1

z8018

2025-04-16 1f361850d35ba47225951efbc49d592eea685cf8

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/ContainerService.cs

@@ -8,6 +8,8 @@
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.PlacedBlockDTO;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_Model.Models;
@@ -17,76 +19,331 @@
    public class ContainerService : ServiceBase<Dt_Container, IContainerRepository>, IContainerService
    {
        private readonly IMapper _mapper;
        int lengthThreshold = AppSettings.Get("LengthThreshold").ObjToInt();

        public ContainerService(IContainerRepository BaseDal, IMapper mapper) : base(BaseDal)
        {
            _mapper = mapper;
        }

        public void GetPosition(string orderNo, int length, int width, int height)
        public TaskPosition? GetTaskPosition(int length, int width, int height, ContainerSize containerSize, List<PlacedBlock> placedBlocks)
        {
            List<Dt_OrderContainer> containerInfos = new List<Dt_OrderContainer>();
            List<Dt_OrderContainer> orderContainers = Db.Queryable<Dt_OrderContainer>().Where(it => it.OrderNo == orderNo).ToList();
            if (orderContainers != null)
            try
            {
                containerInfos = orderContainers;
                if (containerInfos.Count == 1)
                PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);

                Point3D? point3D = placeBlockService.PlaceBlock(length, width, height);
                if (point3D == null)
                {
                    Dt_Container container = Db.Queryable<Dt_Container>().OrderBy(x => x.ContainerSort).First(x => x.ContainerStatus == ContainerStatusEnum.Empty.ObjToInt());
                    if (container != null)
                    {
                        Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(container);
                        containerInfos.Add(containerInfo);
                    }
                    return null;
                }
            }
            else
            {
                Dt_Container container = Db.Queryable<Dt_Container>().OrderBy(x => x.ContainerSort).First(x => x.ContainerStatus == ContainerStatusEnum.Empty.ObjToInt());
                if (container != null)

                //放货位置板材中心点
                Point3D putCenter = new Point3D(point3D.Value.X + length / 2, point3D.Value.Y + width / 2, point3D.Value.Z + height / 2);

                //取货位置板材中心点
                Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);

                //吸盘长530 é—´éš”660  æœ€å¤§920 å¸ç›˜å®½130

                int positionR = 1;

                int takePositionX = 0;
                int takePositionY = 0;
                int takePositionZ = 0;
                int putPositionX = 0;
                int putPositionY = 0;
                int putPositionZ = 0;

                //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
                if (length > 920 && width >= 100)
                {
                    containerInfos = _mapper.Map<List<Dt_OrderContainer>>(container);
                    //
                    Point3D deviceCenter = new Point3D(530 / 2, 920 / 2, 0);

                    positionR = 1;
                    takePositionX = (takeCenter.Y - deviceCenter.X);
                    takePositionY = (takeCenter.X - deviceCenter.Y);
                    takePositionZ = 10;

                    putPositionX = (putCenter.Y - deviceCenter.X);
                    putPositionY = (putCenter.X - deviceCenter.Y);
                    putPositionZ = point3D.Value.Z; // putCenter.Z /*+ 10*/;
                }
                else if (length < 450)
                {
                    Point3D deviceCenter = new Point3D(530 / 2, 130 / 2, 0);

                    positionR = 1;
                    takePositionX = (takeCenter.Y - deviceCenter.X);
                    takePositionY = (takeCenter.X - deviceCenter.Y);
                    takePositionZ = 10;

                    putPositionX = (putCenter.Y - deviceCenter.X);
                    putPositionY = (putCenter.X - deviceCenter.Y);
                    putPositionZ = point3D.Value.Z; // putCenter.Z /*+ 10*/;
                }
                else
                {
                    positionR = 0;
                    Point3D deviceCenter = new Point3D(130 / 2, 530 / 2, 0);
                    takePositionX = (takeCenter.Y - deviceCenter.X);
                    takePositionY = (takeCenter.X - deviceCenter.Y);
                    takePositionZ = 10;

                    putPositionX = (putCenter.Y - deviceCenter.X);
                    putPositionY = (putCenter.X - deviceCenter.Y);
                    putPositionZ = point3D.Value.Z; //putCenter.Z /*+ 10*/;
                }

                if (positionR == 1 && takePositionY < 155)
                {
                    takePositionY = 0;

