
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set { _InitSlotStatus = value; InitSlot(InitSlotStatus); Invalidate(); }
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}
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public TraySlot GetSlot(ESlotStatus status)
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{
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foreach(KeyValuePair<int,TraySlot> kv in traySlotsDic)
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{
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if (kv.Value.SlotStatus == status)
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return kv.Value;
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}
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return null;
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}
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public List<TraySlot> GetSlots(ESlotStatus status)
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{
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List<TraySlot> slots = new List<TraySlot>();
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foreach (KeyValuePair<int, TraySlot> kv in traySlotsDic)
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{
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if (kv.Value.SlotStatus == status)
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slots.Add(kv.Value);
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}
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return slots;
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}
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public bool CanDraw { get; set; } = true;
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private List<TraySlot> traySlots = new List<TraySlot>();
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private Dictionary<int, TraySlot> traySlotsDic = new Dictionary<int, TraySlot>();
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private string _HeadText;
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public string HeadText
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{
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get { return _HeadText; }
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set { _HeadText = value; this.label1.Text = value; }
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}
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private int _RowNum = 26;
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/// <summary>
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/// 行数
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/// </summary>
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public int RowNum
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{
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get { return _RowNum; }
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set { _RowNum = value; InitSlot(InitSlotStatus); Invalidate(); }
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}
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private int _ColumnNum = 10;
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/// <summary>
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/// 列数量
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/// </summary>
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public int ColumnNum
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{
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get { return _ColumnNum; }
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set { _ColumnNum = value; InitSlot(InitSlotStatus); Invalidate(); }
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}
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private int _TopSpaceHeight = 20;
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/// <summary>
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/// 料盘上部留白高度
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/// </summary>
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public int TopSpaceHeight
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{
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get { return _TopSpaceHeight; }
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set { _TopSpaceHeight = value; }
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}
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private int _LeftSpaceWidth = 20;
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/// <summary>
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/// 料盘左边留白宽度
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/// </summary>
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public int LeftSpaceWidth
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{
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get { return _LeftSpaceWidth; }
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set { _LeftSpaceWidth = value; }
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}
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private int _RowSpace = 3;
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public int RowSpace
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{
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get { return _RowSpace; }
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set { _RowSpace = value; }
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}
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private int _ColSpace = 5;
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public int ColSpace
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{
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get { return _ColSpace; }
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set { _ColSpace = value; }
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}
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private bool _ShowText;
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public bool ShowText
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{
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get { return _ShowText; }
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set { _ShowText = value; }
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}
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private float _OffsetX;
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/// <summary>
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/// X方向偏移
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/// </summary>
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public float OffsetX
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{
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get { return _OffsetX; }
