//根据列号进行排序
public void bubbleRest(MAP[] p, int n)
{
int i, j;
for (i = 0; i < n; i++)
{
for (j = i; j < n; j++)
{
if (p[i].y > p[j].y)
{
MAP tp = p[i];
p[i] = p[j];
p[j] = tp;
}
if (p[i].y == p[j].y)
{
if (p[i].x > p[j].x)
{
MAP tp = p[i];
p[i] = p[j];
p[j] = tp;
}
}
}
}
}
//归位后，小车一列一列放置在休息区中
//每隔一列放置车
//小车存放的位置存放在QQ数组0
MAP[] RandRest(MAP[] PP, MAP[] QQ)
{
int i;
int qqi = 0;
for (i = 0; i < restnum; i++)
{
MAP tp = new MAP();
tp = PP[i];
if (tp.y == tcol)
{
MAP tq = new MAP();
tq.x = tp.x;
tq.y = tp.y;
// tq.occupy = false;
QQ[qqi] = tq;
qqi++;
}
if (tp.y > tcol)
{
tcol = tcol + 2;
flag = flag + 1;
}
}
krest = qqi;
return(QQ);
}
//读取休息区，排队区，投放口的格子信息
public void MAP_classify( )
{
int resti = 0, desti = 0, lscani = 0, rscani = 0;
//int lwaiti=0,rwaiti=0;
int i;
string tdname;
string[] td;
int tdx, tdy;
string pathMap = System.Configuration.ConfigurationManager.AppSettings["MAPPath"].ToString();
XmlDocument xmlfile = new XmlDocument();
xmlfile.Load(pathMap);
//地图的长，宽
XmlNode map_w = xmlfile.SelectSingleNode("config/Map/widthNum");
widthNum = Convert.ToInt32(map_w.InnerText);
XmlNode map_h = xmlfile.SelectSingleNode("config/Map/heightNum");
heightNum = Convert.ToInt32(map_h.InnerText);
//排队区入口，左右工件台
entranceNum = Convert.ToInt32(xmlfile.SelectSingleNode("config/Map/entranceNum").InnerText);
leftWorkstationNum = Convert.ToInt32(xmlfile.SelectSingleNode("config/Map/leftWorkstationNum").InnerText);
rightWorkstationNum = Convert.ToInt32(xmlfile.SelectSingleNode("config/Map/rightWorkstationNum").InnerText);
// LeftWorkstation = new MAP[leftWorkstationNum*2, entranceNum];
LeftWorkstation = new MAP[leftWorkstationNum, entranceNum];
RightWorkstation = new MAP[rightWorkstationNum, entranceNum];
LeftWork = new MAP[leftWorkstationNum];
RightWork = new MAP[rightWorkstationNum];
//左右扫描仪
leftScannerNum = Convert.ToInt32(xmlfile.SelectSingleNode("config/Map/leftScannerNum").InnerText);
rightScannerNum = Convert.ToInt32(xmlfile.SelectSingleNode("config/Map/rightScannerNum").InnerText);
LeftScanner = new MAP[leftScannerNum];
RightScanner = new MAP[rightScannerNum];
//投放口
XmlNode map_destination = xmlfile.SelectSingleNode("config/Map/Destnum");
destinationNum = Convert.ToInt32(map_destination.InnerText);
Destination = new MAP[destinationNum];
//休息区
XmlNode map_rest = xmlfile.SelectSingleNode("config/Map/Restnum");
restnum = Convert.ToInt32(map_rest.InnerText);
Rest = new MAP[restnum];
//遍历获得休息区的位置信息
XmlNodeList gridlist = xmlfile.SelectSingleNode("config/Grid").ChildNodes;
//li第i个工件台，lj第j个排队区入口
int li = 0, lj = 0, ri = 0, rj = 0;
for (i = 0; i < gridlist.Count; i++)
{
if (gridlist[i].InnerText == "休息区")
{
tdname = gridlist[i].Name;
td = tdname.Split(new string[] { "td", "-" }, StringSplitOptions.RemoveEmptyEntries);
tdx = Convert.ToInt32(td[0]);
tdy = Convert.ToInt32(td[1]);
MAP trest = new MAP();
trest.x = tdx;
trest.y = tdy;
// trest.occupy = false;
Rest[resti] = trest;
resti++;
}
else if (gridlist[i].InnerText == "排队区入口")
{
tdname = gridlist[i].Name;
td = tdname.Split(new string[] { "td", "-" }, StringSplitOptions.RemoveEmptyEntries);
tdx = Convert.ToInt32(td[0]);
tdy = Convert.ToInt32(td[1]);
MAP twait = new MAP();
twait.x = tdx;
twait.y = tdy;
twait.agvNumOfQueuing = 0;
//if (twait.y < (widthNum/2))
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 (twait.y < (widthNum / side) && side != 0)
{
LeftWorkstation[li, lj] = twait;
if (lj == (entranceNum - 1))
{
LeftWork[li] = twait;//一个工件台的最后一个排队区入口
li++;
lj = 0;
}
else
{
lj++;
}
}
else
{
RightWorkstation[ri, rj] = twait;
if (rj == (entranceNum - 1))
{
RightWork[ri] = twait;
ri++;
rj = 0;
}
else
{
rj++;
}
}
}
else if (gridlist[i].InnerText == "扫描仪")
{
tdname = gridlist[i].Name;
td = tdname.Split(new string[] { "td", "-" }, StringSplitOptions.RemoveEmptyEntries);
tdx = Convert.ToInt32(td[0]);
tdy = Convert.ToInt32(td[1]);
MAP tscan = new MAP();
tscan.x = tdx;
tscan.y = tdy;
tscan.agvNumOfQueuing = 0;
// tscan.occupy = false;
// if (tscan.y < (widthNum / 2))
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 (tscan.y <= (widthNum / side) && side != 0)
if (tscan.y <= (widthNum) && side != 0)
{
LeftScanner[lscani++] = tscan;
}
else
{
RightScanner[rscani++] = tscan;
}
}
else if (gridlist[i].InnerText == "投放口")
{
tdname = gridlist[i].Name;
td = tdname.Split(new string[] { "td", "-" }, StringSplitOptions.RemoveEmptyEntries);
tdx = Convert.ToInt32(td[0]);
tdy = Convert.ToInt32(td[1]);
MAP tdest = new MAP();
tdest.x = tdx;
tdest.y = tdy;
// tdest.occupy = false;
Destination[desti++] = tdest;
}
}
krscan = rscani;
klscan = lscani;
// 处理休息区
bubbleRest(Rest, restnum);
RR = new MAP[restnum];
RandRest(Rest, RR);
//处理排队区
//bubbleWait(Lwait, lwaitnum);
//LWW = new XUMAP[lwaitnum];
//RandWait(Lwait, LWW);
//bubbleWait(Rwait, rwaitnum);
//RWW = new XUMAP[rwaitnum];
//RandWait(Rwait,RWW);
//处理投放口
bubbleWait(Destination, destinationNum);
}