public static void AddLabelAGV(string Mode, int agvID, int initExitNode, char initOrientation, float initDistanceToExitNode)
{
/// Create new label for AGV
Label lbAGV = new Label();
lbAGV.BackColor = Color.Silver;
lbAGV.Font = new Font("Microsoft Sans Serif", 9.75F, System.Drawing.FontStyle.Regular,
System.Drawing.GraphicsUnit.Point, ((byte)(0)));
lbAGV.Size = new Size(50, 50);
lbAGV.ForeColor = Color.Black;
lbAGV.Text = "AGV#" + agvID.ToString();
lbAGV.TextAlign = ContentAlignment.MiddleCenter;
lbAGV.Name = "AGV" + agvID.ToString();
/// Create new label for Pallet in AGV
Label pallet = new Label();
pallet.BackColor = Color.Goldenrod;
pallet.Size = new Size(50, 11);
pallet.ForeColor = Color.Black;
pallet.Font = new Font("Microsoft Sans Serif", 8.0F, System.Drawing.FontStyle.Regular,
System.Drawing.GraphicsUnit.Point, ((byte)(0)));
pallet.Text = "Pallet";
pallet.TextAlign = ContentAlignment.MiddleCenter;
//pallet.BorderStyle = BorderStyle.FixedSingle;
pallet.Name = "PalletInAGV" + agvID.ToString();
pallet.Visible = false;
int initPixelDistance = (int)Math.Round(initDistanceToExitNode * 2);
// Init the Location of new AGV
List <Node> Nodes = DBUtility.GetDataFromDB <List <Node> >("NodeInfoTable");
int x = Nodes[initExitNode].X - lbAGV.Size.Width / 2;
int y = Nodes[initExitNode].Y - lbAGV.Size.Height / 2;
switch (initOrientation)
{
case 'E':
lbAGV.Location = new Point(x + initPixelDistance, y);
pallet.Size = new Size(15, 50);
pallet.Location = new Point(x - initPixelDistance - 15, y);
break;
case 'W':
lbAGV.Location = new Point(x - initPixelDistance, y);
pallet.Size = new Size(15, 50);
pallet.Location = new Point(x + initPixelDistance + 50, y);
break;
case 'N':
lbAGV.Location = new Point(x, y - initPixelDistance);
pallet.Size = new Size(50, 15);
pallet.Location = new Point(x, y + initPixelDistance + 50);
break;
case 'S':
lbAGV.Location = new Point(x, y + initPixelDistance);
pallet.Size = new Size(50, 15);
pallet.Location = new Point(x, y - initPixelDistance - 15);
break;
}
// Add to Array for use
switch (Mode)
{
case "Real Time":
LabelAGV[agvID] = lbAGV;
LabelPalletInAGV[agvID] = pallet;
break;
case "Simulation":
SimLabelAGV[agvID] = lbAGV;
SimLabelPalletInAGV[agvID] = pallet;
break;
}
}
public static void SimUpdatePathFromTaskOfAGVs(AGV agv)
{
// Clear all path (this do not affect Task.SimListTask)
//agv.Tasks.Clear();
// Find all task of this AGV
//agv.Tasks = Task.SimListTask.FindAll(t => t.AGVID == agv.ID);&& agv.Path.Count ==0
// if not having task or path has been initialized, skip to next AGV
if (agv.Tasks.Count != 0)
{
Task currentTask = agv.Tasks[0];
//agv.Path.RemoveAt(0);agv.CurrentNode != currentTask.PickNode &&
if (currentTask.Status == "Waiting")
{
agv.Path.Clear();
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].PickNode));
AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
agv.Tasks[0].Status = "Doing";
agv.PathCopmpleted = 0;
agv.Status = "Running";
Display.SimLabelAGV[agv.ID].BackColor = Color.CornflowerBlue;
}
else if (agv.CurrentNode == currentTask.PickNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 1)
{
agv.Path.RemoveAt(0);
agv.Path.Add(Algorithm.A_starFindPath(Node.ListNode, Node.MatrixNodeDistance, agv.CurrentNode, agv.Tasks[0].DropNode));
AGV.SimFullPathOfAGV[agv.ID] = Navigation.GetNavigationFrame(agv.Path[0], Node.MatrixNodeOrient);
agv.HavePallet = true;
if (currentTask.Type == "Order")
{
Pallet pallet = Pallet.SimListPallet.Find(c => c.Code == currentTask.PalletCode);
Display.DeleteLabelPallet(pallet);
}
else if (currentTask.Type == "Store")
{
}
}
else if ((agv.CurrentNode == currentTask.DropNode && currentTask.Status == "Doing" && agv.PathCopmpleted == 2))
{
agv.Tasks.RemoveAt(0);
agv.Path.Clear();
agv.Status = "Stop";
Display.SimLabelAGV[agv.ID].BackColor = Color.Silver;
string timeComplete = DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt");
