/// <summary>
/// 生成路径
/// </summary>
/// <returns>路径集合</returns>
public static List <PathPoint> GetPath(Agv agv)
{
STask sTask = agv.sTaskList[0];
Point beginPoint = sTask.beginPoint;
Point endPoint = sTask.endPoint;
STaskType sTaskType = sTask.sTaskType;
switch (sTask.sTaskType)
{
case STaskType.D1:
if (beginPoint == endPoint)
{
return new List <PathPoint>()
{
GetObject.GetPathPoint(beginPoint), GetObject.GetPathPoint(endPoint)
}
}
;
AStar aStart = new AStar();
List <Point> listApoint = GetCanUseApoint(agv);
ClearParentPoint();
Point Parent = aStart.PathGet(listApoint, beginPoint, endPoint, agv);
if (Parent == null)
{
return(null);
}
List <PathPoint> listPathPoint = GetPathList(Parent);
AddCorner(listPathPoint);
OriLock(listPathPoint, agv);
return(listPathPoint);
case STaskType.D2:
case STaskType.D3:
case STaskType.D6:
case STaskType.D15:
return(new List <PathPoint>()
{
GetObject.GetPathPoint(beginPoint), GetObject.GetPathPoint(endPoint)
});
case STaskType.D13:
case STaskType.D14:
//左弧右弧进
break;
case STaskType.D17:
case STaskType.D19:
//左弧右弧出
break;
default:
throw new Exception("无此任务类型:" + sTask.sTaskType);
}
return(null);
}
static void DownShelf()
{
string sql = string.Format("SELECT * FROM dbo.T_Base_Shelf ");
DataSet ds = DbHelperSQL.Query(sql);
foreach (DataRow dr in ds.Tables[0].Rows)
{
Shelf shelf = GetObject.GetShelf(dr);
App.ShelfList.Add(shelf);
}
}
static void DownSTask()
{
string sql = string.Format(@"SELECT ts.*,c.ItemName FROM dbo.T_Task_Son ts
LEFT JOIN dbo.T_Type_Config c ON ts.STaskType = c.ItemNo
WHERE State IN(1, 2, 3) ORDER BY AgvNo, SerialNo");
DataSet ds = DbHelperSQL.Query(sql);
foreach (DataRow dr in ds.Tables[0].Rows)
{
GetObject.GetSTask(dr);
}
}
static void DownAgv()
{
string sql = string.Format("SELECT * FROM dbo.T_Base_AGV ");
DataSet ds = DbHelperSQL.Query(sql);
foreach (DataRow dr in ds.Tables[0].Rows)
{
Agv agv = GetObject.GetAgv(dr);
App.AgvList.Add(agv);
Point point = App.pointList.FirstOrDefault(a => a.barCode == agv.barcode);
point.lockedAgv = agv;
}
}
static List <PathPoint> GetPathList(Point Parent)
{
List <PathPoint> listPathPoint = new List <PathPoint>();
while (Parent != null)
{
listPathPoint.Add(GetObject.GetPathPoint(Parent));
Parent = Parent.ParentPoint;
}
listPathPoint.Reverse();
for (int i = 0; i < listPathPoint.Count; i++)
{
listPathPoint[i].serialNo = i + 1;
}
return(listPathPoint);
}
static void DownPoint()
{
string sql = string.Format("SELECT * FROM dbo.T_Base_Point ");
DataSet ds = DbHelperSQL.Query(sql);
foreach (DataRow dr in ds.Tables[0].Rows)
{
Point point = GetObject.GetPoint(dr);
App.pointList.Add(point);
}
foreach (Point p in App.pointList)
{
p.xPosPoint = App.pointList.FirstOrDefault(a => a.x == p.x + 1 && a.y == p.y);
p.xNegPoint = App.pointList.FirstOrDefault(a => a.x == p.x - 1 && a.y == p.y);
p.yPosPoint = App.pointList.FirstOrDefault(a => a.x == p.x && a.y == p.y + 1);
p.yNegPoint = App.pointList.FirstOrDefault(a => a.x == p.x && a.y == p.y - 1);
}
}
/// <summary>
/// 下载任务
/// </summary>
static void DownTask()
{
try
{
string sql = @"SELECT ts.*,c.ItemName FROM dbo.T_Task_Son ts
LEFT JOIN dbo.T_Type_Config c ON ts.STaskType = c.ItemNo
WHERE State = 0 ORDER BY AgvNo, SerialNo";
DataSet ds = DbHelperSQL.Query(sql);
DataRowCollection drc = ds.Tables[0].Rows;
foreach (DataRow dr in drc)
{
STask s = GetObject.GetSTask(dr);
string sql2 = string.Format("UPDATE dbo.T_Task_Son SET State = 1 WHERE SID = '{0}'", s.sID);
DbHelperSQL.ExecuteSql(sql2);
s.state = TaskState.Down;
}
}
catch (Exception ex)
{
App.ExFile.MessageLog("DownTask", ex.Message + "\r");
}
}
/// <summary>
/// 获取行走后面的点
/// </summary>
static List <Motion> GetNextListMotion(STask sTask, PathPoint pathPoint, Agv agv)
{
List <Motion> listMotion = new List <Motion>();
List <PathPoint> listPathPoint = sTask.pathList;
//移除当前点之前的路径点
sTask.pathList.RemoveAll(a => a.serialNo < pathPoint.serialNo);
int i = 0;
foreach (PathPoint pp in listPathPoint)
{
i++;
if (i == 5)
{
break;
}
Point nowPoint = pp.point;
if (Commond.IsTest && nowPoint.barCode == "2280")
{
listMotion.Add(GetObject.GetMotion(sTask, pp));
continue;
}
if (nowPoint.lockedAgv == agv)
{
listMotion.Add(GetObject.GetMotion(sTask, pp));
continue;
}
if (nowPoint.lockedAgv != null)
{
//找到占用此点的小车
//如果小车没任务且在低位，则让其回家
Agv nextAgv = nowPoint.lockedAgv;
if (nextAgv.sTaskList.Count == 0)
{
//创建一个回家任务
}
else
{
List <PathPoint> lpp = nextAgv.sTaskList[0].pathList;
if (lpp.Exists(a => a.point.barCode == agv.barcode))
{
//发送取消任务
//agv回复取消成果，则删除路径及更新任务状态
//Task.ResetPath(agv);
}
}
break;
}
if (IsLoop(nowPoint, new List <Agv>()
{
agv
}))
{
break;
}
//如果当前点货架，且小车是顶升 不走
Shelf shelf = App.ShelfList.FirstOrDefault(a => a.currentBarcode == nowPoint.barCode);
if (agv.height != HeightEnum.Low && shelf != null)
{
break;
}
nowPoint.lockedAgv = agv;
listMotion.Add(GetObject.GetMotion(sTask, pp));
if (pp.isCorner)
{
break;
}
}
return(listMotion);
}