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set { _OffsetX = value; }
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}
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private float _OffsetY;
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/// <summary>
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/// Y方向偏移
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/// </summary>
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public float OffsetY
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{
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get { return _OffsetY; }
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set { _OffsetY = value; }
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}
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private float _OffsetYEven;
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/// <summary>
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/// Y方向偏移（偶数行）
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/// </summary>
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public float OffsetYEven
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{
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get { return _OffsetYEven; }
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set { _OffsetYEven = value; }
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}
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private bool _SinglePoint=false;
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/// <summary>
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/// 单点定位
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/// </summary>
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public bool SinglePoint
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{
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get { return _SinglePoint; }
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set { _SinglePoint = value; }
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}
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private Bitmap drawImage;
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private void InitSlot(ESlotStatus status)
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{
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int index = 0;
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traySlots.Clear();
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traySlotsDic.Clear();
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if (SortDir == ESortDir.Vertical)
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{
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for (int c = 0; c < ColumnNum; c++)
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{
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for (int r = 0; r < RowNum; r++)
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{
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index++;
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TraySlot slot = new TraySlot();
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slot.Index = index;
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slot.Row = r;
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slot.Column = c;
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slot.SlotStatus = status;
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//slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5);
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//slot.Draw(g2);
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traySlots.Add(slot);
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traySlotsDic.Add(index, slot);
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}
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}
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}
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else
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{
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for (int r = 0; r < RowNum; r++)
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{
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for (int c = 0; c < ColumnNum; c++)
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{
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index++;
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TraySlot slot = new TraySlot();
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slot.Index = index;
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slot.Row = r;
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slot.Column = c;
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slot.SlotStatus = status;
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//slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5);
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//slot.Draw(g2);
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traySlots.Add(slot);
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traySlotsDic.Add(index, slot);
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}
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}
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}
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UpdateSlotPos();
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}
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public void Init()
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{
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trayInfo = new TrayInfo(SortDir, RowNum, ColumnNum, ItemName);
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trayInfo = trayInfo.Init(RecipeName);
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}
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public bool Save()
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{
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return trayInfo.Save(this);
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}
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public void SetLeftTop(PointF point)
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{
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trayInfo.LeftTop = point;
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}
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public void SetLeftBottom(PointF point)
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{
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trayInfo.LeftBottom = point;
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}
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public void SetRightBottom(PointF point)
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{
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trayInfo.RightBottom = point;
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}
