/// <summary>
/// 更新停靠区号
/// </summary>
/// <param name="AGVStatus">AGV车辆类，指针类型</param>
public int UpdateDock(AGVCar AGVStatus)
{
if (!AGVStatus.WlLink)
{
AGVStatus.DockNum = 0;
} //当前AGV不在线
for (int i = 0; i < dockCount; i++)
{
//不在停靠区时判断是否进入停靠区
if (AGVStatus.DockNum == 0)
{
if (IsIntoDockArea(AGVStatus.WorklineNum, AGVStatus.MarkNum))
{
return(dockNum);
}
}
//在停靠区时判断是否出停靠区
else
{
if (IsOutDockArea(AGVStatus.WorklineNum, AGVStatus.MarkNum))
{
return(0);
}
}
}
return(AGVStatus.DockNum);
}
/// <summary>
/// 单台AGV更新运行参数，使用了管制区号TrafficNum和无线状态WlLink，需要更新管制区号
/// | 0:正在占用路口的AGV编号 | 1:等待排队AGV的编号，优先级-1 | 2:等待排队AGV的编号，优先级-2 |.......
/// </summary>
/// <param name="AGVStatus">AGV运行状态结构体，指针类型</param>
/// <returns>返回AGV运行or停止</returns>
public TrafficRetParam UpdateTraffic(AGVCar AGVStatus)
{
TrafficRetParam retparam = new TrafficRetParam();
int trafficnum = 0;
int lasttrafficnum = AGVStatus.TrafficNum;
byte agvnum = AGVStatus.AGVNum;
if (AGVStatus.WlLink)//当前AGV在线
{
//trafficnum为当前AGV所在交通管制区编号
trafficnum = GetTrafficNum(AGVStatus.WorklineNum, AGVStatus.MarkNum);
}
else//当前AGV不在线，直接返回不在管制区，假如上一次在管制区的话，直接清除上次的记录
{
//如果无线连接断开，清除该小车所在管制区的数据
trafficnum = 0;
}
if (trafficnum == 0) //不是在管制区
{
if (lasttrafficnum == 0) //上一次地标不在管制区
{
retparam.trafficResult = AGVMODERUN;
}
else //上一次小车是在管制区中，现在是清除管制状态，清除该路口该车辆排队信息
{
//移除排队队列中
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
retparam.trafficNum = 0;
retparam.trafficResult = AGVMODERUN;
}
}
else //是在管制区
{
if ((lasttrafficnum != 0) && (trafficnum != lasttrafficnum)) //与上一次的管制区不同，更新上一路口参数
{
//移除在上一管制区中的排队信息
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
}
if (lasttrafficnum != trafficnum)//上次的管制区号与这次的管制区号不同
{
//加入排队队列中
agvTrafficList[trafficnum - 1].waitAGVList.Add(agvnum);
}
retparam.trafficNum = trafficnum; //更新AGV状态中现在所在管制区号
if (agvTrafficList[trafficnum - 1].waitAGVList[0] == agvnum) //在第一的排队位置
{
retparam.trafficResult = AGVMODERUN; //启动
}
else//非第一的排队位置，即等待队列
{
retparam.trafficResult = AGVMODESTOP; //停止，排队等待
}
}
return(retparam);
}
/// <summary>
/// 单台AGV更新运行参数，使用了管制区号TrafficNum和无线状态WlLink，需要更新管制区号
/// | 0:正在占用路口的AGV编号 | 1:等待排队AGV的编号，优先级-1 | 2:等待排队AGV的编号，优先级-2 |.......
