GetNextPoint.cs
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using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
namespace XingYe_ACS.Business
{
public class GetNextPoint
{
/// <summary>
/// 为小车获取后续动作点
/// </summary>
/// <param name="sonTask">子任务信息</param>
/// <param name="agv">小车信息</param>
/// <returns></returns>
public static List<ClientMotion> Motions(SonTask sonTask, Agv agv)
{
try
{
//储存此过程中添加的lock点，除此之外的都解除lock;
List<Point> lockedPoint = new List<Point>();
List<ClientMotion> motionList = new List<ClientMotion>();
PathPoint currentPathPoint = sonTask.pathPointList.FirstOrDefault(a => a.point.strBarcode == agv.strBarcode);
//根据车身距离判断是否是否前一路径
PathPoint beforePathPoint = sonTask.pathPointList.FirstOrDefault(a => a.intSerialNo == currentPathPoint.intSerialNo - 1);
if (beforePathPoint != null)
{
int length = ComnMethod.GetDistance(beforePathPoint.point.strBarcode, agv.strBarcode, "");
if (length < App.AgvLength)
{
beforePathPoint.point.lockedAgv = agv;
lockedPoint.Add(beforePathPoint.point);
}
}
//移除当前点之前的路径点
sonTask.pathPointList.RemoveAll(a => a.intSerialNo < currentPathPoint.intSerialNo);
#region 注释的原地旋转
//if (sonTask.sonTaskType == EnumMsg.AgvTaskType.原地旋转)
//{
// string Region = currentPathPoint.point.strRegionName;
// List<Point> attachPointList = App.PointList.Where(a => a.strRegionName.Contains(Region)).ToList();
// int flag = 0;
// foreach (Point point in attachPointList)
// {
// if (point.lockedAgv != null && point.lockedAgv != agv)
// {
// flag = 99;
// continue;
// }
// point.lockedAgv = agv;
// lockedPoint.Add(point);
// }
// //判断旋转点周围有没有车
// if (flag == 0)
// {
// ClientMotion clientMotion = GetMotion(sonTask, currentPathPoint);
// motionList.Add(clientMotion);
// }
// return motionList;
//}
#endregion
//找到路径中此点以后的四个点
List<PathPoint> pathList = sonTask.pathPointList.Where(a => a.intSerialNo <= currentPathPoint.intSerialNo + 3).ToList();
pathList.Sort();
foreach (PathPoint pathPoint in pathList)
{
ClientMotion clientMotion = null;
Point point = pathPoint.point;
var oriPoint = motionList.FirstOrDefault(a => a.intOriDial != 0 && a.strBarcode != agv.strBarcode);
if (oriPoint != null)
{
break;
}
//获取路径下个点是否被占用
//如果是，判断距离是否满足车身长度，满足，申请，不满足直接不申请
PathPoint nextPath = sonTask.pathPointList.Find(a => a.intSerialNo == pathPoint.intSerialNo + 1);
if (nextPath != null && nextPath.point.lockedAgv != null && nextPath.point.lockedAgv != agv)
{
int length = ComnMethod.GetDistance(pathPoint.point.strBarcode, nextPath.point.strBarcode, "");
if (length < App.AgvLength) break;
}
#region 判断当前点占用小车是否位自己，否在重建路径
//AGV已申请的点直接加入Motion
if (point.lockedAgv == agv)
{
clientMotion = GetMotion(sonTask, pathPoint, agv);
lockedPoint.Add(point);
motionList.Add(clientMotion);
continue;
}
//不是当前小车申请的点
else if (point.lockedAgv != null)
{
//判断是不是小车当前点的下一个点
if (motionList.Count == 1)
{
Agv nextAgv = point.lockedAgv;
/*
* 若nextAgv没有任务，当前车需要重建路径
* 若nextAgv没有找到路径，当前车需要重建路径
*/
if (nextAgv.agvTask == null || nextAgv.agvTask.sonTaskList.Count == 0 || nextAgv.agvTask.sonTaskList[0].sonTaskState == EnumMsg.SonTaskState.建立路径失败)
{
UpdateManage.ResetPath(sonTask);
}
}
break;
}
#endregion
#region 互斥管控
if (point.strRegionName.Contains("Mutex"))
{
//if(point.strRegionName)
List<Point> mutexPointList = App.PointList.FindAll(a => a.strRegionName == point.strRegionName);