                    putPositionY = point3D.Value.X + 155;
                }
                else if (positionR == 1 && takePositionY >= 880)
                {
                    takePositionY = 880 - 155;
                    putPositionY = 880;
                }
                else
                {
                    takePositionY -= 155;
                }

                if (positionR == 0 && takePositionY < 350)
                {
                    takePositionY = 0;

                    putPositionY = point3D.Value.X + 350;
                }
                else if (positionR == 0 && takePositionY >= 350 && takePositionY <= 880)
                {
                    takePositionY -= 350;
                }
                else if (positionR == 0 && takePositionY >= 880)
                {
                    takePositionY = 880 - 350;
                    putPositionY = 880;
                }

                if (putPositionX < -20)
                {
                    takePositionX = -40;
                    //point3D.X += -20;
                    putPositionX = point3D.Value.Y - 40;
                }

                TaskPosition taskPosition = new TaskPosition()
                {
                    PositionR = positionR,
                    TakePositionX = takePositionX,
                    TakePositionY = takePositionY,
                    TakePositionZ = takePositionZ,
                    PutPositionX = putPositionX,
                    PutPositionY = putPositionY,
                    PutPositionZ = putPositionZ,
                    TakeCenterPositionX = takeCenter.X,
                    TakeCenterPositionY = takeCenter.Y,
                    TakeCenterPositionZ = takeCenter.Z,
                    PutCenterPositionX = putCenter.X,
                    PutCenterPositionY = putCenter.Y,
                    PutCenterPositionZ = putCenter.Z,
                    PositionX = point3D.Value.X,
                    PositionY = point3D.Value.Y,
                    PositionZ = point3D.Value.Z
                };

                return taskPosition;
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

        //public TaskPosition? GetPosition(string orderNo, int length, int width, int height)
        //{
        //    List<Dt_OrderContainer> containerInfos = new List<Dt_OrderContainer>();
        //    List<Dt_OrderContainer> orderContainers = Db.Queryable<Dt_OrderContainer>().Where(it => it.OrderNo == orderNo).ToList();
        //    if (orderContainers != null && orderContainers.Count > 0)
        //    {
        //        containerInfos = orderContainers;
        //        if (containerInfos.Count == 1)
        //        {
        //            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);
        //            if (container != null)
        //            {
        //                Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(container);
        //                containerInfos.Add(containerInfo);
        //            }
        //            else
        //            {
        //                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();
        //                if (containerItem != null)
        //                {
        //                    if (LightStatusStorage.LightStatusDic.TryGetValue(containerItem.ContainerCode, out LightStatusEnum lightStatus))
        //                    {
        //                        if (lightStatus != LightStatusEnum.ReadyRelease)
        //                        {
        //                            LightStatusStorage.LightStatusDic[containerItem.ContainerCode] = LightStatusEnum.ReadyRelease;

        //                            Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(containerItem);
        //                            containerInfos.Add(containerInfo);
        //                        }
        //                    }
        //                }
        //                else
        //                {
        //                    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");
        //                }
        //            }
        //        }
        //    }
        //    else
        //    {
        //        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);
        //        if (container != null)
        //        {
        //            containerInfos.Add(_mapper.Map<Dt_OrderContainer>(container));
        //        }
        //        else
        //        {
        //            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();
        //            if (containerItem != null)
        //            {
        //                if (LightStatusStorage.LightStatusDic.TryGetValue(containerItem.ContainerCode, out LightStatusEnum lightStatus))
        //                {
        //                    if (lightStatus != LightStatusEnum.ReadyRelease)
        //                    {
        //                        LightStatusStorage.LightStatusDic[containerItem.ContainerCode] = LightStatusEnum.ReadyRelease;

        //                        Dt_OrderContainer containerInfo = _mapper.Map<Dt_OrderContainer>(containerItem);
        //                        containerInfos.Add(containerInfo);
        //                    }
        //                }
        //            }
        //            else
        //            {
        //                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");
        //            }
        //        }
        //    }

        //    {
        //        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();

        //        foreach (var container in containers)
        //        {
        //            List<PlacedBlock> placedBlocks = new List<PlacedBlock>();