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public PointF GetLeftTop()
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{
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return trayInfo.LeftTop;
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}
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public PointF GetLeftBottom()
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{
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return trayInfo.LeftBottom;
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}
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public PointF GetRightBottom()
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{
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return trayInfo.RightBottom;
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}
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public List<TraySlot> GetAllSlot()
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{
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return trayInfo.SlotPoints;
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}
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public TraySlot GetSlot(int index)
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{
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return trayInfo.GetSlot(index);
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}
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public TraySlot GetCurrentSlot()
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{
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return trayInfo.GetSlot(CurrentSlot);
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}
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public void Fill()
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{
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foreach (TraySlot item in traySlots)
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{
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ChangeStatus(item.Index, ESlotStatus.Have);
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}
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}
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public void Clear()
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{
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foreach (TraySlot item in traySlots)
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{
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ChangeStatus(item.Index, ESlotStatus.NotHave);
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}
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}
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public void ChangeStatus(int index, ESlotStatus status)
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{
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if (traySlotsDic.ContainsKey(index))
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{
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traySlotsDic[index].SlotStatus = status;
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traySlotsDic[index].Refresh(this.panel2.CreateGraphics(), ShowText);
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}
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//panel2_Paint(null, null);
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}
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private void UpdateSlotPos()
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{
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float slotWidth = (this.panel2.Width - LeftSpaceWidth) / ColumnNum;
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float slotHeight = (this.panel2.Height - TopSpaceHeight) / RowNum;
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int index = 0;
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if (SortDir == ESortDir.Vertical)
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{
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for (int c = 0; c < ColumnNum; c++)
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{
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for (int r = 0; r < RowNum; r++)
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{
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index++;
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if (traySlotsDic.ContainsKey(index))
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{
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traySlotsDic[index].Bound = new RectangleF((LeftSpaceWidth + slotWidth * c), (TopSpaceHeight + slotHeight * r), (int)slotWidth - ColSpace, (int)slotHeight - RowSpace);
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}
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}
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}
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}
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else
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{
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for (int r = 0; r < RowNum; r++)
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{
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for (int c = 0; c < ColumnNum; c++)
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{
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index++;
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if (traySlotsDic.ContainsKey(index))
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{
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traySlotsDic[index].Bound = new RectangleF((LeftSpaceWidth + slotWidth * c), (TopSpaceHeight + slotHeight * r), (int)slotWidth - ColSpace, (int)slotHeight - RowSpace);
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}
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}
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}
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}
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panel2.Refresh();
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}
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private void panel2_Paint(object sender, PaintEventArgs e)
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{
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this.DoubleBuffered = true;
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Graphics g = this.panel2.CreateGraphics();
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drawImage = new Bitmap(this.panel2.Width, this.panel2.Height);
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Graphics g2 = Graphics.FromImage(drawImage);
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g2.Clear(BackColor);
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//先计算出每一个料仓中穴位占用的宽度和高度
