JC34WCS.git - Gitblit

			@@ -7,6 +7,7 @@
			using System.Text;
			using System.Threading.Tasks;
			using WCS.Application.Entity;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.CustomServiceKfSessionGetWaitCaseResponse.Types;

			namespace WCS.Application.Util;

			@@ -14,17 +15,19 @@
			{
			private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);

			private static readonly WcsTaskService _taskService = App.GetService<WcsTaskService>();

			/// <summary>
			///
			/// 完善小车下发节点、节点命令
			/// </summary>
			/// <param name="list">集合</param>
			/// <param name="moveType">移动类型 0:移动 1:移货 </param>
			/// <returns></returns>
			public static List<CarModel> GetCarPathUp(List<CarModel> list,int moveType)
			public static List<CarModel> GetCarPathUp(List<CarModel> list, int moveType)
			{
			for (int i = 0; i < list.Count; i++)
			{
			if (i > 0 && i < list.Count - 1)
			if (i >= 0 && i < list.Count - 1)
			{
			if (list[i].X == list[i + 1].X)
			{
			@@ -34,8 +37,23 @@
			{
			list[i].NodeCom = 3;
			}

			}
			if (i== 0)
			if (i > 0 && i < list.Count - 1)
			{
			if (list[i].Make != list[i - 1].Make \|\| list[i].Make != list[i + 1].Make)
			{
			if (list[i].X != list[i - 1].X \|\| list[i].X != list[i + 1].X)
			{
			list[i].IsSendPlc = true;
			}

			//list[i - 1].IsSendPlc = true;

			}

			}
			if (i == 0)
			{
			list[i].IsSendPlc = true;
			if (moveType == 0)
			@@ -44,19 +62,26 @@
			{
			continue;
			}


			}
			else
			else
			{
			list[i].NodeCom = 1;
			}
			}
			if (i == list.Count-1)
			if (i == list.Count - 1)
			{
			list[i].IsSendPlc = true;
			if (moveType == 0)
			{
			list[i].NodeCom = list[i + 1].NodeCom;
			if (list[i].X == list[i - 1].X)
			{
			list[i].NodeCom = 2;
			}
			else if (list[i].Y == list[i - 1].Y)
			{
			list[i].NodeCom = 3;
			}
			}
			else
			{
			@@ -66,6 +91,328 @@
			}
			return list;
			}

			/// <summary>
			/// 获取小车移动的目标位置
			/// </summary>
			/// <param name="startLocation">起始位置</param>
			/// <param name="noPathStr">不能存放的储位字符串</param>
			/// <returns></returns>
			public static string GetCarEndLocation(string startLocation, string noPathStr)
			{
			if (string.IsNullOrEmpty(startLocation))
			{
			return null;
			}

			// 起始位置
			CarModel start = new CarModel()
			{
			X = int.Parse(startLocation.Substring(0, 2)),
			Y = int.Parse(startLocation.Substring(2, 2)),
			Z = int.Parse(startLocation.Substring(4, 2)),
			NodeCom = 0
			};

			// 获取储位表信息存储到集合里
			var layer = int.Parse(startLocation.Substring(4, 2));

			// 获取当前层储位信息
			var locationModels = _db.Queryable<WcsStorageLocat>()
			.Where(m => m.WareHouseNo == "W01" && m.Layer == layer && m.IsDelete == false)
			.ToList();

			#region MyRegion

			var list = locationModels.Where(m => !noPathStr.Contains(m.LocatNo)).OrderBy(m => Math.Abs(start.X - m.Row) + Math.Abs(start.Y - m.Column)).ToList();
			var locateStr = "";
			foreach (var item in list)
			{
			// 储位状态为损坏不可通行储位状态为屏蔽为可通行不可存储托盘
			if (item.Flag == "2")
			{
			continue;
			}
			locateStr = item.LocatNo;
			break;
			}
			return locateStr;
			#endregion
			}

			/// <summary>
			/// 获取任务号
			/// </summary>
			/// <returns></returns>
			public static int GetTaskNo()
			{
			var list = _db.Queryable<WcsCarTasks>().ToList();
			var maxNo = list.Max(m => m.CarTaskNo);

			if (maxNo != null && maxNo > 0)
			{
			if (maxNo++ > 65535)
			{
			return 1;
			}

			return (int)maxNo++;
			}
			return 1;