bool isMutexResult = MutexAreaContrl(mutexPointList, pathPoint, agv);
if (isMutexResult)
{
if (motionList.Count == 1)
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "互斥区域的流量管控；");
break;
}
}
#endregion
#region 整体旋转点托盘旋转
//路径中有需要旋转的旋转点，停
//if (agv.heightState == EnumMsg.HeightState.高位)
//{
// if (lockedPoint.Exists(a => a.pointType == EnumMsg.PointType.整体旋转点) &&
// pathList.Find(b => b.point.strBarcode == lockedPoint.Last(a => a.pointType == EnumMsg.PointType.整体旋转点).strBarcode
// && b.pathPointType == EnumMsg.PointType.托盘旋转点) != null
// && currentPathPoint.pathPointType != EnumMsg.PointType.托盘旋转点) break;
// PathPoint nextPoint = ComnMethod.GetNextPathPoint(agv, currentPathPoint);
// if (currentPathPoint.pathPointType == EnumMsg.PointType.托盘旋转点 && nextPoint != null)
// {
// if (nextPoint.isCorner)
// {
// if (nextPoint.point.pointType == EnumMsg.PointType.虚拟点 || nextPoint.point.pointType == EnumMsg.PointType.整体旋转点)
// {
// if ((int)agv.dialOri != 1) break;
// }
// else
// {
// if ((int)agv.dialOri != 2) break;
// }
// //if (nextPoint.point.pointType == EnumMsg.PointType.虚拟点 && (int)agv.dialOri != 1) break;
// //if (nextPoint.point.pointType != EnumMsg.PointType.虚拟点 && (int)agv.dialOri != 2) break;
// }
// else
// {
// if ((int)agv.dialOri != 1) break;
// }
// }
//}
#endregion
#region 提升机等待点
if (lockedPoint.Exists(a => a.pointType == EnumMsg.PointType.对接等待点) &&
currentPathPoint.point.pointType != EnumMsg.PointType.对接等待点) break;
#endregion
//判断申请点为站台附属点，并且当前任务终点为站台点，判断是否有车申请，有车申请不进
if ((pathPoint.point.pointType == EnumMsg.PointType.站台附属点|| pathPoint.point.pointType == EnumMsg.PointType.对接等待点)
&& sonTask.endPoint.strPreBarcode == point.strBarcode
&& sonTask.endPoint.lockedAgv != null && sonTask.endPoint.lockedAgv != agv) break;
#region 防止回环申请的管控
bool isLoop = false;
Loop(pathPoint, new List<Agv>() { agv }, ref isLoop);
if (isLoop)
{
//只有一个点的时候才报错
if (motionList.Count == 1)
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "回环申请的管控；");
break;
}
#endregion
#region 特殊区域的流量管控
if (point.strRegionName.Contains("KeyArea"))
{
List<Point> keyPointList = App.PointList.Where(a => a.strRegionName == point.strRegionName).ToList();
bool isKeyResult = KeyAreaContrl(keyPointList, agv);
if (isKeyResult)
{
if (motionList.Count == 1)
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "特殊区域的流量管控；");
break;
}
}
#endregion
#region 特殊点区域流量管控
if (App.Config_PointList.Find(a => a.strBarcode == point.strBarcode) != null)
{
List<Config_Point> config_PointList = App.Config_PointList.FindAll(a => a.intNo == App.Config_PointList.Find(b => b.strBarcode == point.strBarcode).intNo && a.areaType == point.AreaType);
int flag = 0;
foreach (Config_Point config_Point in config_PointList)
{
Point conPoint = App.PointList.Find(a => a.strBarcode == config_Point.strBarcode);
if (conPoint.lockedAgv != null && conPoint.lockedAgv != agv)// && conPoint.pointType == EnumMsg.PointType.整体旋转点
{
if (conPoint.lockedAgv.agvAreaType == "1" && conPoint.lockedAgv.heightState != EnumMsg.HeightState.低位
&& ((agv.agvAreaType == "1" && agv.heightState != EnumMsg.HeightState.低位) || agv.agvAreaType == "2")) { flag = 99; }
else if (conPoint.lockedAgv.agvAreaType == "2" && agv.agvAreaType == "1" && agv.heightState != EnumMsg.HeightState.低位)
flag = 99;
}
