Example #1
0
        public static void AddLabelAGV(string Mode, int agvID, int initExitNode, char initOrientation, float initDistanceToExitNode)
        {
            /// Create new label for AGV
            Label lbAGV = new Label();

            lbAGV.BackColor = Color.Silver;
            lbAGV.Font      = new Font("Microsoft Sans Serif", 9.75F, System.Drawing.FontStyle.Regular,
                                       System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            lbAGV.Size      = new Size(50, 50);
            lbAGV.ForeColor = Color.Black;
            lbAGV.Text      = "AGV#" + agvID.ToString();
            lbAGV.TextAlign = ContentAlignment.MiddleCenter;
            lbAGV.Name      = "AGV" + agvID.ToString();
            /// Create new label for Pallet in AGV
            Label pallet = new Label();

            pallet.BackColor = Color.Goldenrod;
            pallet.Size      = new Size(50, 11);
            pallet.ForeColor = Color.Black;
            pallet.Font      = new Font("Microsoft Sans Serif", 8.0F, System.Drawing.FontStyle.Regular,
                                        System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            pallet.Text      = "Pallet";
            pallet.TextAlign = ContentAlignment.MiddleCenter;
            //pallet.BorderStyle = BorderStyle.FixedSingle;
            pallet.Name    = "PalletInAGV" + agvID.ToString();
            pallet.Visible = false;

            int initPixelDistance = (int)Math.Round(initDistanceToExitNode * 2);
            // Init the Location of new AGV
            List <Node> Nodes = DBUtility.GetDataFromDB <List <Node> >("NodeInfoTable");
            int         x     = Nodes[initExitNode].X - lbAGV.Size.Width / 2;
            int         y     = Nodes[initExitNode].Y - lbAGV.Size.Height / 2;

            switch (initOrientation)
            {
            case 'E':
                lbAGV.Location  = new Point(x + initPixelDistance, y);
                pallet.Size     = new Size(15, 50);
                pallet.Location = new Point(x - initPixelDistance - 15, y);
                break;

            case 'W':
                lbAGV.Location  = new Point(x - initPixelDistance, y);
                pallet.Size     = new Size(15, 50);
                pallet.Location = new Point(x + initPixelDistance + 50, y);
                break;

            case 'N':
                lbAGV.Location  = new Point(x, y - initPixelDistance);
                pallet.Size     = new Size(50, 15);
                pallet.Location = new Point(x, y + initPixelDistance + 50);

                break;

            case 'S':
                lbAGV.Location  = new Point(x, y + initPixelDistance);
                pallet.Size     = new Size(50, 15);
                pallet.Location = new Point(x, y - initPixelDistance - 15);
                break;
            }
            // Add to Array for use
            switch (Mode)
            {
            case "Real Time":
                LabelAGV[agvID]         = lbAGV;
                LabelPalletInAGV[agvID] = pallet;
                break;

            case "Simulation":
                SimLabelAGV[agvID]         = lbAGV;
                SimLabelPalletInAGV[agvID] = pallet;
                break;
            }
        }
Example #2
0
        public static void SimUpdatePathFromTaskOfAGVs(AGV agv)
        {
            // Clear all path (this do not affect Task.SimListTask)
            //agv.Tasks.Clear();

            // Find all task of this AGV
            //agv.Tasks = Task.SimListTask.FindAll(t => t.AGVID == agv.ID);&& agv.Path.Count ==0

            // if not having task or path has been initialized, skip to next AGV
            if (agv.Tasks.Count != 0)
            {
                Task currentTask = agv.Tasks[0];

                //agv.Path.RemoveAt(0);agv.CurrentNode != currentTask.PickNode &&
                if (currentTask.Status == "Waiting")
                {
                    agv.Path.Clear();
                    agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].PickNode));
                    AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
                    agv.Tasks[0].Status          = "Doing";
                    agv.PathCopmpleted           = 0;
                    agv.Status = "Running";
                    Display.SimLabelAGV[agv.ID].BackColor = Color.CornflowerBlue;
                }

                else if (agv.CurrentNode == currentTask.PickNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 1)
                {
                    agv.Path.RemoveAt(0);
                    agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].DropNode));

                    AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
                    agv.HavePallet = true;
                    if (currentTask.Type == "Order")
                    {
                        Pallet pallet = Pallet.SimListPallet.Find(c => c.Code == currentTask.PalletCode);
                        Display.DeleteLabelPallet(pallet);
                    }
                    else if (currentTask.Type == "Store")
                    {
                    }
                }
                else if ((agv.CurrentNode == currentTask.DropNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 2))
                {
                    agv.Tasks.RemoveAt(0);
                    agv.Path.Clear();
                    agv.Status = "Stop";
                    Display.SimLabelAGV[agv.ID].BackColor = Color.Silver;
                    string timeComplete = DateTime.Now.ToString("dddd, MMMM dd, yyyy  h:mm:ss tt");
                    DBUtility.InsertCompleteTaskToDB("SimHistoryTask", currentTask, timeComplete, "Done");
                    agv.HavePallet = false;
                    if (currentTask.Type == "Order")
                    {
                        DBUtility.DeletePalletFromDB("SimPalletInfoTable", currentTask.PalletCode);

