/// <summary>
/// 安排进行行车作业
/// </summary>
/// <returns></returns>
public void LockAWC(string area, DevFlag df, TaskTypeEnum tt, string lockid)
{
try
{
if (devices.Exists(c => c.area == area && c.flag == DevFlag.参考))
{
DevInfoAWC a = devices.Find(c => c.area == area && !c.isLock && c.isUseful && c.flag == DevFlag.参考);
if (ADS.mSocket.IsConnected(a.devName) && string.IsNullOrEmpty(a.lockID) &&
a._.CommandStatus == CommandEnum.命令正常 && a._.GoodsStatus == AwcGoodsEnum.无货 &&
a._.DeviceStatus == DeviceEnum.设备正常 && a._.ActionStatus == ActionEnum.停止)
{
a.IsLockUnlockNew(tt, false, lockid);
}
}
else
{
if (devices.Exists(c => c.area == area && !c.isLock && c.isUseful && c.flag == df))
{
DevInfoAWC a = devices.Find(c => c.area == area && !c.isLock && c.isUseful && c.flag == df);
if (ADS.mSocket.IsConnected(a.devName) && string.IsNullOrEmpty(a.lockID) &&
a._.CommandStatus == CommandEnum.命令正常 && a._.GoodsStatus == AwcGoodsEnum.无货 &&
a._.DeviceStatus == DeviceEnum.设备正常 && a._.ActionStatus == ActionEnum.停止)
{
a.IsLockUnlockNew(tt, false, lockid);
}
}
}
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 是否能进行行车作业
/// </summary>
/// <returns></returns>
public bool IsOk(string area, DevFlag df)
{
try
{
bool res = false;
if (devices.Exists(c => c.area == area && c.flag == DevFlag.参考))
{
DevInfoAWC a = devices.Find(c => c.area == area && !c.isLock && c.isUseful && c.flag == DevFlag.参考);
if (ADS.mSocket.IsConnected(a.devName) && string.IsNullOrEmpty(a.lockID) &&
a._.CommandStatus == CommandEnum.命令正常 && a._.GoodsStatus == AwcGoodsEnum.无货 &&
a._.DeviceStatus == DeviceEnum.设备正常 && a._.ActionStatus == ActionEnum.停止)
{
res = true;
}
}
else
{
if (devices.Exists(c => c.area == area && !c.isLock && c.isUseful && c.flag == df))
{
DevInfoAWC a = devices.Find(c => c.area == area && !c.isLock && c.isUseful && c.flag == df);
if (ADS.mSocket.IsConnected(a.devName) && string.IsNullOrEmpty(a.lockID) &&
a._.CommandStatus == CommandEnum.命令正常 && a._.GoodsStatus == AwcGoodsEnum.无货 &&
a._.DeviceStatus == DeviceEnum.设备正常 && a._.ActionStatus == ActionEnum.停止)
{
res = true;
}
}
}
return(res);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 获取 X轴值距离
/// </summary>
private int GetDisXByFlag(int x, DevFlag flag)
{
DevInfoAWC awc = devices.Find(c => c.flag == flag);
if (awc == null)
{
return(999999);
}
return(Math.Abs(awc._.CurrentSiteX - x));
}
/// <summary>
/// 获取距离最近行车设备参考值
/// </summary>
private DevFlag GetNearFlag(int x, out int mindis)
{
DevFlag flag = DevFlag.参考;
int mindistance = 1000000000;
foreach (DevInfoAWC awc in devices)
{
if (mindistance > awc._.CurrentSiteX - x)
{
mindistance = Math.Abs(awc._.CurrentSiteX - x);
flag = awc.flag;
}
}
mindis = mindistance;
return(flag);
}
/// <summary>
/// 添加或更新行车 X轴值
/// </summary>
public void AddUpdateDev(string devname, DevFlag flag, int x)
{
if (devices.Exists(c => c.devName.Equals(devname)))
{
devices.Find(c => c.devName.Equals(devname))._.CurrentSiteX = x;
}
else
{
devices.Add(new DevInfoAWC()
{
devName = devname, flag = flag, _ = new DeviceAWC()
{
CurrentSiteX = x
}
});
}
}
/// <summary>
/// 是否抵达取货点
/// </summary>
/// <returns></returns>
