private void cbbPickNode_DropDownClosed(object sender, EventArgs e)
{
// If task type is Input, or type is Output and use palletcode to pick, do notthing
if (cbbType.Text == "Input")
{
return;
}
if (cbbType.Text == "Output" && checkBox.Checked == true)
{
return;
}
List <RackColumn> listColumn = new List <RackColumn>();
switch (Display.Mode)
{
case "Real Time": listColumn = RackColumn.ListColumn;
break;
case "Simulation": listColumn = RackColumn.SimListColumn;
break;
}
// If task type is Output, get palletCode and put it in txbPalletCode
string[] textArr = cbbPickNode.Text.Split(new char[] { '-' }, StringSplitOptions.RemoveEmptyEntries);
if (textArr.Length == 0)
{
return;
}
RackColumn column = listColumn.Find(c => c.AtNode.ToString() == textArr[0]); // textArr[0] is node
txbPalletCode.Text = column.PalletCodes[Convert.ToInt16(textArr[1]) - 1]; // textArr[1] is level
}
private void rdbtnSimulation_CheckedChanged(object sender, EventArgs e)
{
if (!rdbtnSimulation.Checked)
{
return;
}
rdbtnSimulation.ForeColor = Color.DarkRed;
rdbtnRealTime.ForeColor = SystemColors.ActiveCaptionText;
rdbtnSimulation.BackColor = Color.MintCream;
rdbtnRealTime.BackColor = Color.Lavender;
btnPauseRun.Visible = true;
lbModeStatus.Text = " Simulation mode is running.";
Display.Mode = "Simulation";
timerComStatus.Enabled = false;
// Add label of columns at node
RackColumn.ListColumn.ForEach(col => RackColumn.RemoveLabelColumn(pnFloor, col));
RackColumn.SimListColumn.ForEach(col => pnFloor.Controls.Add(col.ColumnLabel));
// Remove real time label, add simulation label
AGV.ListAGV.ForEach(agv => Display.RemoveLabelAGV(pnFloor, agv.ID));
foreach (AGV agv in AGV.SimListAGV)
{
Display.AddLabelAGV(pnFloor, agv.ID, agv.ExitNode, agv.Orientation, agv.DistanceToExitNode);
}
// Clear draw path in panel
Display.Points = new Point[] { new Point(), new Point() };
pnFloor.Refresh();
}
private void HomeScreenForm_Load(object sender, EventArgs e)
{
// Update existing pallets in stock and add to RackColumn
Pallet.ListPallet = DBUtility.GetPalletInfoFromDB <List <Pallet> >("PalletInfoTable");
RackColumn.InitializePallet(RackColumn.ListColumn, Pallet.ListPallet);
Pallet.SimListPallet = DBUtility.GetPalletInfoFromDB <List <Pallet> >("SimPalletInfoTable");
RackColumn.InitializePallet(RackColumn.SimListColumn, Pallet.SimListPallet);
}
public static void RemoveLabelColumn(Panel panel, RackColumn col)
{
var label = panel.Controls.OfType <Label>().FirstOrDefault(lb => lb.Name == "ColumnAtNode" + col.AtNode.ToString());
if (label != null)
{
panel.Controls.Remove(label);
}
}
// Auto select drop node and rack level, return {0, 0} when warwhouse is full
private static int[] AutoSelectDropNode(List <Task> listTask, List <RackColumn> listColumn)
{
int[] dropNode = new int[2]; // dropNode[0] is drop node, dropNode[1] is drop level
// select block has the least number of pallet
string selectedBlock;
int blockA_PalletCount = PalletCountInBlock(listTask, listColumn, "A");
int blockB_PalletCount = PalletCountInBlock(listTask, listColumn, "B");
int blockC_PalletCount = PalletCountInBlock(listTask, listColumn, "C");
int blockD_PalletCount = PalletCountInBlock(listTask, listColumn, "D");
if (blockA_PalletCount < 6 * 3)
{
selectedBlock = "A"; // 6 column and 3 rack level in each block -> 18 pallet max
}
else if (blockB_PalletCount < 6 * 3)
{
selectedBlock = "B";
}
else if (blockC_PalletCount < 6 * 3)
{
selectedBlock = "C";
}
else if (blockD_PalletCount < 6 * 3)
