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 OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
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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_IBasicInfoService;
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namespace WIDESEAWCS_BasicInfoService
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{
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public class PlaceBlockService
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{
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public static int SPACING = AppSettings.GetValue("Spacing").ObjToInt();
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public static int MaxRotateLength = AppSettings.GetValue("MaxRotateLength").ObjToInt();
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/// <summary>
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/// 最大Y坐标限制（毫米）
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/// </summary>
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public const int MaxY = 600;
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/// <summary>
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/// 最小横向Y坐标限制（毫米）
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/// </summary>
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public static int MinY = AppSettings.GetValue("MinY").ObjToInt();
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/// <summary>
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/// 吸盘横向长度
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/// </summary>
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public const int SuctionLengthH = 920;
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/// <summary>
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/// 吸盘横向宽度
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/// </summary>
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public const int SuctionWidthH = 530;
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/// <summary>
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/// 吸盘纵向长度
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/// </summary>
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public const int SuctionLengthZ = 530;
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/// <summary>
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/// 吸盘纵向宽度
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/// </summary>
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public const int SuctionWidthZ = 130;
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/// <summary>
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/// 容器尺寸
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/// </summary>
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public ContainerSize ContainerSize { get; private set; }
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/// <summary>
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/// 已放置货物
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/// </summary>
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public List<PlacedBlock> PlacedBlocks { get; private set; }
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private readonly PlacedBlock containerFloor;
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public PlaceBlockService(ContainerSize containerSize, List<PlacedBlock>? placedBlocks = null)
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{
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containerSize.Length = containerSize.Length;
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containerSize.Width = containerSize.Width;
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ContainerSize = containerSize;
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if (placedBlocks == null || placedBlocks.Count == 0)
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{
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PlacedBlocks = new List<PlacedBlock>();
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}
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else
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{
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PlacedBlocks = placedBlocks;
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}
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containerFloor = new PlacedBlock(new Point3D(SPACING, SPACING, 0), ContainerSize.Length - 2 * SPACING, ContainerSize.Width - 2 * SPACING, 0);
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}
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/// <summary>
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/// 主放置方法：尝试放置指定尺寸的货物
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/// </summary>
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/// <param name="length">货物长度（X轴方向）</param>
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/// <param name="width">货物宽度（Y轴方向）</param>
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/// <param name="height">货物高度（Z轴方向）</param>
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/// <returns>
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/// 成功：返回可放置位置的左下前角Point3D坐标
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/// 失败：返回null（尺寸无效或空间不足）
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/// </returns>
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public Point3D? PlaceBlock(int length, int width, int height)
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{
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int tempLength = length;
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int tempWidth = width;
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if (length < width)
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{
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length = tempWidth;
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width = tempLength;
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}
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if (!IsValidBlock(length, width, height))
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return null;
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return FindStackablePosition(length, width, height);
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}
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/// <summary>
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/// 主放置方法：尝试放置指定尺寸的货物
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/// </summary>
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/// <param name="length">货物长度（X轴方向）</param>
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/// <param name="width">货物宽度（Y轴方向）</param>
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/// <param name="height">货物高度（Z轴方向）</param>
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/// <returns>
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/// 成功：返回可放置位置的左下前角Point3D坐标
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/// 失败：返回null（尺寸无效或空间不足）
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/// </returns>
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public TaskPosition? PlaceBlock(int length, int width, int height, int edge)
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{
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int tempLength = length;
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int tempWidth = width;
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if (length < width)
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{
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length = tempWidth;
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width = tempLength;
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}
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if (!IsValidBlock(length, width, height))
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return null;
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return FindStackablePosition(length, width, height, edge);
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}
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/// <summary>
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/// 验证货物尺寸有效性
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/// 校验规则：
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/// 1. 各维度尺寸必须大于等于50mm
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/// 2. 各维度尺寸不得超过容器对应维度（扣除间隔后）
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/// 3. 高度必须 <= 容器剩余高度
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/// </summary>
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/// <param name="l"></param>
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/// <param name="w"></param>