/// </summary>
/// <param name="AGVStatus">AGV运行状态结构体，指针类型</param>
/// <returns>返回AGV运行or停止</returns>
public bool DrvWlConUpdateRunPar(ref AGV_WPF.DLL.AGV.AGVCar AGVStatus)
{
int trafficnum = 0;
int lasttrafficnum = AGVStatus.trafficNum;
byte agvnum = AGVStatus.agvNum;
if (AGVStatus.wlLink)//当前AGV在线
{
//trafficnum为当前AGV所在交通管制区编号
trafficnum = GetTrafficNum(AGVStatus.worklineNum, AGVStatus.markNum);
}
else//当前AGV不在线，直接返回不在管制区，假如上一次在管制区的话，直接清除上次的记录
{
//如果无线连接断开，清除该小车所在管制区的数据
trafficnum = 0;
}
if (trafficnum == 0) //不是在管制区
{
if (lasttrafficnum == 0) //上一次地标不在管制区
{
return(AGVMODERUN);
}
else //上一次小车是在管制区中，现在是清除管制状态，清除该路口该车辆排队信息
{
//移除排队队列中
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
AGVStatus.trafficNum = 0;
return(AGVMODERUN);
}
}
else //是在管制区
{
if ((lasttrafficnum != 0) && (trafficnum != lasttrafficnum)) //与上一次的管制区不同，更新上一路口参数
{
//移除在上一管制区中的排队信息
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
}
if (lasttrafficnum != trafficnum)//上次的管制区号与这次的管制区号不同
{
//加入排队队列中
agvTrafficList[trafficnum - 1].waitAGVList.Add(agvnum);
}
AGVStatus.trafficNum = trafficnum; //更新AGV状态中现在所在管制区号
if (agvTrafficList[trafficnum - 1].waitAGVList[0] == agvnum) //在第一的排队位置
{
return(AGVMODERUN); //启动
}
else//非第一的排队位置，即等待队列
{
return(AGVMODESTOP); //停止，排队等待
}
}
}
/// <summary>
/// 更新停靠区号
/// </summary>
/// <param name="AGVStatus">AGV车辆类，指针类型</param>
public int UpdateDock(AGVCar AGVStatus)
{
if (!AGVStatus.WlLink) { AGVStatus.DockNum = 0; } //当前AGV不在线
for (int i = 0; i < dockCount; i++)
{
//不在停靠区时判断是否进入停靠区
if (AGVStatus.DockNum == 0)
{
if (IsIntoDockArea(AGVStatus.WorklineNum, AGVStatus.MarkNum))
{
return dockNum;
}
}
//在停靠区时判断是否出停靠区
else
{
if (IsOutDockArea(AGVStatus.WorklineNum, AGVStatus.MarkNum))
{
return 0;
}
}
}
return AGVStatus.DockNum;
}
/// <summary>
/// 单台AGV更新运行参数，使用了管制区号TrafficNum和无线状态WlLink，需要更新管制区号
/// | 0:正在占用路口的AGV编号 | 1:等待排队AGV的编号，优先级-1 | 2:等待排队AGV的编号，优先级-2 |.......
/// </summary>
/// <param name="AGVStatus">AGV运行状态结构体，指针类型</param>
/// <returns>返回AGV运行or停止</returns>
public TrafficRetParam UpdateTraffic(AGVCar AGVStatus)
{
TrafficRetParam retparam = new TrafficRetParam();
int trafficnum = 0;
int lasttrafficnum = AGVStatus.TrafficNum;
byte agvnum = AGVStatus.AGVNum;
if (AGVStatus.WlLink)//当前AGV在线
{
//trafficnum为当前AGV所在交通管制区编号
trafficnum = GetTrafficNum(AGVStatus.WorklineNum, AGVStatus.MarkNum);
}
else//当前AGV不在线，直接返回不在管制区，假如上一次在管制区的话，直接清除上次的记录
{
//如果无线连接断开，清除该小车所在管制区的数据
trafficnum = 0;
}
if (trafficnum == 0) //不是在管制区
{
if (lasttrafficnum == 0) //上一次地标不在管制区
{
retparam.trafficResult = AGVMODERUN;
}
else //上一次小车是在管制区中，现在是清除管制状态，清除该路口该车辆排队信息
{
//移除排队队列中
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
retparam.trafficNum = 0;
retparam.trafficResult = AGVMODERUN;
}
}
else //是在管制区
{
if ((lasttrafficnum != 0) && (trafficnum != lasttrafficnum)) //与上一次的管制区不同，更新上一路口参数
{
//移除在上一管制区中的排队信息
agvTrafficList[lasttrafficnum - 1].waitAGVList.Remove(agvnum);
}
if (lasttrafficnum != trafficnum)//上次的管制区号与这次的管制区号不同
{
//加入排队队列中
agvTrafficList[trafficnum - 1].waitAGVList.Add(agvnum);
}
retparam.trafficNum = trafficnum;//更新AGV状态中现在所在管制区号