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float widthPer = (this.panel2.Width - LeftSpaceWidth) / ColumnNum;
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float heightPer = (this.panel2.Height - TopSpaceHeight) / RowNum;
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//先画列，再画行
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int index = 0;
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for (int c = 0; c < ColumnNum; c++)
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{
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for (int r = 0; r < RowNum; r++)
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{
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index++;
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if (r == 0)
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{
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//画料盘的列号
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g2.DrawString((c + 1).ToString(), new Font("宋体", 7.0F), new SolidBrush(Color.White), new PointF(LeftSpaceWidth + (widthPer * c) + 5, 5));
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}
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if (c == 0)
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{
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//画料盘的行号
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g2.DrawString((r + 1).ToString(), new Font("宋体", 7.0F), new SolidBrush(Color.White), new PointF(5, TopSpaceHeight + (heightPer * r)));
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}
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//Rectangle rect = new Rectangle((int)(LeftSpaceWidth + widthPer * c), (int)(TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5);
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//g2.DrawRectangle(Pens.Red, (LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5);
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//TraySlot slot = new TraySlot();
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//slot.Row = r;
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//slot.Column = c;
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//slot.Bound = new RectangleF((LeftSpaceWidth + widthPer * c), (TopSpaceHeight + heightPer * r), (int)widthPer - 5, (int)heightPer - 5);
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//slot.Draw(g2);
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if (traySlotsDic.ContainsKey(index))
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{
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traySlotsDic[index].Draw(g2, ShowText);
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}
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}
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}
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g2.Flush();
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g.DrawImage(drawImage, 0, 0, drawImage.Width, drawImage.Height);
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if (drawRegion)
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{
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//drawRect.Width = 20;
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//drawRect.Height = 20;
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//g.DrawRectangle(Pens.Green, drawRect);
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g.FillRectangle(new SolidBrush(Color.FromArgb(200, Color.Pink)), drawRect);
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}
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g.Flush();
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g.Dispose();
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g2.Dispose();
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}
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bool drawRegion = false;
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RectangleF drawRect = new RectangleF();
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private void panel2_MouseDown(object sender, MouseEventArgs e)
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{
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if (e.Button == MouseButtons.Left && drawRegion == false)
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{
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if (CanDraw)
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{
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drawRegion = true;
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drawRect.X = e.X;
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drawRect.Y = e.Y;
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}
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}
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}
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private void panel2_MouseMove(object sender, MouseEventArgs e)
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{
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if (drawRegion)
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{
|
|
|
drawRect.Width = e.X - drawRect.X;
|
|
|
drawRect.Height = e.Y - drawRect.Y;
|
|
|
panel2_Paint(null, null);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void panel2_MouseUp(object sender, MouseEventArgs e)
|
|
|
{
|
|
|
drawRegion = false;
|
|
|
}
|
|
|
|
|
|
public TraySlot SelectSlot { get; set; }
|
|
|
private void panel2_MouseClick(object sender, MouseEventArgs e)
|
|
|
{
|
|
|
if (e.Button == MouseButtons.Right)
|
|
|
{
|
|
|
if (!drawRect.IsEmpty && drawRect.Contains(e.Location))
|
|
|
{
|
|
|
contextMenuStrip1.Show(panel2, e.Location);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
SelectSlot = null;
|
|
|
bool find = false;
|
|
|
foreach (TraySlot slot in this.traySlots)
|
|
|
{
|
|
|
if (slot.Bound.Contains(e.Location))
|
|
|
{
|
|
|
find = true;
|
|
|
SelectSlot = slot;
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
if (find)
|
|
|
{
|
|
|
if (SlotClickEvent != null)
|
|
|
SlotClickEvent(SelectSlot, e);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void 禁用ToolStripMenuItem_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
ChangeSlotStatus(ESlotStatus.Disable);
|
|
|
}
|
|
|
|
|
|
private void ChangeSlotStatus(ESlotStatus status)
|
|
|
{
|
|
|
foreach (TraySlot slot in this.traySlots)
|
|
|
{
|
|
|
if (drawRect.IntersectsWith(slot.Bound))
|
|
|
{
|
|
|
slot.SlotStatus = status;
|
|
|
}
|
|
|
}
|
|
|
UpdateSlotPos();
|
|
|
}
|
|
|
|
|
|
private void 设置有料ToolStripMenuItem_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
ChangeSlotStatus(ESlotStatus.Have);
|
|
|
}
|
|
|
|
|
|
private void 设置无料ToolStripMenuItem_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
ChangeSlotStatus(ESlotStatus.NotHave);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 料盘槽位
