XS202203247513_ChongYa/TrafficDefine/TrafficManager.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Configuration;
using System.Data.SqlClient;

namespace AGV_WPF.TrafficDefine
{
    public class TrafficManager
    {
        public List<TrafficArea> TrafficAreaList;
        public bool OfflineControlFlag = false;//掉线是否仍能管制其他AGV标志，默认不能
        public static TrafficManager Traffic;
        public TrafficManager()
        {
            Traffic = this;
            TrafficAreaList = new List<TrafficArea>();
        }
        void CheckColumn()
        {
            string strCon = ConfigurationManager.AppSettings["ConnString"];
            using (SqlConnection con = new SqlConnection(strCon))
            {
                try
                {
                    string sql = string.Format("select count(1) from syscolumns where ID=OBJECT_ID('T_Traffic') and name='IsNeedKeyMark'");
                    con.Open();
                    using (SqlCommand com = new SqlCommand(sql, con))
                    {
                        object o = com.ExecuteScalar();
                        if (int.Parse(o.ToString()) == 0)
                        {
                            sql = string.Format("alter table T_Traffic add IsNeedkeyMark bit");
                            com.CommandText = sql;
                            com.ExecuteNonQuery();
                        }
                        sql = string.Format("select count(1) from syscolumns where ID=OBJECT_ID('T_Traffic') and name='KeyMarkID'");
                        com.CommandText = sql;
                        o = com.ExecuteScalar();
                        if (int.Parse(o.ToString()) == 0)
                        {
                            sql = string.Format("alter table T_Traffic add KeyMarkID bigint");
                            com.CommandText = sql;
                            com.ExecuteNonQuery();
                        }
                    }
                }
                catch (System.Exception ex)
                {
                    throw ex;
                }
            }
        }
        public void InitTrafficAreas()
        {
            CheckColumn();
            string strCon = ConfigurationManager.AppSettings["ConnString"];
            using (SqlConnection con = new SqlConnection(strCon))
            {
                try
                {
                    string sql = string.Format("select distinct TrafficNum from T_Traffic");
                    con.Open();
                    using (SqlCommand com = new SqlCommand(sql, con))
                    {
                        //1、先得到所有管制区编号
                        SqlDataReader reader = com.ExecuteReader();
                        List<int> totalTrafficNum = new List<int>();
                        while (reader.Read())
                        {
                            totalTrafficNum.Add(int.Parse(reader["TrafficNum"].ToString()));
                        }
                        reader.Close();
                        TrafficAreaList.Clear();//清空之前数据
                        //2、填充管制区站点数据
                        for (int i = 0; i < totalTrafficNum.Count;i++ )
                        {
                            TrafficArea area = new TrafficArea();
                            area.TrafficNum = totalTrafficNum[i];
                            area.IsNeedKeyMark = false;
                            sql = string.Format("select top(1) IsNeedKeyMark from T_Traffic where TrafficNum={0}", totalTrafficNum[i]);//确定是否要关键点
                            com.CommandText = sql;
                            object isNeedOjbect = com.ExecuteScalar();
                            if (isNeedOjbect != null && !string.IsNullOrEmpty(isNeedOjbect.ToString()) && bool.Parse(isNeedOjbect.ToString()))
                            {
                                area.IsNeedKeyMark = true;
                            }
                            sql = string.Format("select A.ID,A.TrafficNum,A.IsNeedKeyMark,A.Mark,A.WorkLine,A.XPos,A.YPos,B.Mark as KeyMark,B.WorkLine as KeyMarkWorkLine,B.XPos as KeyMarkXPos,B.YPos as KeyMarkYPos  from (select T_Traffic.ID,T_Traffic.TrafficNum,T_Traffic.MarkID,T_Mark.Mark,T_Mark.WorkLine,T_Mark.XPos,T_Mark.YPos,T_Traffic.IsNeedKeyMark from T_Traffic left join T_Mark on T_Mark.ID=T_Traffic.MarkID) as A left join (select T_Traffic.ID,T_Traffic.TrafficNum,T_Traffic.KeyMarkID,T_Mark.Mark,T_Mark.WorkLine,T_Mark.XPos,T_Mark.YPos,T_Traffic.IsNeedKeyMark from T_Traffic left join T_Mark on T_Mark.ID=T_Traffic.KeyMarkID) as B on A.ID=B.ID where A.TrafficNum=B.TrafficNum and A.TrafficNum={0}", totalTrafficNum[i]);
                            com.CommandText = sql;
                            reader = com.ExecuteReader();
                            while (reader.Read())
                            {
                                TrafficStation station = new TrafficStation();
                                object markObject = reader["Mark"];
                                object workLineObject = reader["WorkLine"];
                                object keyMarkObject = reader["KeyMark"];
                                object keyMarkWorkLineObject = reader["KeyMarkWorkLine"];
                                //检测是否为空，如果为空则用默认的
                                if (markObject != null && !string.IsNullOrEmpty(markObject.ToString()))
                                    station.CurrentMark.MarkNum = int.Parse(markObject.ToString());
                                if (workLineObject != null && !string.IsNullOrEmpty(workLineObject.ToString()))
                                    station.CurrentMark.WorkLine = int.Parse(workLineObject.ToString());
                                if (keyMarkObject != null && !string.IsNullOrEmpty(keyMarkObject.ToString()))
                                    station.NextMark.MarkNum = int.Parse(keyMarkObject.ToString());
                                if (keyMarkWorkLineObject != null && !string.IsNullOrEmpty(keyMarkWorkLineObject.ToString()))
                                    station.NextMark.WorkLine = int.Parse(keyMarkWorkLineObject.ToString());

