Esempio n. 1
0
        public MissionAssignmentDisplay(MissionAssignment ma)
        {
            Mission mission = ma.mission;
            AGVWPF  agv     = ma.agv;

            if (ma.path != null)
            {
                path = ma.path.ToString();
                int tmp = (int)ma.path.length;
                length = tmp.ToString();
            }
            else
            {
                path   = "null";
                length = "-";
            }
            startEnd  = mission.mssionStartPoint.ID.ToString() + "-" + mission.mssionEndPoint.ID.ToString();
            missionID = mission.ID.ToString();
            if (agv != null)
            {
                agvAddr = agv.PrePoint.ID.ToString();
            }
            else
            {
                agvAddr = "-";
            }
        }
Esempio n. 2
0
        static public MissionAssignment[] Brain(Queue <Mission> missionQueue, List <AGVWPF> agvList, Dictionary <ODPair, PathList> allPaths)
        {
            MissionAssignment[] ma = new MissionAssignment[missionQueue.Count];
            Point missionStartPoint;
            Point missionEndPoint;
            Point agvPoint;

            int idx = 0;

            foreach (Mission m in missionQueue)
            {
                ma[idx] = new MissionAssignment(m, null, null);
                idx++;
            }
            double   min_length_1 = -1;
            double   min_length_2 = -1;
            Path     bestPath_1   = null; // agv->mission起始点一段路径
            Path     bestPath_2   = null; // mission起始点->mission终点一段路径
            PathList pathList_1;
            PathList pathList_2;
            AGVWPF   bestAGV = null;

            if (agvList.Count == 1) // 只有一辆小车
            {
                idx = 0;
                foreach (Mission m in missionQueue)
                {
                    foreach (AGVWPF agv in agvList)
                    {
                        bestAGV           = agv;
                        agvPoint          = agv.PrePoint;
                        missionStartPoint = m.mssionStartPoint;
                        pathList_1        = allPaths[new ODPair(agvPoint, missionStartPoint)];
                        missionEndPoint   = m.mssionEndPoint;
                        ODPair od = new ODPair(missionStartPoint, missionEndPoint);
                        pathList_2 = allPaths[od];
                        //Console.WriteLine(allPaths.ContainsKey(od).ToString());
                        // Console.Read();

                        min_length_1 = -1;
                        if (pathList_1.paths != null)
                        {
                            foreach (Path path in pathList_1.paths)
                            {
                                if (min_length_1 == -1 || min_length_1 > path.length)
                                {
                                    min_length_1 = path.length;
                                    bestPath_1   = path;
                                }
                            }
                        }

                        min_length_2 = -1;
                        if (pathList_2.paths != null)
                        {
                            foreach (Path path in pathList_2.paths)
                            {
                                if (min_length_2 == -1 || min_length_2 > path.length)
                                {
                                    min_length_2 = path.length;
                                    bestPath_2   = path;
                                }
                            }
                        }

                        if (min_length_1 != -1 && min_length_2 != -1)
                        {
                            break;
                        }
                    }
                    if (min_length_1 != -1 && min_length_2 != -1)
                    {
                        ma[idx].agv  = bestAGV;
                        ma[idx].path = bestPath_1.combinePath(bestPath_2);
                        break;
                    }
                    idx++;
                }
            }

            return(ma);
        }
Esempio n. 3
0
 public MissionAssignment(Mission mission, AGVWPF agv, Path path)
 {
     this.mission = mission;
     this.agv     = agv;
     this.path    = path;
 }