using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using AutoMapper;
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using WIDESEAWCS_BasicInfoService;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Core.BaseServices;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.PlacedBlockDTO;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_IBasicInfoService;
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using WIDESEAWCS_Model.Models;
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namespace WIDESEAWCS_BasicInfoService
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{
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public class ContainerService : ServiceBase<Dt_Container, IContainerRepository>, IContainerService
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{
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private readonly IMapper _mapper;
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int lengthThreshold = AppSettings.Get("LengthThreshold").ObjToInt();
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public ContainerService(IContainerRepository BaseDal, IMapper mapper) : base(BaseDal)
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{
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_mapper = mapper;
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}
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public TaskPosition? GetTaskPosition(int length, int width, int height, ContainerSize containerSize, List<PlacedBlock> placedBlocks)
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{
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try
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{
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PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);
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Point3D? point3D = placeBlockService.PlaceBlock(length, width, height);
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if (point3D == null)
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{
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return null;
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}
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//放货位置板材中心点
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Point3D putCenter = new Point3D(point3D.Value.X + length / 2, point3D.Value.Y + width / 2, point3D.Value.Z + height / 2);
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//取货位置板材中心点
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Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);
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//吸盘长530 间隔660 最大920 吸盘宽130
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int positionR = 1;
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int takePositionX = 0;
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int takePositionY = 0;
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int takePositionZ = 0;
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int putPositionX = 0;
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int putPositionY = 0;
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int putPositionZ = 0;
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//1.如果长度大于920，宽度大于等于300，则可以使用双吸盘横向吸取
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if (length > 920 && width >= 100)
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{
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//
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Point3D deviceCenter = new Point3D(530 / 2, 920 / 2, 0);
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positionR = 1;
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takePositionX = (takeCenter.Y - deviceCenter.X);
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takePositionY = (takeCenter.X - deviceCenter.Y);
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takePositionZ = 10;
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putPositionX = (putCenter.Y - deviceCenter.X);
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putPositionY = (putCenter.X - deviceCenter.Y);
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putPositionZ = point3D.Value.Z; // putCenter.Z /*+ 10*/;
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}
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else if (length < 450)
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{
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Point3D deviceCenter = new Point3D(530 / 2, 130 / 2, 0);
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positionR = 1;
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takePositionX = (takeCenter.Y - deviceCenter.X);
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takePositionY = (takeCenter.X - deviceCenter.Y);
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takePositionZ = 10;
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putPositionX = (putCenter.Y - deviceCenter.X);
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putPositionY = (putCenter.X - deviceCenter.Y);
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putPositionZ = point3D.Value.Z; // putCenter.Z /*+ 10*/;
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}
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else
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{
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positionR = 0;
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Point3D deviceCenter = new Point3D(130 / 2, 530 / 2, 0);
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takePositionX = (takeCenter.Y - deviceCenter.X);
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takePositionY = (takeCenter.X - deviceCenter.Y);
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takePositionZ = 10;
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putPositionX = (putCenter.Y - deviceCenter.X);
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putPositionY = (putCenter.X - deviceCenter.Y);
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putPositionZ = point3D.Value.Z; //putCenter.Z /*+ 10*/;
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}
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if (positionR == 1 && takePositionY < 155)
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{
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takePositionY = 0;
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putPositionY = point3D.Value.X + 155;
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}
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else if (positionR == 1 && takePositionY >= 880)
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{
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takePositionY = 880 - 155;
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putPositionY = 880;
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}
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else
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{
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takePositionY -= 155;
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}
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if (positionR == 0 && takePositionY < 350)
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{
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takePositionY = 0;
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putPositionY = point3D.Value.X + 350;
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}
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else if (positionR == 0 && takePositionY >= 350 && takePositionY <= 880)
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{
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takePositionY -= 350;
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}
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else if (positionR == 0 && takePositionY >= 880)
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{
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takePositionY = 880 - 350;
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putPositionY = 880;
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}
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if (putPositionX < -20)
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{
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takePositionX = -40;
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//point3D.X += -20;
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putPositionX = point3D.Value.Y - 40;
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}
