From b6837f097e9cdb2645368aed4ddb03f580c331e4 Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期一, 05 五月 2025 17:29:07 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/PlaceBlockService.cs | 468 +++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 364 insertions(+), 104 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/PlaceBlockService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/PlaceBlockService.cs"
index 4248711..a1ae45c 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/PlaceBlockService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_BasicInfoService/PlaceBlockService.cs"
@@ -3,13 +3,49 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.PlacedBlockDTO;
+using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoService;
namespace WIDESEAWCS_BasicInfoService
{
public class PlaceBlockService
{
- public const int SPACING = 5;
+ public static int SPACING = AppSettings.GetValue("Spacing").ObjToInt();
+
+ public static int MaxRotateLength = AppSettings.GetValue("MaxRotateLength").ObjToInt();
+
+ /// <summary>
+ /// 鏈�澶鍧愭爣闄愬埗锛堟绫筹級
+ /// </summary>
+ public const int MaxY = 600;
+
+ /// <summary>
+ /// 鏈�灏忔í鍚慪鍧愭爣闄愬埗锛堟绫筹級
+ /// </summary>
+ public static int MinY = AppSettings.GetValue("MinY").ObjToInt();
+
+ /// <summary>
+ /// 鍚哥洏妯悜闀垮害
+ /// </summary>
+ public const int SuctionLengthH = 920;
+
+ /// <summary>
+ /// 鍚哥洏妯悜瀹藉害
+ /// </summary>
+ public const int SuctionWidthH = 530;
+
+ /// <summary>
+ /// 鍚哥洏绾靛悜闀垮害
+ /// </summary>
+ public const int SuctionLengthZ = 530;
+
+ /// <summary>
+ /// 鍚哥洏绾靛悜瀹藉害
+ /// </summary>
+ public const int SuctionWidthZ = 130;
/// <summary>
/// 瀹瑰櫒灏哄
@@ -25,8 +61,8 @@
public PlaceBlockService(ContainerSize containerSize, List<PlacedBlock>? placedBlocks = null)
{
- containerSize.Length = containerSize.Length + 2 * SPACING;
- containerSize.Width = containerSize.Width + 2 * SPACING;
+ containerSize.Length = containerSize.Length;
+ containerSize.Width = containerSize.Width;
ContainerSize = containerSize;
if (placedBlocks == null || placedBlocks.Count == 0)
{
@@ -53,10 +89,46 @@
/// </returns>
public Point3D? PlaceBlock(int length, int width, int height)
{
+ int tempLength = length;
+ int tempWidth = width;
+
+ if (length < width)
+ {
+ length = tempWidth;
+ width = tempLength;
+ }
+
if (!IsValidBlock(length, width, height))
return null;
return FindStackablePosition(length, width, height);
+ }
+
+ /// <summary>
+ /// 涓绘斁缃柟娉曪細灏濊瘯鏀剧疆鎸囧畾灏哄鐨勮揣鐗�
+ /// </summary>
+ /// <param name="length">璐х墿闀垮害锛圶杞存柟鍚戯級</param>
+ /// <param name="width">璐х墿瀹藉害锛圷杞存柟鍚戯級</param>
+ /// <param name="height">璐х墿楂樺害锛圸杞存柟鍚戯級</param>
+ /// <returns>
+ /// 鎴愬姛锛氳繑鍥炲彲鏀剧疆浣嶇疆鐨勫乏涓嬪墠瑙扨oint3D鍧愭爣
+ /// 澶辫触锛氳繑鍥瀗ull锛堝昂瀵告棤鏁堟垨绌洪棿涓嶈冻锛�
+ /// </returns>
+ public TaskPosition? PlaceBlock(int length, int width, int height, int edge)
+ {
+ int tempLength = length;
+ int tempWidth = width;
+
+ if (length < width)
+ {
+ length = tempWidth;
+ width = tempLength;
+ }
+
+ if (!IsValidBlock(length, width, height))
+ return null;
+
+ return FindStackablePosition(length, width, height, edge);
}
/// <summary>
@@ -136,17 +208,12 @@
xEnd = Math.Min(xEnd, ContainerSize.Length - l - SPACING);
