#region << 版 本 注 释 >>
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/*----------------------------------------------------------------
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* 命名空间：WIDESEAWCS_TaskInfoService
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* 创建者：胡童庆
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* 创建时间：2024/8/2 16:13:36
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* 版本：V1.0.0
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* 描述：
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*
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* ----------------------------------------------------------------
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* 修改人：
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* 修改时间：
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* 版本：V1.0.1
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* 修改说明：
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*
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*----------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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using AutoMapper;
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using HslCommunication.WebSocket;
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using SqlSugar;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_BasicInfoService;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.BaseServices;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob.Repository;
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namespace WIDESEAWCS_TaskInfoService
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{
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public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
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{
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private readonly IMapper _mapper;
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private readonly IContainerRepository _containerRepository;
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private readonly IContainerItemRepository _containerItemRepository;
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private readonly WebSocketServer _webSocketServer;
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private readonly IOrderDetailsRepository _orderDetailsRepository;
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public TaskService(ITaskRepository BaseDal, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsRepository orderDetailsRepository) : base(BaseDal)
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{
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_mapper = mapper;
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_containerRepository = containerRepository;
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_containerItemRepository = containerItemRepository;
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_webSocketServer = webSocketServer;
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_orderDetailsRepository = orderDetailsRepository;
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}
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public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo)
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{
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return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo);
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}
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public WebResponseContent PlaceBlockTest(int orderRowId)
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{
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try
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{
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List<OrderDetails> orderDetails = _orderDetailsRepository.QueryData(x => x.Orderrowsid == orderRowId);
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if (orderDetails == null || orderDetails.Count == 0)
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{
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return WebResponseContent.Instance.Error("未找到订单明细信息");
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}
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Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
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if (putContainer == null)
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{
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return WebResponseContent.Instance.Error("放货位置不存在");
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}
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ContainerSize containerSize = new ContainerSize(1500, putContainer.ContainerWidth, putContainer.ContainerHeight);
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List<PlacedBlock> placedBlocks = new List<PlacedBlock>();
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for (int i = 0; i < orderDetails.Count; i++)
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{
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try
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{
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lock (placedBlocks)
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{
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int length = Convert.ToInt32(orderDetails[i].Orderdetails_length);
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int width = Convert.ToInt32(orderDetails[i].Orderdetails_width);
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int height = Convert.ToInt32(orderDetails[i].Orderdetails_thickness);
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TaskPosition taskPosition = new TaskPosition();
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taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);
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PlacedBlock placedBlock = new PlacedBlock(new Point3D(taskPosition.PositionX, taskPosition.PositionY, taskPosition.PositionZ), length, width, height);
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placedBlocks.Add(placedBlock);
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object obj = new
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{
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x = taskPosition.PutCenterPositionX - containerSize.Length / 2,
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y = taskPosition.PutCenterPositionY - containerSize.Width / 2,
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z = taskPosition.PutCenterPositionZ,
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length,
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width,
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height,
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};
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_webSocketServer.PublishAllClientPayload(obj.Serialize());
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Thread.Sleep(100);
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}
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}
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catch (Exception ex)
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{
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}
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}
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return WebResponseContent.Instance.OK(data: placedBlocks);
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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public TaskPosition GetTakePutPosition(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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throw new Exception("放货位置已满");
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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 >= 300)
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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
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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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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 WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode, int length, int width, int height)
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{
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try
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{
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Dt_Container takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == takePosition && x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt());
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if (takeContainer == null)
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{
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return WebResponseContent.Instance.Error("取货位置不存在");
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}
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Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == putPosition && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
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if (putContainer == null)
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{
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return WebResponseContent.Instance.Error("放货位置不存在");
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}
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ContainerSize containerSize = new ContainerSize(putContainer.ContainerLength, putContainer.ContainerWidth, putContainer.ContainerHeight);
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List<Dt_ContainerItem> containerItems = _containerItemRepository.QueryData(x => x.ContainerId == putContainer.Id);
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List<PlacedBlock> placedBlocks = containerItems.Select(x => new PlacedBlock(new Point3D(x.ItemPositionX, x.ItemPositionY, x.ItemPositionZ), x.ItemLength, x.ItemWidth, x.ItemHeight)).ToList();
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TaskPosition taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);
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object obj = new
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{
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x = taskPosition.PutCenterPositionX - putContainer.ContainerLength / 2,
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y = taskPosition.PutCenterPositionY - putContainer.ContainerWidth / 2,
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z = taskPosition.PutCenterPositionZ,
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length,
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width,
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height,
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};
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_webSocketServer.PublishAllClientPayload(obj.Serialize());
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string code = DateTime.Now.ToString("yyyyMMddHHmmss");
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Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
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{
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ContainerId = putContainer.Id,
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ItemCode = code,
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ItemLength = length,
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ItemWidth = width,
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ItemHeight = height,
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ItemPositionX = taskPosition.PutPositionX,
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ItemPositionY = taskPosition.PutPositionY,
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ItemPositionZ = taskPosition.PutPositionZ,
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ItemStatus = (int)ItemStatusEnum.Assigned,
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ItemName = code
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};
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Dt_Task dt_Task = new Dt_Task()
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{
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TaskNum = 1,
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PalletCode = code,
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DeviceCode = deviceCode,
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TaskState = (int)TaskStatusEnum.Gantry_New,
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TaskType = 0,
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SourceAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
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TargetAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
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CurrentAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
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NextAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
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Grade = 0,
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};
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_containerItemRepository.AddData(dt_ContainerItem);
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base.AddData(dt_Task);
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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}
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}
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