/// <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);
}
