/// <summary>
/// </summary>
/// <param name="Lastpath">上一条轨迹的实例</param>
/// <param name="length">直线的长度</param>
public Path1(Path1 Lastpath, int length)
{
Point FinP = new Point(Lastpath.endX, Lastpath.endY);
switch (Lastpath.Dire)
{
case Direction.DirUp:
case Direction.DirTnLtU:
case Direction.DirTnRtU:
FinP.X = Lastpath.endX;
FinP.Y = Lastpath.endY - length;
_Dire = Direction.DirUp;
break;
case Direction.DirDown:
case Direction.DirTnLtD:
case Direction.DirTnRtD:
FinP.X = Lastpath.endX;
FinP.Y = Lastpath.endY + length;
_Dire = Direction.DirDown;
break;
case Direction.DirLeft:
case Direction.DirTnUtL:
case Direction.DirTnDtL:
FinP.X = Lastpath.endX - length;
FinP.Y = Lastpath.endY;
_Dire = Direction.DirLeft;
break;
case Direction.DirRight:
case Direction.DirTnUtR:
case Direction.DirTnDtR:
FinP.X = Lastpath.endX + length;
FinP.Y = Lastpath.endY;
_Dire = Direction.DirRight;
break;
default:
break;
}
_startX = Lastpath.endX;
_startY = Lastpath.endY;
_endX = FinP.X;
_endY = FinP.Y;
_CenterX = FinP.X;
_CenterY = FinP.Y;
_PathLength = length;
_Interval = Config.AGVtime;
}
public static void InitMap() ////初始化地图
{
const int 间隔 = 200;
Dictionary <int, Path1> list = Config.PathList;
Point 原点 = new Point(Config.InitX, Config.InitY);
Point p1 = new Point(350, 100);
Point p2 = new Point(520, 100);
list[11] = new Path1(p1, Direction.DirRight, 150);
list[12] = new Path1(list[11], Direction.DirDown);
list[13] = new Path1(list[12], 500);
list[14] = new Path1(list[13], Direction.DirLeft);
list[15] = new Path1(list[14], 150);
list[16] = new Path1(list[15], Direction.DirUp);
list[17] = new Path1(list[16], 500);
list[18] = new Path1(list[17], Direction.DirRight);
list[21] = new Path1(list[11], 170);
list[22] = new Path1(list[21], Direction.DirDown);
list[23] = new Path1(list[22], 500);
list[24] = new Path1(list[23], Direction.DirLeft);
list[25] = new Path1(list[24], 170);
list[31] = new Path1(list[21], 170);
list[32] = new Path1(list[31], Direction.DirDown);
list[33] = new Path1(list[32], 500);
list[34] = new Path1(list[33], Direction.DirLeft);
list[35] = new Path1(list[34], 170);
list[41] = new Path1(list[31], 170);
list[42] = new Path1(list[41], Direction.DirDown);
list[43] = new Path1(list[42], 500);
list[44] = new Path1(list[43], Direction.DirLeft);
list[45] = new Path1(list[44], 170);
}
/// <summary>
/// 画轨道：转弯圆弧（简化版）
/// </summary>
/// <param name="Lastpath">上一条轨迹的实例</param>
/// <param name="DirFin">圆弧的最后方向</param>
public Path1(Path1 Lastpath, Direction DirFin)
{
Point InitP = new Point(Lastpath.endX, Lastpath.endY);
_rect = new Rectangle(InitP.X, InitP.Y, 20, 20);
_startX = InitP.X;
_startY = InitP.Y;
switch (Lastpath.Dire)
{
case Direction.DirUp:
case Direction.DirTnLtU:
case Direction.DirTnRtU:
if (DirFin == Direction.DirLeft)
{
_rect.Location = new Point(InitP.X - 20, InitP.Y - 10);
_endX = _startX - 10;
_endY = _startY - 10;
_Dire = Direction.DirTnUtL;
}
else if (DirFin == Direction.DirRight)
{
_rect.Location = new Point(InitP.X, InitP.Y - 10);
_endX = _startX + 10;
_endY = _startY - 10;
_Dire = Direction.DirTnUtR;
}
else
{
_endX = _startX;
_endY = _startY;
}
_CenterX = _endX;
_CenterY = _startY;
break;
case Direction.DirDown:
case Direction.DirTnLtD:
case Direction.DirTnRtD:
if (DirFin == Direction.DirLeft)
{
_rect.Location = new Point(InitP.X - 20, InitP.Y - 10);
_endX = _startX - 10;
_endY = _startY + 10;
_Dire = Direction.DirTnDtL;
}
else if (DirFin == Direction.DirRight)
{
_rect.Location = new Point(InitP.X, InitP.Y - 10);
_endX = _startX + 10;
_endY = _startY + 10;
_Dire = Direction.DirTnDtR;
}
else
{
_endX = _startX;
_endY = _startY;
}
_CenterX = _endX;
_CenterY = _startY;
break;
case Direction.DirLeft:
case Direction.DirTnUtL:
case Direction.DirTnDtL:
if (DirFin == Direction.DirUp)
{
_rect.Location = new Point(InitP.X - 10, InitP.Y - 20);
_endX = _startX - 10;
_endY = _startY - 10;
_Dire = Direction.DirTnLtU;
}
else if (DirFin == Direction.DirDown)
{
_rect.Location = new Point(InitP.X - 10, InitP.Y);
_endX = _startX - 10;
_endY = _startY + 10;
_Dire = Direction.DirTnLtD;
}
else
{
_endX = _startX;
_endY = _startY;
}
_CenterX = _startX;
_CenterY = _endY;
break;
case Direction.DirRight:
case Direction.DirTnUtR:
case Direction.DirTnDtR:
if (DirFin == Direction.DirUp)
{
_rect.Location = new Point(InitP.X - 10, InitP.Y - 20);
_endX = _startX + 10;
_endY = _startY - 10;
_Dire = Direction.DirTnRtU;
}
else if (DirFin == Direction.DirDown)
{
_rect.Location = new Point(InitP.X - 10, InitP.Y);
_endX = _startX + 10;
_endY = _startY + 10;
_Dire = Direction.DirTnRtD;
}
else
{
_endX = _startX;
_endY = _startY;
}
_CenterX = _startX;
_CenterY = _endY;
break;
default:
_endX = _startX;
_endY = _startY;
_CenterX = _startX;
_CenterY = _endY;
break;
}
_rect.X -= Config.MapInitX;
_rect.Y -= Config.MapInitY;
_PathLength = 15;
_Interval = Config.AGVtime;
}