if (agvTrafficList[trafficnum - 1].waitAGVList[0] == agvnum)//在第一的排队位置
{
retparam.trafficResult = AGVMODERUN; //启动
}
else//非第一的排队位置，即等待队列
{
retparam.trafficResult = AGVMODESTOP; //停止，排队等待
}
}
return retparam;
}
void DrvWlConInit()
{
for (int i = 0; i < AGVNUM_MAX; i++)
{
AGVStatus[i] = new AGVCar(this,canvas);
}
DrvWlConWorkLineInit(); //生产区初始化,需要先初始化AGVStatus,然后再生产区初始化
if (GlobalPara.IsTrafficFun)
{
agvTrafficList = new AGVTrafficList();
agvTrafficList.Init();//交通管制路口初始化
}
if (GlobalPara.IsDockFun)
{
agvDock = new AGVDock();
agvDock.Init();
}
if (GlobalPara.IsChargeFun)
{
agvCharge = new AGVCharge();
agvCharge.Init();
}
if (GlobalPara.IsCallFun)
{
agvCall = new AGVCall();
}
}
/// <summary>
/// 无线连接属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void WLChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
App.Current.Dispatcher.Invoke((Action)(() =>
{
AGVStatus[listindex].agvAnimation.WLChangeAnimation(temp1.WlLink);
}));
if (temp1.WlLink)
{
MarkChangeAction(temp1);
}
else
{
AGVStatus[listindex].agvAnimation.ClearAllElements();
AGVStatus[listindex].agvAnimation = null;
AGVStatus.Remove(temp1);//20140309从表格中移除无线连接失败的agv
}
}
/// <summary>
/// 运行状态属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void StatusChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
App.Current.Dispatcher.Invoke((Action)(() =>
{
AGVStatus[listindex].agvAnimation.StatusChangeAnimation(temp1.AGVStatus, temp1.AGVNum, temp1.DockNum);
}));
}
/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
Point pStart = new Point(), pVirtual = new Point();
DAL.ZSql TrafficPara = new DAL.ZSql();
try
{
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.WorklineNum.ToString() + " and Mark=" + temp1.MarkNum.ToString() + " and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List<Point> pointcollection1 = new List<Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
bool isvirtualpoint = true;
double dMarkdistance = 0;
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
else
{
isvirtualpoint = false;
break;
}
}
while (isvirtualpoint);
if (pointcollection1.Count >= 2)
{
double dAgvspeed = SpeedOpt[temp1.AGVSpeed].Speed / 60.0;
if (dAgvspeed == 0)
{
dAgvspeed = dMarkdistance;
}
App.Current.Dispatcher.Invoke((Action)(() =>
{
AGVStatus[listindex].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[temp1.AGVNum % ColorOpt.Length], dMarkdistance / dAgvspeed);
}));
}
}
}
catch (Exception)
{
throw;
}
finally
{
TrafficPara.Close();
}
}
/// <summary>
/// 电量属性更改时触发的事件
/// 电量低于20%时进行充电
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void PowerChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
//20140312电量低于20%时进行充电，线路切换到充电线路
if (temp1.AGVPower < 20)//电量低于20%时进行充电
{
//设置充电标志位
AGVStatus[listindex].AGVCharge = 1;
}
}
/// <summary>
/// 无线连接属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void WLChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
//此处不能用异步，需要等待动画后返回。因为后续有AGVStatus删除元素的操作
AGVStatus[listindex].agvAnimation.WLChangeAnimation(temp1.WlLink);
if (temp1.WlLink)
{
MarkChangeAction(temp1);
}
else
{
AGVStatus[listindex].agvAnimation.ClearAllElements();
