//public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
//{
// //int sec_id = 0;
// //int.TryParse(sectionID, out sec_id);
// string sec_id = SCUtility.Trim(sectionID);
// HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
// onReserveStatusChange();
// return result;
//}
public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
HltResult result = null;
string sec_id = SCUtility.Trim(sectionID);
//如果詢問的Section是Reserve Enhance的section時，
//則要判斷該區塊且之後的Section是否要得到
var reserve_enhance_info_check_result = IsReserveEnhanceSection(sectionID);
if (reserve_enhance_info_check_result.isEnhanceInfo)
{
List <string> enhance_control_sections = reserve_enhance_info_check_result.info.EnhanceControlSections;
int section_index = enhance_control_sections.IndexOf(sectionID);
for (int i = section_index; i < enhance_control_sections.Count; i++)
{
result = mapAPI.TryAddReservedSection(vhID, enhance_control_sections[i], sensorDir, forkDir, true);
if (!result.OK)
{
result.Description += $",section:{sectionID} is reserve enhance group:{reserve_enhance_info_check_result.info.GroupID}," +
$"current has vh:{result.VehicleID}";
return(result);
}
}
}
result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.NESW, HltDirection forkDir = HltDirection.NESW, bool isAsk = false)
{
//int sec_id = 0;
//int.TryParse(sectionID, out sec_id);
string sec_id = SCUtility.Trim(sectionID);
HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddVehicleOrUpdate(string vhID, string currentSectionID, double vehicleX, double vehicleY, float vehicleAngle, double speedMmPerSecond,
HltDirection sensorDir, HltDirection forkDir)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Debug, Class: nameof(ReserveBLL), Device: "AGV",
Data: $"add vh in reserve system: vh:{vhID},x:{vehicleX},y:{vehicleY},angle:{vehicleAngle},speedMmPerSecond:{speedMmPerSecond},sensorDir:{sensorDir},forkDir:{forkDir}",
VehicleID: vhID);
var hlt_vh = new HltVehicle(vhID, vehicleX, vehicleY, vehicleAngle, speedMmPerSecond, sensorDirection: sensorDir, forkDirection: forkDir, currentSectionID: currentSectionID);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh, isKeepRestSection: false);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddReservedSection(string vhID, string sectionID,
HltDirection sensorDir = HltDirection.ForwardReverse, HltDirection forkDir = HltDirection.None,
DriveDirction driveDirection = DriveDirction.DriveDirNone, bool isAsk = false)
{
string sec_id = SCUtility.Trim(sectionID);
int vehicle_direction = getVehicleDirection(driveDirection);
HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, vehicle_direction, isAsk);
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "AGV",
Data: $"vh:{vhID} Try add reserve section:{sectionID} dir:{sensorDir},result:{result}",
VehicleID: vhID);
onReserveStatusChange();
return(result);
}
public override HltResult TryAddVehicleOrUpdate(string vhID, string currentSectionID, double vehicleX, double vehicleY, float vehicleAngle, double speedMmPerSecond, HltDirection sensorDir, HltDirection forkDir)
{
return(new HltResult(true, "By Pass Reserve"));
}
public override HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.NESW, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
return(new HltResult(true, "By Pass Reserve"));
}
public HltResult TryAddVehicleOrUpdate(string vhID, double vehicleX, double vehicleY, float vehicleAngle, HltDirection sensorDir = HltDirection.None, HltDirection forkDir = HltDirection.None)
{
//HltResult result = mapAPI.TryAddVehicleOrUpdate(vhID, vehicleX, vehicleY, vehicleAngle, sensorDir, forkDir);
var hlt_vh = new HltVehicle(vhID, vehicleX, vehicleY, vehicleAngle, sensorDirection: sensorDir, forkDirection: forkDir);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddReservedSection(string vhID, string sectionID,
HltDirection sensorDir = HltDirection.ForwardReverse, HltDirection forkDir = HltDirection.None,
DriveDirction driveDirection = DriveDirction.DriveDirNone, bool isAsk = false)
{
return(new HltResult(true, "By Pass Reserve"));
}
//public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
//{
// //int sec_id = 0;
// //int.TryParse(sectionID, out sec_id);
// string sec_id = SCUtility.Trim(sectionID);
// HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
// onReserveStatusChange();
// return result;
//}
public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.ForwardReverse, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
try
{
HltResult result = null;
string sec_id = SCUtility.Trim(sectionID);
//如果詢問的Section是Reserve Enhance的section時，
//則要判斷該區塊且之後的Section是否要得到
var reserve_enhance_info_check_result = IsReserveEnhanceSection(sectionID);
if (reserve_enhance_info_check_result.isEnhanceInfo)
{
//如果車輛已經在section group內 則不需多檢查section group的section能否預約
AVEHICLE vh = scApp.VehicleBLL.cache.getVhByID(vhID);
if (vh != null)
{
var _result = IsReserveEnhanceSection(vh.CUR_SEC_ID);
if (!_result.isEnhanceInfo)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is not in section group: vh:{vhID},reserve section id:{sectionID},vh cur section:{vh.CUR_SEC_ID}",
VehicleID: vhID);
List <string> enhance_control_sections = reserve_enhance_info_check_result.info.EnhanceControlSections;
int section_index = enhance_control_sections.IndexOf(sectionID);
for (int i = section_index; i < enhance_control_sections.Count; i++)
{
result = mapAPI.TryAddReservedSection(vhID, enhance_control_sections[i], sensorDir, forkDir, true);
if (!result.OK)
{
result.Description += $",section:{sectionID} is reserve enhance group:{reserve_enhance_info_check_result.info.GroupID}," +
$"current has vh:{result.VehicleID}";
return(result);
}
}
}
else
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is in section group: vh:{vhID},reserve section id:{sectionID},vh cur section:{vh.CUR_SEC_ID}",
VehicleID: vhID);
}
}
else
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is not found. vh:{vhID},reserve section id:{sectionID}",
VehicleID: vhID);
}
}
result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
catch (Exception ex)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection have exception happen.exception:{ex.Message} vh:{vhID},reserve section id:{sectionID}",
VehicleID: vhID);
return(null);
}
finally
{
}
}
