public static string AutoSelecSlotPallet(List <Pallet> listPallet)
{
string palletLocation = "NaNN";
string AtBlock = "D";
int AtColumn = 6;
int AtLevel = 1;
//Pallet pl = listPallet.Find(p=> pallet.AtBlock == AtBlock && pallet.AtColumn == AtColumn && pallet.AtLevel == AtLevel)
//listPallet.Contains(p=> p.AtBlock == AtBlock && p.AtColumn == AtColumn && p.AtLevel == AtLevel)
Pallet pallet = listPallet.Find(p => p.AtBlock == AtBlock && p.AtColumn == AtColumn && p.AtLevel == AtLevel);
while (listPallet.FindIndex(p => p.AtBlock == AtBlock && p.AtColumn == AtColumn && p.AtLevel == AtLevel) != -1)
{
AtLevel += 1;
if (AtLevel == 4)
{
AtLevel = 1;
AtColumn -= 1;
if (AtColumn == 0)
{
AtColumn = 6;
switch (AtBlock)
{
case "D":
AtBlock = "C";
break;
case "C":
AtBlock = "B";
break;
case "B":
AtBlock = "A";
break;
case "A":
AtBlock = "NaN";
break;
}
}
}
}
palletLocation = AtBlock + "," + AtColumn.ToString() + "," + AtLevel.ToString();
//palletLocation = "FullSlot";
return(palletLocation);
}
public static void DeleteLabelPallet(Pallet pallet)
{
switch (pallet.AtBlock)
{
case "A":
Display.ASlotLabel[pallet.AtColumn - 1, pallet.AtLevel - 1].BackColor = Color.Silver;
break;
case "B":
Display.BSlotLabel[pallet.AtColumn - 1, pallet.AtLevel - 1].BackColor = Color.Silver;
break;
case "C":
Display.CSlotLabel[pallet.AtColumn - 1, pallet.AtLevel - 1].BackColor = Color.Silver;
break;
case "D":
Display.DSlotLabel[pallet.AtColumn - 1, pallet.AtLevel - 1].BackColor = Color.Silver;
break;
}
}
private void btnStore_Click(object sender, EventArgs e)
{
if (String.IsNullOrEmpty(txtPalletCode.Text) || String.IsNullOrEmpty(txtPalletName.Text) ||
String.IsNullOrEmpty(cbbBlock.Text) || String.IsNullOrEmpty(cbbColumn.Text) || String.IsNullOrEmpty(cbbLevel.Text))
{
MessageBox.Show(" Please enter correct Pallet informarion !", "Pallet Information ", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
//int agvID = Task.AutoSelectAGV(AGV.SimListAGV, Input);
int agvID = 1;
RackColumn rack = RackColumn.ListColumn.Find(c => c.Block == cbbBlock.Text && c.Number == Convert.ToInt32(cbbColumn.Text));
string palletcode = txtPalletCode.Text;
string palletName = txtPalletName.Text;
int pickNode = Input;
int pickLevel = 1;
int dropNode = rack.AtNode;
int dropLevel = Convert.ToInt32(cbbLevel.Text);
switch (Display.Mode)
{
case "Real Time":
foreach (Pallet palet in Pallet.ListPallet)
{
if (palet.Code.Trim() == txtPalletCode.Text)
{
MessageBox.Show("Pallet has stored in stock !", "Store Pallet Error !", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
else if (palet.AtBlock == cbbBlock.Text && palet.AtColumn == Convert.ToInt32(cbbColumn.Text) && palet.AtLevel == Convert.ToInt32(cbbLevel.Text))
{
MessageBox.Show("Slot is not available !", "Store Pallet Error !", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
}
break;
case "Simulation":
foreach (Pallet palet in Pallet.SimListPallet)
{
if (palet.Code.Trim() == txtPalletCode.Text)
{
MessageBox.Show("Pallet has stored in stock !", "Store Pallet Error !", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
else if (palet.AtBlock == cbbBlock.Text && palet.AtColumn == Convert.ToInt32(cbbColumn.Text) && palet.AtLevel == Convert.ToInt32(cbbLevel.Text))
{
MessageBox.Show("Slot is not available !", "Store Pallet Error !", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
}
break;