AGVStatus[listindex].agvAnimation = null;
AGVStatus.Remove(temp1);
if (agvCharge != null)
{
agvCharge.Delete(temp1.AGVNum);
}
if (agvDock != null)
{
agvDock.Delete(temp1.AGVNum);
}
}
}
/// <summary>
/// 运行状态属性更改时触发的事件
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void StatusChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
AGVStatus[listindex].agvAnimation.StatusChangeAnimation(temp1.AGVStatus, temp1.AGVNum, temp1.DockNum);
switch (temp1.AGVStatus)
{
case 0x40://"运行":
AGVStatus[listindex].AGVTask = 1;
break;
case 0x41://"暂停":
break;
case 0x42://"结束地标停止":
//if (agvCall.lineNum.Count > 0)//有叫料信息，需要车辆运送
//{
// if (agvCall.lineNum[0] > 0)
// {
// agvDock.outDockLine[iagvnum - 1] = agvCall.lineNum[0];
// AGVControlCommand(iagvnum, 3, 0, 0);
// }
//}
break;
default:
{
//将报警记录写入到数据库
string txttimer = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
DAL.ZSql TrafficPara = new DAL.ZSql();
TrafficPara.Open("Insert into T_Ex (CarID,ExTimer,ExType,ExRouteNum,ExMarkNum,ExWorkLine) VALUES (" + temp1.AGVNum.ToString() + ",'" + txttimer + "','" + StatusOpt[temp1.AGVStatus] + "'," + temp1.LineNum.ToString() + "," + temp1.MarkNum.ToString() + "," + temp1.WorklineNum.ToString() + ")");
TrafficPara.Close();
break;
}
}
}
/// <summary>
/// 地标属性更改时触发的事件
/// 移除上次动画，显示下一动画
/// </summary>
/// <param name="temp1">AGV_DisMember类</param>
private void MarkChangeAction(AGVCar temp1)
{
IEnumerable<AGVCar> member = AGVStatus.Where<AGVCar>(p => p.AGVNum == temp1.AGVNum);
AGVCar member1 = member.First<AGVCar>();
int listindex = AGVStatus.IndexOf(member1);
Point pStart = new Point(), pVirtual = new Point();
//待测试
//if (agvDock != null && agvCharge != null && agvCall != null)
//{
// if (Convert.ToInt32(temp1.txtDockNum) == 0)
// {
// if (agvDock.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //充电返回后，清除状态
// if (temp1.txtagvCharge == 4) { AGVStatus[iagvnum - 1].agvCharge = 0; }
// CarLine carline = agvDock.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtDockNum = carline.dockNum.ToString();
// temp1.txtLineNum = carline.lineNum.ToString();
// AGVStatus[iagvnum - 1].dockNum = carline.dockNum;
// //启动车辆，发送变更为待装停靠区路线
// //进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }
// else
// {
// if (agvDock.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvDock.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// temp1.txtDockNum = "0";
// AGVStatus[iagvnum - 1].dockNum = 0;
// //此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
// //1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
// //2.当temp1.txtagvCharge ==0时，为执行任务的路线
// if (temp1.txtagvCharge == 1)
// {
// AGVStatus[iagvnum - 1].agvCharge = 2;
// }
// AGVControlCommand(iagvnum, 0, 0, Convert.ToByte(agvDock.outDockLine[iagvnum - 1]));
// agvDock.outDockLine[iagvnum - 1] = 0;
// }
// }
// if (temp1.txtagvCharge == 2)
// {
// if (agvCharge.dockStartStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// CarLine carline = agvCharge.Add(iagvnum);
// if (carline != null)
// {
// temp1.txtagvCharge = 3;//充电状态
// AGVStatus[iagvnum - 1].agvCharge = 3;//充电状态
// temp1.txtLineNum = carline.lineNum.ToString();