{
selectedBlock = "D";
}
else
{
return new int[2] {
0, 0
}
}; // warehouse is full
// find column number has the least pallet count
int columnNumber = ColumnHasLeastPalletCount(listTask, listColumn, selectedBlock);
// find node base on selected block & column number
RackColumn col = listColumn.Find(c => c.Block == selectedBlock && c.Number == columnNumber);
dropNode[0] = col.AtNode;
// select level of that node
for (int i = 0; i < col.PalletCodes.Length; i++)
{
List <int> dropLevelOnGoing = PalletOnGoing <List <int> >(col, listTask);
// select level not have pallet code and no exist in dropLevelOnGoing
if (col.PalletCodes[i] == null && dropLevelOnGoing.Contains(i + 1) == false)
{
dropNode[1] = i + 1;
break;
}
}
return(dropNode);
}
private void WarehouseDataForm_FormClosed(object sender, FormClosedEventArgs e)
{
// Clear all list pallet and column for update
Pallet.ListPallet.Clear();
Pallet.SimListPallet.Clear();
RackColumn.ListColumn.ForEach(c => Array.Clear(c.PalletCodes, 0, 3));
RackColumn.SimListColumn.ForEach(c => Array.Clear(c.PalletCodes, 0, 3));
// Update existing pallets in stock and add to RackColumn
Pallet.ListPallet = DBUtility.GetPalletInfoFromDB <List <Pallet> >("PalletInfoTable");
RackColumn.InitializePallet(RackColumn.ListColumn, Pallet.ListPallet);
Pallet.SimListPallet = DBUtility.GetPalletInfoFromDB <List <Pallet> >("SimPalletInfoTable");
RackColumn.InitializePallet(RackColumn.SimListColumn, Pallet.SimListPallet);
}
public static void InitializePallet(List <RackColumn> listColumn, List <Pallet> listPallet)
{
foreach (Pallet pallet in listPallet)
{
// find location of this pallet
RackColumn col = listColumn.Find(c => (c.Block == pallet.AtBlock) && (c.Number == pallet.AtColumn));
if (col == null)
{
continue;
}
// add to level at this column
col.PalletCodes[pallet.AtLevel - 1] = pallet.Code;
}
}
// Update position AGV icon in simulation mode (speed: cm/s)
public static Point UpdatePositionAGV(int agvID)
{
// Find AGV in ListAGV
var index = AGV.ListAGV.FindIndex(a => a.ID == agvID);
AGV agv = AGV.ListAGV[index];
Point position = new Point();
// If this node is pick node, remove pallet code that was picked and save this time
if (agv.Tasks.Count != 0 && agv.ExitNode == agv.Tasks[0].PickNode)
{
RackColumn column = RackColumn.ListColumn.Find(c => c.AtNode == agv.ExitNode);
Pallet.SaveDeliveryTime(column.PalletCodes[agv.Tasks[0].PickLevel - 1], Pallet.ListPallet);
DBUtility.UpdatePalletDB("PalletInfoTable", column.PalletCodes[agv.Tasks[0].PickLevel - 1], false,
DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt"), Pallet.ListPallet);
column.PalletCodes[agv.Tasks[0].PickLevel - 1] = null;
}
// Update label position
List <Node> Nodes = Node.ListNode;
int pixelDistance = (int)Math.Round(agv.DistanceToExitNode * Display.Scale);
int x = Nodes[agv.ExitNode].X - Display.LabelAGV[agvID].Size.Width / 2;
int y = Nodes[agv.ExitNode].Y - Display.LabelAGV[agvID].Size.Height / 2;
switch (agv.Orientation)
{
case 'E':
position.X = x + pixelDistance; position.Y = y;
break;
case 'W':
position.X = x - pixelDistance; position.Y = y;
break;
case 'N':
position.X = x; position.Y = y - pixelDistance;
break;
case 'S':
position.X = x; position.Y = y + pixelDistance;
break;
}
return(position);
}
private void rdbtnRealTime_CheckedChanged(object sender, EventArgs e)
{
if (!rdbtnRealTime.Checked)
{
return;
}
rdbtnRealTime.ForeColor = Color.DarkRed;
rdbtnSimulation.ForeColor = SystemColors.ActiveCaptionText;
