RCS / RCS_Differential_Slam_Changsha · Files

using RCS.Model.Comm;
using RCS.Model.Entity.PrimaryKey;
using System.ComponentModel.DataAnnotations.Schema;

namespace RCS.Model.Entity
{
    [Table("t_base_map_point")]
    public class Base_Point : IdEntity, IComparable, ICloneable
    {
        #region Point实体类

        #region 数据库操作数据
        /// <summary>
        /// 点区域类型
        /// </summary>
        public string AreaType { get; set; }

        public string GetArea()
        {
            //if (IntX <= 20 && IntY >= 977)
            //{
            //    return "林德区域";
            //}
            //else if (IntY <= 975 && IntY >= 959
            //    && IntX <= 42 && IntX >= 7)
            //{
            //    return "AGV仓库";
            //}
            //else if (IntX > 42)
            //{
            //    return "地牛区域";
            //}
            //throw new Exception("区域不存在");
            return "马钢";
        }

        /// <summary>
        /// 地标值
        /// </summary>
        public string Barcode { get; set; }

        /// 地标条码
        /// </summary>
        public string BarcodeValue { get; set; }

        /// <summary>
        /// 前置地标
        /// </summary>
        public string PreBarcode { get; set; }

        /// <summary>
        /// 地图X坐标
        /// </summary>
        public int IntX { get; set; }

        /// <summary>
        /// 地图Y坐标
        /// </summary>
        public int IntY { get; set; }

        /// <summary>
        /// 点是否可用
        /// </summary>
        public bool IsEnable
        {
            get => isEnable; set
            {
                isEnable = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 点是否被占用
        /// </summary>
        public bool IsOccupy
        {
            get => isOccupy; set
            {
                isOccupy = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 点被占用的小车号（行走不置）
        /// </summary>
        public string OccupyAgvNo
        {
            get => occupyAgvNo; set
            {
                occupyAgvNo = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 点属性
        /// </summary>
        public EnumMsg.PointType PointType { get; set; }

        /// <summary>
        /// 地标X坐标/地标X间距
        /// </summary>
        public int XLength { get; set; }

        /// <summary>
        /// 地标Y坐标/地标Y间距
        /// </summary>
        public int YLength { get; set; }

        /// <summary>
        /// 车头角度
        /// </summary>
        public int AgvAngle { get; set; }

        /// <summary>
        /// 所属限制区域代码
        /// </summary>
        public string RegionName { get; set; }

        /// <summary>
        /// 是否允许驻停
        /// </summary>
        public bool IsStop { get => isStop; set { isStop = value; NotifyPropertyChanged(); } }
        /// <summary>
        /// 驻停等级
        /// </summary>
        public int StopLevel { get; set; }
        /// <summary>
        ///  走弧等级
        /// </summary>
        public short ArcingLevel { get; set; }

        /// <summary>
        /// X正方向是否允许通行
        /// </summary>
        public bool IsXPos { get; set; }
        /// <summary>
        /// X负方向是否允许通行
        /// </summary>
        public bool IsXNeg { get; set; }
        /// <summary>
        /// Y正方向是否允许通行
        /// </summary>
        public bool IsYPos { get; set; }
        /// <summary>
        /// Y负方向是否允许通行
        /// </summary>
        public bool IsYNeg { get; set; }

        /// <summary>
        /// X正方向车头方向
        /// </summary>
        public short? AgvDirectionXPos { get; set; }

        /// <summary>
        /// X负方向车头方向                        
        /// </summary>
        public short? AgvDirectionXNeg { get; set; }

        /// <summary>
        /// Y正方向车头方向
        /// </summary>
        public short? AgvDirectionYPos { get; set; }

        /// <summary>
        /// Y负方向车头方向
        /// </summary>
        public short? AgvDirectionYNeg { get; set; }

        /// <summary>
        /// X正方向转盘方向
        /// </summary>
        public short? DialDirectionXPos { get; set; }

        /// <summary>
        /// X负方向转盘方向
        /// </summary>
        public short? DialDirectionXNeg { get; set; }

        /// <summary>
        /// Y正方向转盘方向
        /// </summary>
        public short? DialDirectionYPos { get; set; }

        /// <summary>
        /// Y负方向转盘方向
        /// </summary>
        public short? DialDirectionYNeg { get; set; }

        /// <summary>
        /// X正方向速度
        /// </summary>
        public byte SpeedXPos { get; set; }

        /// <summary>
        /// X负方向速度                        
        /// </summary>
        public byte SpeedXNeg { get; set; }