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/// <param name="h"></param>
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/// <returns></returns>
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private bool IsValidBlock(int l, int w, int h)
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{
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return l > 0 && w > 0 && h > 0 &&
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l <= ContainerSize.Length - 2 * SPACING &&
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w <= ContainerSize.Width - 2 * SPACING &&
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h < ContainerSize.Height;
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}
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/// <summary>
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/// 在现有货物顶部寻找叠放位置（堆叠模式）
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/// 叠放条件：
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/// - 支撑面积 >= 被支撑面面积的70%
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/// - 新货物完全位于支撑货物上方
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/// - 满足间隔要求
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/// </summary>
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/// <param name="l">长度</param>
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/// <param name="w">宽度</param>
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/// <param name="h">高度</param>
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/// <returns></returns>
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private Point3D? FindStackablePosition(int l, int w, int h)
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{
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// 生成候选支撑层（包含容器底部）
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var candidateLayers = PlacedBlocks
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.Select(b => b.Position.Z + b.Height)
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.Append(0)
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.Distinct()
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.OrderBy(z => z)
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.ToList();
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foreach (var baseZ in candidateLayers)
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{
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if (baseZ + h > ContainerSize.Height) continue;
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// 获取当前层的支撑块（包含虚拟容器底部）
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var supports = GetSupportBlocks(baseZ);
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foreach (var support in supports)
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{
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// 计算有效叠放区域（修正间隔逻辑）
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int xStart = support.Position.X;
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int yStart = support.Position.Y;
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// 容器底部支撑必须内缩间隔（即使尺寸相同）
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if (support == containerFloor)
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{
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xStart = support.Position.X;
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yStart = support.Position.Y;
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}
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int xEnd = support.Position.X + support.Length - l;
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int yEnd = support.Position.Y + support.Width - w;
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// 普通支撑块仅在尺寸不同时加间隔
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if (support != containerFloor &&
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(l != support.Length && w != support.Width))
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{
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xStart += SPACING;
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yStart += SPACING;
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xEnd -= SPACING;
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yEnd -= SPACING;
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}
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// 最终容器边界约束
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xEnd = Math.Min(xEnd, ContainerSize.Length - l - SPACING);
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yEnd = Math.Min(yEnd, ContainerSize.Width - w - SPACING);
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if (xStart > xEnd || yStart > yEnd) continue;
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// 优化搜索：优先角落位置
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for (int x = xStart; x <= xEnd; x += 10)
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{
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for (int y = yStart; y <= yEnd; y += 10)
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{
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var candidate = new Point3D(x, y, baseZ);
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if (IsPositionValid(candidate, l, w, h))
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{
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var placed = new PlacedBlock(candidate, l, w, h);
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//PlacedBlocks.Add(placed);
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return candidate;
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}
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}
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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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/// <summary>
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/// 在现有货物顶部寻找叠放位置（堆叠模式）
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/// 叠放条件：
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/// - 支撑面积 >= 被支撑面面积的70%
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/// - 新货物完全位于支撑货物上方
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/// - 满足间隔要求
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/// </summary>
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/// <param name="l">长度</param>
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/// <param name="w">宽度</param>
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/// <param name="h">高度</param>
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/// <returns></returns>
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private TaskPosition? FindStackablePosition(int l, int w, int h, int edge)
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{
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// 生成候选支撑层（包含容器底部）
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var candidateLayers = PlacedBlocks
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.Select(b => b.Position.Z + b.Height)
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.Append(0)
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.Distinct()
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.OrderBy(z => z)
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.ToList();
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foreach (var baseZ in candidateLayers)
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{
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if (baseZ + h > ContainerSize.Height) continue;
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// 获取当前层的支撑块（包含虚拟容器底部）
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var supports = GetSupportBlocks(baseZ);
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foreach (var support in supports)
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{
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// 计算有效叠放区域（修正间隔逻辑）
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int xStart = support.Position.X;
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int yStart = support.Position.Y;
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// 容器底部支撑必须内缩间隔（即使尺寸相同）
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if (support == containerFloor)
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{
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xStart = support.Position.X;
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yStart = support.Position.Y;
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}
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int xEnd = support.Position.X + support.Length - l;
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int yEnd = support.Position.Y + support.Width - w;
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// 普通支撑块仅在尺寸不同时加间隔