rdbtnRealTime.BackColor = Color.MintCream;
rdbtnSimulation.BackColor = Color.Lavender;
btnPauseRun.Visible = false;
if (Communicator.SerialPort.IsOpen)
{
lbModeStatus.Text = " Connection: " + Communicator.SerialPort.PortName + " ["
+ Communicator.SerialPort.BaudRate.ToString() + "-"
+ Communicator.SerialPort.Parity + "-"
+ Communicator.SerialPort.DataBits.ToString() + "-"
+ Communicator.SerialPort.StopBits + "]";
}
else
{
lbModeStatus.Text = " Please set communication to run.";
}
Display.Mode = "Real Time";
timerComStatus.Enabled = true;
// Add label of columns at node
RackColumn.SimListColumn.ForEach(col => RackColumn.RemoveLabelColumn(pnFloor, col));
RackColumn.ListColumn.ForEach(col => pnFloor.Controls.Add(col.ColumnLabel));
// Remove simulation label, add real time label
AGV.SimListAGV.ForEach(agv => Display.RemoveLabelAGV(pnFloor, agv.ID));
foreach (AGV agv in AGV.ListAGV)
{
Display.AddLabelAGV(pnFloor, agv.ID, agv.ExitNode, agv.Orientation, agv.DistanceToExitNode);
}
// Clear draw path in panel
Display.Points = new Point[] { new Point(), new Point() };
pnFloor.Refresh();
}
public static void OutputAutoAdd(string palletCode, List <Task> listTaskToAdd, List <AGV> listAGV, List <RackColumn> listColumn)
{
// auto select agv
if (listAGV.Count == 0)
{
return;
}
int agvID = AutoSelectAGV(listAGV);
// find pick node & level
RackColumn col = listColumn.Find(c => c.PalletCodes.Contains(palletCode));
int pickNode = col.AtNode;
int pickLevel = Array.IndexOf(col.PalletCodes, palletCode) + 1;
// select drop node (output1 or output2)
int dropNode = agvID % 2 == 1 ? 51 : 52;
Task newTask = new Task("Auto " + palletCode, "Output", palletCode, agvID, pickNode, dropNode, pickLevel, 1, "Waiting");
listTaskToAdd.Add(newTask);
}
public static dynamic PalletOnGoing <T>(RackColumn column, List <Task> listTask)
{
int count = 0;
List <int> listDropLevel = new List <int>();
List <Task> listTaskOnGoing = listTask.FindAll(t => t.DropNode == column.AtNode);
count = listTaskOnGoing.Count;
listTaskOnGoing.ForEach(t => listDropLevel.Add(t.DropLevel));
if (typeof(T) == typeof(int))
{
return(count);
}
else if (typeof(T) == typeof(List <int>))
{
return(listDropLevel);
}
else
{
return(null);
}
}
// Get list of rack column
private static List <RackColumn> GetRackColums()
{
List <RackColumn> listCol = new List <RackColumn>();
foreach (Node n in Node.ListNode)
{
if (n.LocationCode.Length == 0 || n.ID == 55 || n.ID == 56)
{
continue;
}
RackColumn col = new RackColumn(n.ID);
if (col.Number == 1 || col.Number == 2 || col.Number == 3)
{
col.ColumnLabel.BackColor = SystemColors.ControlLight;
col.ColumnLabel.Size = new Size(60 - 1, 35 - 2);
col.ColumnLabel.Name = "ColumnAtNode" + n.ID.ToString();
int x = n.X - col.ColumnLabel.Size.Width / 2;
int y = n.Y + 35 + 3;
col.ColumnLabel.Location = new Point(x, y);
}
else if (col.Number == 4 || col.Number == 5 || col.Number == 6)
{
col.ColumnLabel.BackColor = SystemColors.ControlLight;
col.ColumnLabel.Size = new Size(60 - 1, 35 - 2);
col.ColumnLabel.Name = "ColumnAtNode" + n.ID.ToString();
int x = n.X - col.ColumnLabel.Size.Width / 2;
int y = n.Y - 35 - 3 - col.ColumnLabel.Size.Height;
col.ColumnLabel.Location = new Point(x, y);
}
listCol.Add(col);
}
return(listCol);
}
private void timerGUI_Tick(object sender, EventArgs e)
{
// Show time now
DateTime time = DateTime.Now;
lbTime.Text = time.ToString("dddd, MMMM dd, yyyy h:mm:ss tt");
if (Display.Mode == "Real Time")
{