if (conPoint.lockedAgv != null && conPoint.lockedAgv != agv && conPoint.pointType == EnumMsg.PointType.托盘旋转点)
{ flag = 99; }
}
//旋转点是否有车，有车不进入
if (flag == 99)
{
if (motionList.Count == 1)
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "特殊点区域的流量管控；");
break;
}
}
#endregion
#region 旋转区域的控制
if (point.strRegionName.Contains("Rotote"))
{
string strRegion = point.strRegionName;
if (point.strRegionName.Contains("&"))
{
string[] regionList = strRegion.Split('&');
Station station = App.StationList.Find(a => a.strBarcode == sonTask.endPoint.strBarcode);
if (station != null)
{
strRegion = regionList.FirstOrDefault(a => a.Contains(station.strStationNo));
}
else
{
station = App.StationList.Find(a => a.strBarcode == agv.strBarcode);
strRegion = regionList.FirstOrDefault(a => a.Contains(station.strStationNo));
}
}
if (strRegion != "")
{
//找到此旋转区域所有的点
List<Point> rototeList = App.PointList.Where(a => a.strRegionName.Contains(strRegion)).ToList();
bool isRototeResult = RototeContrl(rototeList, agv, sonTask);
if (isRototeResult)
{
if (motionList.Count == 1)
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "旋转区域的控制；");
break;
}
}
}
#endregion
point.lockedAgv = agv;
lockedPoint.Add(point);
clientMotion = GetMotion(sonTask, pathPoint, agv);
motionList.Add(clientMotion);
}
//检查最后的停止点距离下个路径点的距离
UpdateManage.relieveLocked(lockedPoint, agv);
return motionList;
}
catch (Exception Ex)
{
throw new Exception("Motions:" + Ex.StackTrace);
}
}
/// <summary>
/// 获取Motion
/// </summary>
/// <param name="sonTask">子任务</param>
/// <param name="currentPathPoint">待加入的路径点</param>
/// <returns></returns>
public static ClientMotion GetMotion(SonTask sonTask, PathPoint currentPathPoint, Agv agv)
{
try
{
ClientMotion clientMotion = new ClientMotion();
clientMotion.intTaskType = (int)sonTask.sonTaskType;
clientMotion.strBarcode = currentPathPoint.point.strBarcode;
clientMotion.intX = currentPathPoint.point.intX;
clientMotion.intY = currentPathPoint.point.intY;
clientMotion.intXLength = currentPathPoint.point.intXLength;
clientMotion.intYLength = currentPathPoint.point.intYLength;
clientMotion.intOriAgv = (int)currentPathPoint.point.oriAgv;
clientMotion.intPointType = (int)currentPathPoint.point.pointType;
clientMotion.intAntiCollision = (int)currentPathPoint.point.antiCollision;
if (currentPathPoint.pathPointType == 0)
{
clientMotion.intPathPointType = (int)currentPathPoint.point.pointType;
}
else
{
clientMotion.intPathPointType = (int)currentPathPoint.pathPointType;
}
if (clientMotion.intPathPointType != (int)EnumMsg.PointType.对接点)
{
clientMotion.intPathPointType = (int)EnumMsg.PointType.对接点;
}
if ((currentPathPoint.point.pointType == EnumMsg.PointType.站台附属点
|| currentPathPoint.point.pointType == EnumMsg.PointType.整体旋转点)
&& sonTask.endPoint.strPreBarcode == currentPathPoint.point.strBarcode)
{
clientMotion.intOriDial = currentPathPoint.point.oriDial.GetIndexInt();
}
if (currentPathPoint.point.pointType == EnumMsg.PointType.充电点)
{
clientMotion.intOriAgv = (int)App.StationList.Find(a => a.strBarcode == currentPathPoint.point.strBarcode).stationOri == 2 ? 4 : 2;
}
if (currentPathPoint.point.pointType == EnumMsg.PointType.对接点&& currentPathPoint.point.strBarcode=="750")
{
clientMotion.intOriAgv = 2;
clientMotion.intOriDial = 1;
}
if (currentPathPoint.point.pointType == EnumMsg.PointType.对接点 && currentPathPoint.point.strBarcode == "745")
