public static void UpdatePathFromTaskOfAGV(AGV agv)
{
if (agv.Tasks.Count != 0)
{
Task currentTask = agv.Tasks[0];
if (currentTask.Status == "Waiting")
{
Debug.WriteLine("AAAAA");
agv.Path.Clear();
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].PickNode));
AGV.FullPathOfAGV[agv.ID] = "N-0-" + agv.CurrentOrient + "-" + Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient) + "-N-0";
Communication.SendPathData(AGV.FullPathOfAGV[agv.ID]);
Display.UpdateComStatus("send", agv.ID, "Send Path 1", Color.Green);
// if(DashboardForm.timerToSendPathAgain.Enabled == false)
// DashboardForm.timerToSendPathAgain.Start();
// agv.Tasks[0].Status = "Doing";
agv.PathCopmpleted = 0;
// agv.Status = "Running";
}
else if (agv.CurrentNode == currentTask.PickNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 1)
{
Debug.WriteLine("BBBB");
agv.Path.RemoveAt(0);
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].DropNode));
string pick, drop;
if (currentTask.PickLevel == 1 || currentTask.PickLevel == 2 || currentTask.PickLevel == 3)
{
pick = "P-" + currentTask.PickLevel.ToString() + "-";
}
else
{
pick = "N-0-";
}
if (currentTask.DropLevel == 1 || currentTask.DropLevel == 2 || currentTask.DropLevel == 3)
{
drop = "-D-" + currentTask.DropLevel.ToString();
}
else
{
drop = "-N-0";
}
AGV.FullPathOfAGV[agv.ID] = pick + agv.CurrentOrient + "-" + Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient) + drop;
Communication.SendPathData(AGV.FullPathOfAGV[agv.ID]);
Display.UpdateComStatus("send", agv.ID, "Send Path 2", Color.Green);
// if (DashboardForm.timerToSendPathAgain.Enabled == false)
// DashboardForm.timerToSendPathAgain.Start();
// agv.PathCopmpleted = 2;
}
else if (agv.CurrentNode == currentTask.DropNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 3)
{
Debug.WriteLine("CCCC");
agv.Tasks.RemoveAt(0);
agv.Path.Clear();
agv.Status = "Stop";
}
}
}