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TaskPosition taskPosition = new TaskPosition()
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{
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PositionR = positionR,
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TakePositionX = takePositionX,
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TakePositionY = takePositionY,
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TakePositionZ = takePositionZ,
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PutPositionX = putPositionX,
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PutPositionY = putPositionY,
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PutPositionZ = putPositionZ,
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TakeCenterPositionX = takeCenter.X,
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TakeCenterPositionY = takeCenter.Y,
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TakeCenterPositionZ = takeCenter.Z,
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PutCenterPositionX = putCenter.X,
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PutCenterPositionY = putCenter.Y,
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PutCenterPositionZ = putCenter.Z,
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PositionX = point3D.Value.X,
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PositionY = point3D.Value.Y,
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PositionZ = point3D.Value.Z
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};
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return taskPosition;
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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//public TaskPosition? GetPosition(string orderNo, int length, int width, int height)
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//{
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// List<Dt_OrderContainer> containerInfos = new List<Dt_OrderContainer>();
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// List<Dt_OrderContainer> orderContainers = Db.Queryable<Dt_OrderContainer>().Where(it => it.OrderNo == orderNo).ToList();
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// if (orderContainers != null && orderContainers.Count > 0)
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// {
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// containerInfos = orderContainers;
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// if (containerInfos.Count == 1)
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// {
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// Dt_Container container = Db.Queryable<Dt_Container>().OrderBy(x => x.ContainerSort).First(x => x.ContainerStatus == ContainerStatusEnum.Empty.ObjToInt() && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt() && x.ContainerEnable);
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// if (container != null)
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// {
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// Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(container);
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// containerInfos.Add(containerInfo);
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// }
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// else
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// {
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// Dt_Container containerItem = Db.Queryable<Dt_Container>().Where(x => x.ContainerStatus == ContainerStatusEnum.NonEmpty.ObjToInt() && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt() && x.ContainerEnable).Includes(x => x.Items).OrderByDescending(x => x.Items.Count).First();
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// if (containerItem != null)
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// {
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// if (LightStatusStorage.LightStatusDic.TryGetValue(containerItem.ContainerCode, out LightStatusEnum lightStatus))
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// {
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// if (lightStatus != LightStatusEnum.ReadyRelease)
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// {
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// LightStatusStorage.LightStatusDic[containerItem.ContainerCode] = LightStatusEnum.ReadyRelease;
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// Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(containerItem);
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// containerInfos.Add(containerInfo);
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// }
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// }
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// }
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// else
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// {
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// throw new Exception($"未找到可放货位置,请检查数据是否已添加或者工位被禁用");
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// }
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// }
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// }
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// }
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// else
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// {
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// Dt_Container container = Db.Queryable<Dt_Container>().OrderBy(x => x.ContainerSort).First(x => x.ContainerStatus == ContainerStatusEnum.Empty.ObjToInt() && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt() && x.ContainerEnable);
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// if (container != null)
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// {
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// containerInfos.Add(_mapper.Map<Dt_OrderContainer>(container));
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// }
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// else
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// {
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// Dt_Container containerItem = Db.Queryable<Dt_Container>().Where(x => x.ContainerStatus == ContainerStatusEnum.NonEmpty.ObjToInt() && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt() && x.ContainerEnable).Includes(x => x.Items).OrderByDescending(x => x.Items.Count()).First();
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// if (containerItem != null)
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// {
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// if (LightStatusStorage.LightStatusDic.TryGetValue(containerItem.ContainerCode, out LightStatusEnum lightStatus))
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// {
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// if (lightStatus != LightStatusEnum.ReadyRelease)
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// {
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// LightStatusStorage.LightStatusDic[containerItem.ContainerCode] = LightStatusEnum.ReadyRelease;
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// Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(containerItem);
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// containerInfos.Add(containerInfo);
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// }
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// }
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// }
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// else
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// {
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// throw new Exception($"未找到可放货位置,请检查数据是否已添加或者工位被禁用");
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// }
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// }
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// }
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// {
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// List<Dt_Container> containers = Db.Queryable<Dt_Container>().Where(it => containerInfos.Any(x => x.ContainerId == it.Id && x.ContainerCode == it.ContainerCode) && it.ContainerEnable).Includes(x => x.Items).ToList().OrderBy(x => x.ContainerSort).ToList();
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// foreach (var container in containers)
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// {
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// List<PlacedBlock> placedBlocks = new List<PlacedBlock>();
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// foreach (var item in container.Items)