{
clientMotion.intOriDial = 1;
}
#region 获取当前点的转盘方向
//ComnMethod.getAgvDial(currentPathPoint, agv);
#endregion
#region 充电车头方向及距离
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.充电 || sonTask.sonTaskType == EnumMsg.AgvTaskType.取消充电)
{
//clientMotion.intOriAgv = (int)sonTask.agvDirection;
clientMotion.intXLength = sonTask.chargeLength;
clientMotion.intYLength = sonTask.chargeLength;
}
#endregion
return clientMotion;
}
catch (Exception Ex)
{
throw new Exception("GetMotion:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 检查是否有回旋死锁
/// </summary>
/// <param name="nowPoint"></param>
/// <param name="listAgv"></param>
/// <param name="isLoop"></param>
public static void Loop(PathPoint nowPoint, List<Agv> listAgv, ref bool isLoop)
{
try
{
//找最新的AGV
Agv lastAgv = listAgv.LastOrDefault();
PathPoint nextPoint = ComnMethod.GetNextPathPoint(lastAgv, nowPoint);
if (nextPoint != null)
{
//获取占用此点的AGV
Agv agv = nextPoint.point.lockedAgv;
//此点被另外的AGV占用了
if (agv != null && agv != lastAgv)
{
listAgv.Add(agv);
//如果还没找到第四个点，则继续找
if (listAgv.Count == 4)
{
if (listAgv[0].strAgvNo != listAgv[3].strAgvNo)
isLoop = true;
else
isLoop = false;
return;
}
Loop(nextPoint, listAgv, ref isLoop);
}
}
}
catch (Exception Ex)
{
throw new Exception("Loop:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 区域流量管控
/// </summary>
/// <param name="keyPointList"></param>
/// <param name="point"></param>
/// <returns></returns>
public static bool KeyAreaContrl(List<Point> keyPointList, Agv agv)
{
try
{
if (keyPointList.FirstOrDefault(a => a.strBarcode == agv.strBarcode) != null) return false;
//提取所有小车的当前点和关键区域所有的点，找相同则为区域内的小车数量
List<string> agvList = App.AgvList.Select(a => a.strBarcode).ToList();
List<string> keyList = keyPointList.Select(a => a.strBarcode).ToList();
int agvCount = agvList.Intersect(keyList).ToList().Count;
if (agvCount <= App.KeyAreaNum) return false;
return true;
}
catch (Exception Ex)
{
throw new Exception("KeyAreaContrl:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 旋转区域控制
/// </summary>
/// <param name="rototeList"></param>
/// <param name="agv"></param>
/// <param name="sonTask"></param>
/// <returns></returns>
public static bool RototeContrl(List<Point> rototeList, Agv agv, SonTask sonTask)
{
try
{
//找到此旋转区域的旋转点
Point rototePoint = rototeList.FirstOrDefault(a => a.pointType == EnumMsg.PointType.站台点);
//此区域没有被锁定
if (!rototePoint.isRegionApply)
{
//是不是要旋转,需要锁定旋转区域
if (sonTask.sonTaskType == EnumMsg.AgvTaskType.原地旋转 && sonTask.startPoint == rototePoint)
{
string sqlUpdate = string.Format(@"UPDATE T_Base_Point SET isRegionApply = '1', strRegionApplyAgvNo = '{1}' WHERE strBarcode = '{0}';"
, rototePoint.strBarcode, rototePoint.strRegionApplyAgvNo);
int isSqlResult = DbHelperSQL.ExecuteSql(sqlUpdate);
if (isSqlResult == 1)
{
rototePoint.isRegionApply = true;
rototePoint.strRegionApplyAgvNo = agv.strAgvNo;
}
}
}
else
{
//判断旋转区域有没有此车的占用
if (rototeList.FirstOrDefault(a => a.lockedAgv == agv) == null) return true;
//判断是否是此车占用
if (rototePoint.strRegionApplyAgvNo == agv.strAgvNo)
{
foreach (Point lockPoint in rototeList)
{
if (lockPoint.lockedAgv == null || lockPoint.lockedAgv == agv) continue;
if (lockPoint.lockedAgv.agvTask == null || lockPoint.lockedAgv.agvTask.sonTaskList.Count == 0) continue;
