public static void CanToRest(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
int canRest;
Random r = new Random(randSeed);
if (randSeed < 500)
{
randSeed++;
}
else
{
randSeed = 200;
}
canRest = r.Next(0, MapRead.krest);
//agv.EndX = MapRead.RR[canRest].x;
//agv.EndY = MapRead.RR[canRest].y;
agv.EndX = 0;
agv.EndY = 0;
agv.Dire = Direction.Right;
//agv.StartLoc = agv.StartLoc;
agv.EndLoc = V_loc.RestArea.ToString();
agv.State = State.free;
}
public static AGVInformation Confirm_EndPoint(AGVInformation agv, string startloc, int x, int y, string endloc)
{
if (endloc == V_loc.RestArea.ToString())
{
if (agv.State == State.cannotToDestination)
{
CanToRest(agv, x, y);
}
//休息1.0
ToRest(agv, x, y);
}
else if (endloc == V_loc.WaitArea.ToString())
{
if (startloc != V_loc.DestArea.ToString())
{
//工作1.0
RandToWait(agv, x, y);
}
else if (startloc == V_loc.DestArea.ToString())
{
DestToWait(agv, x, y);
}
else if (startloc == V_loc.RestArea.ToString())
{
RandToWait(agv, x, y);
}
}
else if (startloc == V_loc.WaitArea.ToString() && endloc == V_loc.ScanArea.ToString())
{
//工作2.0
WaitToScan(agv, x, y);
}
else if (startloc == V_loc.ScanArea.ToString() && endloc == V_loc.DestArea.ToString())
{
ScanToDest(agv, x, y);
}
else if (startloc == V_loc.DestArea.ToString() && endloc == V_loc.DestArea.ToString())
{
agv.EndX = agv.BeginX;
agv.EndY = agv.BeginY;
if (agv.State == State.unloading)
{
agv.State = State.unloading;
}
else if (agv.State == State.free)
{
agv.State = State.free;
}
}
else if (startloc == V_loc.DestArea.ToString() && endloc == V_loc.RestArea.ToString())
{
DestToRest(agv, x, y);
}
return(agv);
}
public static void DestToRest(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number % MapRead.krest;
agv.EndX = MapRead.RR[agvnum].x;
agv.EndY = MapRead.RR[agvnum].y;
agv.Dire = Direction.Right;
agv.State = State.free;
agv.StartLoc = "DestArea";
agv.EndLoc = "RestArea";
}
public static void ToRest(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
agv.EndX = MapRead.RR[agvnum % (MapRead.krest)].x;
agv.EndY = MapRead.RR[agvnum % (MapRead.krest)].y;
agv.Dire = Direction.Right;
//agv.StartLoc = agv.StartLoc;
agv.EndLoc = V_loc.RestArea.ToString();
agv.State = State.free;
}
public static void ScanToDest(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
int tx, ty;
int ss = MapRead.destinationNum;
tx = MapRead.Destination[AGVConstDefine.destagvnum].x;
ty = MapRead.Destination[AGVConstDefine.destagvnum].y;
//小车在DestArea下面
//if (agv.BeginX > tx)
//{
// agv.Dire = Direction.Up;
// agv.EndX = tx;
// agv.EndY = ty - 1;
// agv.DestX = tx;
// agv.DestY = ty;
//}
//else
//{
// agv.Dire = Direction.Down;
// agv.EndX = tx;
// agv.EndY = ty + 1;
// agv.DestX = tx;
// agv.DestY = ty;
//}
agv.Dire = Direction.Down;
agv.EndX = tx - 1;
agv.EndY = ty;
agv.DestX = tx;
agv.DestY = ty;
agv.StartLoc = V_loc.ScanArea.ToString();
agv.EndLoc = V_loc.DestArea.ToString();
agv.State = State.carried;
//if (agv.LWorkNum != -1 && MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing > 0)
