private void ClearList()
{
try
{
moveCmdInfo = null;
MainForm_AddressList.Items.Clear();
AddressList.Items.Clear();
}
catch { }
}
private void SetMovingAddressList()
{
try
{
AddressList.Items.Clear();
MoveCmdInfo tempMoveCmdInfo = moveCmdInfo;
if (tempMoveCmdInfo != null)
{
for (int i = 0; i < tempMoveCmdInfo.MovingAddress.Count; i++)
{
AddressList.Items.Add(tempMoveCmdInfo.MovingAddress[i].Id);
}
}
}
catch { }
}
private void SettingSpeed(MoveCmdInfo temp)
{
double lineVelocity;
double otherVelocity;
if (!double.TryParse(lineSpeed.ValueString, out lineVelocity) || lineVelocity < localData.MoveControlData.CreateMoveCommandConfig.EQ.Velocity)
{
lineVelocity = 400;
lineSpeed.ValueString = lineVelocity.ToString();
}
if (!double.TryParse(otherSpeed.ValueString, out otherVelocity) || otherVelocity < localData.MoveControlData.CreateMoveCommandConfig.EQ.Velocity)
{
otherVelocity = 400;
otherSpeed.ValueString = otherVelocity.ToString();
}
double deltaAngle;
temp.SpecifySpeed = new List <double>();
for (int i = 0; i < temp.MovingSections.Count; i++)
{
if (temp.MovingSections[i].FromVehicleAngle != temp.MovingSections[i].ToVehicleAngle)
{
temp.SpecifySpeed.Add(temp.MovingSections[i].Speed);
}
else
{
deltaAngle = computeFunction.GetCurrectAngle(temp.MovingSections[i].FromVehicleAngle - temp.MovingSections[i].SectionAngle);
if (deltaAngle == 0 || deltaAngle == 180)
{
temp.SpecifySpeed.Add(lineVelocity);
}
else
{
temp.SpecifySpeed.Add(otherVelocity);
}
}
}
}
private bool CheckMovingAddress(ref string errorMessage)
{
try
{
moveCmdInfo = new MoveCmdInfo();
if (moveControl.CreateMoveCommandList.Step0_CheckMovingAddress(originAddressList, ref moveCmdInfo, ref errorMessage))
{
return(true);
}
else
{
return(false);
}
}
catch (Exception ex)
{
errorMessage = ex.ToString();
return(false);
}
}
private void button_DebugModeSend_Click(object sender, EventArgs e)
{
button_DebugModeSend.Enabled = false;
try
{
if (localData.AutoManual == EnumAutoState.Manual)
{
MoveCmdInfo temp = moveCmdInfo;
if (temp != null)
{
if (rB_SettingSpeed.Checked)
{
SettingSpeed(temp);
}
temp.CommandID = string.Concat("localCommand ", DateTime.Now.ToString("MM/dd HH:mm:ss"));
string errorMessage = "";
if (moveControl.VehicleMove_DebugForm(temp, ref errorMessage))
{
tC_MoveControl.SelectedIndex = 1;
}
else
{
MessageBox.Show(String.Concat("命令產生失敗 : ", errorMessage));
}
}
}
}
catch (Exception ex)
{
MessageBox.Show("Exception : ", ex.ToString());
}
button_DebugModeSend.Enabled = true;
}
public bool FindFromToAddressSectionList(MapAddress start, MapAddress end, ref MoveCmdInfo moveCmdInfo)
{
try
{
if (start != end)
{
#region 終點在目前SectionList最後一個之中.
if (moveCmdInfo.MovingSections.Count != 0 && moveCmdInfo.MovingSections[moveCmdInfo.MovingSections.Count - 1] == end.InsideSection)
{
double sectionAngle = ComputeAngle(moveCmdInfo.MovingAddress[moveCmdInfo.MovingAddress.Count - 2].AGVPosition,
moveCmdInfo.MovingAddress[moveCmdInfo.MovingAddress.Count - 1].AGVPosition);
double endAngle = ComputeAngle(moveCmdInfo.MovingAddress[moveCmdInfo.MovingAddress.Count - 2].AGVPosition, end.AGVPosition);
if (sectionAngle != endAngle)
{
moveCmdInfo.MovingAddress.Add(moveCmdInfo.MovingAddress[moveCmdInfo.MovingAddress.Count - 2]);
moveCmdInfo.MovingSections.Add(moveCmdInfo.MovingSections[moveCmdInfo.MovingSections.Count - 1]);
}
moveCmdInfo.EndAddress = end;
return(true);
}
#endregion
#region 起點和終點都是內點.
