修复图片导入；重构路由和堆垛机命令

wanshenmean

2026-02-26 3de39066b5894850d0f0dc311b60cc09f599a025

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/RouterService.cs

@@ -42,46 +42,23 @@
        /// <returns>返回路由实体集合。</returns>
        public List<Dt_Router> QueryNextRoutes(string startPosi, string endPosi)
        {
            //todo 方法需优化
            List<Dt_Router> routers = new List<Dt_Router>();
            try
            {
                //查询下一个路由信息
                List<Dt_Router> dt_Routers = BaseDal.QueryData(x => (x.NextPosi == endPosi || x.ChildPosi == endPosi), new Dictionary<string, OrderByType> { { nameof(Dt_Router.IsEnd), OrderByType.Desc } });
                if (dt_Routers.Count > 0)
                // 一次性查询所有路由数据到内存
                List<Dt_Router> allRouters = BaseDal.QueryData(x => true);
                
                // 在内存中进行路径搜索
                routers = FindRoutesInMemory(startPosi, endPosi, allRouters, null);
                
                if (routers.Count == 0)
                {
                    foreach (var item in dt_Routers)
                    {
                        //如果下一个路由的起点和终点都匹配，则添加到路由列表中
                        if (item.StartPosi == startPosi && !routers.Any(x => x.Id == item.Id))
                        {
                            routers.Add(item);
                        }
                        else
                        {
                            //否则，递归查询下一个路由的起点
                            List<Dt_Router> tempRouters = QueryNextRoutes(startPosi, item.StartPosi);
                            foreach (var router in tempRouters)
                            {
                                //如果下一个路由的起点和终点都匹配，则添加到路由列表中
                                if (router.StartPosi == startPosi && !routers.Any(x => x.Id == router.Id))
                                {
                                    routers.Add(router);
                                }
                            }
                        }
                    }
                }
                else
                {
                    //如果查询不到下一个路由信息，则抛出异常
                    throw new Exception($"该路径未配置或配置错误,请检查设备路由信息,起点:【{startPosi}】,终点:【{endPosi}】");
                }
            }
            catch (Exception ex)
            {
                //throw new Exception(ex.Message);
                //记录错误信息
                // 记录错误信息
            }
            return routers;
        }
@@ -95,48 +72,250 @@
        /// <returns>返回路由实体集合。</returns>
        public List<Dt_Router> QueryNextRoutes(string startPosi, string endPosi, int routeType)
        {
            //todo 方法需优化
            List<Dt_Router> routers = new List<Dt_Router>();
            try
            {
                //查询下一个路由信息
                List<Dt_Router> dt_Routers = BaseDal.QueryData(x => (x.NextPosi == endPosi || x.ChildPosi == endPosi) && x.InOutType == routeType, new Dictionary<string, OrderByType> { { nameof(Dt_Router.IsEnd), OrderByType.Desc } });
                if (dt_Routers.Count > 0)
                // 一次性查询指定类型的所有路由数据到内存
                List<Dt_Router> allRouters = BaseDal.QueryData(x => x.InOutType == routeType);
                
                // 在内存中进行路径搜索
                routers = FindRoutesInMemory(startPosi, endPosi, allRouters, routeType);
                
                if (routers.Count == 0)
                {
                    foreach (var item in dt_Routers)
                    {
                        //如果下一个路由的起点和终点都匹配，则添加到路由列表中
                        if (item.StartPosi == startPosi && !routers.Any(x => x.Id == item.Id))
                        {
                            routers.Add(item);
                        }
                        else
                        {
                            //否则，递归查询下一个路由的起点
                            List<Dt_Router> tempRouters = QueryNextRoutes(startPosi, item.StartPosi, routeType);
                            foreach (var router in tempRouters)
                            {
                                //如果下一个路由的起点和终点都匹配，则添加到路由列表中
                                if (router.StartPosi == startPosi && !routers.Any(x => x.Id == router.Id))
                                {
                                    routers.Add(router);
                                }
                            }
                        }
                    }
                }
                else
                {
                    //如果查询不到下一个路由信息，则抛出异常
                    throw new Exception($"该路径未配置或配置错误,请检查设备路由信息,起点:【{startPosi}】,终点:【{endPosi}】");
                }
            }
            catch (Exception ex)
            {
                //throw new Exception(ex.Message);
                //记录错误信息
                // 记录错误信息
            }
            return routers;
        }