// Update data in listView AGVs
Display.UpdateListViewAGVs(listViewAGVs, AGV.ListAGV);
// Update data in listView Tasks
Display.UpdateListViewTasks(listViewTasks, Task.ListTask);
// Update column color of SimListColumn
RackColumn.UpdateColumnColor(RackColumn.ListColumn);
// Update location of AGV icon (label)
foreach (AGV agv in AGV.ListAGV)
{
Display.LabelAGV[agv.ID].Location = Display.UpdatePositionAGV(agv.ID);
// Display agv carrying pallet
if (agv.Tasks.Count != 0 && agv.Tasks[0].Status == "Doing")
{
Display.LabelAGV[agv.ID].BackColor = Color.CornflowerBlue;
}
else
{
Display.LabelAGV[agv.ID].BackColor = Color.Silver;
}
// If goal was reached, remove old path, get next path (if exist)
if (agv.Path.Count == 0)
{
continue;
}
if (agv.ExitNode == agv.Path.LastOrDefault())
{
Task.AddNextPathOfAGV(agv);
}
}
// Update button add pallet
if (isPickPalletInput1 == true)
{
btnAddPallet1.Text = "Add";
btnAddPallet1.BackColor = Color.WhiteSmoke;
}
if (isPickPalletInput2 == true)
{
btnAddPallet2.Text = "Add";
btnAddPallet2.BackColor = Color.WhiteSmoke;
}
}
else if (Display.Mode == "Simulation")
{
// Update data in listView AGVs
Display.UpdateListViewAGVs(listViewAGVs, AGV.SimListAGV);
// Update data in listView Tasks
Display.UpdateListViewTasks(listViewTasks, Task.SimListTask);
// Update column color of SimListColumn
RackColumn.UpdateColumnColor(RackColumn.SimListColumn);
// If pause simulation is selected
if (Display.SimPause == true)
{
return;
}
// Detect collision
Collision.Detect(AGV.SimListAGV);
// Update position of AGV icon (label)
foreach (AGV agv in AGV.SimListAGV)
{
if (agv.Path.Count != 0)
{
agv.Velocity = AGV.SimSpeed;
}
else
{
agv.Velocity = 0f;
}
Display.SimLabelAGV[agv.ID].Location = Display.SimUpdatePositionAGV(agv.ID, agv.Velocity);
// Display agv carrying pallet
if (agv.Tasks.Count != 0 && agv.Tasks[0].Status == "Doing")
{
Display.SimLabelAGV[agv.ID].BackColor = Color.CornflowerBlue;
}
else
{
Display.SimLabelAGV[agv.ID].BackColor = Color.Silver;
}
}
// Update button add pallet
if (isPickSimPalletInput1 == true)
{
btnAddPallet1.Text = "Add";
btnAddPallet1.BackColor = Color.WhiteSmoke;
}
if (isPickSimPalletInput2 == true)
{
btnAddPallet2.Text = "Add";
btnAddPallet2.BackColor = Color.WhiteSmoke;
}
}
}
// Update position AGV icon in simulation mode (speed: cm/s)
public static Point SimUpdatePositionAGV(int agvID, float speed)
{
// Find AGV in SimListAGV, get current point
var index = AGV.SimListAGV.FindIndex(a => a.ID == agvID);
AGV agv = AGV.SimListAGV[index];
Point position = Display.SimLabelAGV[agvID].Location;
// Handle (waiting method) collision if it happens
CollisionStatus status = Collision.SimHandle(agv, Collision.SimListCollision);
if (status == CollisionStatus.Handling)
{
// Update agv status and velocity
agv.Velocity = 0;
agv.Status = "Stop";
return(position);
}
// return old point when agv has no path
if (agv.Path.Count == 0)
{
return(position);
}
// Get navigation frame array. Note: string is a reference type,
// so any change in navigationArr is also in AGV.SimListAGV[index].navigationArr
string[] navigationArr = agv.navigationArr;
// Check whether current point is a node or not
// Note: shift position of label to center (+LabelAGV[].Width/2, +LabelAGV[].Height/2)
var node = Node.ListNode.FirstOrDefault(n =>
{
return((n.X == position.X + SimLabelAGV[agvID].Width / 2) &&
(n.Y == position.Y + SimLabelAGV[agvID].Height / 2));
});
// Current point is not a node and current position is start node,