			}

			public static bool AddCarTask(List<CarModel> data, List<CarInfo> kXCarList, CarInfo assignCar, WcsTask waitTask,int moveType)
			{
			#region 获取适合执行当前任务的小车生成路径（需考虑小车阻阻挡）
			var preId1 = "";//前置任务Id
			var executionPath1 = "";//交互路径
			var executionPath2 = "";//交互路径
			var path = "";//所有路径
			var isOk = "1"; //是否完整路径 1完整 2 两条路径
			for (int i = 0; i < data.Count; i++)
			{
			//路径节点
			var pathXYZ = data[i].X.ToString().PadLeft(2, '0') + data[i].Y.ToString().PadLeft(2, '0') + data[i].Z.ToString().PadLeft(2, '0') + data[i].NodeCom.ToString();
			var pathXYZ2 = data[i].X.ToString().PadLeft(2, '0') + data[i].Y.ToString().PadLeft(2, '0') + data[i].Z.ToString().PadLeft(2, '0');
			path += pathXYZ + ";";

			//获取等待或正在执行的任务中包含当前节点的小车任务
			var taskList = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing) && m.Path.Contains(pathXYZ2) && m.CarNo != assignCar.CarPlcIp).Select(m => m.Id).Distinct().ToList();

			foreach (var item in taskList)
			{
			//判断如果是完整路径记录交互路径
			if (isOk == "1")
			{
			if (i == 0)
			{
			continue;
			}
			var pathXYZQian = data[i - 1].X.ToString().PadLeft(2, '0') + data[i - 1].Y.ToString().PadLeft(2, '0') + data[i - 1].Z.ToString().PadLeft(2, '0')+ data[i - 1].NodeCom.ToString();
			var pathXYZQian2 = data[i - 1].X.ToString().PadLeft(2, '0') + data[i - 1].Y.ToString().PadLeft(2, '0') + data[i - 1].Z.ToString().PadLeft(2, '0');
			if (!executionPath1.Contains(pathXYZQian2))
			{
			executionPath1 += pathXYZQian + ";";
			}
			executionPath2 += pathXYZQian + ";";
			//判断添加前置任务Id
			if (!preId1.Contains(item + ""))
			{
			preId1 += item + ";";
			}
			}


			isOk = "2";
			}

			if (data[i].IsSendPlc)
			{
			if (isOk == "1")
			{
			executionPath1 += pathXYZ + ";";
			}
			else
			{
			executionPath2 += pathXYZ + ";";
			}

			}

			}

			#endregion

			#region 判断是否有空闲小车阻挡路径 3
			var preId3 = "";//前置任务Id
			foreach (var item in kXCarList)
			{
			if (item == assignCar)
			{
			continue;//排除当前分配任务的小车
			}
			//小车位置
			var carXYZ = item.X.ToString().PadLeft(2, '0') + item.Y.ToString().PadLeft(2, '0') + item.Z.ToString().PadLeft(2, '0');
			//分配的任务路径中当前小车是否阻挡
			if (path.Contains(carXYZ))
			{
			//获取等待或正在执行的任务中包含当前节点的小车任务，不会有太多任务，同层有几个小车最多有几个任务
			var taskList3 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing)).ToList();

			var str3 = "";//所有已分配或执行的任务全路径之和

			foreach (var item2 in taskList3)
			{
			str3 += item2.Path;
			}
			var endLocate3 = "";
			var executionPath3 = "";
			var path3 = "";
			var datas3 = new List<CarModel>();
			//查找目标位置
			while (endLocate3 == "" \|\| datas3.Count == 0 \|\| datas3 == null)
			{
			endLocate3 = FourWayCarUtil.GetCarEndLocation(carXYZ, str3);
			var data3 = FourWayCarUtil.GetCarPath(carXYZ, endLocate3, "0");
			datas3 = FourWayCarUtil.GetCarPathUp(data3, 0);
			}
			foreach (var itemPath in datas3)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();

			path3 += pathXYZ + ";";
			if (itemPath.IsSendPlc)
			{
			executionPath3 += pathXYZ + ";";
			}
			}
			WcsTask modTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocate3,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 999,
			Origin = "WCS"
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			//移动小车
			var carTaskYC = new WcsCarTasks()
			{
			TaskNo = modTask.TaskNo,
			PreId = "",
			ExecutionPath = executionPath3,
			Path = path3,
			CarNo = item.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			var idLong = _db.Insertable(carTaskYC).ExecuteReturnSnowflakeId();
			preId3 += idLong + ";";
			}
			}