        /// <summary>
        /// 在内存中查找从起点到终点的所有路由
        /// </summary>
        /// <param name="startPosi">起点位置</param>
        /// <param name="endPosi">终点位置</param>
        /// <param name="allRouters">所有路由数据</param>
        /// <param name="routeType">路由类型（可选）</param>
        /// <returns>符合条件的路由列表</returns>
        private List<Dt_Router> FindRoutesInMemory(string startPosi, string endPosi, List<Dt_Router> allRouters, int? routeType)
        {
            List<Dt_Router> result = new List<Dt_Router>();
            HashSet<int> addedIds = new HashSet<int>();

            // 构建索引：以 NextPosi 和 ChildPosi 为键的字典，加速查找
            var routersByNext = allRouters
                .GroupBy(r => r.NextPosi)
                .ToDictionary(g => g.Key, g => g.ToList());
            
            var routersByChild = allRouters
                .GroupBy(r => r.ChildPosi)
                .ToDictionary(g => g.Key, g => g.ToList());

            // 找到所有指向终点的路由（终点的父节点）
            List<Dt_Router> endRouters = new List<Dt_Router>();
            if (routersByNext.ContainsKey(endPosi))
                endRouters.AddRange(routersByNext[endPosi]);
            if (routersByChild.ContainsKey(endPosi))
                endRouters.AddRange(routersByChild[endPosi].Where(r => !endRouters.Any(e => e.Id == r.Id)));

            // 按 IsEnd 降序排序
            endRouters = endRouters.OrderByDescending(r => r.IsEnd).ToList();

            // 使用队列进行广度优先搜索
            Queue<(Dt_Router router, List<Dt_Router> path)> queue = new Queue<(Dt_Router, List<Dt_Router>)>();
            
            // 将所有终点路由加入队列
            foreach (var endRouter in endRouters)
            {
                queue.Enqueue((endRouter, new List<Dt_Router> { endRouter }));
            }

            // 广度优先搜索
            while (queue.Count > 0)
            {
                var (currentRouter, currentPath) = queue.Dequeue();

                // 如果当前路由的起点就是目标起点，找到完整路径
                if (currentRouter.StartPosi == startPosi)
                {
                    // 将路径中的所有路由添加到结果中（去重）
                    foreach (var router in currentPath)
                    {
                        if (!addedIds.Contains(router.Id))
                        {
                            result.Add(router);
                            addedIds.Add(router.Id);
                        }
                    }
                    continue;
                }

                // 查找当前路由起点的父路由
                List<Dt_Router> parentRouters = new List<Dt_Router>();
                if (routersByNext.ContainsKey(currentRouter.StartPosi))
                    parentRouters.AddRange(routersByNext[currentRouter.StartPosi]);
                if (routersByChild.ContainsKey(currentRouter.StartPosi))
                    parentRouters.AddRange(routersByChild[currentRouter.StartPosi].Where(r => !parentRouters.Any(p => p.Id == r.Id)));

                // 将父路由加入队列
                foreach (var parentRouter in parentRouters)
                {
                    // 避免循环引用
                    if (!currentPath.Any(p => p.Id == parentRouter.Id))
                    {
                        var newPath = new List<Dt_Router>(currentPath) { parentRouter };
                        queue.Enqueue((parentRouter, newPath));
                    }
                }
            }

            return result;
        }

        /// <summary>
        /// 根据起点获取下一个单个子节点路由
        /// </summary>
        /// <param name="startPosi">起点/当前位置</param>
        /// <returns>返回下一个路由节点，如果没有则返回null</returns>
        public Dt_Router QueryNextRoute(string startPosi)
        {
            try
            {
                // 查询从起点出发的所有路由
                List<Dt_Router> routes = BaseDal.QueryData(x => x.StartPosi == startPosi, 
                    new Dictionary<string, OrderByType> { { nameof(Dt_Router.IsEnd), OrderByType.Desc } });
                
                // 返回第一个路由
                return routes.FirstOrDefault();
            }
            catch (Exception ex)
            {
                // 记录错误信息
                return null;
            }
        }

        /// <summary>
        /// 根据起点和路由类型获取下一个单个子节点路由
        /// </summary>
        /// <param name="startPosi">起点/当前位置</param>
        /// <param name="routeType">路由类型</param>
        /// <returns>返回下一个路由节点，如果没有则返回null</returns>
        public Dt_Router QueryNextRoute(string startPosi, int routeType)
        {
            try
            {
                // 查询从起点出发的指定类型路由
                List<Dt_Router> routes = BaseDal.QueryData(x => x.StartPosi == startPosi && x.InOutType == routeType, 
                    new Dictionary<string, OrderByType> { { nameof(Dt_Router.IsEnd), OrderByType.Desc } });
                
                // 返回第一个路由
                return routes.FirstOrDefault();
            }
            catch (Exception ex)
            {
                // 记录错误信息
                return null;
            }
        }