                                area.StationList.Add(station);
                            }
                            reader.Close();
                            TrafficAreaList.Add(area);
                        }
                    }
                }
                catch (System.Exception ex)
                {
                    throw ex;
                }
            }

        }
        public bool UpdateAreaStatus(AgvStatus agv)
        {
            bool trafficFlag = false;//管制状态,true需要管制，false不需要管制
            //1、先备份之前管制区号
            int[] tempTrafficList = agv.TrafficNumList.ToArray();
            //2、再得到当前管制区号
            List<int> trafficIndexList = GetAgvTrafficIndexListEx(agv);
            List<bool> trafficFlagList = new List<bool>();
            for (int i = 0; i < trafficIndexList.Count;i++ )
            {
                trafficFlagList.Add(false);
            }
            //3、依次判断管制区状态并更新
            if(trafficIndexList.Count>0)
            {
                #region 在管制区中
                for (int i = 0; i < trafficIndexList.Count; i++)
                {
                    TrafficArea area = TrafficAreaList[trafficIndexList[i]];
                    if (area.Status)//已经有AGV占领此管制区
                    {
                        if (area.OccupyAgv == agv.AgvNum)//占领此区域的为自己
                        {
                            if (!agv.WirelessStaus)//掉线了
                            {
                                if (OfflineControlFlag)//掉线仍能管制其他AGV，不需要更新排队数据
                                {
                                    trafficFlagList[i] = false;
                                }
                                else//否则从排队中选出占领AGV，需要更新排队数据
                                {
                                    if (area.WaitAgvList.Count > 0)
                                    {
                                        area.OccupyAgv = area.WaitAgvList[0];
                                        area.WaitAgvList.Remove(area.OccupyAgv);
                                    }
                                    else
                                    {
                                        area.OccupyAgv = 0;
                                        area.Status = false;
                                    }
                                    trafficFlagList[i] = false;
                                }
                            }
                            else
                            {
                                trafficFlagList[i] = false;
                            }
                        }
                        else
                        {
                            if (!agv.WirelessStaus)
                            {
                                if (OfflineControlFlag)
                                {
                                    trafficFlagList[i] = true;
                                }
                                else
                                {
                                    area.WaitAgvList.Remove(agv.AgvNum);
                                    trafficFlagList[i] = false;
                                }
                            }
                            else//没掉线
                            {
                                AddWaitAgv(area, agv.AgvNum);//向队列中添加
                                trafficFlagList[i] = true;

                                //if (area.IsNeedKeyMark)//如果是关键点，则需要判断下是否同向，同向不需管制
                                //{
                                //    AgvStatus occupyAgvStatus = MainWindow.mainWindow.GetAgvStatus(area.OccupyAgv);
                                    
