public void SetGoPiont(string GoPoint)
{
string BeginP = "";
string EndP = "";
string ReBack = "";
BeginP = GetValue(LocalPoint).Replace("_", "");
if (LocalPoint.Trim() == "")
{
MessageBox.Show("无当前坐标！");
return;
}
if (BeginP != GoPoint)
{
BeginP = "A" + BeginP;
EndP = "A" + GoPoint;
}
RoutePlanResult Tresult = planner.Paln(_ComData.nodeList, BeginP, EndP);
foreach (string strln in Tresult.getPassedNodeIDs())
{
ReBack += "_" + strln;
}
string PassStr = ReBack + "_" + EndP;
SetTask(PassStr.Replace("A", ""));
}
private void printRouteResult(RoutePlanResult result)
{
Response.Write("<br />路径");
string[] tmp = result.getPassedNodeIDs();
for (int i = 0; i < tmp.Length; i++)
{
Response.Write(tmp[i] + "--");
}
}
private void printRouteResult(RoutePlanResult _result)
{
string[] tmp = _result.getPassedNodeIDs();
for (int i = 0; i < tmp.Length; i++)
{
Response.Write(tmp[i] + "-->");
}
Response.Write(ddlEnd.SelectedValue);
Response.Write("<br>");
}
private void printRouteResult(RoutePlanResult _result)
{
Response.Write("</br>路径:");
//获取最短路径结果中，所有的节点
string[] tmp = _result.getPassedNodeIDs();
for (int i = 0; i < tmp.Length; i++)
{
Response.Write(tmp[i] + "-->");
}
}
private void button2_Click(object sender, EventArgs e)
{
if (comboBox2.Text == comboBox4.Text)
{
MessageBox.Show("不能同在一个地标上！");
return;
}
LocalPoint = this.comboBox4.Text;
string Fction = "";
string BeginP = "A14";
string EndP = "A11";
string ReBack = "";
if (LocalPoint.Trim() == "")
{
MessageBox.Show("无当前坐标！");
return;
}
if (LocalPoint != comboBox2.Text)
{
BeginP = "A" + LocalPoint;
EndP = "A" + comboBox2.Text;
}
RoutePlanResult Tresult = planner.Paln(_ComData.nodeList, BeginP, EndP);
foreach (string strln in Tresult.getPassedNodeIDs())
{
Fction += ">" + strln;
ReBack += "_" + strln;
}
Fction = Fction + "->" + EndP;
PassStr = ReBack + "_" + EndP;
if (_hts.ContainsKey(comboBox5.Text))
{
if (MessageBox.Show("已经设置过AGV#" + comboBox5.Text + ",是否要覆盖之前设置", "提示！", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
{
_hts[comboBox5.Text] = PassStr;
return;
}
else
{
return;
}
}
_hts.Add(comboBox5.Text, PassStr);
this.richTextBox1.Text += "\nAGV#编号： " + comboBox5.Text + " 已设置,";
richTextBox1.Text += " 路径：" + Fction.Replace("A", "");
DevID = comboBox5.Text;
}
public void SetCall()
{
string Fction = "";
string BeginP = "A14";
string EndP = "A11";
RoutePlanResult Tresult = planner.Paln(_ComData.nodeList, BeginP, EndP);
foreach (string strln in Tresult.getPassedNodeIDs())
{
Fction += strln;
}
CreateNode(Fction + EndP);
}
private string DetailedRoute(RoutePlanResult result)
{
string[] point = result.getPassedNodeIDs();
string route = "";
for (int i = 0; i < point.Length; i++)
{
route += point[i] + "--->";
}
route += ddlEnd.SelectedValue;
return(route);
}
private void button3_Click(object sender, EventArgs e)
{
if (comboBox5.Text == comboBox4.Text)
{
MessageBox.Show("不能同在一个地标上！");
return;
}
LocalPoint = this.comboBox4.Text;
this.richTextBox1.Text += "\n AGV#" + comboBox2.Text + ">> 起始地标: " + LocalPoint + " 开往目的地标：" + comboBox5.Text + " 已设定。";
string Fction = "";
string BeginP = "A14";
string EndP = "A11";
string ReBack = "";
if (LocalPoint.Trim() == "")
{
MessageBox.Show("无当前坐标！");
return;
}
if (LocalPoint != comboBox5.Text)
{
BeginP = "A" + LocalPoint;
EndP = "A" + comboBox5.Text;
}
RoutePlanResult Tresult = planner.Paln(_ComData.nodeList, BeginP, EndP);
foreach (string strln in Tresult.getPassedNodeIDs())
{
Fction += "->" + strln;
ReBack += "_" + strln;
}
Fction = Fction + "->>" + EndP;
PassStr = ReBack + "_" + EndP;
richTextBox1.Text += " 路径：" + Fction.Replace("A", "");
DevID = comboBox2.Text;
}