/// <summary>
/// 更新小车货架信息
/// </summary>
static void UpdateAgvShelfPoint(AgvMsg agvMsg, Agv agv)
{
string oldBarcode = agv.barcode;
string newBarcode = agvMsg.Barcode;
//刚开机，没扫到码，给的是0
if (newBarcode == "0")
{
agvMsg.Barcode = newBarcode = oldBarcode;
}
UpdatePoint(oldBarcode, newBarcode, agv);
////如果AGV的位置状态不变，不更新Agv状态
if (newBarcode == oldBarcode &&
agv.height == agvMsg.Height &&
agv.currentCharge == agvMsg.Voltage &&
agv.state == (AgvState)agvMsg.State &&
agv.errorMsg == agvMsg.ErrCode1 + agvMsg.ErrCode2 + agvMsg.ErrCode3)
{
return;
}
//配送与仓库不同，此判断条件需要考量。 低位/中位/高位的问题
if (agvMsg.Height == HeightEnum.High)
{
Shelf shelf = App.ShelfList.FirstOrDefault(a => a.currentBarcode == oldBarcode);
if (shelf != null)
{
//货架的当前点要变更为现在的点
string shelfSql = string.Format(@"UPDATE T_Base_Shelf SET CurrentBarcode = '{0}'
WHERE CurrentBarcode = '{1}';", newBarcode, oldBarcode);
DbHelperSQL.ExecuteSql(shelfSql);
shelf.currentBarcode = newBarcode;
}
else
{
throw new Exception("小车顶升是高位，但是无货架点！");
}
}
//更新数据库中小车的状态
int error = agvMsg.ErrCode1 * 10000 + agvMsg.ErrCode2 * 100 + agvMsg.ErrCode3;
string sql = string.Format(@"UPDATE dbo.T_Base_AGV SET Barcode = '{0}',ErrorMsg = '{1}',
Height = '{2}',CurrentCharge = '{3}',UpdateTime = GETDATE(),State = '{4}' WHERE AgvNo = '{5}'",
newBarcode, error, (int)agvMsg.Height, agvMsg.Voltage, agvMsg.State, agvMsg.AgvNo);
DbHelperSQL.ExecuteSql(sql);
agv.barcode = newBarcode;
agv.height = agvMsg.Height;
agv.currentCharge = agvMsg.Voltage;
agv.state = (AgvState)agvMsg.State;
agv.errorMsg = agvMsg.ErrCode1 + agvMsg.ErrCode2 + agvMsg.ErrCode3;
}
static void DownShelf()
{
string sql = string.Format("SELECT * FROM dbo.T_Base_Shelf ");
DataSet ds = DbHelperSQL.Query(sql);
foreach (DataRow dr in ds.Tables[0].Rows)
{
Shelf shelf = GetObject.GetShelf(dr);
App.ShelfList.Add(shelf);
}
}
public static Shelf GetShelf(DataRow dr)
{
Shelf s = new Shelf();
s.areaNo = dr["areaNo"].ToString();
s.barcode = dr["barcode"].ToString();
s.currentBarcode = dr["currentBarcode"].ToString();
s.isEnable = bool.Parse(dr["isEnable"].ToString());
s.isLocked = bool.Parse(dr["isLocked"].ToString());
s.shelfDirection = dr["shelfDirection"].ToString();
s.shelfNo = dr["shelfNo"].ToString();
return(s);
}
/// <summary>
/// 获取行走后面的点
/// </summary>
static List <Motion> GetNextListMotion(STask sTask, PathPoint pathPoint, Agv agv)
{
List <Motion> listMotion = new List <Motion>();
List <PathPoint> listPathPoint = sTask.pathList;
//移除当前点之前的路径点
sTask.pathList.RemoveAll(a => a.serialNo < pathPoint.serialNo);
int i = 0;
foreach (PathPoint pp in listPathPoint)
{
i++;
if (i == 5)
{
break;
}
Point nowPoint = pp.point;
if (Commond.IsTest && nowPoint.barCode == "2280")
{
listMotion.Add(GetObject.GetMotion(sTask, pp));
continue;
}
if (nowPoint.lockedAgv == agv)
{
listMotion.Add(GetObject.GetMotion(sTask, pp));
continue;
}
if (nowPoint.lockedAgv != null)
{
//找到占用此点的小车
//如果小车没任务且在低位，则让其回家
Agv nextAgv = nowPoint.lockedAgv;
if (nextAgv.sTaskList.Count == 0)
{
//创建一个回家任务
}
else
{
List <PathPoint> lpp = nextAgv.sTaskList[0].pathList;
if (lpp.Exists(a => a.point.barCode == agv.barcode))
{
//发送取消任务
//agv回复取消成果，则删除路径及更新任务状态
//Task.ResetPath(agv);
}
}
break;
}
if (IsLoop(nowPoint, new List <Agv>()
{
agv
}))
{
break;
}
//如果当前点货架，且小车是顶升 不走
Shelf shelf = App.ShelfList.FirstOrDefault(a => a.currentBarcode == nowPoint.barCode);
if (agv.height != HeightEnum.Low && shelf != null)
{
break;
}
nowPoint.lockedAgv = agv;
listMotion.Add(GetObject.GetMotion(sTask, pp));
if (pp.isCorner)
{
break;
}
}
return(listMotion);
}