//{
// int la = MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing;
// MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing--;
// agv.LWorkNum = -1;
//}
//else if (agv.RWorkNum != -1 && MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing > 0)
//{
// int ra = MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing;
// MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing--;
// agv.RWorkNum = -1;
//}
AGVConstDefine.destagvnum = -1;
}
public void AGV_Read()
{
string pathAGV = System.Configuration.ConfigurationManager.AppSettings["AGVPath"].ToString();
XmlDocument xmlfile = new XmlDocument();
xmlfile.Load(pathAGV);
XmlNode agvsum = xmlfile.SelectSingleNode("Info/SUM");
int sum = Convert.ToInt32(agvsum.InnerText);
AGVConstDefine.AGVSUM = sum;
AGVConstDefine.AGV = new AGVInformation[AGVConstDefine.AGVSUM];
XmlNodeList agvlist = xmlfile.SelectSingleNode("Info/AGV_info").ChildNodes;
int i;
//for (i = 0; i < agvlist.Count; i++)
for (i = 0; i < sum; i++)
{
AGVInformation tagv = new AGVInformation();
tagv.Number = Convert.ToInt32(agvlist[i].Attributes["Num"].InnerText.ToString());;
tagv.BeginX = Convert.ToInt32(agvlist[tagv.Number].Attributes["BeginX"].InnerText.ToString());
tagv.BeginY = Convert.ToInt32(agvlist[tagv.Number].Attributes["BeginY"].InnerText.ToString());
tagv.StartLoc = agvlist[tagv.Number].Attributes["StartLoc"].InnerText;
string d = agvlist[tagv.Number].Attributes["Direction"].InnerText.ToString();
tagv.Dire = (Const.Direction)Enum.Parse(typeof(Direction), d);
tagv.State = (Const.State)Enum.Parse(typeof(State), agvlist[tagv.Number].Attributes["State"].InnerText);
tagv.Battery = Convert.ToInt32(agvlist[tagv.Number].Attributes["Battery"].InnerText.ToString());
if (agvlist[tagv.Number].Attributes["EndX"].InnerText != null && agvlist[tagv.Number].Attributes["EndY"].InnerText != null && agvlist[tagv.Number].Attributes["State"].InnerText == "carried")
{
tagv.EndX = Convert.ToInt32(agvlist[tagv.Number].Attributes["EndX"].InnerText.ToString());
tagv.EndY = Convert.ToInt32(agvlist[tagv.Number].Attributes["EndY"].InnerText.ToString());
tagv.DestX = Convert.ToInt32(agvlist[tagv.Number].Attributes["DestX"].InnerText.ToString());
tagv.DestY = Convert.ToInt32(agvlist[tagv.Number].Attributes["DestY"].InnerText.ToString());
}
AGVConstDefine.AGV[tagv.Number] = tagv;
}
}
//选择较近的三个工件台中的最少排队的一个工件台
public static int ThreeLeast(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
int choosework = 0;
int side = 0;//0,只有右边;1,只有左边;2,两边
if (MapRead.leftWorkstationNum != 0 && MapRead.rightWorkstationNum != 0)
{
side = 2;
}
else if (MapRead.rightWorkstationNum == 0)
{
side = 1;
}
if (y < (MapRead.widthNum / side) && side != 0)
{
//锁定较近的工件台
#region
int workStart = NearestWorkStation(MapRead.LeftWork, x);
#endregion
//再选当前排队中最少的一个工件台
//int choosework = 0;
choosework = LeastEntrance(MapRead.LeftWork, workStart);
}
else
{
//选定三个相邻的工件台
int workStart = NearestWorkStation(MapRead.RightWork, x);
//选择最少被锁定排队的工件台
