static public Dictionary <ODPair, PathList> FindPath(Map map, int pathNum)
{
Dictionary <ODPair, PathList> allPath = new Dictionary <ODPair, PathList>();
Dictionary <uint, PathList> pathList;
ODPair od;
Point p1;
Point p2;
foreach (KeyValuePair <uint, Point> item1 in map.points)
{
p1 = item1.Value;
pathList = FindPath(item1.Value, map, pathNum);
foreach (KeyValuePair <uint, PathList> item2 in pathList)
{
p2 = map.points[item2.Key];
od = new ODPair(p1, p2);
allPath.Add(od, item2.Value);
}
}
return(allPath);
}
static public MissionAssignment[] Brain(Queue <Mission> missionQueue, List <AGVWPF> agvList, Dictionary <ODPair, PathList> allPaths)
{
MissionAssignment[] ma = new MissionAssignment[missionQueue.Count];
Point missionStartPoint;
Point missionEndPoint;
Point agvPoint;
int idx = 0;
foreach (Mission m in missionQueue)
{
ma[idx] = new MissionAssignment(m, null, null);
idx++;
}
double min_length_1 = -1;
double min_length_2 = -1;
Path bestPath_1 = null; // agv->mission起始点一段路径
Path bestPath_2 = null; // mission起始点->mission终点一段路径
PathList pathList_1;
PathList pathList_2;
AGVWPF bestAGV = null;
if (agvList.Count == 1) // 只有一辆小车
{
idx = 0;
foreach (Mission m in missionQueue)
{
foreach (AGVWPF agv in agvList)
{
bestAGV = agv;
agvPoint = agv.PrePoint;
missionStartPoint = m.mssionStartPoint;
pathList_1 = allPaths[new ODPair(agvPoint, missionStartPoint)];
missionEndPoint = m.mssionEndPoint;
ODPair od = new ODPair(missionStartPoint, missionEndPoint);
pathList_2 = allPaths[od];
//Console.WriteLine(allPaths.ContainsKey(od).ToString());
// Console.Read();
min_length_1 = -1;
if (pathList_1.paths != null)
{
foreach (Path path in pathList_1.paths)
{
if (min_length_1 == -1 || min_length_1 > path.length)
{
min_length_1 = path.length;
bestPath_1 = path;
}
}
}
min_length_2 = -1;
if (pathList_2.paths != null)
{
foreach (Path path in pathList_2.paths)
{
if (min_length_2 == -1 || min_length_2 > path.length)
{
min_length_2 = path.length;
bestPath_2 = path;
}
}
}
if (min_length_1 != -1 && min_length_2 != -1)
{
break;
}
}
if (min_length_1 != -1 && min_length_2 != -1)
{
ma[idx].agv = bestAGV;
ma[idx].path = bestPath_1.combinePath(bestPath_2);
break;
}
idx++;
}
}
return(ma);
}
