//public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
//{
// //int sec_id = 0;
// //int.TryParse(sectionID, out sec_id);
// string sec_id = SCUtility.Trim(sectionID);
// HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
// onReserveStatusChange();
// return result;
//}
public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
HltResult result = null;
string sec_id = SCUtility.Trim(sectionID);
//如果詢問的Section是Reserve Enhance的section時，
//則要判斷該區塊且之後的Section是否要得到
var reserve_enhance_info_check_result = IsReserveEnhanceSection(sectionID);
if (reserve_enhance_info_check_result.isEnhanceInfo)
{
List <string> enhance_control_sections = reserve_enhance_info_check_result.info.EnhanceControlSections;
int section_index = enhance_control_sections.IndexOf(sectionID);
for (int i = section_index; i < enhance_control_sections.Count; i++)
{
result = mapAPI.TryAddReservedSection(vhID, enhance_control_sections[i], sensorDir, forkDir, true);
if (!result.OK)
{
result.Description += $",section:{sectionID} is reserve enhance group:{reserve_enhance_info_check_result.info.GroupID}," +
$"current has vh:{result.VehicleID}";
return(result);
}
}
}
result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
public virtual HltResult RemoveAllReservedSectionsBySectionID(string sectionID)
{
string sec_id = SCUtility.Trim(sectionID);
HltResult result = mapAPI.RemoveAllReservedSectionsBySectionID(sec_id);
onReserveStatusChange();
return(result);
}
public HltResult TryAddVehicleOrUpdate(string vhID, double vehicleX, double vehicleY, float vehicleAngle, HltDirection sensorDir = HltDirection.None, HltDirection forkDir = HltDirection.None)
{
//HltResult result = mapAPI.TryAddVehicleOrUpdate(vhID, vehicleX, vehicleY, vehicleAngle, sensorDir, forkDir);
var hlt_vh = new HltVehicle(vhID, vehicleX, vehicleY, vehicleAngle, sensorDirection: sensorDir, forkDirection: forkDir);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh);
onReserveStatusChange();
return(result);
}
public HltResult RemoveAllReservedSectionsBySectionID(string sectionID)
{
//int sec_id = 0;
//int.TryParse(sectionID, out sec_id);
string sec_id = SCUtility.Trim(sectionID);
HltResult result = mapAPI.RemoveAllReservedSectionsBySectionID(sec_id);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddVehicleOrUpdate(string vhID, string adrID, float angle = 0)
{
var adr_obj = mapAPI.GetAddressObjectByID(adrID);
var hlt_vh = new HltVehicle(vhID, adr_obj.X, adr_obj.Y, angle, sensorDirection: HltDirection.NESW);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddVehicleOrUpdateResetSensorForkDir(string vhID)
{
var hltvh = mapAPI.HltVehicles.Where(vh => SCUtility.isMatche(vh.ID, vhID)).SingleOrDefault();
var clone_hltvh = hltvh.DeepClone();
clone_hltvh.SensorDirection = HltDirection.None;
clone_hltvh.ForkDirection = HltDirection.None;
HltResult result = mapAPI.TryAddOrUpdateVehicle(clone_hltvh);
return(result);
}
public HltResult TryAddVehicleOrUpdate(string vhID, string adrID)
{
var adr_obj = mapAPI.GetAddressObjectByID(adrID);
var hlt_vh = new HltVehicle(vhID, adr_obj.X, adr_obj.Y, 0, sensorDirection: Mirle.Hlts.Utils.HltDirection.NESW);
//HltResult result = mapAPI.TryAddVehicleOrUpdate(vhID, adr_obj.X, adr_obj.Y, 0, vehicleSensorDirection: Mirle.Hlts.Utils.HltDirection.NESW);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.NESW, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
//int sec_id = 0;
//int.TryParse(sectionID, out sec_id);
string sec_id = SCUtility.Trim(sectionID);
HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddVehicleOrUpdate(string vhID, string currentSectionID, double vehicleX, double vehicleY, float vehicleAngle, double speedMmPerSecond,
HltDirection sensorDir, HltDirection forkDir)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Debug, Class: nameof(ReserveBLL), Device: "AGV",
Data: $"add vh in reserve system: vh:{vhID},x:{vehicleX},y:{vehicleY},angle:{vehicleAngle},speedMmPerSecond:{speedMmPerSecond},sensorDir:{sensorDir},forkDir:{forkDir}",
VehicleID: vhID);
var hlt_vh = new HltVehicle(vhID, vehicleX, vehicleY, vehicleAngle, speedMmPerSecond, sensorDirection: sensorDir, forkDirection: forkDir, currentSectionID: currentSectionID);
HltResult result = mapAPI.TryAddOrUpdateVehicle(hlt_vh, isKeepRestSection: false);
onReserveStatusChange();
return(result);
}
public virtual HltResult TryAddReservedSection(string vhID, string sectionID,
HltDirection sensorDir = HltDirection.ForwardReverse, HltDirection forkDir = HltDirection.None,
DriveDirction driveDirection = DriveDirction.DriveDirNone, bool isAsk = false)
{
string sec_id = SCUtility.Trim(sectionID);
int vehicle_direction = getVehicleDirection(driveDirection);
HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, vehicle_direction, isAsk);
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "AGV",
Data: $"vh:{vhID} Try add reserve section:{sectionID} dir:{sensorDir},result:{result}",
VehicleID: vhID);
onReserveStatusChange();
return(result);
}