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if (support != containerFloor &&
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(l != support.Length && w != support.Width))
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{
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xStart += SPACING;
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yStart += SPACING;
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xEnd -= SPACING;
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yEnd -= SPACING;
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}
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// 最终容器边界约束
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xEnd = Math.Min(xEnd, ContainerSize.Length - l);
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yEnd = Math.Min(yEnd, ContainerSize.Width - w);
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if (xStart > xEnd || yStart > yEnd) continue;
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// 优化搜索：优先角落位置
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for (int x = xStart; x <= xEnd; x += 10)
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{
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for (int y = yStart; y <= yEnd; y += 10)
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{
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var candidate = new Point3D(x, y, baseZ);
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if (IsPositionValid(candidate, l, w, h))
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{
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TaskPosition taskPosition = GetTaskPosition(candidate, l, w, h, edge);
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if (IsPositionValid(taskPosition))
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{
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return taskPosition;
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}
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}
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}
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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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/// <summary>
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/// 获取支撑当前货物的底层货物列表
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/// 特殊处理：当baseZ=0时返回虚拟容器底部作为支撑
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/// 支撑条件：货物底面与支撑货物顶面接触且Z坐标匹配
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/// </summary>
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/// <param name="baseZ">支撑块高度</param>
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/// <returns></returns>
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private IEnumerable<PlacedBlock> GetSupportBlocks(int baseZ)
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{
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var blocks = PlacedBlocks
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.Where(b => b.Position.Z + b.Height == baseZ)
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/*.OrderByDescending(b => b.Length * b.Width)*/.ToList();
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// 当baseZ=0时添加容器底部支撑
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if (baseZ == 0 && blocks.Count == 0)
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{
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return new List<PlacedBlock> { containerFloor };
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}
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return blocks;
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}
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/// <summary>
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/// 验证指定位置是否合法
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/// 校验内容：
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/// 1. 边界条件：货物不得超出容器有效空间
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/// 2. 碰撞检测：与已放置货物无空间重叠
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/// 3. 间隔要求：保持最小间隔（SPACING常量）
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/// </summary>
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/// <param name="pos">坐标</param>
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/// <param name="l">长度</param>
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/// <param name="w">宽度</param>
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/// <param name="h">高度</param>
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/// <returns></returns>
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private bool IsPositionValid(Point3D pos, int l, int w, int h)
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{
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// 边界检查（含容器边缘间隔）
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if (pos.X < SPACING ||
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pos.Y < SPACING ||
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pos.X + l > ContainerSize.Length - SPACING ||
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pos.Y + w > ContainerSize.Width - SPACING)
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return false;
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if (pos.X > 1600)
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return false;
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if (pos.X > MaxY && l > MaxRotateLength) return false;
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// 三维碰撞检测
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var newBlock = new PlacedBlock(pos, l, w, h);
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return !PlacedBlocks.Any(existing =>
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{
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bool xOverlap = newBlock.Position.X < existing.Position.X + existing.Length + SPACING &&
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newBlock.Position.X + newBlock.Length + SPACING > existing.Position.X;
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bool yOverlap = newBlock.Position.Y < existing.Position.Y + existing.Width + SPACING &&
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newBlock.Position.Y + newBlock.Width + SPACING > existing.Position.Y;
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bool zOverlap = newBlock.Position.Z < existing.Position.Z + existing.Height &&
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newBlock.Position.Z + h > existing.Position.Z;
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return xOverlap && yOverlap && zOverlap;
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});
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}
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private bool IsPositionValid(TaskPosition pos)
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{
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// 边界检查（含容器边缘间隔）
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//if (pos.X < SPACING ||
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// pos.Y < SPACING ||
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// pos.X + l > ContainerSize.Length - SPACING ||
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// pos.Y + w > ContainerSize.Width - SPACING)
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// return false;
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return pos.PutPositionY <= MaxY && pos.PutPositionY >= 0 && pos.TakePositionY >= 0;
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}
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public TaskPosition GetTaskPosition(Point3D point3D, int length, int width, int height, int edge)
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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.X + length / 2, point3D.Y + width / 2, point3D.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) //横向双吸
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{
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//吸盘尺寸
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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.Z; // putCenter.Z /*+ 10*/;
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}
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else//横向单吸
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{
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//吸盘尺寸
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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.Z; // putCenter.Z /*+ 10*/;
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}
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//1.如果取货位最小Y坐标小于155
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if (takePositionY <= MinY)
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{