//int choosework = 0;
choosework = LeastEntrance(MapRead.RightWork, workStart);
}
return(choosework);
}
public static void ScanToDest(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
//选中任意一个DestArea
// Random rd = new Random(seed);
int destagvnum;
int tx, ty;
int ss = MapRead.destinationNum;
destagvnum = rd.Next(0, ss);
//已被占用
//OccuFlag记录被占的投放口
//while (MapRead.Destination[destagvnum].occupy == true)
//{
// if (seed < 1000)
// {
// seed++;
// }
// else
// {
// seed = (seed + 400) % 1000;
// }
// Random rd1 = new Random(seed);
// destagvnum = rd1.Next(0, MapRead.destinationNum);
//}
//记录的是第agvnum个小车对应的投放口的区域
AGVConstDefine.DEST tp = new AGVConstDefine.DEST();
tp.destinationNum = destagvnum;
AGVConstDefine.p[agvnum] = tp;
tx = MapRead.Destination[destagvnum].x;
ty = MapRead.Destination[destagvnum].y;
//小车在DestArea下面
if (agv.BeginX > tx)
{
agv.Dire = Direction.Up;
agv.EndX = tx;
agv.EndY = ty - 1;
agv.DestX = tx;
agv.DestY = ty;
}
else
{
agv.Dire = Direction.Down;
agv.EndX = tx;
agv.EndY = ty + 1;
agv.DestX = tx;
agv.DestY = ty;
}
//MapRead.Destination[destagvnum].occupy = true;
// MapRead.Destination[agv.Number].occupy = true;
agv.StartLoc = "ScanArea";
agv.EndLoc = "DestArea";
agv.State = State.carried;
// if (y < (MapRead.widthnum / 2))
// {
if (agv.LWorkNum != -1 && MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing > 0)
{
int la = MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing;
MapRead.LeftWork[agv.LWorkNum].agvNumOfQueuing--;
agv.LWorkNum = -1;
}
////////// }
////////// else
////////// {
else if (agv.RWorkNum != -1 && MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing > 0)
{
int ra = MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing;
MapRead.RightWork[agv.RWorkNum].agvNumOfQueuing--;
agv.RWorkNum = -1;
}
// }
}
public static void WaitToScan(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
//往前走
string pathMap = System.Configuration.ConfigurationManager.AppSettings["MAPPath"].ToString();
XmlDocument xmlfile = new XmlDocument();
xmlfile.Load(pathMap);
string agvxy = "config/Grid/td" + x.ToString() + "-" + y.ToString();
XmlElement td = (XmlElement)xmlfile.SelectSingleNode(agvxy);
string tdattr = td.Attributes["direction"].InnerText;
string agvxy1 = "config/Grid/td" + x.ToString() + "-" + (y + 1).ToString();
XmlElement td1 = (XmlElement)xmlfile.SelectSingleNode(agvxy1);
string tdattr1 = td.Attributes["direction"].InnerText;
//xzy 2017if (agv.BeginY < 50)
//xzy 2018.3.11
int side = 0;//0,只有右边;1,只有左边;2,两边
if (MapRead.leftWorkstationNum != 0 && MapRead.rightWorkstationNum != 0)
{
side = 2;
}
else if (MapRead.rightWorkstationNum == 0)
{
side = 1;
}
if (agv.BeginY < (MapRead.widthNum / side) && side != 0)
{
for (int i = 0; i < MapRead.klscan; i++)
{
if (System.Math.Abs(MapRead.LeftScanner[i].x - agv.BeginX) == 0
// || System.Math.Abs(MapRead.LeftScanner[i].x - agv.BeginX) == 1
)
{
agv.EndX = MapRead.LeftScanner[i].x;
agv.EndY = MapRead.LeftScanner[i].y;
agv.Dire = Direction.Left;
//xzy 2018.3.11 该工件台排队数减少1