if (lockPoint.lockedAgv.agvTask.sonTaskList[0].pathPointList.Exists(a => a.point == rototePoint)) return true;
}
}
}
return false;
}
catch (Exception Ex)
{
throw new Exception("RototeContrl:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 互斥区域
/// </summary>
/// <param name="mutexPointList">当前点区域集合</param>
/// <param name="nowPoint">当前点</param>
/// <param name="agv">申请AGV</param>
/// <returns></returns>
public static bool MutexAreaContrl(List<Point> mutexPointList, PathPoint nowPoint, Agv agv)
{
try
{
if (mutexPointList.Count == 0) return false;
//当前子任务的终点
Point agvEndPoint = agv.agvTask.sonTaskList.First().endPoint;
//手动模式的任务的agv不进行管控
//if (agv.agvTask.strTaskID.Contains("手动")) return false;
//进入限制区域判定。
Point prePoint = App.PointList.Find(a => a.strBarcode == agvEndPoint.strPreBarcode);
if (prePoint != null && mutexPointList.Exists(a => a.strRegionName == prePoint.strRegionName)
&& agvEndPoint.lockedAgv != null && agvEndPoint.lockedAgv != agv) return true;
#region 注释当前点是停靠点区域判定
//if (nowPoint.point.pointType == EnumMsg.PointType.停靠附属点)
//{
// PathPoint nextPoint = ComnMethod.GetNextPathPoint(agv, nowPoint);
// if (nextPoint.point.pointType == EnumMsg.PointType.停靠点)
// {
// if (mutexPointList.Exists(a => a.lockedAgv != null && a.lockedAgv != agv)) return true;
// }
//}
#endregion
//正常限制区域判定
if (mutexPointList.Exists(a => a.lockedAgv != null && a.lockedAgv != agv))
{
//|| nextPoint.point.pointType == EnumMsg.PointType.停靠点 || nowPoint.point.pointType == EnumMsg.PointType.站台附属点
if (mutexPointList.Find(a => a.strBarcode == agv.strBarcode) != null) return false;
PathPoint nextPoint = ComnMethod.GetNextPathPoint(agv, nowPoint);
if (nextPoint == null || mutexPointList.Exists(a => a.strBarcode == nextPoint.point.strBarcode)
|| nowPoint.point.pointType == EnumMsg.PointType.虚拟点) return true;
else
{
Agv lockAgv = mutexPointList.Find(a => a.lockedAgv != null).lockedAgv;
return false;
}
}
else
{
//可以找到该限制区域的所有站台附属点perBarcode
//找到该限制区域内所有站台点
//List<string> listBarcode = mutexPointList.Select(a => a.strBarcode).ToList();
//List<Point> listPoint = App.PointList.FindAll(a => listBarcode.Contains(a.strPreBarcode));
////&& listPoint.Exists(a => a.strBarcode == agvEndPoint.strBarcode)
//PathPoint nextPoint = ComnMethod.GetNextPathPoint(agv, nowPoint);
//if (listPoint.Exists(a => a.lockedAgv != null && a.lockedAgv != agv
//&& a.lockedAgv.agvTask!=null && a.pointType != EnumMsg.PointType.停靠点)
// && (nextPoint == null || mutexPointList.Exists(a => a.strBarcode == nextPoint.point.strBarcode))) return true;
}
return false;
}
catch (Exception Ex)
{
throw new Exception("MutexAreaContrl:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
public static int StopMutexAreaControl(List<Point> mutexPointList, PathPoint nowPoint, Agv agv)
{
try
{
if (mutexPointList.Count == 0) return 0;
if (mutexPointList.Find(a => a.strRegionName.Contains("Mutex_004") && a.lockedAgv != null && a.lockedAgv != agv) != null) return 1;
//获取申请AGV的路径点集合
var agvpath = agv.agvTask.sonTaskList.FirstOrDefault().pathPointList;
//申请AGV的路径 与 限制区域路径点的集合
var result8 = agvpath.FindAll(a => mutexPointList.Exists(b => b.strBarcode == a.point.strBarcode));
//获取所有限制区域内的agv集合
var result3 = App.AgvList.ToList().FindAll(j => mutexPointList.Exists(point => point.lockedAgv == j && point.lockedAgv != agv && point.lockedAgv.agvTask != null));