public bool IsInTakeSite(string area, DevFlag df, string loc)
{
try
{
bool res = false;
if (string.IsNullOrEmpty(loc))
{
return(res);
}
if (devices.Exists(c => c.area == area && !c.isLock && c.isUseful && c.flag == df))
{
DevInfoAWC a = devices.Find(c => c.area == area && !c.isLock && c.isUseful && c.flag == df);
if (ADS.mSocket.IsConnected(a.devName) && a._.CommandStatus == CommandEnum.命令正常 &&
a._.DeviceStatus == DeviceEnum.设备正常 && a._.ActionStatus == ActionEnum.停止)
{
int x = Convert.ToInt32(loc.Split('-')[0]) + a.gapX;
int y = Convert.ToInt32(loc.Split('-')[1]) + a.gapY;
// |接货点 - 当前坐标| <= 允许范围
if (Math.Abs(x - a._.CurrentSiteX) <= a.limitX &&
Math.Abs(y - a._.CurrentSiteY) <= a.limitY)
{
res = true;
}
else
{
if (IsSafeDis(a.area, df, a._.CurrentSiteX - a.gapX, x - a.gapX))
{
a.ToSite(x, y);
}
}
}
}
return(res);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 当前行车任务
/// </summary>
/// <param name="area"></param>
/// <param name="df"></param>
/// <returns></returns>
public string GetLockid(string area, DevFlag df)
{
try
{
string mes = "";
if (devices.Exists(c => c.area == area && c.flag == DevFlag.参考))
{
mes = devices.Find(c => c.area == area && c.flag == DevFlag.参考).lockID ?? "";
}
else
{
if (devices.Exists(c => c.area == area && c.flag == df))
{
mes = devices.Find(c => c.area == area && c.flag == df).lockID ?? "";
}
}
return(mes);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 获取最优行车
/// </summary>
/// <param name="area"></param>
/// <param name="x"></param>
/// <returns></returns>
public DevFlag GetRightAWC(string area, int x)
{
try
{
DevFlag df = DevFlag.参考;
int y = 0;
// 2端就不比较了
if (x <= 15000)
{
return(DevFlag.靠近入库口);
}
if (x >= 29000)
{
return(DevFlag.远离入库口);
}
if (devices.Exists(c => c.area == area && c.flag == DevFlag.靠近入库口))
{
df = DevFlag.靠近入库口;
y = Math.Abs(devices.Find(c => c.area == area && c.flag == DevFlag.靠近入库口)._.CurrentSiteX - x);
}
if (devices.Exists(c => c.area == area && c.flag == DevFlag.远离入库口))
{
if (y == 0 || y > Math.Abs(devices.Find(c => c.area == area && c.flag == DevFlag.远离入库口)._.CurrentSiteX - x))
{
df = DevFlag.远离入库口;
}
}
return(df);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 行车间是否安全距离
/// </summary>
/// <param name="area"></param>
/// <param name="df"></param>
/// <param name="tx"></param>
/// <returns></returns>
public bool IsSafeDis(string area, DevFlag df, int cx, int tx)
{
try
{
bool res = false;
switch (df)
{
case DevFlag.参考:
res = true;
break;
case DevFlag.靠近入库口:
case DevFlag.远离入库口:
df = df == DevFlag.远离入库口 ? DevFlag.靠近入库口 : DevFlag.远离入库口;
if (devices.Exists(c => c.area == area && c.flag == df))
{
DevInfoAWC a = devices.Find(c => c.area == area && c.flag == df);
if (a.isUseful)
{
if (ADS.mSocket.IsConnected(a.devName) && a._.CommandStatus == CommandEnum.命令正常 && a._.DeviceStatus == DeviceEnum.设备正常)
{
int disOK = 6000;
int dis = ADS.mDis.GetAwcSafeDis(a.area);
if (dis == 0)
{
throw new Exception("无对应行车安全距离！");
}
tx = tx + a.gapX;
if (Math.Abs(tx - a._.CurrentSiteX) >= disOK)
{
res = true;
}
else
{
if (a._.ActionStatus == ActionEnum.停止)
{
if (string.IsNullOrEmpty(a.lockID))
{
