GetPath.cs
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using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using XingYe_ACS.WebApi;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace XingYe_ACS.Business
{
public class GetPath
{
/// <summary>
/// 为子任务分配路径
/// </summary>
public static void AssignePath()
{
try
{
foreach (Agv agv in App.AgvList)
{
try
{
FTask task = agv.agvTask;
if (task == null || task.sonTaskList.Count == 0 || task.sonTaskList[0].sonTaskState > EnumMsg.SonTaskState.重建路径中) continue;
List<PathPoint> pathPointList = GetPathList(agv);
SonTask sonTask = task.sonTaskList[0];
string sqlUpdate = "";
if (pathPointList == null)
{
sqlUpdate = string.Format("UPDATE T_SonTask SET sonTaskState = 2 WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo);
int intSqlResult = DbHelperSQL.ExecuteSql(sqlUpdate);
if (intSqlResult < 1) continue;
sonTask.sonTaskState = EnumMsg.SonTaskState.建立路径失败;
continue;
}
string sqlInsert = "";
for (int i = 1; i <= pathPointList.Count; i++)
{
//拐点进行判断
PathPoint pathPoint = pathPointList[i - 1];
if (pathPoint.isCorner)
{
if (pathPoint.point.pointType == EnumMsg.PointType.整体旋转点)
{
pathPoint.pathPointType = EnumMsg.PointType.整体旋转点;
}
else if (pathPointList[i - 2].point.pointType == EnumMsg.PointType.整体旋转点)
{
//pathPointList[i - 2].pathPointType = EnumMsg.PointType.托盘旋转点;
}
else if (pathPointList[i] != null && pathPointList[i].point.pointType == EnumMsg.PointType.整体旋转点)
{
//pathPointList[i].pathPointType = EnumMsg.PointType.托盘旋转点;
}
}
}
for (int i = 1; i <= pathPointList.Count; i++)
{
sqlInsert += string.Format(@"INSERT INTO T_Base_PathPoint (areaType,intSonTaskNo,strBarcode,intSerialNo,pathDirection,isCorner,pathPointType) VALUES('{0}','{1}','{2}','{3}','{4}','{5}','{6}');"
, pathPointList[i - 1].point.AreaType, sonTask.intSonTaskNo, pathPointList[i - 1].point.strBarcode, i, (int)pathPointList[i - 1].pathDirection, pathPointList[i - 1].isCorner == false ? "0" : "1", (int)pathPointList[i - 1].pathPointType);
}
sqlUpdate = string.Format("UPDATE T_SonTask SET sonTaskState = 4 WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo);
bool isSqlResult = DbHelperSQL.SqlTransOperator(sqlInsert + sqlUpdate);
if (isSqlResult)
{
sonTask.pathPointList = pathPointList;
sonTask.sonTaskState = EnumMsg.SonTaskState.已建立路径;
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("AssignePath", Ex.StackTrace);
}
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("AssignePath", Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 生成路径
/// </summary>
/// <returns>路径集合</returns>
public static List<PathPoint> GetPathList(Agv agv)
{
try
{
SonTask sonTask = agv.agvTask.sonTaskList[0];
Point startPoint = App.PointList.FirstOrDefault(a => a.strBarcode == agv.strBarcode);
Point endPoint = sonTask.endPoint;
//20201113 （临时）创建路径时终点若被lock，则创建路径失败
if (endPoint.lockedAgv != null && endPoint.lockedAgv != agv) return null;
//20210422判断是否有去往终点的AGV
var result = App.TaskList.Where(a => a.strTaskAgv != "" && a.strTaskAgv != agv.strAgvNo).ToList().SelectMany(b => b.sonTaskList).ToList();
var result1 = result.Exists(a => a.sonTaskState != EnumMsg.SonTaskState.初始化 && a.endPoint == endPoint);
if (result1) return null;
//判断是否在同一区域
List<Point> listPoints = ComnMethod.GetAreaPoint(startPoint, endPoint);
startPoint = listPoints.First();
endPoint = listPoints.LastOrDefault();
EnumMsg.AgvTaskType taskType = sonTask.sonTaskType;
switch (taskType)
{
case EnumMsg.AgvTaskType.行走:
if (startPoint == endPoint)
return new List<PathPoint>() { ComnMethod.GetPathPoint(endPoint) };
PathAStar pathAStar = new PathAStar();
List<Point> listApoint = GetCanUseApoint(agv);
ClearParentPoint();
Point Parent = pathAStar.GetPathPoint(listApoint, startPoint, endPoint, agv,2);
if (Parent == null || (Parent != null && Parent != endPoint))
{
App.ExFile.MessageLog("TaskPathFail" + agv.strAgvNo, "路径创建失败" + endPoint.strBarcode + ";" + endPoint.AreaType + ";" + startPoint.strBarcode + ";" + startPoint.AreaType);
sonTask.sonTaskState = EnumMsg.SonTaskState.建立路径失败;
return null;
}
List<PathPoint> listPathPoint = GetPathPointList(Parent);
//获取路径方点的方向
GetPathDirection(listPathPoint);
//获取路径点的拐点
bool isResult = GetPathCorner(listPathPoint, startPoint);
//锁定临时方向锁
OriLock(listPathPoint, agv);
return listPathPoint;
case EnumMsg.AgvTaskType.顶升:
case EnumMsg.AgvTaskType.下降:
case EnumMsg.AgvTaskType.直接顶升:
case EnumMsg.AgvTaskType.直接下降:
case EnumMsg.AgvTaskType.充电:
case EnumMsg.AgvTaskType.取消充电:
case EnumMsg.AgvTaskType.原地旋转:
case EnumMsg.AgvTaskType.等待:
return new List<PathPoint>() { ComnMethod.GetPathPoint(endPoint) };
default:
