From e69f814f50fd59739dbedd88518dc8cb8d2ed3ee Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期二, 08 四月 2025 21:18:47 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 327 +++++++++++++++++++++++++++++-------------------------
1 files changed, 175 insertions(+), 152 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
index e02f602..058e2e0 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
@@ -16,45 +16,20 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
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("鏈壘鍒拌鍗曟槑缁嗕俊鎭�");
+ }
+
+ Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
+ if (putContainer == null)
+ {
+ return WebResponseContent.Instance.Error("鏀捐揣浣嶇疆涓嶅瓨鍦�");
+ }
+
+ 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("鏀捐揣浣嶇疆宸叉弧");
+ }
+
+ //鏀捐揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D putCenter = new Point3D(point3D.Value.X + length / 2, point3D.Value.Y + width / 2, point3D.Value.Z + height / 2);
+
+ //鍙栬揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);
+
+ //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 && 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("鏀捐揣浣嶇疆宸叉弧");
- }
+ 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;
- }
-
- //鍚哥洏闀�530 300 闂撮殧660 鏈�澶�920 鍚哥洏瀹�130
-
- 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,
};
--
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