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takePositionY = 0;
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putPositionY = point3D.X + MinY;
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}
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else
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{
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takePositionY -= MinY;
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}
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if (putPositionY > MaxY)
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{
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int moreY = putPositionY - MaxY;
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if (takePositionY - moreY > 0)
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{
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takePositionY -= moreY;
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putPositionY = MaxY;
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}
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else if (Math.Abs(takePositionY - moreY) < SPACING)
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{
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takePositionY = 0;
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putPositionY = Math.Abs(takePositionY - moreY) + MinY;
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}
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else
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{
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int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
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//putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
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putPositionY = point3D.X - 920 + 130;
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takePositionY = length - MinY - 130;
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if (putPositionY < 0 && takePositionY + putPositionY >= 0)
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{
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takePositionY += putPositionY;
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putPositionY = 0;
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}
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positionR = 2;
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}
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}
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//横向时，最小Y坐标为155，纵向时，最小Y坐标为350。最大Y坐标为700
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//if (positionR == 1 && putPositionY < MinY)
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//{
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// takePositionY = 0;
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// putPositionY = point3D.X + MinY;
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//}
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//else if (positionR == 1 && putPositionY >= MinY && putPositionY <= MaxY)
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//{
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// if (takePositionY >= MinY)
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// takePositionY -= MinY;
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// else
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// {
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// putPositionY += MinY - takePositionY;
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// takePositionY = 0;
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// }
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//}
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//else if (positionR == 1 && putPositionY > MaxY && putPositionY < 1700)
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//{
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// int moreY = putPositionY - MaxY;
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// if (takePositionY - moreY - MinY > 0)
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// {
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// takePositionY -= moreY + MinY;
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// putPositionY = MaxY;
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// }
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// else if (Math.Abs(takePositionY - moreY - MinY) < SPACING)
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// {
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// if (takePositionY - moreY - MinY > 0)
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// {
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// takePositionY -= moreY + MinY;
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// }
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// else
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// {
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// takePositionY = 0;
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// }
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// putPositionY = MaxY;
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// }
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// else
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// {
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// int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
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// //putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
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// putPositionY = point3D.X - 920 + 130;
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// takePositionY = length - MinY - 130;
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// if (putPositionY < 0 && takePositionY + putPositionY >= 0)
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// {
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// takePositionY += putPositionY;
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// putPositionY = 0;
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// }
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// positionR = 2;
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// }
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//}
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if (positionR == 2 && edge == 0)
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{
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takePositionX = width - 530;
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putPositionX = point3D.Y;
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}
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else if (positionR == 2 && edge == 1)
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{
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takePositionX = 0;
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putPositionX = point3D.Y + width - 530;
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}
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else if (positionR == 1 && edge == 1)
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{
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takePositionX = width - 530;
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putPositionX = point3D.Y + (width - 530);
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}
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else if (positionR == 1 && edge == 0)
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{
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if (putPositionX < 0)
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{
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takePositionX = 0;
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putPositionX = point3D.Y;
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}
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}
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if (takePositionY < 0 && Math.Abs(takePositionY) < SPACING)
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{
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takePositionY = 0;
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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.X,
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PositionY = point3D.Y,
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PositionZ = point3D.Z
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};
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return taskPosition;
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}
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}
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}
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