/// <summary>
/// 充电测试
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void button1_Click(object sender, EventArgs e)
{
byte vnum = 6;
ChargePacket cp = new ChargePacket(vnum, (byte)vnum, new CellPoint(4000, 0));
Console.WriteLine("send charge");
AgvServerManager.Instance.SendTo(cp, vnum);
}
protected override void Run()
{
Thread.Sleep(ConstDefine.STEP_TIME);
if (vehicles == null)
{
return;
}
for (int vnum = 2; vnum <= 16; vnum++)
{
if (vehicles[vnum].agvInfo == null)
{
continue;
}
// Console.WriteLine(vnum + "小车电量:" + vehicles[vnum].agvInfo.Electricity);
if (vehicles[vnum].Route == null || vehicles[vnum].Route.Count <= 0)
{
continue;
}
if (vehicles[vnum].CurState == State.cannotToDestination && vehicles[vnum].Arrive == false)
{
vehicles[vnum].Arrive = true;
vehicles[vnum].CurState = State.Free;
vFinished.Add(vehicles[vnum]);
ClearAllCrossedNode(vnum);
string str = string.Format("小车" + vnum + ":{0},{1}->{2},{3}没有搜索到路径，", vehicles[vnum].BeginX, vehicles[vnum].BeginY, vehicles[vnum].EndX, vehicles[vnum].EndY);
OnShowMessage(this, new MessageEventArgs(str));
continue;
}
if (vehicles[vnum].Finished == true)
{
continue;
}
if (vehicles[vnum].IsAgvReceived == false)
{
if (vehicles[vnum].WaitEndTime < DateTime.Now)//超过等待时间还不能走，则重新发送一下当前位置
{
Logs.Warn("Resend Current location");
// MessageBox.Show("resend " + vnum);
SendPack(vnum, vehicles[vnum].LastSendPacket);
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.NeedCharge)
{
if (vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free &&
vehicles[vnum].EqualWithRealLocation(CHARGE_END_X, CHARGE_END_Y)
)
{
uint cellUnit = (int)ConstDefine.CELL_UNIT;
ChargePacket cp = new ChargePacket((byte)(vehicles[vnum].Serinum), (byte)vnum, new CellPoint(CHARGING_X * cellUnit, CHARGING_Y * cellUnit));
SendPack(vnum, cp);
vehicles[vnum].CurState = State.Charging;
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.Charging)
{
if (vehicles[vnum].agvInfo.Electricity > chargeMax)
{
if (vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free &&
vehicles[vnum].EqualWithRealLocation(CHARGING_X, CHARGING_Y)
)
{
uint cellUnit = (int)ConstDefine.CELL_UNIT;
FinishChargePacket fcp = new FinishChargePacket((byte)(vehicles[vnum].Serinum), (byte)vnum, new CellPoint(CHARGE_END_X * cellUnit, CHARGE_END_Y * cellUnit));
SendPack(vnum, fcp);
vehicles[vnum].CurState = State.Charged;
}
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.Charged)
{
if (vehicles[vnum].EqualWithRealLocation(CHARGE_END_X, CHARGE_END_Y) && vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free)
{
vehicles[vnum].CurState = State.Free;
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.carried)
{
if (vehicles[vnum].EqualWithRealLocation(vehicles[vnum].BeginX, vehicles[vnum].BeginY))
{
if (vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free)
{
TrayMotion trayMotion = TrayMotion.YNegative;
TrayPacket tp = new TrayPacket((byte)(vehicles[vnum].Serinum), (ushort)vnum, trayMotion);
SendPack(vnum, tp);
vehicles[vnum].CurState = State.unloading;
}
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.unloading)
{
if (vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free &&
(vehicles[vnum].LastSendPacket is TrayPacket || vehicles[vnum].LastSendPacket is FinishChargePacket)
)
{
if (vehicles[vnum].agvInfo.Electricity < chargeMin)
{
GoToCharge(vnum);
}
else
{
vehicles[vnum].CurState = State.Free;
}
}
continue;
}
if (vehicles[vnum].Arrive == true && vehicles[vnum].CurState == State.Free)
{
ClearAllCrossedNode(vnum);
vehicles[vnum].Finished = true;
vFinished.Add(vehicles[vnum]);
continue;
}
Random r = new Random(DateTime.Now.Millisecond);
if (vehicles[vnum].StopTime < r.Next(vnum % 5))
{
if (vehicles[vnum].CurNodeTypy() != MapNodeType.queuingArea && GetDirCount(vehicles[vnum].BeginX, vehicles[vnum].BeginY) > 1)
{
if (vehicles[vnum].Stoped > -1 && vehicles[vnum].Stoped < vehicles.Length)
{
vehicles[vehicles[vnum].Stoped].StopTime = ConstDefine.STOP_TIME;
}
//重新搜索路径
SearchRoute(vnum, true);
}
vehicles[vnum].StopTime = ConstDefine.STOP_TIME;
}
else
{
MoveType moveState = vehicles[vnum].Move(ElecMap.Instance);
if (moveState == MoveType.move)
{
uint x = Convert.ToUInt32(vehicles[vnum].BeginX);
uint y = Convert.ToUInt32(vehicles[vnum].BeginY);
uint endX = Convert.ToUInt32(vehicles[vnum].EndX);
uint endY = Convert.ToUInt32(vehicles[vnum].EndY);
uint cellUnit = (int)ConstDefine.CELL_UNIT;
RunPacket rp = new RunPacket((byte)(vehicles[vnum].Serinum), (ushort)vnum, MoveDirection.Forward, 1500, new Destination(new CellPoint(x * cellUnit, y * cellUnit), new CellPoint(endX * cellUnit, endY * cellUnit), new AgvDriftAngle(0), TrayMotion.None));
SendPack(vnum, rp);
ElecMap.Instance.mapnode[vehicles[vnum].BeginX, vehicles[vnum].BeginY].TraCongesIntensity = 100;//实际场地没用，故用来表示已经发送过的节点的标志，便于在界面上绘制
moveCount++;
OnShowMessage(string.Format("{0:N} 公里", (moveCount * 1.5) / 1000.0));
}
if (moveState == MoveType.clearFault)
{
if (vehicles[vnum].agvInfo.OrderExec == OrderExecState.Free
)
{
ClearFalutPacket cf = new ClearFalutPacket(vehicles[vnum].Serinum, (ushort)vnum);
SendPack(vnum, cf);
}
}
}
}
if (vFinished != null)
{
for (int i = 0; i < vFinished.Count; i++)
{
FinishedQueue.Instance.Enqueue(vFinished[i]);
}
vFinished.Clear();
}
}
