/// <summary>
/// 清理无任务小车锁定的方向信息
/// </summary>
static void ClearPointDirection()
{
//如果被Agv锁的点，不在AGV的路径中，则移除。
List <AgvPoint> listAgvPoint = new List <AgvPoint>();
foreach (Agv agv in App.AgvList)
{
if (agv.sTaskList.Count != 0)
{
foreach (PathPoint pp in agv.sTaskList[0].pathList)
{
listAgvPoint.Add(new AgvPoint(agv.agvNo, pp.point));
}
}
}
List <Point> listPointDirectionLock = App.pointList.Where(
a => a.listTmpDirection.Count != 0).ToList();
foreach (Point point in listPointDirectionLock)
{
for (int i = 0; i < point.listTmpDirection.Count; i++)
{
TmpDirection td = point.listTmpDirection[i];
bool isExists = listAgvPoint.Exists(a => a.agv == td.agvNo && a.point == point);
if (!isExists)
{
point.listTmpDirection.RemoveAll(a => a.agvNo == td.agvNo);
}
}
}
}
/// <summary>
/// 锁定路径方向
/// </summary>
/// <param name="Path"></param>
public static void OriLock(List <PathPoint> Path, Agv agv)
{
//终点不比较
for (int i = 0; i < Path.Count - 1; i++)
{
Point point = Path[i].point;
Point nextPoint = Path[i + 1].point;
if (point == nextPoint)
{
continue;
}
AStar aStart = new AStar();
int direction = aStart.GetDircition(nextPoint, point);
TmpDirection td = new TmpDirection();
td.direction = direction;
td.agvNo = agv.agvNo;
point.listTmpDirection.Add(td);
}
}