yEnd = Math.Min(yEnd, ContainerSize.Width - w - SPACING);
- // 楠岃瘉鏀拺闈㈢Н
- //int supportArea = support.Length * support.Width;
- //int requiredSupportArea = (int)(l * w * 0.7); // 鏀拺闈㈢Н >= 琚敮鎾戦潰闈㈢Н鐨�70%
- //if (supportArea < requiredSupportArea) continue;
-
if (xStart > xEnd || yStart > yEnd) continue;
// 浼樺寲鎼滅储锛氫紭鍏堣钀戒綅缃�
- for (int y = yStart; y <= yEnd; y += 10)
+ for (int x = xStart; x <= xEnd; x += 10)
{
- for (int x = xStart; x <= xEnd; x += 10)
+ for (int y = yStart; y <= yEnd; y += 10)
{
var candidate = new Point3D(x, y, baseZ);
if (IsPositionValid(candidate, l, w, h))
@@ -154,6 +221,88 @@
var placed = new PlacedBlock(candidate, l, w, h);
//PlacedBlocks.Add(placed);
return candidate;
+ }
+ }
+ }
+ }
+ }
+ return null;
+ }
+
+ /// <summary>
+ /// 鍦ㄧ幇鏈夎揣鐗╅《閮ㄥ鎵惧彔鏀句綅缃紙鍫嗗彔妯″紡锛�
+ /// 鍙犳斁鏉′欢锛�
+ /// - 鏀拺闈㈢Н >= 琚敮鎾戦潰闈㈢Н鐨�70%
+ /// - 鏂拌揣鐗╁畬鍏ㄤ綅浜庢敮鎾戣揣鐗╀笂鏂�
+ /// - 婊¤冻闂撮殧瑕佹眰
+ /// </summary>
+ /// <param name="l">闀垮害</param>
+ /// <param name="w">瀹藉害</param>
+ /// <param name="h">楂樺害</param>
+ /// <returns></returns>
+ private TaskPosition? FindStackablePosition(int l, int w, int h, int edge)
+ {
+ // 鐢熸垚鍊欓�夋敮鎾戝眰锛堝寘鍚鍣ㄥ簳閮級
+ var candidateLayers = PlacedBlocks
+ .Select(b => b.Position.Z + b.Height)
+ .Append(0)
+ .Distinct()
+ .OrderBy(z => z)
+ .ToList();
+
+ foreach (var baseZ in candidateLayers)
+ {
+ if (baseZ + h > ContainerSize.Height) continue;
+
+ // 鑾峰彇褰撳墠灞傜殑鏀拺鍧楋紙鍖呭惈铏氭嫙瀹瑰櫒搴曢儴锛�
+ var supports = GetSupportBlocks(baseZ);
+
+ foreach (var support in supports)
+ {
+ // 璁＄畻鏈夋晥鍙犳斁鍖哄煙锛堜慨姝ｉ棿闅旈�昏緫锛�
+ int xStart = support.Position.X;
+ int yStart = support.Position.Y;
+
+ // 瀹瑰櫒搴曢儴鏀拺蹇呴』鍐呯缉闂撮殧锛堝嵆浣垮昂瀵哥浉鍚岋級
+ if (support == containerFloor)
+ {
+ xStart = support.Position.X;
+ yStart = support.Position.Y;
+ }
+
+ int xEnd = support.Position.X + support.Length - l;
+ int yEnd = support.Position.Y + support.Width - w;
+
+ // 鏅�氭敮鎾戝潡浠呭湪灏哄涓嶅悓鏃跺姞闂撮殧
+ if (support != containerFloor &&
+ (l != support.Length && w != support.Width))
+ {
+ xStart += SPACING;
+ yStart += SPACING;
+ xEnd -= SPACING;
+ yEnd -= SPACING;
+ }
+
+ // 鏈�缁堝鍣ㄨ竟鐣岀害鏉�
+ xEnd = Math.Min(xEnd, ContainerSize.Length - l);
+ yEnd = Math.Min(yEnd, ContainerSize.Width - w);
+
+ if (xStart > xEnd || yStart > yEnd) continue;
+
+ // 浼樺寲鎼滅储锛氫紭鍏堣钀戒綅缃�
+ for (int x = xStart; x <= xEnd; x += 10)
+ {
+ for (int y = yStart; y <= yEnd; y += 10)
+ {
+ var candidate = new Point3D(x, y, baseZ);
+ if (IsPositionValid(candidate, l, w, h))
+ {
+ TaskPosition taskPosition = GetTaskPosition(candidate, l, w, h, edge);
+ if (IsPositionValid(taskPosition))
+ {
+ return taskPosition;
+ }
+
}
}
}
@@ -173,7 +322,7 @@
{
var blocks = PlacedBlocks
.Where(b => b.Position.Z + b.Height == baseZ)
- .OrderByDescending(b => b.Length * b.Width).ToList();
+ /*.OrderByDescending(b => b.Length * b.Width)*/.ToList();
// 褰揵aseZ=0鏃舵坊鍔犲鍣ㄥ簳閮ㄦ敮鎾�
if (baseZ == 0 && blocks.Count == 0)
@@ -182,38 +331,6 @@
}
return blocks;
-
-
- //// 鑾峰彇鎵�鏈夊湪 baseZ 楂樺害鐨勬敮鎾戝潡
- //var blocks = PlacedBlocks
- // .Where(b => b.Position.Z + b.Height == baseZ)
- // .ToList();
-
- //// 褰� baseZ=0 鏃舵坊鍔犲鍣ㄥ簳閮ㄦ敮鎾�
- //if (baseZ == 0 && !blocks.Any())
- //{