a.ToSite(df == DevFlag.靠近入库口 ? (tx - dis) : (tx + dis), a._.CurrentSiteY);
}
}
else
{
if (a._.CurrentTask == AwcTaskEnum.定位任务 && string.IsNullOrEmpty(a.lockID))
{
cx = cx + a.gapX;
if (Math.Abs(cx - a._.CurrentSiteX) >= disOK)
{
res = true;
}
else
{
a.ToSite(df == DevFlag.靠近入库口 ? (tx - dis) : (tx + dis), a._.CurrentSiteY);
}
}
}
}
}
}
else
{
res = true;
}
}
break;
default:
break;
}
return(res);
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// 获取行车设备参考值
/// </summary>
public DevFlag[] GetAwcFlag(string area, params int[] x)
{
if (x.Length == 0 || x.Length > 4)
{
return(null);
}
DevFlag[] flags;
// 安全距离
int safe = ADS.mDis.GetAwcSafeDis(area);
// 2货位间距；
int dis1, dis2, dis3;
// 行车1/2最近作业距离
int mindis1, mindis2;
// 行车1/2单独作业距离
int alonedis1, alonedis2;
// 行车1/2同时作业距离；
int sumdis;
switch (x.Length)
{
case 1:
flags = new DevFlag[1];
flags[0] = GetNearFlag(x[0], out mindis1);
break;
case 2:
flags = new DevFlag[2];
mindis1 = GetDisXByFlag(x[0], DevFlag.靠近入库口);
mindis2 = GetDisXByFlag(x[1], DevFlag.远离入库口);
dis1 = Math.Abs(x[0] - x[1]);
alonedis1 = mindis1 + dis1;
alonedis2 = mindis2 + dis1;
sumdis = mindis1 + mindis2;
// 2货位间距 < 安全距离 || 行车1/2同时作业距离 > 行车1/2单独作业距离
if (dis1 < safe || sumdis > alonedis1 || sumdis > alonedis2)
{
if (alonedis1 > alonedis2)
{
flags[0] = DevFlag.远离入库口;
flags[1] = DevFlag.远离入库口;
}
else
{
flags[0] = DevFlag.靠近入库口;
flags[1] = DevFlag.靠近入库口;
}
}
break;
case 3:
// 第一货与第三货距离 对比 安全距离
dis1 = Math.Abs(x[0] - x[2]);
if (dis1 < safe)
{
flags = new DevFlag[2];
flags[0] = GetNearFlag(x[0], out mindis1);
flags[1] = flags[0];
}
else
{
flags = new DevFlag[3];
mindis1 = GetDisXByFlag(x[0], DevFlag.靠近入库口);
mindis2 = GetDisXByFlag(x[1], DevFlag.远离入库口);
dis2 = Math.Abs(x[0] - x[1]);
dis3 = Math.Abs(x[1] - x[2]);
alonedis1 = mindis1 + dis2;
alonedis2 = mindis2 + dis3;
if (alonedis1 > alonedis2)
{
flags[0] = DevFlag.靠近入库口;
flags[1] = DevFlag.远离入库口;
flags[2] = DevFlag.远离入库口;
}
else
{
flags[0] = DevFlag.靠近入库口;
flags[1] = DevFlag.靠近入库口;
flags[2] = DevFlag.远离入库口;
}
}
break;
case 4:
flags = new DevFlag[2];
flags[0] = DevFlag.靠近入库口;
flags[1] = DevFlag.远离入库口;
break;
default:
flags = null;
break;
}
return(flags);
}
/// <summary>
/// 寻找有效设备
/// </summary>
/// <param name="tasktype"></param>
/// <returns></returns>
private DevInfoAWC FindFreeDevice(string area, DevFlag flag)
{
return(devices.Find(c => !c.isLock && !c.isUseful && c.area.Equals(area) && c.flag == flag));
}
/// <summary>
/// 添加任务
/// </summary>
/// <param name="task"></param>
public void AddTask(string jobid, string taskid, string area, TaskTypeEnum tasktype, DevFlag flag, string takesite, string givesite)
{
int id = ADS.ID;
ADS.PlusID();
string[] take = takesite.Split('-');
string[] give = givesite.Split('-');
TaskAWC t = new TaskAWC()
{
id = id,
jobid = jobid,
taskid = taskid,
area = area,
tasktype = tasktype,
flag = flag,
takesiteX = int.Parse(take[0]),
takesiteY = int.Parse(take[1]),
takesiteZ = int.Parse(take[2]),
givesiteX = int.Parse(give[0]),
givesiteY = int.Parse(give[1]),
givesiteZ = int.Parse(give[2]),
taskstatus = TaskStatus.init,
device = new DevInfoAWC()
};
task.Add(t);
t.InsertDB();
}
