private void stationThread()
{
List <Track> list;
while (true)
{
for (int i = 0; i < stationList1.Count; i++)
{
Station s = stationList1[i];
if ((s.OccupiedCar != null) && (s.Next != ""))
{
if (stationDic[s.Next].OccupiedCar == null)
{
list = adjList.FindWay(adjList.Find(s), adjList.Find(stationDic[s.Next]));
Track track = new Track();
foreach (Track t in list)
{
track.TrackPointList.AddRange(t.TrackPointList);
}
s.OccupiedCar.run(track);
stationDic[s.Next].OccupiedCar = s.OccupiedCar;
s.OccupiedCar = null;
}
}
}
Thread.Sleep(500);
}
}
public byte planRoadTable(byte carID, Station startStation, Station targetStation, Station endStation, AdjacencyList adj, SerialPort sp, Dictionary <string, Station> stationDic)
{
List <Track> list1 = adj.FindWay(adj.Find(startStation), adj.Find(targetStation));
List <Track> list2 = adj.FindWay(adj.Find(targetStation), adj.Find(stationDic["F32"]));
List <Track> list3 = adj.FindWay(adj.Find(stationDic["F32"]), adj.Find(endStation));
List <byte> command = new List <byte>();
for (int i = 0; i < list1.Count; ++i)
{
if (list1[i].CarAction != null)
{
string station = list1[i].CarAction.Substring(0, list1[i].CarAction.IndexOf('G'));
command.Add((byte)stationDic[station].CardID);
switch (list1[i].CarAction.Substring(list1[i].CarAction.Length - 1, 1))
{
case "L":
command.Add((byte)(0x50));
break;
case "R":
command.Add((byte)(0x51));
break;
case "S":
command.Add((byte)(0x52));
break;
}
}
}
command.Add((byte)stationDic[targetStation.Name].CardID);
command.Add((byte)(0x53));
for (int i = 0; i < list2.Count; ++i)
{
if (list2[i].CarAction != null)
{
string station = list2[i].CarAction.Substring(0, list2[i].CarAction.IndexOf('G'));
command.Add((byte)stationDic[station].CardID);
switch (list2[i].CarAction.Substring(list2[i].CarAction.Length - 1, 1))
{
case "L":
command.Add((byte)(0x50));
break;
case "R":
command.Add((byte)(0x51));
break;
case "S":
command.Add((byte)(0x52));
break;
}
}
}
command.Add((byte)stationDic["F32"].CardID);
command.Add((byte)(0x53));
for (int i = 1; i < list3.Count; ++i)
{
if (list3[i].CarAction != null)
{
string station = list3[i].CarAction.Substring(0, list3[i].CarAction.IndexOf('G'));
command.Add((byte)stationDic[station].CardID);
switch (list3[i].CarAction.Substring(list3[i].CarAction.Length - 1, 1))
{
case "L":
command.Add((byte)(0x50));
break;
case "R":
command.Add((byte)(0x51));
break;
case "S":
command.Add((byte)(0x52));
break;
}
}
}
command.Add((byte)stationDic[endStation.Name].CardID);
command.Add((byte)(0x53));
if (command.Count >= 4 && command.Count <= 20)
{
byte CardCount = (byte)(command.Count >> 1);
command.Insert(0, CardCount);
command.Insert(0, CardCount);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(carID));
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(CardCount * 2 + 4));
command.Insert(0, (byte)0xe6);
command.Add(checksum(command));
command.Insert(0, (byte)0x68);
byte[] roadTable = new byte[command.Count];
command.CopyTo(roadTable);
//for (int j = 0; j < roadTable.Length; ++j)
//{
// Console.Write(roadTable[j] + " ");
//}
sp.Write(roadTable, 0, roadTable.Length);
return(CardCount);
}
else if (command != null && 20 < command.Count && command.Count <= 40)
{
byte total = (byte)(command.Count >> 1);
byte CardAccount = (byte)(command.Count >> 1);
command.Insert(0, (byte)10);
command.Insert(0, total);
command.Insert(0, (byte)0);
command.Insert(0, carID);
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(24));
command.Insert(0, (byte)0xe6);
byte csum = checksum(command, 28);
command.Insert(0, (byte)0x68);
byte[] roadTable = new byte[30];
command.CopyTo(0, roadTable, 0, 29);
roadTable[29] = (byte)(csum);
//for (int j = 0; j < 30; ++j)
//{
// Console.Write(roadTable[j] + " ");
//}
//Console.WriteLine();
//roadTable[12] = (byte)0x50;
//roadTable[18] = (byte)0x50;
//roadTable[26] = (byte)0x50;
//roadTable[28] = (byte)0x50;
sp.Write(roadTable, 0, 30);
Thread.Sleep(5000);
command.RemoveRange(0, 29);
CardAccount = (byte)(command.Count / 2);
command.Insert(0, CardAccount);
command.Insert(0, total);
command.Insert(0, (byte)0x0a);
command.Insert(0, carID);//bug
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(CardAccount * 2 + 4));
command.Insert(0, (byte)0xe6);
command.Add(checksum(command));
command.Insert(0, (byte)0x68);
roadTable = new byte[command.Count];