- // return new List<PlacedBlock> { containerFloor };
- //}
-
- //// 璁＄畻鏁翠綋骞抽潰
- //if (blocks.Any())
- //{
- // int minX = blocks.Min(b => b.Position.X);
- // int minY = blocks.Min(b => b.Position.Y);
- // int maxX = blocks.Max(b => b.Position.X + b.Length);
- // int maxY = blocks.Max(b => b.Position.Y + b.Width);
-
- // var overallSupport = new PlacedBlock(
- // new Point3D(minX, minY, baseZ),
- // maxX - minX,
- // maxY - minY,
- // 0
- // );
-
- // return new List<PlacedBlock> { overallSupport };
- //}
-
- //return blocks;
}
/// <summary>
@@ -237,6 +354,11 @@
pos.Y + w > ContainerSize.Width - SPACING)
return false;
+ if (pos.X > 1600)
+ return false;
+
+ if (pos.X > MaxY && l > MaxRotateLength) return false;
+
// 涓夌淮纰版挒妫�娴�
var newBlock = new PlacedBlock(pos, l, w, h);
return !PlacedBlocks.Any(existing =>
@@ -253,74 +375,212 @@
return xOverlap && yOverlap && zOverlap;
});
}
- }
- /// <summary>
- /// 涓夌淮鍧愭爣缁撴瀯浣�
- /// 琛ㄧず璐х墿鏀剧疆浣嶇疆鐨勫乏涓嬪墠瑙掑潗鏍囷紙X,Y,Z锛�
- /// 鍧愭爣绯昏鏄庯細
- /// - X杞达細娌垮鍣ㄩ暱搴︽柟鍚�
- /// - Y杞达細娌垮鍣ㄥ搴︽柟鍚�
- /// - Z杞达細鍨傜洿鏂瑰悜锛堥珮搴︼級
- /// </summary>
- public struct Point3D
- {
- /// <summary>X杞村潗鏍囷紙姣背锛�</summary>
- public int X { get; }
-
- /// <summary>Y杞村潗鏍囷紙姣背锛�</summary>
- public int Y { get; }
-
- /// <summary>Z杞村潗鏍囷紙姣背锛�</summary>
- public int Z { get; }
-
- public Point3D(int x, int y, int z)
+ private bool IsPositionValid(TaskPosition pos)
{
- X = x;
- Y = y;
- Z = z;
+ // 杈圭晫妫�鏌ワ紙鍚鍣ㄨ竟缂橀棿闅旓級
+ //if (pos.X < SPACING ||
+ // pos.Y < SPACING ||
+ // pos.X + l > ContainerSize.Length - SPACING ||
+ // pos.Y + w > ContainerSize.Width - SPACING)
+ // return false;
+
+ return pos.PutPositionY <= MaxY && pos.PutPositionY >= 0 && pos.TakePositionY >= 0;
}
- }
- /// <summary>
- /// 宸叉斁缃揣鐗╀俊鎭被
- /// 璁板綍姣忎釜璐х墿鐨勪綅缃拰灏哄淇℃伅
- /// 鍧愭爣绯昏鏄庯細浣嶇疆鐐逛负璐х墿鐨勫乏涓嬪墠瑙掑潗鏍�
- /// </summary>
- public class PlacedBlock
- {
- /// <summary>璐х墿宸︿笅鍓嶈鍧愭爣</summary>
- public Point3D Position { get; }
-
- /// <summary>娌縓杞存柟鍚戦暱搴︼紙姣背锛�</summary>
- public int Length { get; }
-
- /// <summary>娌縔杞存柟鍚戝搴︼紙姣背锛�</summary>
- public int Width { get; }
-
- /// <summary>娌縕杞存柟鍚戦珮搴︼紙姣背锛�</summary>
- public int Height { get; }
-
- public PlacedBlock(Point3D position, int length, int width, int height)
+ public TaskPosition GetTaskPosition(Point3D point3D, int length, int width, int height, int edge)
{
- Position = position;
- Length = length;
- Width = width;
- Height = height;
- }
- }
+ //鏀捐揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D putCenter = new Point3D(point3D.X + length / 2, point3D.Y + width / 2, point3D.Z + height / 2);
- public struct ContainerSize
- {
- public int Length { get; set; }
- public int Width { get; set; }
- public int Height { get; set; }
+ //鍙栬揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);
- public ContainerSize(int length, int width, int height)
- {
- Length = length;
- Width = width;
- Height = height;
+ //鍚哥洏闀�530 闂撮殧660 鏈�澶�920 鍚哥洏瀹�130
+
+ int positionR = 1;
+
+ int takePositionX = 0;
+ int takePositionY = 0;
+ int takePositionZ = 0;
+ int putPositionX = 0;
+ int putPositionY = 0;
+ int putPositionZ = 0;
+
+ //1.濡傛灉闀垮害澶т簬920锛屽搴﹀ぇ浜庣瓑浜�300锛屽垯鍙互浣跨敤鍙屽惛鐩樻í鍚戝惛鍙�
+ if (length > 920) //妯悜鍙屽惛
+ {
+ //鍚哥洏灏哄
