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 | 277 +++++++++++++++++++++++++++++++++++++++++++++++------- 1 files changed, 238 insertions(+), 39 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 2e9e686..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" @@ -16,59 +16,38 @@ #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_Comm.Http; -using WIDESEA_Common.Log; -using WIDESEAWCS_Common.TaskEnum; +using WIDESEAWCS_BasicInfoRepository; +using WIDESEAWCS_BasicInfoService; +using WIDESEAWCS_Common; using WIDESEAWCS_Core; using WIDESEAWCS_Core.BaseServices; -using WIDESEAWCS_Core.Enums; -using WIDESEAWCS_Core.Utilities; -using WIDESEAWCS_DTO.Enum; +using WIDESEAWCS_Core.Helper; using WIDESEAWCS_DTO.TaskInfo; +using WIDESEAWCS_IBasicInfoRepository; using WIDESEAWCS_ITaskInfoRepository; using WIDESEAWCS_ITaskInfoService; using WIDESEAWCS_Model.Models; -using WIDESEAWCS_QuartzJob.Models; -using WIDESEAWCS_QuartzJob.Service; +using WIDESEAWCS_QuartzJob.Repository; 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 WebSocketServer _webSocketServer; + private readonly IOrderDetailsRepository _orderDetailsRepository; - 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, WebSocketServer webSocketServer, IOrderDetailsRepository orderDetailsRepository) : base(BaseDal) { - _routerService = routerService; - _taskExecuteDetailService = taskExecuteDetailService; - _taskExecuteDetailRepository = taskExecuteDetailRepository; - _task_HtyService = task_HtyService; _mapper = mapper; + _containerRepository = containerRepository; + _containerItemRepository = containerItemRepository; + _webSocketServer = webSocketServer; + _orderDetailsRepository = orderDetailsRepository; } public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo) @@ -76,9 +55,229 @@ return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo); } - public WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode) + public WebResponseContent PlaceBlockTest(int orderRowId) { - return WebResponseContent.Instance.OK(); + 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) + { + try + { + Dt_Container takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == takePosition && x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt()); + if (takeContainer == null) + { + return WebResponseContent.Instance.Error("鍙栬揣浣嶇疆涓嶅瓨鍦�"); + } + + Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == putPosition && 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(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(); + + + TaskPosition taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks); + + object obj = new + { + 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() + { + ContainerId = putContainer.Id, + ItemCode = code, + ItemLength = length, + ItemWidth = width, + ItemHeight = height, + ItemPositionX = taskPosition.PutPositionX, + ItemPositionY = taskPosition.PutPositionY, + ItemPositionZ = taskPosition.PutPositionZ, + ItemStatus = (int)ItemStatusEnum.Assigned, + ItemName = code + }; + + Dt_Task dt_Task = new Dt_Task() + { + TaskNum = 1, + PalletCode = code, + DeviceCode = deviceCode, + TaskState = (int)TaskStatusEnum.Gantry_New, + TaskType = 0, + 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, + }; + + _containerItemRepository.AddData(dt_ContainerItem); + base.AddData(dt_Task); + + return WebResponseContent.Instance.OK(); + } + catch (Exception ex) + { + return WebResponseContent.Instance.Error(ex.Message); + } } } } -- Gitblit v1.9.3