        /// <summary>
        /// 根据起点、终点方向和路由类型获取下一个单个子节点路由（智能选择朝向终点的路由）
        /// </summary>
        /// <param name="startPosi">起点/当前位置</param>
        /// <param name="endPosi">终点位置（用于方向判断）</param>
        /// <param name="routeType">路由类型</param>
        /// <returns>返回下一个路由节点，优先返回朝向终点的路由，如果没有则返回null</returns>
        public Dt_Router QueryNextRoute(string startPosi, string endPosi, int routeType)
        {
            try
            {
                // 查询从起点出发的指定类型路由
                List<Dt_Router> routes = BaseDal.QueryData(x => x.StartPosi == startPosi && x.InOutType == routeType, 
                    new Dictionary<string, OrderByType> { { nameof(Dt_Router.IsEnd), OrderByType.Desc } });
                
                if (routes.Count == 0)
                    return null;

                // 优先选择直接指向终点的路由
                Dt_Router directRoute = routes.FirstOrDefault(x => x.NextPosi == endPosi || x.ChildPosi == endPosi);
                if (directRoute != null)
                    return directRoute;

                // 如果没有直接路由，使用查找算法找到朝向终点的路由
                List<Dt_Router> allRouters = BaseDal.QueryData(x => x.InOutType == routeType);
                foreach (var route in routes)
                {
                    // 检查从这个路由的下一个位置是否能到达终点
                    var pathToEnd = FindRoutesInMemory(route.NextPosi, endPosi, allRouters, routeType);
                    if (pathToEnd.Count > 0)
                        return route;
                }

                // 如果都不能到达终点，返回第一个路由
                return routes.FirstOrDefault();
            }
            catch (Exception ex)
            {
                // 记录错误信息
                return null;
            }
        }

        /// <summary>
        /// 获取从起点到终点的完整路径（按顺序返回每个子节点路由）
        /// </summary>
        /// <param name="startPosi">起点位置</param>
        /// <param name="endPosi">终点位置</param>
        /// <param name="routeType">路由类型</param>
        /// <returns>返回有序的路由列表，如果找不到路径则返回空列表</returns>
        public List<Dt_Router> QueryRoutePath(string startPosi, string endPosi, int routeType)
        {
            List<Dt_Router> path = new List<Dt_Router>();
            string currentPosi = startPosi;
            HashSet<string> visitedPositions = new HashSet<string>();
            
            try
            {
                while (currentPosi != endPosi)
                {
                    if (visitedPositions.Contains(currentPosi))
                    {
                        break;
                    }
                    visitedPositions.Add(currentPosi);

                    Dt_Router nextRoute = QueryNextRoute(currentPosi, endPosi, routeType);
                    
                    if (nextRoute == null)
                    {
                        break;
                    }
                    
                    path.Add(nextRoute);
                    currentPosi = nextRoute.NextPosi;
                    
                    if (path.Count > 1000)
                    {
                        break;
                    }
                }
                
                if (currentPosi != endPosi)
                {
                    return new List<Dt_Router>();
                }
            }
            catch (Exception ex)
            {
                return new List<Dt_Router>();
            }
            
            return path;
        }

        /// <summary>
@@ -144,7 +323,6 @@
        /// </summary>
        /// <param name="deviceCode">设备编号</param>
        /// <returns>返回路由点位编号(输送线站台编号)集合</returns>
        // 根据设备编码查询所有位置
        public List<string> QueryAllPositions(string deviceCode)
        {
            // 创建一个字符串列表，用于存储所有位置
@@ -185,34 +363,24 @@
            // 遍历所有结束的路由
            foreach (var item in dt_Routers)
            {
                // 获取当前路由的子路由
                string routes = $"{item.NextPosi},";
                // 获取当前路由的父路由
                string str = GetPreviousRoutes(item.StartPosi, allRouters, item.InOutType);
                // 如果父路由不为空
                if (!string.IsNullOrEmpty(str))
                // 获取所有可能的完整路径
                List<List<string>> allPaths = GetAllPaths(item.StartPosi, item.NextPosi, allRouters, item.InOutType);