}
Task task = new Task("Store1", "Store", palletcode, agvID,
pickNode, dropNode, pickLevel, dropLevel
, "Waiting");
Pallet pallet = new Pallet(palletcode, palletName, true, "??", cbbBlock.Text, Convert.ToInt32(cbbColumn.Text), Convert.ToInt32(cbbLevel.Text));
switch (Display.Mode)
{
case "Real Time":
int AGVindex = AGV.ListAGV.FindIndex(a => { return(a.ID == agvID); });
AGV.ListAGV[AGVindex].Tasks.Add(task);
Task.ListTask.Add(task);
Pallet.StorePallet.Add(pallet);
break;
case "Simulation":
int SimAGVindex = AGV.SimListAGV.FindIndex(a => { return(a.ID == agvID); });
AGV.SimListAGV[SimAGVindex].Tasks.Add(task);
Task.SimListTask.Add(task);
Pallet.SimStorePallet.Add(pallet);
break;
}
ckbAutoSelectSlot.Checked = false;
cbbBlock.Enabled = true;
cbbColumn.Enabled = true;
cbbLevel.Enabled = true;
}
public static void SimUpdatePathFromTaskOfAGVs(AGV agv)
{
// Clear all path (this do not affect Task.SimListTask)
//agv.Tasks.Clear();
// Find all task of this AGV
//agv.Tasks = Task.SimListTask.FindAll(t => t.AGVID == agv.ID);&& agv.Path.Count ==0
// if not having task or path has been initialized, skip to next AGV
if (agv.Tasks.Count != 0)
{
Task currentTask = agv.Tasks[0];
//agv.Path.RemoveAt(0);agv.CurrentNode != currentTask.PickNode &&
if (currentTask.Status == "Waiting")
{
agv.Path.Clear();
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].PickNode));
AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
agv.Tasks[0].Status = "Doing";
agv.PathCopmpleted = 0;
agv.Status = "Running";
Display.SimLabelAGV[agv.ID].BackColor = Color.CornflowerBlue;
}
else if (agv.CurrentNode == currentTask.PickNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 1)
{
agv.Path.RemoveAt(0);
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].DropNode));
AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
agv.HavePallet = true;
if (currentTask.Type == "Order")
{
Pallet pallet = Pallet.SimListPallet.Find(c => c.Code == currentTask.PalletCode);
Display.DeleteLabelPallet(pallet);
}
else if (currentTask.Type == "Store")
{
}
}
else if ((agv.CurrentNode == currentTask.DropNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 2))
{
agv.Tasks.RemoveAt(0);
agv.Path.Clear();
agv.Status = "Stop";
Display.SimLabelAGV[agv.ID].BackColor = Color.Silver;
string timeComplete = DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt");
DBUtility.InsertCompleteTaskToDB("SimHistoryTask", currentTask, timeComplete, "Done");
agv.HavePallet = false;
if (currentTask.Type == "Order")
{
DBUtility.DeletePalletFromDB("SimPalletInfoTable", currentTask.PalletCode);
Task.SimListTask.Remove(currentTask);
}
else if (currentTask.Type == "Store")
{
//agv.HavePallet = false;
Pallet pallet = Pallet.SimStorePallet.Find(c => c.Code == currentTask.PalletCode);
pallet.DeliverTime = DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt");
DBUtility.InsertNewPalletToDB("SimPalletInfoTable", pallet.Code, pallet.Name, pallet.InStock, pallet.DeliverTime, pallet.AtBlock, pallet.AtColumn, pallet.AtLevel);
Pallet.SimStorePallet.Remove(pallet);
Pallet.SimListPallet.Add(pallet);
Display.UpdateLabelPallet(pallet);
Task.SimListTask.Remove(currentTask);
}
else if (currentTask.Type == "Input" || currentTask.Type == "Output")
{
Task.SimListTask.Remove(currentTask);
}
}
}
else
{
if (agv.CurrentNode == 55)
{
agv.Status = "Stop";
agv.Path.Clear();
}
}
}