// //启动车辆，发送变更路线
// AGVControlCommand(iagvnum, 3, 0, Convert.ToByte(carline.lineNum));
// }
// else
// {
// //这是在排队队列中，此时需要车辆停止（发送停止命令）
// AGVControlCommand(iagvnum, 2, 0, 0);
// }
// }
// }//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
// else if (temp1.txtagvCharge == 3)
// {
// if (agvCharge.dockEndStop.Equals(new WorkMarkStr(Convert.ToInt32(temp1.txtWorkLine), Convert.ToInt32(temp1.txtMarkNum))))
// {
// //移除待装区排队
// CarLine carline = agvCharge.Delete(iagvnum);
// if (carline != null)
// {
// //只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
// AGVStatus[carline.agvNum - 1].dockNum = carline.dockNum;
// //如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
// AGVControlCommand(carline.agvNum, 3, 0, 0);
// agvDock.outDockLine[iagvnum - 1] = agvCharge.chargeLine;//在出待装区的时候改变路线使用
// }
// temp1.txtagvCharge = 4;
// AGVStatus[iagvnum - 1].agvCharge = 4;
// }
// }
//}
#region 停靠区
if (agvDock != null)
{
// 判断是否进入停靠区
if (temp1.DockNum == 0)
{
if (agvDock.dockStartStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//已经进入停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//车辆进入停靠区
CarLine carline = agvDock.Add(temp1.AGVNum);
if (carline != null)
{
temp1.DockNum = carline.dockNum;
temp1.LineNum = carline.lineNum;
//更新停靠区参数
AGVStatus[listindex].DockNum = carline.dockNum;
//启动车辆，发送变更为待装停靠区路线
//进入待装区时，起始地标的功能为暂停，结束地标不能为停止或暂停，一定为agv运行的地标功能，也不能在交通管制点内
AGVControlCommand(temp1.AGVNum, 3, 0, carline.lineNum);
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(temp1.AGVNum, 2, 0, 0);
}
//启用充电区
if (agvCharge != null)
{
//充电返回后，清除状态
if (temp1.AGVCharge == 4) { AGVStatus[listindex].AGVCharge = 0; }
}
else//不启用充电区
{
}
}
else
{
//未进入停靠区，一直处于停靠区外面；暂不做处理
}
}
else//判断是否出停靠区
{
if (agvDock.dockEndStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//离开停靠区：1.更新AGV的停靠区参数 2.更新AGV的路线
//移除待装区排队
CarLine carline = agvDock.Delete(temp1.AGVNum);
//更新AGV停靠区参数
temp1.DockNum = 0;
AGVStatus[listindex].DockNum = 0;
//更新AGV路线
//有车辆等待排队
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
IEnumerable<AGVCar> dockmember = AGVStatus.Where<AGVCar>(p => p.AGVNum == carline.agvNum);
int indexfind = AGVStatus.IndexOf(dockmember.First());
AGVStatus[indexfind].DockNum = carline.dockNum;
//如果在等待排队中有车辆，启动等待的车辆
AGVControlCommand(carline.agvNum, 3, 0, carline.lineNum);
}
//启用充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(temp1.LineNum);
//充电路线，当linenum=0,说明用户没有定义
agvDock.outDockLine[temp1.AGVNum - 1] = linenum;//充电路线
if (linenum > 0)
{
AGVStatus[listindex].AGVCharge = 2;
}
}
}
else
{
//不启动充电区
}
//车辆驶出停靠区后变更路线
//此时需要变换路线agvDock.outDockLine[iagvnum-1],发出控制命令，变更路线
//1.当监测到temp1.txtagvCharge ==1时，outDockLine[iagvnum-1]为充电路线
//2.当temp1.txtagvCharge ==0时，为执行任务的路线
if (agvDock.outDockLine[temp1.AGVNum - 1] > 0)
{
AGVControlCommand(temp1.AGVNum, 0, 0, agvDock.outDockLine[temp1.AGVNum - 1]);
agvDock.outDockLine[temp1.AGVNum - 1] = 0;
}
}
else
{
//已经进入停靠区，但一直在停靠区内；暂不做处理
}
}
}
#endregion
#region 充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 2)
{
if (agvCharge.dockStartStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