MapRead.LeftWork[agv.WorkStaionPassBy].agvNumOfQueuing--;
break;
}
}
}
else
{
for (int i = 0; i < MapRead.krscan; i++)
{
if (System.Math.Abs(MapRead.RightScanner[i].x - agv.BeginX) == 0
// || System.Math.Abs(MapRead.RightScanner[i].x - agv.BeginX) == 1
)
{
agv.EndX = MapRead.RightScanner[i].x;
agv.EndY = MapRead.RightScanner[i].y;
agv.Dire = Direction.Right;
MapRead.RightWork[agv.WorkStaionPassBy].agvNumOfQueuing--;
break;
}
}
}
agv.StartLoc = "WaitArea";
agv.EndLoc = "ScanArea";
agv.State = State.free;
}
public static void DestToWait(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
////就近,在地图的左边
// if (y <= 45)
// {
// int i = 0;
// int lcnt = MapRead.lw;
// //while(i<lcnt&&MapRead.LWW[i]!=null)
// for(i=0;i<lcnt;i++)
// {
// //判断地图中DestArea与WaitArea的行数是否相差1
// int lnum = i % lcnt;
// if (System.Math.Abs(MapRead.LWW[lnum].x - agv.BeginX) == 0
// || System.Math.Abs(MapRead.LWW[lnum].x - agv.BeginX) == 1
// || System.Math.Abs(MapRead.LWW[lnum].x - agv.BeginX) == 3
// )
// {
// agv.EndX = MapRead.LWW[lnum].x;
// agv.EndY = MapRead.LWW[lnum].y;
// agv.StartLoc = "DestArea";
// agv.EndLoc = "WaitArea";
// agv.Dire = Direction.Right;
// //MapRead.WW[i].occupy = true;
// break;
// }
// //else
// //{
// // i++;
// //}
// }
// }
// //地图在右边
// else
// {
// int i = 0, rcnt = MapRead.rw;
// // while(i<rcnt && MapRead.RWW[i]!=null)
// for (i = 0; i <MapRead.RWW.Count(); i++)
// {
// int rnum = i % rcnt;
// if (System.Math.Abs(MapRead.RWW[rnum].x- agv.BeginX) == 0
// || System.Math.Abs(MapRead.RWW[rnum].x - agv.BeginX) == 1
// || System.Math.Abs(MapRead.RWW[rnum].x - agv.BeginX) == 3
// )
// {
// agv .EndX = MapRead.RWW[rnum].x;
// agv.EndY = MapRead.RWW[rnum].y;
// agv.StartLoc = "DestArea";
// agv.EndLoc = "WaitArea";
// agv.Dire = Direction.Left;
// // MapRead.WW[i].occupy = true;
// break;
// }
// i++;
// }
// }
// agv.State = State.free;
//MapRead.Destination[AGVConstDefine.p[agvnum].destinationNum].occupy = false;
//int worki = ThreeLeast(agv, x, y);
int worki = ThreeLeast(agv, x, y), workj = 0;
agv.WorkStaionPassBy = worki;
//agv.WorkNum=worki;
//xzy 2017 if (y < (MapRead.widthNum / 2))
//xzy 2018.3 考虑排队区是否在左右两边
int side = 0; //0,只有右边;1,只有左边;2,两边
//左右两边
if (MapRead.leftWorkstationNum != 0 && MapRead.rightWorkstationNum != 0)
{
side = 2;
}
//左边
else if (MapRead.rightWorkstationNum == 0)
{
side = 1;
}
if (y < (MapRead.widthNum / side) && side != 0)
{
while (MapRead.LeftWorkstation[worki, workj].occupy == true)
{
if (workj == (MapRead.entranceNum - 1))
{
workj = 0;
for (int i = 0; i < MapRead.entranceNum; i++)
{
MapRead.LeftWorkstation[worki, i].occupy = false;
}
}
else
{
workj++;
}
}
// int worki = agvnum % MapRead.leftWorkstationNum;
agv.EndX = MapRead.LeftWorkstation[worki, workj].x;
agv.EndY = MapRead.LeftWorkstation[worki, workj].y;
MapRead.LeftWork[worki].agvNumOfQueuing++;
agv.LWorkNum = worki;
agv.RWorkNum = -1;
MapRead.LeftWorkstation[worki, workj].occupy = true;
}
else
{
while (MapRead.RightWorkstation[worki, workj].occupy == true)