        //            foreach (var item in container.Items)
        //            {
        //                Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
        //                placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
        //            }
        //            Dt_OrderContainer? orderContainer = containerInfos.FirstOrDefault(x => x.ContainerId == x.Id && x.ContainerCode == x.ContainerCode);
        //            int containerLength = container.ContainerLength;
        //            if (length < lengthThreshold)
        //            {
        //                containerLength = lengthThreshold;
        //            }
        //            ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
        //            TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
        //            if (taskPosition != null)
        //            {
        //                taskPosition.PutPosition = container.ContainerCode;
        //                return taskPosition;
        //            }
        //            throw new Exception("10001");

        //        }
        //    }
        //    return null;
        //}

        public TaskPosition? GetPosition(string orderNo, int length, int width, int height)
        {
            TaskPosition? taskPosition = GetPositionByOrder(orderNo, length, width, height);
            if (taskPosition != null)
            {
                return taskPosition;
            }
            taskPosition = GetPosition(length, width, height);
            if (taskPosition != null)
            {
                return taskPosition;
            }
            throw new Exception("10001");
        }

        public TaskPosition? GetPosition(int length, int width, int height)
        {
            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);
            List<PlacedBlock> placedBlocks = new List<PlacedBlock>();

            if (container.Items != null && container.Items.Count > 0)
            {
                foreach (var item in container.Items)
                {
                    Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
                    placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
                }
            }

            int containerLength = container.ContainerLength;
            if (length < lengthThreshold)
            {
                List<Dt_Container> containers = Db.Queryable<Dt_Container>().Where(it => containerInfos.Any(x => x.ContainerId == it.Id && x.ContainerCode == it.ContainerCode)).Includes(x => x.Items).ToList();
                containerLength = lengthThreshold;
            }
            ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
            TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
            if (taskPosition != null)
            {
                taskPosition.PutPosition = container.ContainerCode;
                return taskPosition;
            }
            return null;
        }

        public TaskPosition? GetPositionByOrder(string orderNo, int length, int width, int height)
        {
            List<Dt_OrderContainer> orderContainers = Db.Queryable<Dt_OrderContainer>().Where(it => it.OrderNo == orderNo).ToList();
            if (orderContainers != null && orderContainers.Count > 0)
            {
                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(); ;

                foreach (var container in containers)
                {
                    List<PlacedBlock> placedBlocks = new List<PlacedBlock>();

                    if (container.Items != null && container.Items.Count > 0)
                    foreach (var item in container.Items)
                    {
                        foreach (var item in container.Items)
                        {
                            Point3D point3D = new Point3D(item.ItemPositionX, item.ItemPositionY, item.ItemPositionZ);
                            placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
                        }

                        ContainerSize containerSize = new ContainerSize(container.ContainerLength, container.ContainerWidth, container.ContainerHeight);
                        PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);
                        Point3D? axis = placeBlockService.PlaceBlock(length, width, height);
                        if (axis != null)
                        {
                            Dt_ContainerItem containerItem = new Dt_ContainerItem()
                            {
                                ContainerId = container.Id,
                                ItemCode = "ItemCode",
                                ItemHeight = height,
                                ItemLength = length,
                                ItemName = "ItemName",
                                ItemPositionX = axis.Value.X,
                                ItemPositionY = axis.Value.Y,
                                ItemPositionZ = axis.Value.Z,
                                ItemWidth = width,
                                ItemStatus = ItemStatusEnum.Assigned.ObjToInt()
                            };
                            Db.Insertable(containerItem).ExecuteCommand();
                        }
                        Point3D point3D = new Point3D(item.ItemRelaPositionX, item.ItemRelaPositionY, item.ItemRelaPositionZ);
                        placedBlocks.Add(new PlacedBlock(point3D, item.ItemLength, item.ItemWidth, item.ItemHeight));
                    }
                    Dt_OrderContainer? orderContainer = orderContainers.FirstOrDefault(x => x.ContainerId == x.Id && x.ContainerCode == x.ContainerCode);
                    int containerLength = container.ContainerLength;
                    if (length < lengthThreshold)
                    {
                        containerLength = lengthThreshold;
                    }
                    else
                    {
                        if (orderContainer != null)
                            containerLength = orderContainer.MaxLength;
                    }
                    ContainerSize containerSize = new ContainerSize(containerLength, container.ContainerWidth, container.ContainerHeight);
                    TaskPosition? taskPosition = GetTaskPosition(length, width, height, containerSize, placedBlocks);
                    if (taskPosition != null)
                    {
                        taskPosition.PutPosition = container.ContainerCode;
                        return taskPosition;
                    }
                }
            }
            return null;
        }
    }