private async void btn_set_vh_Click(object sender, EventArgs e)
{
string adr_id = cmb_adr_id.Text;
string vh_id = cmb_vh_ids.Text;
var map_address_axis = bcApp.SCApplication.ReserveBLL.GetHltMapAddress(adr_id);
HltDirection vh_fork_dir;
Enum.TryParse <HltDirection>(cmb_vh_fork_dir.SelectedValue.ToString(), out vh_fork_dir);
HltDirection vh_sensor_dir;
Enum.TryParse <HltDirection>(cmb_vh_sensor_dir.SelectedValue.ToString(), out vh_sensor_dir);
HltResult result = null;
await Task.Run(() => result = bcApp.SCApplication.ReserveBLL.TryAddVehicleOrUpdate(vh_id, "", map_address_axis.x, map_address_axis.y, 0, 0, vh_sensor_dir, vh_fork_dir));
MessageBox.Show(result.ToString());
RefreshReserveInfo();
}
private async void btn_set_vh_by_axis_Click(object sender, EventArgs e)
{
string vh_id = cmb_vh_ids.Text;
string x_axis = txt_x.Text;
string y_axis = txt_y.Text;
float angle = (float)num_vh_angle.Value;
double.TryParse(x_axis, out double x);
double.TryParse(y_axis, out double y);
HltDirection vh_fork_dir;
Enum.TryParse <HltDirection>(cmb_vh_fork_dir.SelectedValue.ToString(), out vh_fork_dir);
HltDirection vh_sensor_dir;
Enum.TryParse <HltDirection>(cmb_vh_sensor_dir.SelectedValue.ToString(), out vh_sensor_dir);
HltResult result = null;
await Task.Run(() => result = bcApp.SCApplication.ReserveBLL.TryAddVehicleOrUpdate(vh_id, "", x, y, angle, 0, vh_sensor_dir, vh_fork_dir));
MessageBox.Show(result.ToString());
}
private async void btn_reserve_section_Click(object sender, EventArgs e)
{
string vh_id = cmb_vh_ids.Text;
string sec_id = cmb_reserve_section.Text.Trim();
HltDirection fork_dir;
Enum.TryParse <HltDirection>(cmb_fork_dir.SelectedValue.ToString(), out fork_dir);
HltDirection sensor_dir;
Enum.TryParse <HltDirection>(cmb_sensor_dir.SelectedValue.ToString(), out sensor_dir);
HltResult result = null;
await Task.Run(() => result = bcApp.SCApplication.ReserveBLL.TryAddReservedSection(vh_id, sec_id, sensor_dir, fork_dir));
//await Task.Run(() =>
//{
// result = bcApp.SCApplication.ReserveBLL.TryAddReservedSection(vh_id, "0025", sensor_dir, fork_dir);
// result = bcApp.SCApplication.ReserveBLL.TryAddReservedSection(vh_id, "0024", sensor_dir, fork_dir);
//});
MessageBox.Show(result.ToString());
RefreshReserveInfo();
}
//public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.Forward, HltDirection forkDir = HltDirection.None, bool isAsk = false)
//{
// //int sec_id = 0;
// //int.TryParse(sectionID, out sec_id);
// string sec_id = SCUtility.Trim(sectionID);
// HltResult result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
// onReserveStatusChange();
// return result;
//}
public HltResult TryAddReservedSection(string vhID, string sectionID, HltDirection sensorDir = HltDirection.ForwardReverse, HltDirection forkDir = HltDirection.None, bool isAsk = false)
{
try
{
HltResult result = null;
string sec_id = SCUtility.Trim(sectionID);
//如果詢問的Section是Reserve Enhance的section時，
//則要判斷該區塊且之後的Section是否要得到
var reserve_enhance_info_check_result = IsReserveEnhanceSection(sectionID);
if (reserve_enhance_info_check_result.isEnhanceInfo)
{
//如果車輛已經在section group內 則不需多檢查section group的section能否預約
AVEHICLE vh = scApp.VehicleBLL.cache.getVhByID(vhID);
if (vh != null)
{
var _result = IsReserveEnhanceSection(vh.CUR_SEC_ID);
if (!_result.isEnhanceInfo)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is not in section group: vh:{vhID},reserve section id:{sectionID},vh cur section:{vh.CUR_SEC_ID}",
VehicleID: vhID);
List <string> enhance_control_sections = reserve_enhance_info_check_result.info.EnhanceControlSections;
int section_index = enhance_control_sections.IndexOf(sectionID);
for (int i = section_index; i < enhance_control_sections.Count; i++)
{
result = mapAPI.TryAddReservedSection(vhID, enhance_control_sections[i], sensorDir, forkDir, true);
if (!result.OK)
{
result.Description += $",section:{sectionID} is reserve enhance group:{reserve_enhance_info_check_result.info.GroupID}," +
$"current has vh:{result.VehicleID}";
return(result);
}
}
}
else
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is in section group: vh:{vhID},reserve section id:{sectionID},vh cur section:{vh.CUR_SEC_ID}",
VehicleID: vhID);
}
}
else
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection Vehicle is not found. vh:{vhID},reserve section id:{sectionID}",
VehicleID: vhID);
}
}
result = mapAPI.TryAddReservedSection(vhID, sec_id, sensorDir, forkDir, isAsk);
onReserveStatusChange();
return(result);
}
catch (Exception ex)
{
LogHelper.Log(logger: logger, LogLevel: NLog.LogLevel.Info, Class: nameof(ReserveBLL), Device: "OHT",
Data: $"TryAddReservedSection have exception happen.exception:{ex.Message} vh:{vhID},reserve section id:{sectionID}",
VehicleID: vhID);
return(null);
}
finally
{
}
}
public static com.mirle.ibg3k0.sc.BLL.ReserveCheckResult ToReserveCheckResult(this HltResult result)
{
return(new com.mirle.ibg3k0.sc.BLL.ReserveCheckResult(result.OK, result.VehicleID, result.SectionID, result.Description));
}
