/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGV_DisMember temp1)
{
byte iagvnum = Convert.ToByte(temp1.txtAGVNum.Remove(0, 3));
if (iagvnum > 0 && iagvnum <= AGVNUM_MAX)
{
Point pStart = new Point(), pEnd = new Point(), pVirtual = new Point();
//if (Convert.ToInt32(temp1.txtDockNum) > 0)
//{
// TrafficPara.Open("Select RouteNum from T_DockSetting where DockNum=" + temp1.txtDockNum + " and AGVNum=" + iagvnum.ToString());
// if (TrafficPara.rowcount > 0)
// {
// temp1.txtLineNum = TrafficPara.Rows[0]["RouteNum"].ToString();
// }
//}
//待测试
//if (agvDock != null && agvCharge != null && agvCall != null)
//{
// if (Convert.ToInt32(temp1.txtDockNum) == 0)
// {
// if (agvDock.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //充电返回后，清除状态
// if (temp1.txtagvCharge == 4) { AGVStatus[iagvnum - 1].agvCharge = 0; }
// CarLine carline = agvDock.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtDockNum = carline.dockNum.ToString();
// temp1.txtLineNum = carline.lineNum.ToString();
// AGVStatus[iagvnum - 1].dockNum = carline.dockNum;
// //启动车辆，发送变更为待装停靠区路线
// //进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }
// else
// {
// if (agvDock.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvDock.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// temp1.txtDockNum = "0";
// AGVStatus[iagvnum - 1].dockNum = 0;
// //此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
// //1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
// //2.当temp1.txtagvCharge ==0时，为执行任务的路线
// if (temp1.txtagvCharge == 1)
// {
// AGVStatus[iagvnum - 1].agvCharge = 2;
// }
// AGVControlCommand(iagvnum, 0, 0, Convert.ToByte(agvDock.outDockLine[iagvnum - 1]));
// agvDock.outDockLine[iagvnum - 1] = 0;
// }
// }
// if (temp1.txtagvCharge == 2)
// {
// if (agvCharge.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// CarLine carline = agvCharge.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtagvCharge = 3;//充电状态
// AGVStatus[iagvnum - 1].agvCharge = 3;//充电状态
// temp1.txtLineNum = carline.lineNum.ToString();
// //启动车辆，发送变更路线
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
// else if (temp1.txtagvCharge == 3)
// {
// if (agvCharge.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvCharge.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, 0);
// agvDock.outDockLine[iagvnum - 1] = agvCharge.chargeLine;//在出待装区的时候改变路线使用
// }
// temp1.txtagvCharge = 4;
// AGVStatus[iagvnum - 1].agvCharge = 4;
// }
// }
//}
#region 停靠区
if (agvDock != null)
{
// 判断是否进入停靠区
if (Convert.ToInt32(temp1.txtDockNum) == 0)
{
if (agvDock.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
{
//已经进入停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//车辆进入停靠区
CarLine carline = agvDock.Add(iagvnum);
if (carline != null)
{
temp1.txtDockNum = carline.dockNum.ToString();
temp1.txtLineNum = carline.lineNum.ToString();
//更新停靠区参数
AGVStatus[iagvnum - 1].dockNum = carline.dockNum;
//启动车辆，发送变更为待装停靠区路线
//进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(iagvnum, 2, 0, 0);
}
//启用充电区
if (agvCharge != null)
{
//充电返回后，清除状态
if (temp1.txtagvCharge == 4) { AGVStatus[iagvnum - 1].agvCharge = 0; }
}
else//不启用充电区
{
}
}
else
{
//未进入停靠区，一直处于停靠区外面；暂不做处理
}
}
else//判断是否出停靠区
{
if (agvDock.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
{
//离开停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//移除待装区排队
CarLine carline = agvDock.Delete(iagvnum);
