//function that returns a list that contains the Available for action AGVs
private List <GridPos> NotTrappedVehicles(List <GridPos> Vehicles, GridPos End)
{
//Vehicles is a list with all the AGVs that are inserted in the Grid by the user
int list_index = 0;
int trapped_index = 0;
bool removed;
//First, we must assume that ALL the AGVs are trapped and cannot move (trapped means they are prevented from reaching the END block)
for (int i = 0; i < trappedStatus.Length; i++)
{
trappedStatus[i] = true;
}
do
{
removed = false;
jumpParam.Reset(Vehicles[list_index], End); //we use the A* setting function and pass the
//initial start point of every AGV and the final destination (end block)
if (AStarFinder.FindPath(jumpParam, nud_weight.Value).Count == 0) //if the number of JumpPoints that is calculated is 0 (zero)
{ //it means that there was no path found
Vehicles.Remove(Vehicles[list_index]); //we removed, from the returning list, the AGV for which there was no path found
AGVs.Remove(AGVs[list_index]); //we remove the corresponding AGV from the public list that contains all the AGVs which will participate in the simulation
removed = true;
}
else
{
trappedStatus[trapped_index] = false; //since it's not trapped, we switch its state to false
}
if (!removed)
{
AGVs[list_index].ID = list_index;
list_index++;
}
trapped_index++;
}while (list_index < Vehicles.Count); //the above process will be repeated until all elements of the incoming List are parsed.
return(Vehicles); //list with NOT TRAPPED AGVs' starting points (trapped AGVs have been removed)
//the point of this function is to consider every AGV as trap and then find out which AGVs
//eventually, are not trapped and keep ONLY those ones.
}
public void LoadConfig(string path)
{
StreamReader sr = new StreamReader(path);
var config = (JObject)JsonConvert.DeserializeObject(sr.ReadToEnd());
sr.Close();
JToken token;
if (config.TryGetValue("AGVConfig", out token))
{
ISerialize serialize = new ProtoClass();
foreach (JObject t in token.Values())
{
try
{
IPort port = new TcpPort(t.Value <string>("port"));
//var test = $"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}AGV<TState, TPosition>";
Type type = Type.GetType($"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}AGV`2");
type = type.MakeGenericType(typeof(eHuiJinYunAGVState), typeof(eHuiJinYunStagePosition));
object[] @params = new object[] { port, serialize };
@params = @params.Concat(buildParams(type, t.Value <JObject>("options"))).ToArray <object>();
var agv = (IAGV <eHuiJinYunAGVState, eHuiJinYunStagePosition>)Activator.CreateInstance(type, @params);
AGVs.Add(agv);
}
catch
{
continue;
}
}
}
if (config.TryGetValue("DeviceConfig", out token))
{
ISerialize serialize = new ProtoClass();
foreach (JObject t in token.Values())
{
try
{
var port = PortFactory.NewPort(t.Value <string>("port"));
Type type = Type.GetType($"HuiJinYun.Domain.Entity.Device.{t.Value<string>("type")}Device");
var device = (PlcDeviceBase)Activator.CreateInstance(type, port, serialize);
Devices.Add(((JProperty)t.Parent).Name, device);
}
catch (Exception ex)
{
continue;
}
}
}
if (config.TryGetValue("StageConfig", out token))
{
foreach (var t in token.Values())
{
try
{
List <IDevice> deviceList = new List <IDevice>();
foreach (var d in t["Device"].Values <string>())
{
deviceList.Add(Devices[d]);
}
Type type = Type.GetType($"HuiJinYun.Domain.Entity.{((JProperty)t.Parent).Name}Stage");
var stage = (IProductionStage)Activator.CreateInstance(type, deviceList.ToArray());
Stages.Add(stage);
}
catch (Exception ex)
{
continue;
}
}
}
object[] buildParams(Type type, JObject joParams)
{
if (null == joParams)
{
return(new object[0]);
}
else
{
object[] @params = new object[joParams.Count];
List <JProperty> jpParams = new List <JProperty>(joParams.Properties());
for (var i = 0; i < jpParams.Count; i++)
{
@params[i] = jpParams[i].Value.Value <string>();
}
return(@params);
}
}
}