// it means initDistance to start node != 0, so go backward once then keep go ahead
char orient = new char();
if (node == null && agv.ExitNode == agv.Path[0])
{
switch (navigationArr[0])
{
case "A":
orient = UpdateOrient(agv.Orientation, "A");
break;
case "B":
orient = UpdateOrient(agv.Orientation, "B");
navigationArr[0] = "A";
break;
}
}
// Current point is not a node and current position is not start node,
// so keep go ahead
else if (node == null)
{
orient = UpdateOrient(agv.Orientation, "A");
}
// If goal was reached, no update position, remove old path, get next path (if exist)
else if (node.ID == agv.Path.LastOrDefault())
{
// Update AGV information
agv.ExitNode = node.ID; // Update ExitNode
orient = UpdateOrient(agv.Orientation, "A");
agv.Orientation = orient; // Update Orientation
agv.DistanceToExitNode = 0f; // Update Distance to ExitNode
agv.Status = "Stop"; // Update Status
agv.Velocity = 0; // Update Velocity
// Add next path
Task.AddNextPathOfSimAGV(agv);
return(position);
}
// Current point is at start node and initDistance to start node == 0
// Turn direction once then keep go ahead
else if (node.ID == agv.Path[0] && agv.DistanceToExitNode == 0f)
{
switch (navigationArr[0])
{
case "A":
orient = UpdateOrient(agv.Orientation, "A");
break;
case "B":
orient = UpdateOrient(agv.Orientation, "B");
navigationArr[0] = "A";
break;
case "L":
orient = UpdateOrient(agv.Orientation, "L");
navigationArr[0] = "A";
break;
case "R":
orient = UpdateOrient(agv.Orientation, "R");
navigationArr[0] = "A";
break;
}
// If this node is pick node, remove pallet code that was picked and save this time
if (agv.Tasks.Count != 0 && node.ID == agv.Tasks[0].PickNode)
{
RackColumn column = RackColumn.SimListColumn.Find(c => c.AtNode == agv.ExitNode);
Pallet.SaveDeliveryTime(column.PalletCodes[agv.Tasks[0].PickLevel - 1], Pallet.SimListPallet);
DBUtility.UpdatePalletDB("SimPalletInfoTable", column.PalletCodes[agv.Tasks[0].PickLevel - 1], false,
DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt"), Pallet.SimListPallet);
column.PalletCodes[agv.Tasks[0].PickLevel - 1] = null;
}
}
// Current point is a node but start node
else
{
int idx = Array.IndexOf(navigationArr, node.ID.ToString());
string dir = navigationArr[idx + 1];
orient = UpdateOrient(agv.Orientation, dir);
}
// Modify speed to make sure AGV icon can reach next node
int i = agv.Path.IndexOf(agv.ExitNode);
int nextNode = agv.Path[i + 1];
int dnx = (position.X + SimLabelAGV[agvID].Width / 2) - Node.ListNode[nextNode].X;
int dny = (position.Y + SimLabelAGV[agvID].Height / 2) - Node.ListNode[nextNode].Y;
int nd = (int)Math.Sqrt(dnx * dnx + dny * dny);
if (agv.ExitNode == agv.Path[0])
{
// At first node of path, having 4 cases of agv position
// (dnx * dny != 0) for 2 cases and (dnx * dnx0 > 0 || dny * dny0 > 0) for the others
int dnx0 = (position.X + SimLabelAGV[agvID].Width / 2) - Node.ListNode[agv.Path[0]].X;
int dny0 = (position.Y + SimLabelAGV[agvID].Height / 2) - Node.ListNode[agv.Path[0]].Y;
int nd0 = (int)Math.Sqrt(dnx0 * dnx0 + dny0 * dny0);
if (dnx * dny != 0 || dnx * dnx0 > 0 || dny * dny0 > 0)
{
nextNode = agv.Path[0];
nd = nd0;
}
}
int sp = (int)Math.Round(speed * Display.Scale * (100.0 / 1000)); // timer1.Interval = 100ms
int step = (nd % sp == 0) ? sp : (nd % sp);
// Update AGV information before update position
if (node != null)
{
agv.ExitNode = node.ID; // Update ExitNode
}
agv.Orientation = orient; // Update Orientation
