private SHEDULE_TYPE_T getForkSheduleType(ForkLiftWrapper fl)
{
if (fl.getPosition().getArea() == 1 && fl.getPosition().getPx() < AGVConstant.BORDER_X_2 - AGVConstant.BORDER_X_DEVIARION)
{
Console.WriteLine(" check " + fl.getForkLift().forklift_number + "号车 从区域1进入2");
return(SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() < AGVConstant.BORDER_X_3 - AGVConstant.BORDER_X_DEVIARION)
{
Console.WriteLine(" check " + fl.getForkLift().forklift_number + "号车 从区域2进入3");
return(SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3);
}
else if (fl.getPosition().getArea() == 3 && fl.getPosition().getPx() > AGVConstant.BORDER_X_3 + AGVConstant.BORDER_X_DEVIARION)
{
Console.WriteLine(" check " + fl.getForkLift().forklift_number + "号车 从区域3进入2");
return(SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() > AGVConstant.BORDER_X_2 + AGVConstant.BORDER_X_DEVIARION)
{
Console.WriteLine(" check " + fl.getForkLift().forklift_number + "号车 从区域2进入1");
return(SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1);
}
return(SHEDULE_TYPE_T.SHEDULE_TYPE_MIN);
}
/// <summary>
///
/// </summary>
/// <param name="needStart">需要启动的车</param>
/// <param name="work"></param>
/// <returns></returns>
private bool check_start_state(ForkLiftWrapper needStart, ForkLiftWrapper work) {
if (work.getPosition().getArea() == 1 && work.getForkLift().isUsed == 1) //只有下货阶段可以提前启动
{
if (!ScheduleFactory.getSchedule().getDownDeliverPeriod() && work.getPosition().getPx() - needStart.getPosition().getPx() > 500) {
return true;
}
///上货的时候直接不给启动
Console.WriteLine("叉车 " + work.getForkLift().id + "在区域1，不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx()));
AGVLog.WriteInfo("叉车 " + work.getForkLift().id + "在区域1，不能启动" + " 距离 " + (work.getPosition().getPx() - needStart.getPosition().getPx()), new StackFrame(true));
return false;
}
return true;
}
private void checkPausePosition(ForkLiftWrapper fl)
{
if (fl.getForkLift().shedulePause == 1)
{
if (fl.getPosition().getArea() == 3 && fl.getPosition().getPx() > AGVConstant.BORDER_X_3 + AGVConstant.BORDER_X_3_DEVIATION_PLUS) //从区域3进入区域2的时候， 如果没有暂停成功或暂停慢了，重新启动车子，并报警
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(2);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第二分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() > AGVConstant.BORDER_X_2 + AGVConstant.BORDER_X_2_DEVIATION_PLUS) //从区域2进入区域1的时候， 如果没有暂停成功或暂停慢了，重新启动车子，并报警
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(1);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第一分界线 检测中断错误");
AGVLog.WriteError("第一分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 2 && fl.getPosition().getPx() < AGVConstant.BORDER_X_3 - AGVConstant.BORDER_X_3_DEVIATION_PLUS) //从区域2进入区域3的时候，暂停没成功或暂停慢了， 报警，需要手动启动
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(3);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第二分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
else if (fl.getPosition().getArea() == 1 && fl.getPosition().getPx() < AGVConstant.BORDER_X_2 - AGVConstant.BORDER_X_2_DEVIATION_PLUS) //从区域2进入区域3的时候，暂停没成功或暂停慢了， 报警，需要手动启动
{
Console.WriteLine(fl.getForkLift().forklift_number + "号车 pause position = " + fl.getPosition().getPx());
fl.getPosition().setArea(2);
fl.getForkLift().shedulePause = 0;
AGVMessage message = new AGVMessage();
message.setMessageType(AGVMessageHandler_TYPE_T.AGVMessageHandler_SENDPAUSE_ERR);
message.setMessageStr("第二分界线 检测中断错误");
AGVLog.WriteError("第一分界线 检测中断错误", new StackFrame(true));
AGVMessageHandler.getMessageHandler().setMessage(message);
}
}
}
private void _sheduleRunning()
{
ForkLiftWrapper fl_1 = null;
ForkLiftWrapper fl_2 = null;
SHEDULE_TYPE_T shedule_type = SHEDULE_TYPE_T.SHEDULE_TYPE_MIN;
foreach (ForkLiftWrapper fl in AGVCacheData.getForkLiftWrapperList())
{
if (fl.getForkLift().forklift_number != 3 && fl.getForkLift().isUsed == 1 && fl.getForkLift().taskStep != TASK_STEP.TASK_IDLE) //调度没有在使用的车 车子任务没有完成，只有当两辆车同时使用时，才调度
{
if (fl_1 != null)
{
fl_2 = fl;
}
else
{
fl_1 = fl;
}
}
}
if (fl_1 != null && fl_2 != null) //两车同时运行时才需要调度
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 3)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(3);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 2)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(2);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_2.getForkLift().shedulePause == 0 && fl_2.getPosition().getArea() == 1)
{
if (fl_1.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_1, 1);
fl_1.getForkLift().shedulePause = 1;
}
}
else
{
fl_1.getPosition().setArea(1);
if (fl_1.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
shedule_type = getForkSheduleType(fl_2);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2) //检测到另一辆车在区域2运行，需要暂停刚进入区域2的车
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else //否则该车正常进入区域2，考虑到之前可能被暂停，没有车在区域2后，该车将被启动
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 3)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(3);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 2)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(2);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
if (fl_1.getForkLift().shedulePause == 0 && fl_1.getPosition().getArea() == 1)
{
if (fl_2.getForkLift().shedulePause == 0)
{
AGVUtil.setForkCtrl(fl_2, 1);
fl_2.getForkLift().shedulePause = 1;
}
}
else
{
fl_2.getPosition().setArea(1);
if (fl_2.getForkLift().shedulePause == 1)
{
//向1车发送启动
AGVUtil.setForkCtrl(fl_2, 0);
fl_2.getForkLift().shedulePause = 0;
}
}
}
checkPausePosition(fl_1);
checkPausePosition(fl_2);
}
else if (fl_1 != null && fl_2 == null)
{
shedule_type = getForkSheduleType(fl_1);
if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_1TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO3)
{
fl_1.getPosition().setArea(3);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_3TO2)
{
fl_1.getPosition().setArea(2);
}
else if (shedule_type == SHEDULE_TYPE_T.SHEDULE_TYPE_2TO1)
{
fl_1.getPosition().setArea(1);
}
if (fl_1.getForkLift().shedulePause == 1) //如果车子被暂停，启动该车
{
AGVUtil.setForkCtrl(fl_1, 0);
fl_1.getForkLift().shedulePause = 0;
}
}
}
/// <summary>
/// 获取优先选择的单车
/// </summary>
/// <param name="fl_1"></param>
/// <param name="fl_2"></param>
/// <returns></returns>
private ForkLiftWrapper getHighLevel_ForkLiftf(ForkLiftWrapper fl_1, ForkLiftWrapper fl_2) {
if (fl_1.getPosition().getStartPx() < fl_2.getPosition().getStartPx())
return fl_1;
else
return fl_2;
}