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z8018

2025-04-05 f94288b728f81b20c29e626526c584c11a7894a3

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

@@ -37,38 +37,40 @@
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
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
{
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _task_HtyService;
        private readonly IMapper _mapper;
        private readonly IContainerRepository _containerRepository;
        private readonly IContainerItemRepository _containerItemRepository;
        private readonly IDeviceInfoRepository _deviceInfoRepository;

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, IDeviceInfoRepository deviceInfoRepository) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _task_HtyService = task_HtyService;
            _mapper = mapper;
            _containerRepository = containerRepository;
            _containerItemRepository = containerItemRepository;
            _deviceInfoRepository = deviceInfoRepository;
        }

        public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo)
@@ -76,9 +78,183 @@
            return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo);
        }

        public WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode)
        public WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode, int length, int width, int height)
        {
            return WebResponseContent.Instance.OK();
            try
            {
                Dt_Container takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == takePosition && x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt());
                if (takeContainer == null)
                {
                    return WebResponseContent.Instance.Error("取货位置不存在");
                }

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

                ContainerSize containerSize = new ContainerSize(putContainer.ContainerLength, putContainer.ContainerWidth, putContainer.ContainerHeight);
                List<Dt_ContainerItem> containerItems = _containerItemRepository.QueryData(x => x.ContainerId == putContainer.Id);

                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)
                {
                    return WebResponseContent.Instance.Error("放货位置已满");
                }
                string code = DateTime.Now.ToString("yyyyMMddHHmmss");

                Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
                {
                    ContainerId = putContainer.Id,
                    ItemCode = code,
                    ItemLength = length,
                    ItemWidth = width,
                    ItemHeight = height,
                    ItemPositionX = point3D.Value.X,
                    ItemPositionY = point3D.Value.Y,
                    ItemPositionZ = point3D.Value.Z,
                    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()
                {
                    TaskNum = 1,
                    PalletCode = code,
                    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}",
                    Grade = 0,
                };

                _containerItemRepository.AddData(dt_ContainerItem);
                base.AddData(dt_Task);

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