protected bool checkAnyRobotAtElevator(RobotUnity robot)
{
foreach (RobotUnity ar in robotService.RobotUnityRegistedList.Values)
{
if (this.traffic.RobotIsInArea("ELEVATOR", ar.properties.pose.Position))
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);
}
}
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false);
}
protected bool TrafficCheckInBuffer(Pose frontLinePoint, int bayId)
{
if (ExtensionService.CalDistance(robot.properties.pose.Position, frontLinePoint.Position) < DISTANCE_CHECk_BAYID)
{
/* if (robot.bayId < 0)
* {
* robot.bayId = bayId;
* }*/
List <RobotUnity> rCompList = checkAllRobotsHasInsideBayIdNear(bayId, 2);
if (rCompList == null) // đã có 1 robot đã đăng ký thành công bayid
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);// tiep tuc check
}
if (rCompList.Count > 0)
{
// so sanh vi tri robot voi robot con lai
if (checkRobotToFrontLineDistanceCtrl(robot, rCompList, frontLinePoint.Position))
{
robot.bayIdReg = true;
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false); // ket thuc check
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true); // tiep tuc check
}
}
else
{
robot.bayIdReg = true;
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false);// tiep tuc check
}
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false);// tiep tuc check
}
}
protected bool TrafficCheckInBuffer(Pose frontLinePoint, int bayId)
{
// khu vực check in
List <Point> ListZonePo123 = new List <Point>();
List <Point> ListAkas123 = new List <Point>();
// tìm vị trí đầu line có nằm trong khu vực check in
// nếu có trong check in kiểm tra đã tới vùng check in chưa // check in chia ra cho từng vủng
// đã tới check in check tiếp vị trí robot khác trong vùng này đang làm việc
// PO123 { -49,-9} {-11,-9} {-11,-23} {-49,-23}
// CHECKINPO123_JUJ {-49,-6} {-39,-6} {-39,-13} {-49,-13}
// CHECKINPO123_VLP {-64,-9} {-49,-9} {-49,-18} {-64,-18}
// AKAS123 { -11,-9} {6,-9} {6,-23} {-11,-23}
// CHECKINAKAS123 {-12,-6} {-5,-6} {-5,-13} {-12,-13}
// JULEVO/CHECKINPO123_VLP {-64,-9} {-49,-9} {-49,-18} {-64,-18}
// CHECKINJULEVO {-64,-6} {-57,-6} {-57,-13} {-64,-13}
Point rPFrontLine = frontLinePoint.Position;
Point rP = robot.properties.pose.Position;
if (this.traffic.RobotIsInArea("PO123", rPFrontLine))
{
if (this.traffic.RobotIsInArea("CHECKINPO123_JUJ", rP))
{
if (this.traffic.HasOtherRobotUnityinArea("PO123", robot))
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);// tiep tuc check
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false); // ket thuc check
}
}
else if (this.traffic.RobotIsInArea("CHECKINPO123_VLP", rP))
{
if (this.traffic.HasOtherRobotUnityinArea("PO123", robot) || this.traffic.HasOtherRobotUnityinArea("CHECKINPO123_JUJ", robot))
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);// tiep tuc check
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false); // ket thuc check
}
}
}
else if (this.traffic.RobotIsInArea("AKAS123", rPFrontLine))
{
if (this.traffic.RobotIsInArea("CHECKINAKAS123", rP))
{
if (this.traffic.HasOtherRobotUnityinArea("AKAS123", robot))
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);// tiep tuc check
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false); // ket thuc check
}
}
}
else if (this.traffic.RobotIsInArea("JULEVO", rPFrontLine))
{
if (this.traffic.RobotIsInArea("CHECKINJULEVO", rP))
{
if (this.traffic.HasOtherRobotUnityinArea("JULEVO", robot))
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
return(true);// tiep tuc check
}
else
{
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false); // ket thuc check
}
}
}
robot.SetSpeedHighPrioprity(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false);// tiep tuc check
}