|
|
|
/// </summary>
|
|
|
public class TraySlot
|
|
|
{
|
|
|
public ESlotStatus SlotStatus { get; set; } = ESlotStatus.Have;
|
|
|
|
|
|
private PointF _Position;
|
|
|
|
|
|
public PointF Position
|
|
|
{
|
|
|
get { return _Position; }
|
|
|
set { _Position = value; }
|
|
|
}
|
|
|
|
|
|
private int _Index;
|
|
|
|
|
|
public int Index
|
|
|
{
|
|
|
get { return _Index; }
|
|
|
set { _Index = value; }
|
|
|
}
|
|
|
|
|
|
private int _Row;
|
|
|
|
|
|
public int Row
|
|
|
{
|
|
|
get { return _Row; }
|
|
|
set { _Row = value; }
|
|
|
}
|
|
|
|
|
|
private int _Column;
|
|
|
|
|
|
public int Column
|
|
|
{
|
|
|
get { return _Column; }
|
|
|
set { _Column = value; }
|
|
|
}
|
|
|
|
|
|
private RectangleF _Bound;
|
|
|
[XmlIgnore]
|
|
|
public RectangleF Bound
|
|
|
{
|
|
|
get { return _Bound; }
|
|
|
set { _Bound = value; }
|
|
|
}
|
|
|
|
|
|
public void Refresh(Graphics g, bool isShowText)
|
|
|
{
|
|
|
Draw(g, isShowText);
|
|
|
}
|
|
|
public void Draw(Graphics g, bool isShowText)
|
|
|
{
|
|
|
if (_Bound != null)
|
|
|
{
|
|
|
StringFormat sf = new StringFormat();
|
|
|
sf.Alignment = StringAlignment.Center;
|
|
|
sf.LineAlignment = StringAlignment.Center;
|
|
|
switch (SlotStatus)
|
|
|
{
|
|
|
case ESlotStatus.Have:
|
|
|
g.FillRectangle(new SolidBrush(Color.Blue), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
break;
|
|
|
case ESlotStatus.NotHave:
|
|
|
g.FillRectangle(new SolidBrush(Color.FromArgb(11, 16, 36)), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
break;
|
|
|
case ESlotStatus.Ok:
|
|
|
g.FillRectangle(new SolidBrush(Color.Green), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
break;
|
|
|
case ESlotStatus.Ng:
|
|
|
g.FillRectangle(new SolidBrush(Color.Red), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
break;
|
|
|
case ESlotStatus.Disable:
|
|
|
g.FillRectangle(new SolidBrush(Color.Gray), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
|
|
|
//if(Status==1)
|
|
|
//{
|
|
|
// g.FillRectangle(new SolidBrush(Color.Red), Bound.X, Bound.Y, Bound.Width - 1, Bound.Height - 1);
|
|
|
//}
|
|
|
//else if(Status==0)
|
|
|
//{
|
|
|
// g.FillRectangle(new SolidBrush(Color.FromArgb(11, 16, 36)), Bound.X, Bound.Y, Bound.Width-1, Bound.Height-1);
|
|
|
// // g.FillRectangle(new SolidBrush(Color.Red), Bound.X, Bound.Y, Bound.Width , Bound.Height );
|
|
|
//}
|
|
|
g.DrawRectangle(Pens.White, Bound.X, Bound.Y, Bound.Width, Bound.Height);
|
|
|
if (isShowText)
|
|
|
{
|
|
|
g.DrawString((Row + 1) + "-" + (Column + 1), new Font("宋体", 8), new SolidBrush(Color.Yellow), _Bound, sf);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
public class TrayInfo
|
|
|
{
|
|
|
public TrayInfo() { }
|
|
|
public TrayInfo(ESortDir sortDir,int rowNum,int colNum,string itemName) {
|
|
|
RowNum=rowNum;
|
|
|
ColumnNum=colNum;
|
|
|
ItemName=itemName;
|
|
|
SortDir=sortDir;
|
|
|
}
|
|
|
|
|
|
public ESortDir SortDir { get; set; } = ESortDir.Horizontal;
|
|
|
public string ItemName { get; set; }
|
|
|
|
|
|
private int _RowNum = 26;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 行数
|
|
|
/// </summary>
|
|
|
public int RowNum
|
|
|
{
|
|
|
get { return _RowNum; }
|
|
|
set { _RowNum = value; }
|
|
|
}
|
|
|
|
|
|
private int _ColumnNum = 10;
|
|
|
|
|
|
/// <summary>
|
|
|
/// 列数量
|
|
|
/// </summary>
|
|
|
public int ColumnNum
|
|
|
{
|
|
|
get { return _ColumnNum; }
|
|
|
set { _ColumnNum = value; }
|
|
|
}
|
|
|
|
|
|
public PointF LeftTop { get; set; } = new PointF(0, 0);
|
|
|
public PointF LeftBottom { get; set; } = new PointF(0, 0);
|
|
|
public PointF RightBottom { get; set; } = new PointF(0, 0);
|
|
|
|
|
|
public List<TraySlot> SlotPoints { get; set; } = new List<TraySlot>();
|
|
|
|
|
|
public bool Save(RsTray rsTray)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
float offsetX = -12.8f;
|
|
|
float offsetY = 11.8f;
|
|
|
int index = 0;
|
|
|
int rowNum = 0;
|
|
|
SlotPoints.Clear();
|
|
|
HTuple rows = new HTuple();
|
|
|
HTuple columns = new HTuple();
|
|
|
|
|
|
if (SortDir == ESortDir.Horizontal)
|
|
|
{
|
|
|
for (int i = 0; i < RowNum; i++)
|
|
|
{
|
|
|
for (int j = 0; j < ColumnNum; j++)
|
|
|
{
|
|
|
index++;
|
|
|
TraySlot ts = new TraySlot();
|
|
|
ts.Index = index;
|
|
|
ts.Row = i + 1;
|
|
|
ts.Column = j + 1;
|
|
|
ts.Position = new PointF(LeftTop.X + (j * rsTray.OffsetX), LeftTop.Y + (i * rsTray.OffsetY));
|
|
|
//1 2 3 4
|
|
|
//ts.Position = new PointF(LeftTop.X + (j * rsTray.OffsetX), LeftTop.Y + ((i-(i/2)) * rsTray.OffsetY) +(i/2)*rsTray.OffsetYEven);
|
|
|
rows.Append(ts.Position.Y);
|
|
|
columns.Append(ts.Position.X);
|
|
|
SlotPoints.Add(ts);
|
|
|
}
|
|
|
}
|
|
|
if(!rsTray.SinglePoint)
|
|
|
{
|
|
|
//求斜率
|
|
|
HOperatorSet.AngleLx(LeftTop.Y, LeftTop.X, LeftBottom.Y, LeftBottom.X, out HTuple angle);
|
|
|
double deg = AngleTool.Rad2Deg(angle) + 90;
|
|
|
|
|
|
HOperatorSet.HomMat2dIdentity(out HTuple homMat2dIdentity);
|
|
|
HOperatorSet.HomMat2dRotate(homMat2dIdentity, AngleTool.Deg2Rad(deg), LeftTop.Y, LeftTop.X, out HTuple homMat2dRotate);
|
|
|
HOperatorSet.AffineTransPoint2d(homMat2dRotate, rows, columns, out HTuple qx, out HTuple qy);
|
|
|
for (int i = 0; i < qx.Length; i++)
|
|
|
{
|
|
|
GetSlot(i + 1).Position = new PointF((float)qy.DArr[i], (float)qx.DArr[i]);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
for (int i = 0; i < ColumnNum; i++)
|
|
|
{
|
|
|
for (int j = 0; j < RowNum; j++)
|
|
|
{
|
|
|
index++;
|
|
|
TraySlot ts = new TraySlot();
|
|
|
ts.Index = index;
|
|
|
ts.Row = i + 1;
|
|
|
ts.Column = j + 1;
|
|
|
ts.Position = new PointF(LeftTop.X + (i * offsetX), LeftTop.Y + (j * offsetY));
|
|
|
SlotPoints.Add(ts);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
string dirPath = Path.Combine("recipe",rsTray.RecipeName, ItemName);
|
|
|
if (!Directory.Exists(dirPath))
|
|
|
{
|
|
|
Directory.CreateDirectory(dirPath);
|
|
|
}
|
|
|
XmlSerializerHelper.Instance.Serialize($"{dirPath}/tray.xml", this);
|
|
|
}
|
|
|
catch (Exception)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
|
|
|
public TrayInfo Init(string recipeName)
|
|
|
{
|
|
|
string dirPath = Path.Combine("recipe",recipeName, ItemName);
|
|
|
if (!Directory.Exists(dirPath))
|
|
|
{
|
|
|
Directory.CreateDirectory(dirPath);
|
|
|
}
|
|
|
|
|
|
XmlSerializerHelper.Instance.Deserialize($"{dirPath}/tray.xml", out TrayInfo tray);
|
|
|
if (tray == null)
|
|
|
return new TrayInfo(SortDir,RowNum,ColumnNum,ItemName);
|
|
|
tray.RowNum = RowNum;
|
|
|
tray.ColumnNum = ColumnNum;
|
|
|
return tray;
|
|
|
}
|
|
|
|
|
|
public TraySlot GetSlot(int index)
|
|
|
{
|
|
|
if (SlotPoints != null && SlotPoints.Count > 0)
|
|
|
{
|
|
|
TraySlot ts = SlotPoints.Where(s => s.Index == index).First();
|
|
|
if (ts != null)
|
|
|
return ts;
|
|
|
}
|
|
|
return null;
|
|
|
}
|
|
|
}
|
|
|
}
|