if (result3.Count() == 0) return 0;
//获取区域内AGV的任务终点在装配区的个数
var sontaskAgv = result3.FindAll(a => a.agvTask.sonTaskList.FirstOrDefault().endPoint.strRegionName == "area1");
if (sontaskAgv.Count > 1 && agv.agvTask.endPoint.strRegionName == "area1") return 1;
//20201112判断集合内的是否有任务起点是当前任务终点的AGV
bool taskAgv = result3.Exists(a => a.agvTask.startPoint == agv.agvTask.endPoint);
if (taskAgv)
{
return 1;
}
//bool freeresult = result3.Exists(a => agvpath.Exists(p => p.point.strBarcode == a.strBarcode));
//if (freeresult)
//{
// return 1;
//}
if (result8.Count == 1 && result8.Exists(a => a.pathDirection == 0)) return 1;
//获取所有上述agv的路径点集合
var result4 = result3.SelectMany(a => a.agvTask.sonTaskList.SelectMany(b => b.pathPointList)).ToList();
if (result4.Count == 0) return 0;
//获取上述路径点集合和限制区域集合的交集
var result5 = result4.FindAll(a => mutexPointList.Exists(b => a.point.strBarcode == b.strBarcode));
if (result5.Count() == 0) return 0;
var result7 = result5.FindAll(a => agvpath.Exists(b => b.point.strBarcode == a.point.strBarcode));
//判断两个集合是否存在路径点方向差值等于2的
var result6 = result7.Exists(a => agvpath.Exists(b => Math.Abs((int)a.pathDirection - (int)b.pathDirection) == 2 && a.point.strBarcode == b.point.strBarcode));
if (result6)
{
return 1;
}
else
{
if (agvpath.Last().point.lockedAgv != null)
{
return 1;
}
else
{
return 0;
}
}
#region 注释
//手动模式的任务的agv不进行管控
//if (agv.agvTask.strTaskID.Contains("手动")) return 0;
//正常限制区域判定
//if (mutexPointList.Exists(a => a.lockedAgv != null && a.lockedAgv != agv))
//{
// //申请车在当前区域内，继续执行
// if (mutexPointList.Find(a => a.strBarcode == agv.strBarcode) != null) return 0;
// //判定当前区域内的agv是否同向行驶
// List<PathPoint> pathPointList = null;
// List<PathPoint> newPathPoints = new List<PathPoint>();
// List<Point> lockPoints = mutexPointList.FindAll(a => a.lockedAgv != null && a.lockedAgv != agv);
// if (lockPoints.Count == 0) return 0;
// List<Agv> agvs = new List<Agv>();
// foreach (Point lockPoint in lockPoints)
// {
// if (lockPoint.lockedAgv.agvTask != null)
// {
// //获取区域内lockAgv当前子任务的路径点
// if (lockPoint.lockedAgv.agvTask.sonTaskList.Count == 0) continue;
// agvs.Add(lockPoint.lockedAgv);
// }
// }
// //获取agv接下来的路径点
// foreach (Agv InAgv in agvs)
// {
// //当前任务的路径集合
// pathPointList = InAgv.agvTask.sonTaskList.FirstOrDefault().pathPointList;
// //当前点路径的序号
// int ss = pathPointList.Find(a => a.point.strBarcode == InAgv.strBarcode).intSerialNo;
// //接下来的路径点
// pathPointList = pathPointList.FindAll(a => a.intSerialNo > ss && a.point.strRegionName == nowPoint.point.strRegionName);
// foreach (PathPoint pa in pathPointList)
// {
// newPathPoints.Add(pa);
// }
// }
// foreach (PathPoint paths in agv.agvTask.sonTaskList.FirstOrDefault().pathPointList)
// {
// List<PathPoint> pathList = newPathPoints.FindAll(a => a.point.strBarcode == paths.point.strBarcode);
// if (pathList.Count == 0) { }
// else
// {
// //判断里面的路径方向是否与申请车的路径方向相反
// if (pathList.Exists(a => a.pathDirection == paths.pathDirection)) { }
// else
// {
// foreach (PathPoint patt in pathList)
// {
// int ss = Math.Abs((int)patt.pathDirection - (int)paths.pathDirection);
// if (ss == 2) return 1;
// }
// }
// }
// }
//}
#endregion
}
catch (Exception Ex)
{
throw new Exception("停靠点判定MutexAreaControl:" + Ex.StackTrace);
}
}
}
}