//更新AGV停靠区参数
temp1.txtDockNum = "0";
AGVStatus[iagvnum - 1].dockNum = 0;
//更新AGV路线
//有车辆等待排队
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
//如果在等待排队中有车辆，启动等待的车辆
AGVControlCommand(carline.agvNum, 3, 0, Convert.ToByte(carline.lineNum));
}
//启用充电区
if (agvCharge != null)
{
if (temp1.txtagvCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(Convert.ToByte(temp1.txtLineNum));
//充电路线，当linenum=0,说明用户没有定义
agvDock.outDockLine[iagvnum - 1] = linenum;//充电路线
if (linenum > 0)
{
AGVStatus[iagvnum - 1].agvCharge = 2;
}
}
}
else
{
//不启动充电区
}
//车辆驶出停靠区后变更路线
//此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
//1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
//2.当temp1.txtagvCharge ==0时，为执行任务的路线
if (agvDock.outDockLine[iagvnum - 1] > 0)
{
AGVControlCommand(iagvnum, 0, 0, Convert.ToByte(agvDock.outDockLine[iagvnum - 1]));
agvDock.outDockLine[iagvnum - 1] = 0;
}
}
else
{
//已经进入停靠区，但一直在停靠区内；暂不做处理
}
}
}
#endregion
#region 充电区
if (agvCharge != null)
{
if (temp1.txtagvCharge == 2)
{
if (agvCharge.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
{
CarLine carline = agvCharge.Add(iagvnum,Convert.ToByte(temp1.txtLineNum));
if (carline != null)
{
temp1.txtagvCharge = 3;//充电状态
AGVStatus[iagvnum - 1].agvCharge = 3;//充电状态
temp1.txtLineNum = carline.lineNum.ToString();
//启动车辆，发送变更路线
AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(iagvnum, 2, 0, 0);
}
}
}//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
else if (temp1.txtagvCharge == 3)
{
if (agvCharge.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
{
//移除待装区排队
CarLine carline = agvCharge.Delete(iagvnum);
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
//如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
temp1.txtLineNum = carline.lineNum.ToString();
AGVControlCommand(carline.agvNum, 3, 0, Convert.ToByte(carline.lineNum));
}
temp1.txtagvCharge = 4;
AGVStatus[iagvnum - 1].agvCharge = 4;
AGVControlCommand(iagvnum, 0, 0, agvCharge.beforeEnterLine[Convert.ToInt32(temp1.txtDockNum)]);
}
}
}
#endregion
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.txtWorkLine + " and Mark=" + temp1.txtMarkNum + " and LineNum=" + temp1.txtLineNum);
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List<Point> pointcollection1 = new List<Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
//线路起点处检测电量
if (currentOrder == 2)
{
//AGV到达起点位置，空闲状态；当检测到AGV状态为运行时，为执行任务
AGVStatus[iagvnum - 1].agvTask = 0;
//启用充电区
if (agvCharge != null)
{
if (temp1.txtagvCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(Convert.ToByte(temp1.txtLineNum));
//当linenum=0时，说明管理员没有设置充电路线，不会启动自动充电
if (linenum > 0)
{
AGVControlCommand(iagvnum, 1, 0, linenum);
AGVStatus[iagvnum - 1].agvCharge = 2;
}
}
}
}
bool isvirtualpoint = true;
double dMarkdistance = 0;
//while (isvirtualpoint)
//{
// TrafficPara.Open("select XPos,YPos,T_Line.Distance from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
// "and LineNum=" + temp1.txtLineNum + "and T_Mark.VirtualMark=1");
// if (TrafficPara.Rows.Count > 0)
// {
// pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
// pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
// pointcollection1.Add(pVirtual);
// dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
// currentOrder++;
// }
// else { isvirtualpoint = false; break; }
//}
//TrafficPara.Open("select XPos,YPos,T_Line.Distance from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