        /// <summary>
        /// Y正方向速度
        /// </summary>
        public byte SpeedYPos { get; set; }

        /// <summary>
        /// Y负方向速度
        /// </summary>
        public byte SpeedYNeg { get; set; }

        /// <summary>
        /// X正方向雷达                                     
        /// </summary>
        public byte RadarXPos { get; set; }

        /// <summary>
        /// X负方向雷达                        
        /// </summary>
        public byte RadarXNeg { get; set; }

        /// <summary>
        /// Y正方向雷达
        /// </summary>
        public byte RadarYPos { get; set; }

        /// <summary>
        /// Y负方向雷达
        /// </summary>
        public byte RadarYNeg { get; set; }

        /// <summary>
        /// 进入地标的调节属性
        /// </summary>
        public EnumMsg.Adjust AdjustIn { get; set; }

        /// <summary>
        /// 离开地标调节属性
        /// </summary>
        public EnumMsg.Adjust AdjustOut { get; set; }

        /// <summary>
        /// X正G值，用于点位的权重计算
        /// </summary>
        public int XPosGValue { get; set; }
        /// <summary>
        /// X负G值，用于点位的权重计算
        /// </summary>
        public int XNegGValue { get; set; }
        /// <summary>
        /// Y正G值，用于点位的权重计算
        /// </summary>
        public int YPosGValue { get; set; }
        /// <summary>
        /// Y负G值，用于点位的权重计算
        /// </summary>
        public int YNegGValue { get; set; }
        #endregion

        #region 缓存数据
        /// <summary>
        /// X正方向临近点
        /// </summary>
        public Base_Point? XPosPoint;
        /// <summary>
        /// X负方向临近点
        /// </summary>
        public Base_Point? XNegPoint;
        /// <summary>
        /// Y正方向临近点
        /// </summary>
        public Base_Point? YPosPoint;
        /// <summary>
        /// Y负方向临近点
        /// </summary>
        public Base_Point? YNegPoint;

        /// <summary>
        /// 临时方向集合
        /// </summary>
        [NotMapped]
        public List<TmpDirection> TmpDirectionList { get; set; }

        /// <summary>
        /// 点被申请的小车
        /// </summary>
        [NotMapped]
        public Base_Agv? LockedAgv
        {
            get => lockedAgv; set
            {
                lockedAgv = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 增删改
        /// </summary>
        [NotMapped]
        public string Type;
        #endregion

        #region 为了1个点位2个坐标新增
        /// <summary>
        /// X位置信息
        /// </summary>
        public int GetXLength(string agvNo)
        {
            switch (agvNo)
            {
                default:
                    return XLength;
            }
        }

        /// <summary>
        /// Y位置信息
        /// </summary>
        public int GetYLength(string agvNo)
        {
            switch (agvNo)
            {
                default:
                    return YLength;
            }
        }

        /// <summary>
        /// Y位置信息
        /// </summary>
        public ushort GetAgvAngle(string? agvNo)
        {
            switch (agvNo)
            {
                default:
                    return 0;
            }
        }

        /// <summary>
        /// 获取距离
        /// </summary>
        public int GetDistance(string agvNo, int XLength, int YLength)
        {
            var distanceX = Math.Abs(GetXLength(agvNo) - XLength);
            var distanceY = Math.Abs(GetYLength(agvNo) - YLength);
            return distanceX >= distanceY ? distanceX : distanceY;
        }
        #endregion

        public Object Clone()
        {

            return this.MemberwiseClone();
        }

        #endregion


        #region A*算法
        public Base_Point? ParentPoint;
        //F=G+H
        public double Value_F;
        public double Value_G;
        public double Value_H;

        private bool isEnable;
        private bool isOccupy;
        private string? occupyAgvNo;
        private Base_Agv? lockedAgv;
        private bool isStop;

        public int CompareTo(object? obj)
        {
            var p = obj as Base_Point;
            if (p == null)
            {
                throw new NotImplementedException();
            }
            if (Value_F == p.Value_F)
            {
                return Value_H.CompareTo(p.Value_H);
            }
            else
            {
                return Value_F.CompareTo(p.Value_F);
            }
        }
        #endregion

    }

    public class TmpDirection
    {
        /// <summary>
        /// 临时锁的方向：1、x+;2、x-;3、y+;4、y-;
        /// </summary>
        public EnumMsg.Direction PathDirection { get; set; } = EnumMsg.Direction.无方向;
        public string AgvNo { get; set; }
    }

}