command.CopyTo(roadTable);
//for (int j = 0; j < roadTable.Length; ++j)
//{
// Console.Write(roadTable[j] + " ");
//}
sp.Write(roadTable, 0, roadTable.Length);
return(total);
}
else if (command != null && 56 < command.Count && command.Count <= 84)
{
byte total = (byte)(command.Count >> 1);
byte CardAccount = (byte)(command.Count >> 1);
command.Insert(0, (byte)14);
command.Insert(0, total);
command.Insert(0, (byte)0);
command.Insert(0, carID);
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(32));
command.Insert(0, (byte)0xe6);
//command.Add(checksum(command));
byte csum = checksum(command, 36);
command.Insert(0, (byte)0x68);
byte[] roadTable = new byte[38];
command.CopyTo(0, roadTable, 0, 37);
roadTable[37] = csum;
for (int j = 0; j < 38; ++j)
{
Console.Write(roadTable[j] + " ");
}
Console.WriteLine();
sp.Write(roadTable, 0, 38);
command.RemoveRange(0, 37);
Console.WriteLine();
command.Insert(0, (byte)14);
command.Insert(0, total);
command.Insert(0, (byte)0x26);
command.Insert(0, carID);
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(32));
command.Insert(0, (byte)0xe6);
//command.Add(checksum(command));
csum = checksum(command, 36);
command.Insert(0, (byte)0x68);
roadTable = new byte[38];
command.CopyTo(0, roadTable, 0, 37);
roadTable[37] = csum;
for (int j = 0; j < 38; ++j)
{
Console.Write(roadTable[j] + " ");
}
Console.WriteLine();
sp.Write(roadTable, 0, 38);
command.RemoveRange(0, 37);
CardAccount = (byte)(command.Count >> 1);
command.Insert(0, CardAccount);
command.Insert(0, total);
command.Insert(0, (byte)0x4c);
command.Insert(0, carID);
command.Insert(0, (byte)0);
command.Insert(0, (byte)0);
command.Insert(0, (byte)(CardAccount * 2 + 4));
command.Insert(0, (byte)0xe6);
command.Add(checksum(command));
command.Insert(0, (byte)0x68);
roadTable = new byte[command.Count];
command.CopyTo(roadTable);
for (int j = 0; j < roadTable.Length; ++j)
{
Console.Write(roadTable[j] + " ");
}
sp.Write(roadTable, 0, roadTable.Length);
return(0);
}
return(0);
}
private void button9_Click(object sender, EventArgs e)//启动
{
Station temp1 = new Station();
Station temp2 = new Station();
string str1;
string str2;
string str3;
string str4;
if (button7.Text == "AGV1")
{
aTimer1 = new System.Timers.Timer(1000000);
//aTimer1.BeginInit();
aTimer1.Elapsed += new ElapsedEventHandler(OnTimedEvent1);
aTimer1.Interval = 10;
aTimer1.AutoReset = true;
aTimer1.Enabled = true;//只有Timer类 可以触发自身事件
if (textBox7.Text == "等待")
{
CurvePoint1 = null;
index1 = 0;
textBox7.Text = "工作";
str1 = textBox1.Text;
str2 = textBox13.Text;
foreach (AdjacencyList.Vertex ver in Adj.items)
{
if (str1 == ver.data.name)
{
temp1 = ver.data;
break;
}
}
foreach (AdjacencyList.Vertex ver in Adj.items)
{
if (str2 == ver.data.name)
{
temp2 = ver.data;
break;
}
}
List <Track> shortPath = Adj.FindWay(Adj.Find(temp1), Adj.Find(temp2));
if (temp2 != Start)
{
shortPath.AddRange(Adj.FindWay(Adj.Find(temp2), Adj.Find(Start)));
}
List <Point> temp = new List <Point>();
List <Point> TempAll = new List <Point>();
foreach (Track m in shortPath)
{
temp = m.TrackPointList;
TempAll.AddRange(temp);
}
CurvePoint1 = TempAll.ToArray();
index1 = 0;
aTimer1.Start();
Pen blkPen = new Pen(Color.Black, 1);
dc1 = this.CreateGraphics();
try
{
dc1.DrawCurve(blkPen, CurvePoint1, 0.1f);
}
catch (Exception ex)
{
System.Console.WriteLine(ex.Message);
}
}
}
if (button7.Text == "AGV2")
{
aTimer2 = new System.Timers.Timer(10000);
aTimer2.Elapsed += new ElapsedEventHandler(OnTimedEvent2);
aTimer2.Interval = 10;
aTimer2.AutoReset = true;
aTimer2.Enabled = true;//只有Timer类 可以触发自身事件
if (textBox8.Text == "等待")
{
textBox8.Text = "工作";
str3 = textBox2.Text;
str4 = textBox14.Text;
foreach (AdjacencyList.Vertex ver in Adj.items)
{
if (str3 == ver.data.name)
{
temp1 = ver.data;
}
}
foreach (AdjacencyList.Vertex ver in Adj.items)
{
if (str4 == ver.data.name)
{
temp2 = ver.data;
}
}
List <Track> shortPath = Adj.FindWay(Adj.Find(temp1), Adj.Find(temp2));
List <Point> temp = new List <Point>();
List <Point> TempAll = new List <Point>();
foreach (Track m in shortPath)
{
temp = m.TrackPointList;
TempAll.AddRange(temp);
}
CurvePoint2 = TempAll.ToArray();
index2 = 0;
Pen blkPen = new Pen(Color.Black, 1);
dc2 = this.CreateGraphics();
try
{
dc2.DrawCurve(blkPen, CurvePoint1, 0.1f);
}
catch (Exception ex)
{
System.Console.WriteLine(ex.Message);
}
}
}
}