                                //    /*int tempIndex = area.StationList.FindIndex(c => (c.CurrentMark.WorkLine == occupyAgvStatus.WorkLine && c.CurrentMark.MarkNum == occupyAgvStatus.MarkNum && c.NextMark.WorkLine == agv.WorkLine && c.NextMark.MarkNum == agv.MarkNum) || (c.NextMark.WorkLine == occupyAgvStatus.WorkLine && c.NextMark.MarkNum == occupyAgvStatus.MarkNum && c.CurrentMark.WorkLine == agv.WorkLine && c.CurrentMark.MarkNum == agv.MarkNum));*/
                                //    bool flag = CheckAgvTraffic(agv, occupyAgvStatus, area);
                                //    if ((occupyAgvStatus.WorkLine == agv.WorkLine && occupyAgvStatus.MarkNum == agv.MarkNum)||flag)//管制AGV和当前AGV地标一样（管制AGV读完后，后面AGV跟上来），不需要管制
                                //    {
                                //        trafficFlagList[i] = false;
                                //    }

                                //}
                            }
                        }
                    }
                    else//无AGV占领此管制区
                    {
                        if (!agv.WirelessStaus)//掉线
                        {
                            if (OfflineControlFlag)
                            {
                                area.OccupyAgv = agv.AgvNum;//占领
                                area.Status = true;//置占领状态
                                trafficFlagList[i] = false;//此AGV不需管制
                            }
                        }
                        else
                        {
                            area.OccupyAgv = agv.AgvNum;//占领
                            area.Status = true;//置占领状态
                            trafficFlagList[i] = false;//此AGV不需管制
                        }
                    }
                }
#endregion
            }
            //出管制区
            {
                int[] outArea = GetDifferentArea(tempTrafficList.ToList(), agv.TrafficNumList);
                UpdateOutofArea(agv, outArea);
                
            }
            if (trafficFlagList.Contains(true))
            {
                trafficFlag = true;
            }
            else
                trafficFlag = false;
            return trafficFlag;
        }
        int[] GetDifferentArea(List<int> oldList, List<int> newList)
        {
            List<int> result = new List<int>();
            if (newList.Count == 0)
                return oldList.ToArray();
            for (int i = 0; i < oldList.Count;i++ )
            {
                if (!newList.Contains(oldList[i]))
                {
                    result.Add(oldList[i]);
                }
            }
            return result.ToArray();
        }
        /// <summary>
        /// 对出管制区的AGV更新各个管制区数据
        /// </summary>
        /// <param name="agv"></param>
        void UpdateOutofArea(AgvStatus agv,int[] trafficList)
        {
            if (trafficList.Length > 0)
            {
                for (int i = 0; i < trafficList.Length; i++)
                {
                    TrafficArea area = GetTrafficArea(trafficList[i]);
                    if (area.OccupyAgv == agv.AgvNum)
                    {
                        if (area.WaitAgvList.Count > 0)
                        {
                            area.OccupyAgv = area.WaitAgvList[0];
                            area.WaitAgvList.Remove(area.OccupyAgv);
                        }
                        else
                        {
                            area.OccupyAgv = 0;
                            area.Status = false;
                        }
                    }
                    else
                    {
                        area.WaitAgvList.Remove(agv.AgvNum);
                    }
                }
            }
        }
        public List<int> GetTrafficAgvList(AgvStatus agv)
        {
            List<int> result = new List<int>();
            List<int> areaList = agv.TrafficNumList;
            for (int i = 0; i < areaList.Count;i++ )
            {
                TrafficArea area = GetTrafficArea(areaList[i]);
                if (area.OccupyAgv != agv.AgvNum)
                    result.Add(area.OccupyAgv);
            }
            //var v = from c in result 
            result = result.Distinct().ToList();
            return result;
        }
        List<int> GetAgvTrafficIndexList(AgvStatus agv)
        {
            List<int> result = new List<int>();
            agv.TrafficNumList.Clear();
            for (int i = 0; i < TrafficAreaList.Count;i++ )
            {
                int index = TrafficAreaList[i].StationList.FindIndex(c => c.CurrentMark.MarkNum == agv.MarkNum && c.CurrentMark.WorkLine == agv.WorkLine);
                if (index != -1)
                {
                    agv.TrafficNumList.Add(TrafficAreaList[i].TrafficNum);//更新AGV管制区编号列表
                    result.Add(i);
                }
            }
            return result;
        }
        void AddToList(List<int> list, int value)
        {
            if (!list.Contains(value))
                list.Add(value);
        }

        /// <summary>
        /// 得到当前管制区号
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        List<int> GetAgvTrafficIndexListEx(AgvStatus agv)
        {
            List<int> result = new List<int>();
            List<int> trafficList = new List<int>();