{
if (workj == (MapRead.entranceNum - 1))
{
workj = 0;
for (int i = 0; i < MapRead.entranceNum; i++)
{
MapRead.RightWorkstation[worki, i].occupy = false;
}
}
else
{
workj++;
}
}
//int worki = agvnum % MapRead.rightWorkstationNum;
agv.EndX = MapRead.RightWorkstation[worki, workj].x;
agv.EndY = MapRead.RightWorkstation[worki, workj].y;
MapRead.RightWork[worki].agvNumOfQueuing++;
agv.RWorkNum = worki;
agv.LWorkNum = -1;
MapRead.RightWorkstation[worki, workj].occupy = true;
}
//if (workj == (MapRead.entranceNum - 1))
//{
// workj = 0;
//}
//else
//{
// workj++;
//}
agv.StartLoc = "DestArea";
agv.EndLoc = "WaitArea";
agv.State = State.free;
}
//按照小车编号，按照顺序
public static void RandToWait(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
int worki = ThreeLeast(agv, x, y), workj = 0;
agv.WorkStaionPassBy = worki;
// agv.WorkNum = worki;
//xzy 2017 排队区有左右两边
// if (y < (MapRead.widthNum / 2))
//xzy 2018.3 考虑排队区是否在左右两边
int side = 0; //0,只有右边;1,只有左边;2,两边
if (MapRead.leftWorkstationNum != 0 && MapRead.rightWorkstationNum != 0)
{
side = 2;
}
else if (MapRead.rightWorkstationNum == 0)
{
side = 1;
}
if (y < (MapRead.widthNum / side) && side != 0)
{
while (MapRead.LeftWorkstation[worki, workj].occupy == true)
{
if (workj == (MapRead.entranceNum - 1))
{
workj = 0;
for (int i = 0; i < MapRead.entranceNum; i++)
{
MapRead.LeftWorkstation[worki, i].occupy = false;
}
}
else
{
workj++;
}
}
agv.EndX = MapRead.LeftWorkstation[worki, workj].x;
agv.EndY = MapRead.LeftWorkstation[worki, workj].y;
MapRead.LeftWork[worki].agvNumOfQueuing++;
MapRead.LeftWorkstation[worki, workj].occupy = true;
agv.LWorkNum = worki;
agv.RWorkNum = -1;
}
else
{
while (MapRead.RightWorkstation[worki, workj].occupy == true)
{
if (workj == (MapRead.entranceNum - 1))
{
workj = 0;
for (int i = 0; i < MapRead.entranceNum; i++)
{
MapRead.RightWorkstation[worki, i].occupy = false;
}
}
else
{
workj++;
}
}
// int worki = agvnum % MapRead.rightWorkstationNum;
agv.EndX = MapRead.RightWorkstation[worki, workj].x;
agv.EndY = MapRead.RightWorkstation[worki, workj].y;
MapRead.RightWork[worki].agvNumOfQueuing++;
MapRead.RightWorkstation[worki, workj].occupy = true;
agv.RWorkNum = worki;
agv.LWorkNum = -1;
// MapRead.RightWorkstation[worki, workj].occupy = true;
}
//while (MapRead.RightWorkstation[worki, workj].occupy == true)
//{
// workj++;
// if (workj == (MapRead.entranceNum - 1))
// {
// workj = 0;
// }
//}
//if (workj == (MapRead.entranceNum-1))
//{
// workj = 0;
//}
//else
//{
// workj++;
//}
//agv.StartLoc = "RandArea";
agv.EndLoc = "WaitArea";
agv.State = State.free;
}
public static AGVInformation Confirm_EndPoint(AGVInformation agv, string startloc, int x, int y, string endloc)
{
#if moni
if (endloc == "RestArea")
{
if (agv.State == State.cannotToDestination)
{
CanToRest(agv, x, y);
}
//休息1.0
ToRest(agv, x, y);
}
else if (endloc == "WaitArea")
{
if (startloc != "DestArea")
{
//工作1.0
RandToWait(agv, x, y);
}
else if (startloc == "DestArea")
{
DestToWait(agv, x, y);
}
}
