1

z8018

2025-04-08 e69f814f50fd59739dbedd88518dc8cb8d2ed3ee

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -16,45 +16,20 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Mvc.RazorPages;
using NetTaste;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using HslCommunication.WebSocket;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
using WIDESEA_Common.Log;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_BasicInfoService;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;

namespace WIDESEAWCS_TaskInfoService
{
@@ -63,19 +38,169 @@
        private readonly IMapper _mapper;
        private readonly IContainerRepository _containerRepository;
        private readonly IContainerItemRepository _containerItemRepository;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
        private readonly WebSocketServer _webSocketServer;
        private readonly IOrderDetailsRepository _orderDetailsRepository;

        public TaskService(ITaskRepository BaseDal, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, IDeviceInfoRepository deviceInfoRepository) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsRepository orderDetailsRepository) : base(BaseDal)
        {
            _mapper = mapper;
            _containerRepository = containerRepository;
            _containerItemRepository = containerItemRepository;
            _deviceInfoRepository = deviceInfoRepository;
            _webSocketServer = webSocketServer;
            _orderDetailsRepository = orderDetailsRepository;
        }

        public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo)
        {
            return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo);
        }

        public WebResponseContent PlaceBlockTest(int orderRowId)
        {
            try
            {
                List<OrderDetails> orderDetails = _orderDetailsRepository.QueryData(x => x.Orderrowsid == orderRowId);
                if (orderDetails == null || orderDetails.Count == 0)
                {
                    return WebResponseContent.Instance.Error("未找到订单明细信息");
                }

                Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
                if (putContainer == null)
                {
                    return WebResponseContent.Instance.Error("放货位置不存在");
                }

                ContainerSize containerSize = new ContainerSize(1500, putContainer.ContainerWidth, putContainer.ContainerHeight);
                List<PlacedBlock> placedBlocks = new List<PlacedBlock>();

                for (int i = 0; i < orderDetails.Count; i++)
                {
                    try
                    {
                        lock (placedBlocks)
                        {
                            int length = Convert.ToInt32(orderDetails[i].Orderdetails_length);
                            int width = Convert.ToInt32(orderDetails[i].Orderdetails_width);
                            int height = Convert.ToInt32(orderDetails[i].Orderdetails_thickness);

                            TaskPosition taskPosition = new TaskPosition();
                            taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);

                            PlacedBlock placedBlock = new PlacedBlock(new Point3D(taskPosition.PositionX, taskPosition.PositionY, taskPosition.PositionZ), length, width, height);
                            placedBlocks.Add(placedBlock);

                            object obj = new
                            {
                                x = taskPosition.PutCenterPositionX - containerSize.Length / 2,
                                y = taskPosition.PutCenterPositionY - containerSize.Width / 2,
                                z = taskPosition.PutCenterPositionZ,
                                length,
                                width,
                                height,
                            };

                            _webSocketServer.PublishAllClientPayload(obj.Serialize());

                            Thread.Sleep(100);
                        }
                    }
                    catch (Exception ex)
                    {

                    }
                }
                return WebResponseContent.Instance.OK(data: placedBlocks);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        public TaskPosition GetTakePutPosition(int length, int width, int height, ContainerSize containerSize, List<PlacedBlock> placedBlocks)
        {
            try
            {
                PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);

                Point3D? point3D = placeBlockService.PlaceBlock(length, width, height);
                if (point3D == null)
                {
                    throw new Exception("放货位置已满");
                }

                //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 >= 300)
                {
                    //
                    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
                {
                    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*/;
                }

                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 WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode, int length, int width, int height)
@@ -99,13 +224,21 @@

                List<PlacedBlock> placedBlocks = containerItems.Select(x => new PlacedBlock(new Point3D(x.ItemPositionX, x.ItemPositionY, x.ItemPositionZ), x.ItemLength, x.ItemWidth, x.ItemHeight)).ToList();

                PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);

                Point3D? point3D = placeBlockService.PlaceBlock(length, width, height);
                if (point3D == null)
                TaskPosition taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);

                object obj = new
                {
                    return WebResponseContent.Instance.Error("放货位置已满");
                }
                    x = taskPosition.PutCenterPositionX - putContainer.ContainerLength / 2,
                    y = taskPosition.PutCenterPositionY - putContainer.ContainerWidth / 2,
                    z = taskPosition.PutCenterPositionZ,
                    length,
                    width,
                    height,
                };

                _webSocketServer.PublishAllClientPayload(obj.Serialize());

                string code = DateTime.Now.ToString("yyyyMMddHHmmss");

                Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
@@ -115,122 +248,12 @@
                    ItemLength = length,
                    ItemWidth = width,
                    ItemHeight = height,
                    ItemPositionX = point3D.Value.X,
                    ItemPositionY = point3D.Value.Y,
                    ItemPositionZ = point3D.Value.Z,
                    ItemPositionX = taskPosition.PutPositionX,
                    ItemPositionY = taskPosition.PutPositionY,
                    ItemPositionZ = taskPosition.PutPositionZ,
                    ItemStatus = (int)ItemStatusEnum.Assigned,
                    ItemName = code
                };

                int positionR = 1;

                int takePositionX = 0;
                int takePositionY = 0;

                int putPositionX = 0;
                int putPositionY = 0;

                int takeContainerPositionX = 0;
                int takeContainerPositionY = 0;
                int takeContainerPositionZ = 0;

                int putContainerPositionX = 0;
                int putContainerPositionY = 0;
                int putContainerPositionZ = 0;

                int deviceHalfLength = 0;
                int deviceHalfWidth = 0;

                if (length > 920 && width >= 300)
                {
                    positionR = 1;
                    if (OPositions.ZPositions.TryGetValue(takeContainer.ContainerCode, out Position? takeOPosition))
                    {
                        takeContainerPositionX = takeOPosition.PositionX;
                        takeContainerPositionY = takeOPosition.PositionY;
                        takeContainerPositionZ = takeOPosition.PositionZ;
                    }

                    if (OPositions.ZPositions.TryGetValue(putContainer.ContainerCode, out Position? putOPosition))
                    {
                        putContainerPositionX = putOPosition.PositionX;
                        putContainerPositionY = putOPosition.PositionY;
                        putContainerPositionZ = putOPosition.PositionZ;
                    }

                    deviceHalfLength = 460;
                    deviceHalfWidth = 265;
                }
                else
                {
                    positionR = 0;

                    if (OPositions.HPositions.TryGetValue(takeContainer.ContainerCode, out Position? takeOPosition))
                    {
                        takeContainerPositionX = takeOPosition.PositionX;
                        takeContainerPositionY = takeOPosition.PositionY;
                        takeContainerPositionZ = takeOPosition.PositionZ;
                    }

                    if (OPositions.HPositions.TryGetValue(putContainer.ContainerCode, out Position? putOPosition))
                    {
                        putContainerPositionX = putOPosition.PositionX;
                        putContainerPositionY = putOPosition.PositionY;
                        putContainerPositionZ = putOPosition.PositionZ;
                    }

                    deviceHalfLength = 265;
                    deviceHalfWidth = 460;
                }

                //吸盘长530 300 é—´éš”660  æœ€å¤§920 å¸ç›˜å®½130

                int sourceTakePositionX = 0;
                int sourceTakePositionY = 0;

                int sourcePutPositionX = 0;
                int sourceTPutPositionY = 0;

                if (length / 2 + point3D.Value.X > 1000)
                {
                    takePositionY = 1000;
                    putPositionY = putContainerPositionY + 1000;

                    sourceTakePositionY = 1000;
                    sourceTPutPositionY = 1000;
                }
                else
                {
                    takePositionY = takeContainerPositionY - length / 2 + deviceHalfLength;
                    putPositionY = putContainerPositionY + length / 2 + point3D.Value.X - deviceHalfLength;

                    sourceTakePositionY = length / 2 + point3D.Value.X + deviceHalfLength;
                    sourceTPutPositionY = length / 2 + point3D.Value.X - deviceHalfLength;
                }


                if (width >= 530)
                {
                    takePositionX = takeContainerPositionX + Math.Abs( width / 2 - deviceHalfWidth);
                    putPositionX = point3D.Value.Y + putContainerPositionX + Math.Abs(width / 2 - deviceHalfWidth);

                    sourceTakePositionX = Math.Abs(width / 2 - deviceHalfWidth);
                    sourcePutPositionX = point3D.Value.Y + Math.Abs(width / 2 - deviceHalfWidth);
                }
                else
                {
                    takePositionX = takeContainerPositionX;
                    putPositionX = point3D.Value.Y + takeContainerPositionX;

                    sourceTakePositionX = 0;
                    sourcePutPositionX = point3D.Value.Y;
                }

                int takePositionZ = takeContainerPositionZ - (height - (height - 10));
                int putPositionZ = (putContainerPositionZ - (height - (height - 10))) - point3D.Value.Z;

                int sourceTakePositionZ = height - (height - 10);
                int sourcePutPositionZ = height - (height - 10) + point3D.Value.Z;

                Dt_Task dt_Task = new Dt_Task()
                {
@@ -239,10 +262,10 @@
                    DeviceCode = deviceCode,
                    TaskState = (int)TaskStatusEnum.Gantry_New,
                    TaskType = 0,
                    SourceAddress = $"{takePosition}-{sourceTakePositionX}-{sourceTakePositionY}-{sourceTakePositionZ}-{positionR}",
                    TargetAddress = $"{putPosition}-{sourcePutPositionX}-{sourceTPutPositionY}-{sourcePutPositionZ}-{positionR}",
                    CurrentAddress = $"{takePosition}-{takePositionX}-{takePositionY}-{takePositionZ}-{positionR}",
                    NextAddress = $"{putPosition}-{putPositionX}-{putPositionY}-{putPositionZ}-{positionR}",
                    SourceAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                    TargetAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                    CurrentAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                    NextAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                    Grade = 0,
                };