int exitNode = agv.ExitNode;
int dx = (position.X + SimLabelAGV[agvID].Width / 2) - Node.ListNode[exitNode].X;
int dy = (position.Y + SimLabelAGV[agvID].Height / 2) - Node.ListNode[exitNode].Y;
agv.DistanceToExitNode = (float)Math.Sqrt(dx * dx + dy * dy) / Display.Scale; // Update Distance to ExitNode
agv.Status = "Running"; // Update Status
// Update next position of AGV icon in panel
switch (orient)
{
case 'E':
position = new Point(position.X + step, position.Y);
break;
case 'W':
position = new Point(position.X - step, position.Y);
break;
case 'S':
position = new Point(position.X, position.Y + step);
break;
case 'N':
position = new Point(position.X, position.Y - step);
break;
}
return(position);
}
// Add next path to agv when previous path reach goal (agv.ExitNode is being goal) (Simulation Mode)
public static void AddNextPathOfSimAGV(AGV agv)
{
// Clear old path
agv.Path.Clear();
// Remove old task
if (agv.Tasks.Count != 0 && agv.ExitNode == agv.Tasks[0].DropNode)
{
// Store pallet code to SimListColumn at this goal node
RackColumn column = RackColumn.SimListColumn.Find(c => c.AtNode == agv.ExitNode);
column.PalletCodes[agv.Tasks[0].DropLevel - 1] = agv.Tasks[0].PalletCode;
if (column.AtNode != 51 & column.AtNode != 52)
{
Pallet pallet = new Pallet(agv.Tasks[0].PalletCode, true,
DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt"),
column.Block, column.Number, agv.Tasks[0].DropLevel);
Pallet.SimListPallet.Add(pallet);
DBUtility.InsertNewPalletToDB("SimPalletInfoTable", pallet.Code, pallet.InStock, pallet.StoreTime,
pallet.AtBlock, pallet.AtColumn, pallet.AtLevel);
}
// Note: remove task in agv.Tasks and also in Task.SimListTask
Task.SimListTask.Remove(Task.SimListTask.Find(a => a.Name == agv.Tasks[0].Name));
agv.Tasks.RemoveAt(0);
}
// Add path to parking when don't have any task
if (agv.Tasks.Count == 0)
{
// find all parking node
List <int> parkingNode = new List <int>();
foreach (Node n in Node.ListNode)
{
if (n.LocationCode.Length == 0)
{
continue;
}
if (n.LocationCode[0] == 'P')
{
parkingNode.Add(n.ID);
}
}
// If current node is parking node or don't have parking node for this agv, do nothing,
// otherwise, add path to park agv (agv will park at location in order of index)
if (parkingNode.Contains(agv.ExitNode))
{
return;
}
int parkAtNode = parkingNode.Find(n => parkingNode.IndexOf(n) == AGV.SimListAGV.IndexOf(agv));
if (parkAtNode == 0)
{
return; // be careful: in my node definition, parking nodes don't have node 0
}
agv.Path = Algorithm.A_starFindPath(agv.ExitNode, parkAtNode);
// Add navigation frame of parking path
string fr = Navigation.GetNavigationFrame(agv.Path, agv.Orientation, agv.DistanceToExitNode);
agv.navigationArr = fr.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
return;
}
// Add next path
if (agv.ExitNode != agv.Tasks[0].PickNode)
{
agv.Path = Algorithm.A_starFindPath(agv.ExitNode, agv.Tasks[0].PickNode);
}
else
{
agv.Path = Algorithm.A_starFindPath(agv.Tasks[0].PickNode, agv.Tasks[0].DropNode);
agv.Tasks[0].Status = "Doing";
// update button add pallet
if (agv.Tasks[0].PickNode == 53)
{
HomeScreenForm.isPickSimPalletInput1 = true;
}
else if (agv.Tasks[0].PickNode == 54)
{
HomeScreenForm.isPickSimPalletInput2 = true;
}
}
// Add next navigation frame of next path
string frame = Navigation.GetNavigationFrame(agv.Path, agv.Orientation, agv.DistanceToExitNode);
agv.navigationArr = frame.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
}