                // 为每条独立路径生成结果
                foreach (var path in allPaths)
                {
                    // 去掉最后一个逗号
                    if (str.EndsWith(","))
                        str = str.Substring(0, str.Length - 1);
                    // 将父路由添加到子路由中
                    routes += str;
                }
                // 如果当前路由是入口
                if (item.InOutType == RouterInOutType.In.ObjToInt())
                {
                    // 将子路由反转并添加到data中
                    List<string> itemRouters = routes.Split(",").Reverse().ToList();
                    object obj = new { type = RouterInOutType.In, routes = itemRouters };
                    data.Add(obj);
                }
                // 如果当前路由是出口
                else
                {
                    // 将子路由反转并添加到data中
                    List<string> itemRouters = routes.Split(",").Reverse().ToList();
                    object obj = new { type = RouterInOutType.Out, routes = itemRouters };
                    data.Add(obj);
                    // 如果当前路由是入口
                    if (item.InOutType == RouterInOutType.In.ObjToInt())
                    {
                        object obj = new { type = RouterInOutType.In, routes = path };
                        data.Add(obj);
                    }
                    // 如果当前路由是出口
                    else
                    {
                        object obj = new { type = RouterInOutType.Out, routes = path };
                        data.Add(obj);
                    }
                }
            }

@@ -220,42 +388,61 @@
            return data;
        }

        private string GetPreviousRoutes(string startPosi, List<Dt_Router> allRouters, int routerType)
        /// <summary>
        /// 获取从起点到终点的所有完整路径
        /// </summary>
        /// <param name="startPosi">当前起始位置</param>
        /// <param name="endPosi">终点位置</param>
        /// <param name="allRouters">所有路由数据</param>
        /// <param name="routerType">路由类型</param>
        /// <returns>所有完整路径列表，每条路径是从起点到终点的位置列表</returns>
        private List<List<string>> GetAllPaths(string startPosi, string endPosi, List<Dt_Router> allRouters, int routerType)
        {
            // 定义一个空字符串routers
            string routers = string.Empty;
            // 判断startPosi是否为空
            if (!string.IsNullOrEmpty(startPosi))
            List<List<string>> result = new List<List<string>>();

            // 从终点开始反向查找所有路径
            List<List<string>> reversePaths = new List<List<string>>();
            BuildReversePaths(startPosi, new List<string> { endPosi, startPosi }, allRouters, routerType, reversePaths);

            // 将反向路径转为正向（从起点到终点）
            foreach (var reversePath in reversePaths)
            {
                // 判断routers是否以逗号结尾
                if (!routers.EndsWith(","))
                    // 如果不是，则将startPosi添加到routers中，并在后面加上逗号
                    routers += $"{startPosi},";
                else
                    // 如果是，则将startPosi添加到routers中
                    routers += $"{startPosi}";
                result.Add(reversePath.AsEnumerable().Reverse().ToList());
            }
            // 从allRouters中筛选出NextPosi等于startPosi且InOutType等于routerType的元素，并转换为List
            List<Dt_Router> preRouters = allRouters.Where(x => x.NextPosi == startPosi && x.InOutType == routerType).ToList();
            // 遍历preRouters中的每个元素
            foreach (var item in preRouters)

            return result;
        }

        /// <summary>
        /// 递归构建反向路径（从终点向起点查找）
        /// </summary>
        /// <param name="currentStartPosi">当前节点的起始位置</param>
        /// <param name="currentPath">当前已构建的路径（反向，从终点开始）</param>
        /// <param name="allRouters">所有路由数据</param>
        /// <param name="routerType">路由类型</param>
        /// <param name="result">收集所有完整路径</param>
        private void BuildReversePaths(string currentStartPosi, List<string> currentPath, List<Dt_Router> allRouters, int routerType, List<List<string>> result)
        {
            // 查找当前节点的前置节点（NextPosi等于当前StartPosi的路由）
            List<Dt_Router> preRouters = allRouters.Where(x => x.NextPosi == currentStartPosi && x.InOutType == routerType).ToList();

            // 如果没有前置节点，说明已经到达路径起点，保存当前路径
            if (preRouters.Count == 0)
            {
                // 调用GetPreviousRoutes方法，传入item.StartPosi、allRouters和routerType，并将返回值赋给str
                string str = GetPreviousRoutes(item.StartPosi, allRouters, routerType);
                // 判断str是否为空
                if (!string.IsNullOrEmpty(str))
                {
                    // 判断routers是否以逗号结尾
                    if (routers.EndsWith(","))
                        // 如果是，则将str添加到routers中
                        routers += $"{str}";
                    else
                        // 如果不是，则将str添加到routers中，并在后面加上逗号
                        routers += $"{str},";
                }
                result.Add(new List<string>(currentPath));
                return;
            }
            // 返回routers
            return routers;

            // 对每个前置节点，创建新的路径分支
            foreach (var preRouter in preRouters)
            {
                // 创建新的路径副本
                List<string> newPath = new List<string>(currentPath);
                newPath.Add(preRouter.StartPosi);

                // 递归查找前置节点
                BuildReversePaths(preRouter.StartPosi, newPath, allRouters, routerType, result);
            }
        }

        /// <summary>