static void DownPath()
{
string sql = "SELECT * FROM dbo.T_Base_PathList order by sid,SerialNo";
DataSet ds = DbHelperSQL.Query(sql);
List <PathPoint> listPathPoint = new List <PathPoint>();
foreach (DataRow dr in ds.Tables[0].Rows)
{
int sID = int.Parse(dr["SID"].ToString());
string barcode = dr["Barcode"].ToString();
int serialNo = int.Parse(dr["serialNo"].ToString());
int direction = int.Parse(dr["Direction"].ToString());
PathPoint pp = new PathPoint();
pp.SID = sID;
pp.serialNo = serialNo;
pp.point = App.pointList.FirstOrDefault(a => a.barCode == barcode);
listPathPoint.Add(pp);
}
foreach (Agv agv in App.AgvList)
{
if (agv.sTaskList.Count == 0)
{
continue;
}
//将此点放到对应子任务的路径中
STask sTask = agv.sTaskList[0];
if (listPathPoint.Exists(a => a.SID == sTask.sID))
{
sTask.pathList = listPathPoint.FindAll(a => a.SID == sTask.sID);
sTask.pathList.Sort();
PathGet.OriLock(sTask.pathList, agv);
}
}
}
/// <summary>
/// 分配路径
/// </summary>
static void AssignePath()
{
//try
//{
//遍历所有AGV，找agv中的第一条任务
//如果状态是已下载，则分配路径
//如果分配成功，则更新数据库任务状态，插入路径
//如果更新成功，则更新内存已分配路径,更新任务状态
foreach (Agv agv in App.AgvList)
{
List <STask> listSTask = agv.sTaskList;
if (listSTask.Count == 0)
{
continue;
}
STask sTask = listSTask[0];
if (sTask.state != TaskState.Down)
{
continue;
}
string sql = "";
List <PathPoint> listPathPoint = new List <PathPoint>();
//如果起点和终点一致，且是行走，则直接结束任务
if (sTask.beginPoint == sTask.endPoint && sTask.sTaskType == STaskType.D1)
{
FinishTask(agv, sTask);
continue;
}
//因未实现路径重建，临时使用此方式来避免 将任务创建在别的小车路径上
//如果不是最后一个任务且是行走，如果终点被锁，则先不查找路径
if (listSTask.Count > 1 && sTask.sTaskType == STaskType.D1)
{
if (sTask.endPoint.listTmpDirection.Count != 0)
{
continue;
}
}
if (sTask.sTaskType == STaskType.D25)
{
FinishTask(agv, sTask);
continue;
}
listPathPoint = PathGet.GetPath(agv);
if (listPathPoint == null)
{
continue;
}
int serialNo = 1;
foreach (PathPoint pp in listPathPoint)
{
//待修改，需将点的方向也丢到路径中
sql += string.Format("INSERT INTO T_Base_PathList (SID,Barcode,serialNo,direction) VALUES('{0}','{1}','{2}','{3}');", agv.sTaskList[0].sID, pp.point.barCode, serialNo, 0);
serialNo++;
}
sql += string.Format("UPDATE dbo.T_Task_Son SET State = 2 WHERE SID = '{0}'", sTask.sID);
DbHelperSQL.ExecuteSql(sql);
sTask.pathList = listPathPoint;
sTask.state = TaskState.HavePath;
}
//}
//catch (Exception ex)
//{
// App.ExFile.MessageLog("AssignePath", ex.Message + "\r");
//}
}