//else if (startloc == "WaitArea" && endloc == "ScanArea")
//{
// //工作2.0
// WaitToScan(agv, x, y);
//}
//else if (startloc == "ScanArea" && endloc == "DestArea")
//{
// //工作3.0
// ScanToDest(agv, x, y);
//}
else if (startloc == "DestArea" && endloc == "DestArea")
{
agv.EndX = agv.BeginX;
agv.EndY = agv.BeginY;
if (agv.State == State.unloading)
{
agv.State = State.unloading;
}
else if (agv.State == State.free)
{
agv.State = State.free;
}
}
else if (startloc == "DestArea" && endloc == "RestArea")
{
DestToRest(agv, x, y);
}
return(agv);
#else
int tx = rd.Next(minX, maxX + 1);
int ty = rd.Next(minY, maxY + 1);
while (tx == agv.BeginX && ty == agv.BeginY)
{
tx = rd.Next(minX, maxX + 1);
ty = rd.Next(minY, maxY + 1);
}
agv.EndX = tx;
agv.EndY = ty;
agv.DestX = tx;
agv.DestY = ty;
agv.StartLoc = "ScanArea";
agv.EndLoc = "DestArea";
agv.State = State.carried;
return(agv);
#endif
}
public static void DestToWait(AGVInformation agv, int x, int y)
{
int agvnum = agv.Number;
int worki = 0; //ThreeLeast(agv, x, y), workj = 0;
int workj = 0;
#region 多个
// agv.WorkStaionPassBy = worki;
////agv.WorkNum=worki;
////xzy 2017 if (y < (MapRead.widthNum / 2))
// //xzy 2018.3 考虑排队区是否在左右两边
// int side = 0;//0,只有右边;1,只有左边;2,两边
// //左右两边
// if (MapRead.leftWorkstationNum != 0 && MapRead.rightWorkstationNum != 0) side = 2;
// //左边
// else if (MapRead.rightWorkstationNum == 0) side = 1;
// if (y < (MapRead.widthNum / side) && side != 0)
//{
// while (MapRead.LeftWorkstation[worki, workj].occupy == true)
// {
// if (workj == (MapRead.entranceNum - 1))
// {
// workj = 0;
// for (int i = 0; i < MapRead.entranceNum; i++)
// MapRead.LeftWorkstation[worki, i].occupy = false;
// }
// else
// { workj++; }
// }
// // int worki = agvnum % MapRead.leftWorkstationNum;
// agv.EndX = MapRead.LeftWorkstation[worki, workj].x;
// agv.EndY = MapRead.LeftWorkstation[worki, workj].y;
// MapRead.LeftWork[worki].agvNumOfQueuing++;
// agv.LWorkNum = worki;
// agv.RWorkNum = -1;
// MapRead.LeftWorkstation[worki, workj].occupy = true;
//}
//else
//{
// while (MapRead.RightWorkstation[worki, workj].occupy == true)
// {
// if (workj == (MapRead.entranceNum - 1))
// {
// workj = 0;
// for (int i = 0; i < MapRead.entranceNum; i++)
// MapRead.RightWorkstation[worki, i].occupy = false;
// }
// else
// { workj++; }
// }
// //int worki = agvnum % MapRead.rightWorkstationNum;
// agv.EndX = MapRead.RightWorkstation[worki, workj].x;
// agv.EndY = MapRead.RightWorkstation[worki, workj].y;
// MapRead.RightWork[worki].agvNumOfQueuing++;
// agv.RWorkNum = worki;
// agv.LWorkNum = -1;
// MapRead.RightWorkstation[worki, workj].occupy = true;
//}
#endregion
agv.EndX = MapRead.LeftWorkstation[worki, workj].x;
agv.EndY = MapRead.LeftWorkstation[worki, workj].y;
// MapRead.LeftWork[worki].agvNumOfQueuing++;
agv.LWorkNum = worki;
//agv.LWorkNum = -1;
// MapRead.LeftWorkstation[worki, workj].occupy = true;
agv.StartLoc = V_loc.DestArea.ToString();
agv.EndLoc = V_loc.WaitArea.ToString();
agv.State = State.free;
}