                        Task.SimListTask.Remove(currentTask);
                    }
                    else if (currentTask.Type == "Store")
                    {
                        //agv.HavePallet = false;
                        Pallet pallet = Pallet.SimStorePallet.Find(c => c.Code == currentTask.PalletCode);
                        pallet.DeliverTime = DateTime.Now.ToString("dddd, MMMM dd, yyyy  h:mm:ss tt");
                        DBUtility.InsertNewPalletToDB("SimPalletInfoTable", pallet.Code, pallet.Name, pallet.InStock, pallet.DeliverTime, pallet.AtBlock, pallet.AtColumn, pallet.AtLevel);
                        Pallet.SimStorePallet.Remove(pallet);
                        Pallet.SimListPallet.Add(pallet);
                        Display.UpdateLabelPallet(pallet);
                        Task.SimListTask.Remove(currentTask);
                    }
                    else if (currentTask.Type == "Input" || currentTask.Type == "Output")
                    {
                        Task.SimListTask.Remove(currentTask);
                    }
                }
            }
            else
            {
                if (agv.CurrentNode == 55)
                {
                    agv.Status = "Stop";
                    agv.Path.Clear();
                }
            }
        }
Example #3
0
        public static void SimUpdatePositionAGV(int agvID, float speed, Panel pnFloor, Label lbagv, Label lbpallet)
        {
            //int step = (int)speed * 2 / 10;              //1pixel = 0.5cm =>> 20cm/s=40pixel/s
            var index = AGV.SimListAGV.FindIndex(a => a.ID == agvID);
            AGV agv   = AGV.SimListAGV[index];

            //List<char> fullpath = AGV.FullPathOfAGV[agvID].ToList();

            string[] frameArr = AGV.SimFullPathOfAGV[agvID].Split(new char[] { '-' }, StringSplitOptions.RemoveEmptyEntries);

            Point oldAGVPosition    = Display.SimLabelAGV[agvID].Location;
            Point newAGVPosition    = new Point();
            Point oldPalletPosition = Display.SimLabelPalletInAGV[agvID].Location;
            Point newPalletPosition = new Point();
            Size  oldPalletSize     = Display.SimLabelPalletInAGV[agvID].Size;
            Size  newPalletSize     = new Size();

            int indexNode = Array.FindIndex(frameArr, a => a == agv.CurrentNode.ToString());

            if (agv.Stop)
            {
                return;
            }

            if (agv.IsColision)
            {
                return;
            }
            if (frameArr[indexNode + 1] == "G" || frameArr[indexNode + 1] == null)
            {
                agv.PathCopmpleted++;
                if (agv.PathCopmpleted == 1 || agv.PathCopmpleted == 0)

                {
                    Display.Points = new Point[] { new Point(), new Point() };
                    pnFloor.Refresh();
                }
            }
            else
            {
                int currentNode = agv.CurrentNode;
                int nextNode    = Convert.ToInt32(frameArr[indexNode + 2]);
                if (agv.CurrentOrient != Display.UpdateOrient(frameArr[indexNode + 1]))
                {
                    agv.DistanceToCurrentNode -= speed / 5.2f;
                    if (agv.DistanceToCurrentNode <= 0)
                    {
                        agv.CurrentOrient         = Display.UpdateOrient(frameArr[indexNode + 1]);
                        agv.DistanceToCurrentNode = 0;
                    }
                }
                else
                {
                    agv.DistanceToCurrentNode += speed / 5.2f;
                    if (agv.DistanceToCurrentNode * 2 >= Node.MatrixNodeDistance[currentNode, nextNode])
                    {
                        agv.DistanceToCurrentNode = 0;
                        agv.CurrentNode           = nextNode;

                        if (frameArr[indexNode + 3] != "G")
                        {
                            agv.CurrentOrient = Display.UpdateOrient(frameArr[indexNode + 3]);
                        }
                    }
                }
            }

            int         pixelDistance = (int)Math.Round(agv.DistanceToCurrentNode * 2);
            List <Node> Nodes         = DBUtility.GetDataFromDB <List <Node> >("NodeInfoTable");
            int         x             = Nodes[agv.CurrentNode].X - 50 / 2;
            int         y             = Nodes[agv.CurrentNode].Y - 50 / 2;

            switch (agv.CurrentOrient)
            {
            case 'E':
                newAGVPosition    = new Point(x + pixelDistance, y);
                newPalletSize     = new Size(15, 50);
                newPalletPosition = new Point(x + pixelDistance - 15, y);
                break;

            case 'W':
                newAGVPosition    = new Point(x - pixelDistance, y);
                newPalletSize     = new Size(15, 50);
                newPalletPosition = new Point(x - pixelDistance + 50, y);
                break;

            case 'S':
                newAGVPosition    = new Point(x, y + pixelDistance);
                newPalletSize     = new Size(50, 15);
                newPalletPosition = new Point(x, y + pixelDistance - 15);

                break;

            case 'N':
                newAGVPosition    = new Point(x, y - pixelDistance);
                newPalletSize     = new Size(50, 15);
                newPalletPosition = new Point(x, y - pixelDistance + 50);
                break;

            default:
                newAGVPosition    = oldAGVPosition;
                newPalletPosition = oldPalletPosition;
                newPalletSize     = oldPalletSize;
                break;
            }

            lbpallet.Size     = newPalletSize;
            lbpallet.Location = newPalletPosition;
            //lbpallet.Visible = true;
            lbagv.Location = newAGVPosition;
        }