            
            for (int i = 0; i < TrafficAreaList.Count; i++)
            {
                int index = TrafficAreaList[i].StationList.FindIndex(c => c.CurrentMark.MarkNum == agv.MarkNum && c.CurrentMark.WorkLine == agv.WorkLine);
                if (index != -1)
                {
                    if (!TrafficAreaList[i].IsNeedKeyMark)//如果不需要关键点
                    {
                        
                        //agv.TrafficNumList.Add(TrafficAreaList[index].TrafficNum);//更新AGV管制区编号列表
                        AddToList(trafficList, TrafficAreaList[i].TrafficNum);
                        AddToList(result, i);
                    }
                    else//需要关键点
                    {
                        MarkStation keyMark = TrafficAreaList[i].StationList[index].NextMark;
                        if (CheckNodeOrder(keyMark, new MarkStation() { WorkLine = agv.WorkLine, MarkNum = agv.MarkNum }, agv.Route))//在同一路线且关键点在当前路线后面
                        {
                            //agv.TrafficNumList.Add(TrafficAreaList[index].TrafficNum);//更新AGV管制区编号列表
                            //result.Add(index);
                            AddToList(trafficList, TrafficAreaList[i].TrafficNum);
                            AddToList(result, i);
                        }
                    }
                }
            }
            agv.TrafficNumList = trafficList;
            return result;
        }
        /// <summary>
        /// 检测在某条路线中节点1是否在节点2后面
        /// </summary>
        /// <param name="node1">节点1</param>
        /// <param name="node2">节点2</param>
        /// <param name="route">待检测路线</param>
        /// <returns></returns>
        bool CheckNodeOrder(MarkStation node1, MarkStation node2, int route)
        {
            bool result = false;
            string strCon = ConfigurationManager.AppSettings["ConnString"];
            using (SqlConnection con = new SqlConnection(strCon))
            {
                try
                {
                    string sql = string.Format("select MarkOrder from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}",node1.WorkLine,node1.MarkNum,route);
                    con.Open();
                    using (SqlCommand com = new SqlCommand(sql, con))
                    {
                        object o1 = com.ExecuteScalar();
                        sql = string.Format("select MarkOrder from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", node2.WorkLine, node2.MarkNum,route);
                        com.CommandText = sql;
                        object o2 = com.ExecuteScalar();
                        if (o1 == null || string.IsNullOrEmpty(o1.ToString()))
                        {
                            result = false;
                        }
                        else if (o2 == null || string.IsNullOrEmpty(o2.ToString()))
                        {
                            result = false;
                        }
                        else
                        {
                            if (int.Parse(o1.ToString()) >= int.Parse(o2.ToString()))//考虑同一个节点
                            {
                                result = true;
                            }
                            else
                                result = false;
                        }
                    }
                }
                catch (System.Exception ex)
                {
                    throw ex;
                }
            }
            return result;
        }
        public TrafficArea GetTrafficArea(int trafficNum)
        {
            TrafficArea area = null;
            int index = TrafficAreaList.FindIndex(c => c.TrafficNum == trafficNum);
            if (index != -1)
            {
                area = TrafficAreaList[index];
            }
            return area;
        }
        public void AddAgvTrafficNum(AgvStatus agv,int trafficNum)
        {
            int index = agv.TrafficNumList.FindIndex(c => c == trafficNum);
            if (index == -1)
            {
                agv.TrafficNumList.Add(trafficNum);
            }
        }
        public void AddWaitAgv(TrafficArea area, int agvNum)
        {
            int index = area.WaitAgvList.FindIndex(c => c == agvNum);
            if (index == -1)
            {
                area.WaitAgvList.Add(agvNum);
            }
        }