throw new Exception("创建路径时无此任务类型:" + taskType.ToString());
}
}
catch (Exception Ex)
{
throw new Exception("GetPathList:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
/// <summary>
/// 清除点的父类属性
/// </summary>
public static void ClearParentPoint()
{
foreach (Point point in App.PointList)
{
if (point.ParentPoint != null)
point.ParentPoint = null;
}
}
/// <summary>
///获取可用的路径点
/// </summary>
static List<Point> GetCanUseApoint(Agv agv)
{
SonTask sonTask = agv.agvTask.sonTaskList[0];
Point startPoint = sonTask.startPoint;
if (sonTask.sonTaskState == EnumMsg.SonTaskState.重建路径中)
{
startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
}
Point endPoint = sonTask.endPoint;
//获取可用点
List<Point> listApoint = new List<Point>();
foreach (Point point in App.PointList)
{
if (point != startPoint && point != endPoint)
{
//起点周围点被锁定，且车的位置也在此点，则不建路径
//解决异常重建时，路径依旧堵死的问题
if (point == startPoint.xNegPoint && point.lockedAgv != null && point.lockedAgv.strBarcode == point.strBarcode) continue;
if (point == startPoint.xPosPoint && point.lockedAgv != null && point.lockedAgv.strBarcode == point.strBarcode) continue;
if (point == startPoint.yNegPoint && point.lockedAgv != null && point.lockedAgv.strBarcode == point.strBarcode) continue;
if (point == startPoint.yPosPoint && point.lockedAgv != null && point.lockedAgv.strBarcode == point.strBarcode) continue;
//以下点类型不使用
if (point.pointType == EnumMsg.PointType.死点) continue;//
//if (point.pointType == EnumMsg.PointType.站台点
// && !App.StationList.Find(a => a.strBarcode == point.strBarcode).strStationNo.Contains("Empty")) continue;
//被占用，不使用
if (point.isOccupy) continue;
//不包含agv的区域则不选择
//if (point.AreaType != agv.agvMap) continue;
}
listApoint.Add(point);
}
return listApoint;
}
/// <summary>
/// 路径点添加至路径集合
/// </summary>
/// <param name="Parent"></param>
/// <param name="type">任务预览/派发路径</param>
/// <returns></returns>
public static List<PathPoint> GetPathPointList(Point Parent)
{
List<PathPoint> listPathPoint = new List<PathPoint>();
while (Parent != null)
{
listPathPoint.Add(ComnMethod.GetPathPoint(Parent));
Parent = Parent.ParentPoint;
}
listPathPoint.Reverse();
for (int i = 0; i < listPathPoint.Count; i++)
{
listPathPoint[i].intSerialNo = i + 1;
}
return listPathPoint;
}
#region 获取路径方向
/// <summary>
/// 获取路径方向
/// </summary>
/// <param name="pathList">路径集合</param>
public static void GetPathDirection(List<PathPoint> pathList)
{
//终点不比较
for (int i = 0; i < pathList.Count - 1; i++)
{
Point point = pathList[i].point;
Point nextPoint = pathList[i + 1].point;
PathAStar pathAStar = new PathAStar();
EnumMsg.OriType pathDirection = pathAStar.GetDircition(nextPoint, point);
pathList[i].pathDirection = pathDirection;
pathList[i].keyValuePairs.Add(point.strBarcode, (int)pathDirection);
}
}
#endregion
#region 获取路径拐点
/// <summary>
/// 获取路径拐点
/// </summary>
/// <param name="pathList">路径点</param>
public static bool GetPathCorner(List<PathPoint> pathList, Point beginPoint)
{
try
{
if (beginPoint == null)
throw new Exception("获取路径拐点失败，起点终点不能为空");
for (int i = 0; i < pathList.Count - 1; i++)
{
//当前路径点
PathPoint currentPoint = pathList[i];
if (currentPoint.point == beginPoint)
{
//currentPoint.isCorner = true;
continue;
}
//上个路径点
PathPoint beforePoint = pathList[i - 1];
if (currentPoint.pathDirection != beforePoint.pathDirection)
{
currentPoint.isCorner = true;
}
else
{
currentPoint.isCorner = false;
}
}
return true;
}
catch (Exception Ex)
{
throw new Exception("GetPathCorner:" + Ex.Message.Replace(Environment.NewLine, ""));
}
}
#endregion
#region 锁定路径方向
/// <summary>
/// 锁定路径方向
/// </summary>
/// <param name="pathList"></param>
public static void OriLock(List<PathPoint> pathList, Agv agv)
{
//终点不比较
// int dir0 = 0;
for (int i = 0; i < pathList.Count - 1; i++)
{
Point point = pathList[i].point;
Point nextPoint = pathList[i + 1].point;
if (point == nextPoint || point.strRegionName.Contains("Rotote") || point.strRegionName.Contains("Mutex") || point.strRegionName.Contains("area"))
continue;
if (nextPoint.pointType == EnumMsg.PointType.站台点 && point.pointType == EnumMsg.PointType.站台附属点) continue;
PathAStar pathAStar = new PathAStar();
EnumMsg.OriType pathDirection = pathAStar.GetDircition(nextPoint, point);
pathList[i].pathDirection = pathDirection;
TmpDirection td = new TmpDirection();
td.pathDirection = pathDirection;
td.strAgvNo = agv.strAgvNo;
point.tmpDirectionList.Add(td);
}
}
#endregion
#region Demo查找路径方法
/// <summary>
/// 清除点的父类属性
/// </summary>
public static void ClearDemoParentPoint()
{
foreach (Point point in App.DemoPointList)
{
if (point.ParentPoint != null)
point.ParentPoint = null;
}
}
#endregion
}
}