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);
+            }
         }
     }
 }

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