public void ReInitWithiRealAgv()
{
bool res = false;
int count = 1;
while (res == false && count < REINIT_COUNT)
{
Thread.Sleep(count * 50);
for (int i = 0; i < vehicles.Length; i++)
{
if (vehicles[i].agvInfo != null)
{
vehicles[i].BeginX = (int)Math.Round(vehicles[i].agvInfo.CurLocation.CurNode.X / 1000.0);
vehicles[i].BeginY = (int)Math.Round(vehicles[i].agvInfo.CurLocation.CurNode.Y / 1000.0);
res = true;
Console.WriteLine("小车编号" + i + "初始化完成,起点(" + vehicles[i].BeginX + "," + vehicles[i].BeginY + ")");
}
}
count++;
}
////把小车所在的节点设为占用状态
RouteUtil.VehicleOcuppyNode(ElecMap.Instance, vehicles);
if (count >= REINIT_COUNT)
{
MessageBox.Show("没有小车连接，请检查ip设置是否有问题");
}
}
/// <summary>
/// 初始化小车
/// </summary>
public void InitialVehicle()
{
vehicleInited = false;
//初始化小车位置
if (null == FileUtil.sendData || FileUtil.sendData.Length < 1)
{
throw new ArgumentNullException();
}
int vehicleCount = FileUtil.sendData.Length;
vehicles = new Vehicle[vehicleCount];
for (int i = 0; i < vehicleCount; i++)
{
VehicleConfiguration config = new VehicleConfiguration();
vehicles[i] = new Vehicle(FileUtil.sendData[i].BeginX, FileUtil.sendData[i].BeginY, i, false, Direction.Right, config);
//MyPoint endPoint = RouteUtil.RandPoint(ElecMap.Instance);
//MyPoint mp = SqlManager.Instance.GetVehicleCurLocationWithId(i);
//if (mp != null)
//{
// vehicles[i].BeginX = mp.X;
// vehicles[i].BeginY = mp.Y;
//}
int R = rand.Next(20, 225);
int G = rand.Next(20, 225);
int B = rand.Next(20, 225);
vehicles[i].pathColor = Color.FromArgb(80, R, G, B);
vehicles[i].showColor = Color.FromArgb(255, R, G, B);
}
vehicleInited = true;
////把小车所在的节点设为占用状态
RouteUtil.VehicleOcuppyNode(ElecMap.Instance, vehicles);
}