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// {
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// Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
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// placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
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// }
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// Dt_OrderContainer? orderContainer = containerInfos.FirstOrDefault(x => x.ContainerId == x.Id && x.ContainerCode == x.ContainerCode);
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// int containerLength = container.ContainerLength;
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// if (length < lengthThreshold)
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// {
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// containerLength = lengthThreshold;
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// }
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// ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
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// TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
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// if (taskPosition != null)
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// {
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// taskPosition.PutPosition = container.ContainerCode;
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// return taskPosition;
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// }
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// throw new Exception("10001");
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// }
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// }
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// return null;
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//}
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public TaskPosition? GetPosition(string orderNo, int length, int width, int height)
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{
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TaskPosition? taskPosition = GetPositionByOrder(orderNo, length, width, height);
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if (taskPosition != null)
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{
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return taskPosition;
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}
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taskPosition = GetPosition(length, width, height);
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if (taskPosition != null)
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{
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return taskPosition;
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}
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throw new Exception("10001");
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}
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public TaskPosition? GetPosition(int length, int width, int height)
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{
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Dt_Container container = Db.Queryable<Dt_Container>().OrderBy(x => x.ContainerSort).First(x => x.ContainerStatus == ContainerStatusEnum.Empty.ObjToInt() && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt() && x.ContainerEnable);
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List<PlacedBlock> placedBlocks = new List<PlacedBlock>();
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if (container.Items != null && container.Items.Count > 0)
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{
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foreach (var item in container.Items)
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{
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Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
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placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
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}
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}
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int containerLength = container.ContainerLength;
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if (length < lengthThreshold)
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{
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containerLength = lengthThreshold;
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}
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ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
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TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
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if (taskPosition != null)
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{
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taskPosition.PutPosition = container.ContainerCode;
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return taskPosition;
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}
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return null;
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}
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public TaskPosition? GetPositionByOrder(string orderNo, int length, int width, int height)
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{
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List<Dt_OrderContainer> orderContainers = Db.Queryable<Dt_OrderContainer>().Where(it => it.OrderNo == orderNo).ToList();
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if (orderContainers != null && orderContainers.Count > 0)
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{
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List<Dt_Container> containers = Db.Queryable<Dt_Container>().Where(it => orderContainers.Any(x => x.ContainerId == it.Id && x.ContainerCode == it.ContainerCode) && it.ContainerEnable).Includes(x => x.Items).ToList().OrderBy(x => x.ContainerSort).ToList(); ;
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foreach (var container in containers)
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{
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List<PlacedBlock> placedBlocks = new List<PlacedBlock>();
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foreach (var item in container.Items)
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{
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Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
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placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
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}
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Dt_OrderContainer? orderContainer = orderContainers.FirstOrDefault(x => x.ContainerId == x.Id && x.ContainerCode == x.ContainerCode);
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int containerLength = container.ContainerLength;
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if (length < lengthThreshold)
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{
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containerLength = lengthThreshold;
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}
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else
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{
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if (orderContainer != null)
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containerLength = orderContainer.MaxLength;
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}
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ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
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TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
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if (taskPosition != null)
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{
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taskPosition.PutPosition = container.ContainerCode;
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return taskPosition;
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}
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}
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}
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return null;
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}
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}
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}
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