DBUtility.InsertCompleteTaskToDB("SimHistoryTask", currentTask, timeComplete, "Done");
agv.HavePallet = false;
if (currentTask.Type == "Order")
{
DBUtility.DeletePalletFromDB("SimPalletInfoTable", currentTask.PalletCode);
Task.SimListTask.Remove(currentTask);
}
else if (currentTask.Type == "Store")
{
//agv.HavePallet = false;
Pallet pallet = Pallet.SimStorePallet.Find(c => c.Code == currentTask.PalletCode);
pallet.DeliverTime = DateTime.Now.ToString("dddd, MMMM dd, yyyy h:mm:ss tt");
DBUtility.InsertNewPalletToDB("SimPalletInfoTable", pallet.Code, pallet.Name, pallet.InStock, pallet.DeliverTime, pallet.AtBlock, pallet.AtColumn, pallet.AtLevel);
Pallet.SimStorePallet.Remove(pallet);
Pallet.SimListPallet.Add(pallet);
Display.UpdateLabelPallet(pallet);
Task.SimListTask.Remove(currentTask);
}
else if (currentTask.Type == "Input" || currentTask.Type == "Output")
{
Task.SimListTask.Remove(currentTask);
}
}
}
else
{
if (agv.CurrentNode == 55)
{
agv.Status = "Stop";
agv.Path.Clear();
}
}
}
public static void SimUpdatePositionAGV(int agvID, float speed, Panel pnFloor, Label lbagv, Label lbpallet)
{
//int step = (int)speed * 2 / 10; //1pixel = 0.5cm =>> 20cm/s=40pixel/s
var index = AGV.SimListAGV.FindIndex(a => a.ID == agvID);
AGV agv = AGV.SimListAGV[index];
//List<char> fullpath = AGV.FullPathOfAGV[agvID].ToList();
string[] frameArr = AGV.SimFullPathOfAGV[agvID].Split(new char[] { '-' }, StringSplitOptions.RemoveEmptyEntries);
Point oldAGVPosition = Display.SimLabelAGV[agvID].Location;
Point newAGVPosition = new Point();
Point oldPalletPosition = Display.SimLabelPalletInAGV[agvID].Location;
Point newPalletPosition = new Point();
Size oldPalletSize = Display.SimLabelPalletInAGV[agvID].Size;
Size newPalletSize = new Size();
int indexNode = Array.FindIndex(frameArr, a => a == agv.CurrentNode.ToString());
if (agv.Stop)
{
return;
}
if (agv.IsColision)
{
return;
}
if (frameArr[indexNode + 1] == "G" || frameArr[indexNode + 1] == null)
{
agv.PathCopmpleted++;
if (agv.PathCopmpleted == 1 || agv.PathCopmpleted == 0)
{
Display.Points = new Point[] { new Point(), new Point() };
pnFloor.Refresh();
}
}
else
{
int currentNode = agv.CurrentNode;
int nextNode = Convert.ToInt32(frameArr[indexNode + 2]);
if (agv.CurrentOrient != Display.UpdateOrient(frameArr[indexNode + 1]))
{
agv.DistanceToCurrentNode -= speed / 5.2f;
if (agv.DistanceToCurrentNode <= 0)
{
agv.CurrentOrient = Display.UpdateOrient(frameArr[indexNode + 1]);
agv.DistanceToCurrentNode = 0;
}
}
else
{
agv.DistanceToCurrentNode += speed / 5.2f;
if (agv.DistanceToCurrentNode * 2 >= Node.MatrixNodeDistance[currentNode, nextNode])
{
agv.DistanceToCurrentNode = 0;
agv.CurrentNode = nextNode;
if (frameArr[indexNode + 3] != "G")
{
agv.CurrentOrient = Display.UpdateOrient(frameArr[indexNode + 3]);
}
}
}
}
int pixelDistance = (int)Math.Round(agv.DistanceToCurrentNode * 2);
List <Node> Nodes = DBUtility.GetDataFromDB <List <Node> >("NodeInfoTable");
int x = Nodes[agv.CurrentNode].X - 50 / 2;
int y = Nodes[agv.CurrentNode].Y - 50 / 2;
switch (agv.CurrentOrient)
{
case 'E':
newAGVPosition = new Point(x + pixelDistance, y);
newPalletSize = new Size(15, 50);
newPalletPosition = new Point(x + pixelDistance - 15, y);
break;
case 'W':
newAGVPosition = new Point(x - pixelDistance, y);
newPalletSize = new Size(15, 50);
newPalletPosition = new Point(x - pixelDistance + 50, y);
break;
case 'S':
newAGVPosition = new Point(x, y + pixelDistance);
newPalletSize = new Size(50, 15);
newPalletPosition = new Point(x, y + pixelDistance - 15);
break;
case 'N':
newAGVPosition = new Point(x, y - pixelDistance);
newPalletSize = new Size(50, 15);
newPalletPosition = new Point(x, y - pixelDistance + 50);
break;
default:
newAGVPosition = oldAGVPosition;
newPalletPosition = oldPalletPosition;
newPalletSize = oldPalletSize;
break;
}
lbpallet.Size = newPalletSize;
lbpallet.Location = newPalletPosition;
//lbpallet.Visible = true;
lbagv.Location = newAGVPosition;
}