        /// <summary>
        /// 检测两车路径是否相同
        /// </summary>
        /// <param name="agv1">AGV1信息</param>
        /// <param name="agv2">AGV2信息</param>
        /// <returns>成功返回true,失败返回false</returns>
        bool CheckTheSamePath(AgvStatus agv1, AgvStatus agv2,MarkStation keyMark)
        {
            //bool result = false;
            string strCon = ConfigurationManager.AppSettings["ConnString"];
            using (SqlConnection con = new SqlConnection(strCon))
            {
                try
                {
                    //判断三点是否在同一路径上
                    string sql1 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}",agv1.WorkLine,agv1.MarkNum,agv1.Route);
                    string sql2 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", agv2.WorkLine, agv2.MarkNum, agv1.Route);
                    string sql3 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", keyMark.WorkLine, keyMark.MarkNum, agv1.Route);
                    con.Open();
                    using (SqlCommand com = new SqlCommand(sql1, con))
                    {
                        int temp1 = int.Parse(com.ExecuteScalar().ToString());
                        com.CommandText = sql2;
                        int temp2 = int.Parse(com.ExecuteScalar().ToString());
                        com.CommandText = sql3;
                        int temp3 = int.Parse(com.ExecuteScalar().ToString());
                        sql1 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", agv1.WorkLine, agv1.MarkNum, agv2.Route);
                        sql2 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", agv2.WorkLine, agv2.MarkNum, agv2.Route);
                        sql3 = string.Format("select count(1) from T_Line left join T_Mark on T_Line.MarkID=T_Mark.ID where T_Mark.WorkLine={0} and T_Mark.Mark={1} and LineNum={2}", keyMark.WorkLine, keyMark.MarkNum, agv2.Route);
                        com.CommandText = sql1;
                        int temp4 = int.Parse(com.ExecuteScalar().ToString());
                        com.CommandText = sql2;
                        int temp5 = int.Parse(com.ExecuteScalar().ToString());
                        com.CommandText = sql3;
                        int temp6 = int.Parse(com.ExecuteScalar().ToString());
                        if (temp1 > 0 && temp2 > 0 && temp3 > 0 && temp4 > 0 && temp5 > 0 && temp6 > 0)
                        {
                            return true;
                        }
                        else
                            return false;
                    }
                }
                catch (System.Exception ex)
                {
                    throw ex;
                }
            }
            //return result;
        }
        /// <summary>
        /// 判断指定两点在管制区中是否有相同关键点
        /// </summary>
        /// <param name="node1">待判断节点1</param>
        /// <param name="node2">待判断节点2</param>
        /// <param name="area">管制区</param>
        /// <param name="keyNode">返回的关键点列表（可能两个节点对应多个关键点）</param>
        /// <returns>成功返回true</returns>
        bool GetSameKeyNode(AgvStatus node1, AgvStatus node2, TrafficArea area, ref List<MarkStation> keyNodeList)
        {
            bool result = false;
            List<TrafficStation> nodeList1 = area.StationList.FindAll(c => c.CurrentMark.WorkLine == node1.WorkLine && c.CurrentMark.MarkNum == node1.MarkNum);//节点1在管制区中所有满足条件的点
            List<TrafficStation> nodeList2 = area.StationList.FindAll(c => c.CurrentMark.WorkLine == node2.WorkLine && c.CurrentMark.MarkNum == node2.MarkNum);//节点2在管制区中所有满足条件的点
            int count = nodeList1.Count < nodeList2.Count ? nodeList1.Count : nodeList2.Count;
            
            if(nodeList1.Count>nodeList2.Count)
            {
                for (int i = 0; i < count; i++)
                {
                    int index = nodeList1.FindIndex(c => c.NextMark.WorkLine == nodeList2[i].NextMark.WorkLine && c.NextMark.MarkNum == nodeList2[i].NextMark.MarkNum);
                    if (index != -1)
                    {
                        keyNodeList.Add(new MarkStation() { WorkLine = nodeList2[i].NextMark.WorkLine, MarkNum = nodeList2[i].NextMark.MarkNum });
                    }
                }
            }
            else
            {
                for (int i = 0; i < count; i++)
                {
                    int index = nodeList2.FindIndex(c => c.NextMark.WorkLine == nodeList1[i].NextMark.WorkLine && c.NextMark.MarkNum == nodeList1[i].NextMark.MarkNum);
                    if (index != -1)
                    {
                        keyNodeList.Add(new MarkStation() { WorkLine = nodeList1[i].NextMark.WorkLine, MarkNum = nodeList1[i].NextMark.MarkNum });
                    }
                }
            }
            if (keyNodeList.Count > 0)
                return true;
            return result;
        }
        /// <summary>
        /// 判断两车是否需要管制，只适用于关键点管制区
        /// </summary>
        /// <param name="agv1"></param>
        /// <param name="agv2"></param>
        /// <returns>不需要管制返回true,否则返回false</returns>
        bool CheckAgvTraffic(AgvStatus agv1, AgvStatus agv2,TrafficArea area)
        {
            bool result = false;
            List<MarkStation> list = new List<MarkStation>();
            if (GetSameKeyNode(agv1, agv2, area,ref list))
            {
                for (int i = 0; i < list.Count;i++ )
                {
                    bool b = CheckTheSamePath(agv1, agv2, list[i]);
                    if (b)
                        return b;
                }
            }
            return result;
        }

    }
}