/// <summary>
/// 计算任务路径
/// </summary>
/// <param name="cmdId">任务ID</param>
/// <returns></returns>
public bool CalcRoute(string cmdId)
{
//设置任务参数
InitParameter(cmdId);
Cell c = _Cells[_currentNum] as Cell;//起始位置
//获取从小车当前位置到A点的路径
// string route = c.GetRoute(_fromNum);
//获取路径
string r = c.GetRoute(_toNum);//以结束位置信息为参数获取路径
if (r.IndexOf("NoRoute") != -1)
return false;
//SaveRoute(cmdId,route);
SaveRoute(cmdId, r);
CmdBreak cb = new CmdBreak();
InitCmdBreak(cb, cmdId);
bool b = cb.RouteBreak();
//SetRoadRight();
return b;
}
/// <summary>
/// 任务分解初始化参数
/// </summary>
/// <param name="c"></param>
/// <param name="cmdId"></param>
public void InitCmdBreak(CmdBreak c, string cmdId)
{
c.CmdId = cmdId;
c.Xnum = _cXnum;
c.Ynum = _cYnum;
c.FloorNum = _cFloor;
c.CellNum = _currentNum;
c.Rack = _rack;
c.TaskType = _taskType;
c.XF = _xf;
c.XB = _xb;
c.YF = _yf;
c.YB = _yb;
c.MACADRESS = _macAdress;
}