+ 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.Z; // putCenter.Z /*+ 10*/;
+ }
+ else//妯悜鍗曞惛
+ {
+ //鍚哥洏灏哄
+ 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.Z; // putCenter.Z /*+ 10*/;
+ }
+
+ //1.濡傛灉鍙栬揣浣嶆渶灏廦鍧愭爣灏忎簬155
+ if (takePositionY <= MinY)
+ {
+ takePositionY = 0;
+ putPositionY = point3D.X + MinY;
+ }
+ else
+ {
+ takePositionY -= MinY;
+ }
+
+ if (putPositionY > MaxY)
+ {
+ int moreY = putPositionY - MaxY;
+ if (takePositionY - moreY > 0)
+ {
+ takePositionY -= moreY;
+ putPositionY = MaxY;
+ }
+ else if (Math.Abs(takePositionY - moreY) < SPACING)
+ {
+ takePositionY = 0;
+ putPositionY = Math.Abs(takePositionY - moreY);
+ }
+ else
+ {
+ int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
+ //putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
+ putPositionY = point3D.X - 920 + 130;
+ takePositionY = length - MinY - 130;
+ if (putPositionY < 0 && takePositionY + putPositionY >= 0)
+ {
+ takePositionY += putPositionY;
+ putPositionY = 0;
+ }
+ positionR = 2;
+ }
+ }
+
+
+
+ //妯悜鏃讹紝鏈�灏廦鍧愭爣涓�155锛岀旱鍚戞椂锛屾渶灏廦鍧愭爣涓�350銆傛渶澶鍧愭爣涓�700
+ //if (positionR == 1 && putPositionY < MinY)
+ //{
+ // takePositionY = 0;
+
+ // putPositionY = point3D.X + MinY;
+ //}
+ //else if (positionR == 1 && putPositionY >= MinY && putPositionY <= MaxY)
+ //{
+ // if (takePositionY >= MinY)
+ // takePositionY -= MinY;
+ // else
+ // {
+ // putPositionY += MinY - takePositionY;
+ // takePositionY = 0;
+ // }
+ //}
+ //else if (positionR == 1 && putPositionY > MaxY && putPositionY < 1700)
+ //{
+ // int moreY = putPositionY - MaxY;
+ // if (takePositionY - moreY - MinY > 0)
+ // {
+ // takePositionY -= moreY + MinY;
+ // putPositionY = MaxY;
+ // }
+ // else if (Math.Abs(takePositionY - moreY - MinY) < SPACING)
+ // {
+ // if (takePositionY - moreY - MinY > 0)
+ // {
+ // takePositionY -= moreY + MinY;
+ // }
+ // else
+ // {
+ // takePositionY = 0;
+ // }
+ // putPositionY = MaxY;
+ // }
+ // else
+ // {
+ // int count = PlacedBlocks.Where(x => x.Position.Y == 10).Count();
+ // //putPositionY -= (920 - 130 + takePositionY - (count + 1) * SPACING * 2);
+ // putPositionY = point3D.X - 920 + 130;
+ // takePositionY = length - MinY - 130;
+
+ // if (putPositionY < 0 && takePositionY + putPositionY >= 0)
+ // {
+ // takePositionY += putPositionY;
+ // putPositionY = 0;
+ // }
+ // positionR = 2;
+ // }
+ //}
+
+ if (positionR == 2 && edge == 0)
+ {
+ takePositionX = width - 530;
+ putPositionX = point3D.Y;
+ }
+ else if (positionR == 2 && edge == 1)
+ {
+ takePositionX = 0;
+ putPositionX = point3D.Y + width - 530;
+ }
+ else if (positionR == 1 && edge == 1)
+ {
+ takePositionX = width - 530;
+ putPositionX = point3D.Y + (width - 530);
+ }
+ else if (positionR == 1 && edge == 0)
+ {
+ if (putPositionX < 0)
+ {
+ takePositionX = 0;
+ putPositionX = point3D.Y;
+ }
+ }
+
+ if (takePositionY < 0 && Math.Abs(takePositionY) < SPACING)
+ {
+ takePositionY = 0;
+ }
+
+ 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.X,
+ PositionY = point3D.Y,
+ PositionZ = point3D.Z
+ };
+
+ return taskPosition;
}
}
}
\ No newline at end of file
--
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