if (start.InsideSection != null && end.InsideSection != null &&
start.InsideSection == end.InsideSection)
{
double angleStartToEnd = ComputeAngle(start.AGVPosition, end.AGVPosition);
double sectionAngle = ComputeAngle(start.InsideSection.FromAddress.AGVPosition, start.InsideSection.ToAddress.AGVPosition);
moveCmdInfo.MovingSections.Add(start.InsideSection);
if (angleStartToEnd == sectionAngle)
{
moveCmdInfo.MovingAddress.Add(start.InsideSection.FromAddress);
moveCmdInfo.MovingAddress.Add(start.InsideSection.ToAddress);
}
else
{
moveCmdInfo.MovingAddress.Add(start.InsideSection.ToAddress);
moveCmdInfo.MovingAddress.Add(start.InsideSection.FromAddress);
}
moveCmdInfo.EndAddress = end;
return(true);
}
#endregion
List <MapAddress> movingAddress = new List <MapAddress>();
List <MapSection> movingSection = new List <MapSection>();
List <double> startAddressToSectionNodeDistance = new List <double>();
List <MapAddress> startSectionNode = new List <MapAddress>();
List <MapAddress> startSectionNode2 = new List <MapAddress>();
List <double> endAddressToSectionNodeDistance = new List <double>();
List <MapAddress> endSectionNode = new List <MapAddress>();
double distance = 0;
if (start.InsideSection == null)
{
startAddressToSectionNodeDistance.Add(0);
startSectionNode.Add(start);
}
else
{
distance = GetTwoPositionDistance(start.AGVPosition, start.InsideSection.FromAddress.AGVPosition);
startAddressToSectionNodeDistance.Add(distance / start.InsideSection.Speed);
startSectionNode.Add(start.InsideSection.FromAddress);
startSectionNode2.Add(start.InsideSection.ToAddress);
distance = GetTwoPositionDistance(start.AGVPosition, start.InsideSection.ToAddress.AGVPosition);
startAddressToSectionNodeDistance.Add(distance / start.InsideSection.Speed);
startSectionNode.Add(start.InsideSection.ToAddress);
startSectionNode2.Add(start.InsideSection.FromAddress);
}
if (end.InsideSection == null)
{
endAddressToSectionNodeDistance.Add(0);
endSectionNode.Add(end);
}
else
{
distance = GetTwoPositionDistance(end.AGVPosition, end.InsideSection.FromAddress.AGVPosition);
endAddressToSectionNodeDistance.Add(distance / end.InsideSection.Speed);
endSectionNode.Add(end.InsideSection.ToAddress);
distance = GetTwoPositionDistance(end.AGVPosition, end.InsideSection.FromAddress.AGVPosition);
endAddressToSectionNodeDistance.Add(distance / end.InsideSection.Speed);
endSectionNode.Add(end.InsideSection.FromAddress);
}
if (startSectionNode.Count > 1 && (startSectionNode[0] == endSectionNode[0] || startSectionNode[1] == endSectionNode[0]))
{
if (startSectionNode[0] == endSectionNode[0])
{
moveCmdInfo.MovingAddress.Add(startSectionNode[1]);
}
else
{
moveCmdInfo.MovingAddress.Add(startSectionNode[0]);
}
moveCmdInfo.MovingAddress.Add(endSectionNode[0]);
moveCmdInfo.MovingSections.Add(start.InsideSection);
return(true);
}
List <MapSection> tempSectionList = new List <MapSection>();
double minDistance = -1;
List <MapAddress> nodeList = new List <MapAddress>();
for (int i = 0; i < startSectionNode.Count; i++)
{
for (int j = 0; j < endSectionNode.Count; j++)
{
//if (start.InsideSection != null)
// nodeList.Add(start);
tempSectionList = new List <MapSection>();
if (start.InsideSection != null)
{
tempSectionList.Add(start.InsideSection);
}
nodeList.Add(startSectionNode[i]);
if (startSectionNode2.Count > 0)
{
nodeList.Add(startSectionNode2[i]);
}
FindAGVFromToPath(endSectionNode[j], nodeList, startAddressToSectionNodeDistance[i] + endAddressToSectionNodeDistance[j], ref movingAddress, ref minDistance, tempSectionList, ref movingSection);
nodeList = new List <MapAddress>();
}
}
if (minDistance != -1)
{
double sectionAngle;
double tempAngle;
//if (start.InsideSection != null)
//{
// movingSection.Insert(0, start.InsideSection);
// sectionAngle = ComputeAngle(movingSection[0].FromAddress.AGVPosition, movingSection[0].ToAddress.AGVPosition);
// tempAngle = ComputeAngle(start.AGVPosition, movingSection[0].ToAddress.AGVPosition);
// if (sectionAngle == tempAngle)
// movingAddress[0] = movingSection[0].FromAddress;
// else
// movingAddress[0] = movingSection[0].ToAddress;
//}
if (end.InsideSection != null)
{
movingSection.Add(end.InsideSection);
sectionAngle = ComputeAngle(movingSection[movingSection.Count - 1].FromAddress.AGVPosition, movingSection[movingSection.Count - 1].ToAddress.AGVPosition);
tempAngle = ComputeAngle(start.AGVPosition, movingSection[movingSection.Count - 1].ToAddress.AGVPosition);
if (sectionAngle == tempAngle)
{
movingAddress[movingAddress.Count - 1] = movingSection[movingSection.Count - 1].ToAddress;
}
else
{
movingAddress[movingAddress.Count - 1] = movingSection[movingSection.Count - 1].FromAddress;
}
}
if (moveCmdInfo.MovingAddress.Count == 0)
{
moveCmdInfo.MovingAddress.Add(movingAddress[0]);
}
for (int i = 1; i < movingAddress.Count; i++)
{
moveCmdInfo.MovingAddress.Add(movingAddress[i]);
}
for (int i = 0; i < movingSection.Count; i++)
{
moveCmdInfo.MovingSections.Add(movingSection[i]);
}
return(true);
}
else
{
return(false);
}
}
return(true);
}
catch
{
return(false);
}
}