// "and LineNum=" + temp1.txtLineNum + "and T_Mark.VirtualMark=0");
//if (TrafficPara.Rows.Count > 0)
//{
// pEnd.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
// pEnd.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
// pointcollection1.Add(pEnd);
// dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
//}
//else return;
#region 待测试方法
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.txtLineNum);
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
}
while (isvirtualpoint);
#endregion
if (pointcollection1.Count >= 2)
{
double dAgvspeed = 0;
TrafficPara.Open("select Speed from T_Speed where SpeedGrade='" + temp1.txtSpeedValue + "'");
if (TrafficPara.Rows.Count > 0)
{
dAgvspeed = Convert.ToDouble(TrafficPara.Rows[0]["Speed"]) / 60.0;
}
else return;
AGVStatus[iagvnum - 1].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[iagvnum % ColorOpt.Length],dMarkdistance / dAgvspeed);
}
}
TrafficPara.Close();
}
}
/// <summary>
/// agv表格绑定数据初始化
/// </summary>
/// <param name="agvnum"></param>
public void AGVGridInit(int agvnum)
{
for (int i = 0; i < agvnum; i++)
{
DisMember[i] = new AGV_DisMember() { txtAGVNum = "AGV" + (i + 1).ToString() };
DisMember[i].PropertyChanged += new PropertyChangedEventHandler(Dis_PropertyChange);
//memberData.Add(DisMember[i]);
}
dataGrid.DataContext = memberData;
}
/// <summary>
/// 无线连接属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void WLChangeAction(AGV_DisMember temp1)
{
byte iagvnum = Convert.ToByte(temp1.txtAGVNum.Remove(0, 3));
AGVStatus[iagvnum - 1].agvAnimation.WLChangeAnimation(temp1.txtWLValue);
if (temp1.txtWLValue.Equals("失败"))
{
memberData.Remove(DisMember[iagvnum - 1]);//20140309从表格中移除无线连接失败的agv
if (agvCharge != null)
{
agvCharge.Delete(iagvnum);
}
if (agvDock != null)
{
agvDock.Delete(iagvnum);
}
return;
}
else
{
memberData.Insert(0, DisMember[iagvnum - 1]);//20140309添加agv到表格中第一行
MarkChangeAction(temp1);
}
}
/// <summary>
/// 电量属性更改时触发的事件
/// 电量低于20%时进行充电
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void PowerChangeAction(AGV_DisMember temp1)
{
//20140312电量低于20%时进行充电，线路切换到充电线路
byte iagvnum = Convert.ToByte(temp1.txtAGVNum.Remove(0, 3));
if (iagvnum > 0 && iagvnum <= AGVNUM_MAX)
{
if (temp1.txtPower < 20)//电量低于20%时进行充电
{
//设置充电标志位
AGVStatus[iagvnum - 1].agvCharge = 1;
}
}
}
/// <summary>
/// 运行状态属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void StatusChangeAction(AGV_DisMember temp1)
{
byte iagvnum = Convert.ToByte(temp1.txtAGVNum.Remove(0, 3));
if (iagvnum > 0 && iagvnum <= AGVNUM_MAX)
{
AGVStatus[iagvnum - 1].agvAnimation.StatusChangeAnimation(temp1.txtStatus.Trim(),iagvnum.ToString(),temp1.txtDockNum.Trim());
switch (temp1.txtStatus.Trim())
{
case "运行":
AGVStatus[iagvnum - 1].agvTask = 1;
break;
case "暂停":
break;
case "结束地标停止":
//if (agvCall.lineNum.Count > 0)//有叫料信息，需要车辆运送
//{
// if (agvCall.lineNum[0] > 0)
// {
// agvDock.outDockLine[iagvnum - 1] = agvCall.lineNum[0];
// AGVControlCommand(iagvnum, 3, 0, 0);
// }
//}
break;
default:
{
//将报警记录写入到数据库
string txttimer = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
TrafficPara.Open("Insert into T_Ex (CarID,ExTimer,ExType,ExRouteNum,ExMarkNum,ExWorkLine) VALUES (" + iagvnum.ToString() + ",'" + txttimer + "','" + temp1.txtStatus + "'," + temp1.txtLineNum + "," + temp1.txtMarkNum + "," + temp1.txtWorkLine + ")");
TrafficPara.Close();
break;
}
}
}
}