CarLine carline = agvCharge.Add(temp1.AGVNum, temp1.LineNum);
if (carline != null)
{
temp1.AGVCharge = 3;//充电状态
AGVStatus[listindex].AGVCharge = 3;//充电状态
temp1.LineNum = carline.lineNum;
//启动车辆，发送变更路线
AGVControlCommand(temp1.AGVNum, 3, 0, carline.lineNum);
}
else
{
//这是在排队队列中，此时需要车辆停止（发送停止命令）
AGVControlCommand(temp1.AGVNum, 2, 0, 0);
}
}
}//注意：充电完成，车辆不会自行启动，需要人工拔掉充电线，然后启动车辆
else if (temp1.AGVCharge == 3)
{
if (agvCharge.dockEndStop.Equals(new WorkMarkStr(temp1.WorklineNum, temp1.MarkNum)))
{
//移除待装区排队
CarLine carline = agvCharge.Delete(temp1.AGVNum);
if (carline != null)
{
//只有停靠区和管制区在这边需要软件更新，其他的更新可以发送控制命令，下位机更改AGV状态，上位机接收数据驱动更新
IEnumerable<AGVCar> dockmember = AGVStatus.Where<AGVCar>(p => p.AGVNum == carline.agvNum);
int indexfind = AGVStatus.IndexOf(dockmember.First());
AGVStatus[indexfind].DockNum = carline.dockNum;
//如果在等待排队(此时AGV车辆在待装区中排队，不是在充电区的起始地标排队)中有车辆，启动等待的车辆
temp1.LineNum = carline.lineNum;
AGVControlCommand(carline.agvNum, 3, 0, carline.lineNum);
}
temp1.AGVCharge = 4;
AGVStatus[listindex].AGVCharge = 4;
AGVControlCommand(temp1.AGVNum, 0, 0, agvCharge.beforeEnterLine[temp1.DockNum]);
}
}
}
#endregion
DAL.ZSql TrafficPara = new DAL.ZSql();
TrafficPara.Open("select T_Line.MarkOrder, T_Mark.XPos, T_Mark.YPos FROM T_Line LEFT OUTER JOIN T_Mark ON T_Mark.ID = T_Line.MarkID where WorkLine=" + temp1.WorklineNum.ToString() + " and Mark=" + temp1.MarkNum.ToString() + " and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pStart.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pStart.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
List<Point> pointcollection1 = new List<Point>();
pointcollection1.Add(pStart);
int currentOrder = Convert.ToInt16(TrafficPara.Rows[0]["MarkOrder"]) + 1;
//线路起点处检测电量
if (currentOrder == 2)
{
//AGV到达起点位置，空闲状态；当检测到AGV状态为运行时，为执行任务
AGVStatus[listindex].AGVTask = 0;
//启用充电区
if (agvCharge != null)
{
if (temp1.AGVCharge == 1)
{
byte linenum = agvCharge.GetChargeLine(temp1.LineNum);
//当linenum=0时，说明管理员没有设置充电路线，不会启动自动充电
if (linenum > 0)
{
AGVControlCommand(temp1.AGVNum, 1, 0, linenum);
AGVStatus[listindex].AGVCharge = 2;
}
}
}
}
bool isvirtualpoint = true;
double dMarkdistance = 0;
do
{
TrafficPara.Open("select XPos,YPos,T_Line.Distance,VirtualMark from T_Mark Left join T_Line on T_Mark.ID = T_Line.MarkID where T_Line.MarkOrder=" + currentOrder.ToString() +
"and LineNum=" + temp1.LineNum.ToString());
if (TrafficPara.Rows.Count > 0)
{
pVirtual.X = Convert.ToDouble(TrafficPara.Rows[0]["XPos"]);
pVirtual.Y = Convert.ToDouble(TrafficPara.Rows[0]["YPos"]);
pointcollection1.Add(pVirtual);
dMarkdistance += Convert.ToDouble(TrafficPara.Rows[0]["Distance"]);
isvirtualpoint = Convert.ToBoolean(TrafficPara.Rows[0]["VirtualMark"]);
currentOrder++;
}
else
{
isvirtualpoint = false;
break;
}
}
while (isvirtualpoint);
if (pointcollection1.Count >= 2)
{
double dAgvspeed = SpeedOpt[temp1.AGVSpeed].Speed / 60.0;
if (dAgvspeed == 0)
{
dAgvspeed = dMarkdistance;
}
AGVStatus[listindex].agvAnimation.DrawCarLine(pointcollection1, ColorOpt[temp1.AGVNum % ColorOpt.Length], dMarkdistance / dAgvspeed);
}
}
TrafficPara.Close();
}