Winform模拟机器人运动轨迹

前言：感觉上是有点标题党了，但事确实是这么个事，代码也确实一开始是计划这么用的——只不过后来在实现的过程中，发现情况要比现在还要简单一些（虽然现在也挺简单）。

背景情况是这样的，我们有一个机器人会按照特定轨道进行自动取货送货，所以就需要在机器人开始任务的时候进行一个位置的实时监控。在一开始设想的时候（主要是模拟环境），我是用代码控制他的坐标的，也就是现在的代码。但实际上，我只要能够从PLC实时获取到坐标并显示出来即可。所以软件上基本就画个路径并且设置好轨道坐标即可。

但是写都写出来了，记录下吧;以下代码可能没什么实用价值，我也不废话了- -，可以直接翻到最后看下效果。

1. 以下主要是通过GDI+绘制的，所以理论上是没什么比较复杂的东西

2. 首先分别创建横竖轨道的实体类，用来绘制线路

private class HRoad
        {
            public int ID { get; set; }
            public int X { get; set; }
            public int Y { get; set; }
            public int Length { get; set; }


        }


        private class VRoad
        {
            public int ParentID { get; set; }
            public int X { get; set; }
            public int Y { get; set; }
            public int Length { get; set; }


        }

1. 一些必要的基础变量

   Pen penR = new Pen(Color.LightGray, 2);
           Pen penB = new Pen(Color.Red, 1);
   
   
           List<HRoad> hRoads = new List<HRoad>();
           List<VRoad> vRoads = new List<VRoad>();
   
   
           int x = 20, y = 100;
   
   
           bool isRun = false;
           int hIndex = 0;
   
   
           int speed = 200;
           int stopX = 200;

2. 对数据进行初始化

   private void Init()
           {
               int hx = 20, hy = 20;
               int hlength = 500, vlength = 80;
               for (int i = 1; i <= 3; i++)
               {
                   HRoad road = new HRoad { ID = i, X = hx, Y = i * vlength + hy, Length = hlength };
                   hRoads.Add(road);
   
   
                   if (i < 3)
                   {
                       vRoads.Add(new VRoad { ParentID = road.ID, X = 80 * i, Y = road.Y, Length = vlength });
                   }
               }
   
   
           }

3. 绘制线路以及机器人坐标

   private void panel2_Paint(object sender, PaintEventArgs e)
           {
               Graphics graphics = e.Graphics;
               graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
               foreach (var hRoad in hRoads)
               {
                   graphics.DrawLine(penR, hRoad.X, hRoad.Y, hRoad.X + hRoad.Length, hRoad.Y);
               }
   
   
               foreach (var vRoad in vRoads)
               {
                   graphics.DrawLine(penR, vRoad.X, vRoad.Y, vRoad.X, vRoad.Y + vRoad.Length);
               }
               Rectangle rect = new Rectangle(x, y - 10, 20, 20);
               graphics.DrawRectangle(penB, rect);
   
   
               graphics.FillEllipse(new SolidBrush(Color.LightBlue), stopX + 5, hRoads.Last().Y - 5, 10, 10);
           }

4. 开始模拟

   private async void Start()
           {
               while (isRun && hIndex < hRoads.Count)
               {
                   var move = vRoads.Find(s => s.ParentID == hRoads[hIndex].ID);
                   if (move != null)
                   {
                       while (isRun)
                       {
                           if (move.X - 10 > x)
                           {
                               x += 10;
                               panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y - 10, hRoads[hIndex].Length, 22));
                           }
                           else if (move.X - 10 == x)
                           {
                               if (y < move.Length + move.Y)
                               {
                                   y += 10;
                                   panel2.Invalidate(new Rectangle(move.X-10, move.Y-10 , 22, move.Length+22));
                               }
                               else
                               {
                                   hIndex++;
                                   break;
                               }
                           }
                           else
                           {
                               x -= 10;
                               panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y-10, hRoads[hIndex].Length, 22));
                           }
                           await Task.Delay(speed);
                       }
                   }
                   else
                   {
                       while (x != stopX && isRun)
                       {
                           if (stopX > x)
                           {
                               x += 10;
                           }
                           else
                           {
                               x -= 10;
                           }
                           panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y - 10, hRoads[hIndex].Length, 22));
                           await Task.Delay(speed);
                       }
                       btn_start_Click(null, null);
                       break;
                   }
   
   
               }
   
   
           }

5. 运行以及暂停继续

   private void btn_start_Click(object sender, EventArgs e)
           {
               if (btn_start.Text == "开始")
               {
                   btn_start.Text = "停止";
                   btn_pause.Enabled = true;
                   isRun = true;
                   x = 20; y = 100; hIndex = 0;
                   panel2.Invalidate();
   
   
                   speed = (int)num_speed.Value;
                   stopX = (int)num_stop.Value;
                   Start();
               }
               else
               {
                   btn_start.Text = "开始";
                   btn_pause.Text = "暂停";
                   btn_pause.Enabled = false;
                   isRun = false;
               }
           }
   
   
           private void btn_pause_Click(object sender, EventArgs e)
           {
               if (btn_pause.Text == "暂停")
               {
                   btn_pause.Text = "继续";
                   isRun = false;
               }
               else
               {
                   btn_pause.Text = "暂停";
                   isRun = true;
                   Start();
               }
           }

6. 结束，看效果

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