			#endregion

			#region 判断现有任务中最终节点是否在当前分配路径中，如有添加移走小车任务并加入前置任务 4

			//获取等待或正在执行的任务中包含当前节点的小车任务，不会有太多任务，同层有几个小车最多有几个任务
			var taskList4 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing) && m.CarNo!=assignCar.CarPlcIp).ToList();
			var preId4 = "";//前置任务Id
			var str4 = "";//所有已分配或执行的任务全路径之和

			foreach (var item in taskList4)
			{
			str4 += item.Path;
			}
			//判断现有任务中最终节点是否在当前分配路径中，如有添加移走小车任务并加入前置任务
			foreach (var item in taskList4)
			{
			var lastPathList = item.ExecutionPath.Split(';');
			// a;b;c; 最后一个位是“”，所以lastPathList.Length - 2
			var lastPath = lastPathList[lastPathList.Length - 2];
			var lastPath2 = lastPath.Substring(0,6);

			//如果此此分配路径包含醉舞中最终节点路径，添加移走小车
			if (path.Contains(lastPath2))
			{
			var endLocate = "";
			var executionPath4 = "";
			var path4 = "";
			var datas4 = new List<CarModel>();
			//查找目标位置
			while (endLocate == "" \|\| datas4.Count == 0 \|\| datas4 == null)
			{
			endLocate = FourWayCarUtil.GetCarEndLocation(lastPath, str4);
			var data4 = FourWayCarUtil.GetCarPath(lastPath, endLocate);
			datas4 = FourWayCarUtil.GetCarPathUp(data4, 0);
			}
			foreach (var itemPath in datas4)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();

			path4 += pathXYZ + ";";
			if (itemPath.IsSendPlc)
			{
			executionPath4 += pathXYZ + ";";
			}
			}
			WcsTask modTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = lastPath,
			EndLocate = endLocate,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 999,
			Origin = "WCS"
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			//移动小车
			var carTaskYC = new WcsCarTasks()
			{
			TaskNo = modTask.TaskNo,
			PreId = "",
			ExecutionPath = executionPath4,
			Path = path4,
			CarNo = item.CarNo,
			Status = TaskStatusEnum.Wait
			};
			var idLong = _db.Insertable(carTaskYC).ExecuteReturnSnowflakeId();
			preId4 += idLong + ";";
			}
			}

			#endregion

			#region 插入任务数据改变任务状态

			// 插入四向车任务表
			var carTask1 = new WcsCarTasks()
			{
			TaskNo = waitTask.TaskNo,
			PreId = preId1 + preId3 + preId4,
			ExecutionPath = executionPath1,
			Path = path,
			CarNo = assignCar.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			_db.Insertable(carTask1).ExecuteCommand();
			if (!string.IsNullOrWhiteSpace(executionPath1) && isOk == "2")
			{
			// 插入四向车任务表
			var carTask2 = new WcsCarTasks()
			{
			TaskNo = waitTask.TaskNo,
			PreId = preId1,
			ExecutionPath = executionPath2,
			Path = path,
			CarNo = assignCar.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			_db.Insertable(carTask2).ExecuteCommand();
			}
			if (moveType == 1)
			{
			// 改变总任务表状态
			waitTask.Status = TaskStatusEnum.Doing;
			waitTask.UpdateTime = DateTime.Now;
			_db.Updateable(waitTask).ExecuteCommand();
			HubUtil.PublicTask(waitTask.Adapt<WcsTaskOutput>());
			}

			return true;
			#endregion
			}



			/// <summary>
			/// 获取小车路径
			@@ -141,7 +488,7 @@
			// 存储小车可运行的方向
			var validDirections = new List<CarModel>();
			var currentLocation = locationModels.FirstOrDefault(m => m.Row == current.X && m.Column == current.Y);
			if (currentLocation.Make == "0")
			if (currentLocation.Make == "0"\|\| currentLocation.Make == "2")
			{
			// 主通道
			validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
			@@ -226,41 +573,9 @@
			{
			neighbor.IsSendPlc = false;

			//if (current.X == neighbor.X)
			//{
			// current.NodeCom = 2;
			//}
			//else if (current.Y == neighbor.Y)
			//{
			// current.NodeCom = 3;
			//}

			//// 补充参数
			//if (current.Equals(start))
			//{
			// current.NodeCom = moveType;
			// current.IsSendPlc = true;
			//}
			//if (neighbor.Equals(end))
			//{
			// //neighbor.NodeCom = moveType != 0 ? 2:0 ;
			// if (moveType == 1)
			// {
			// neighbor.NodeCom = 4;
			// }
			// else
			// {
			// neighbor.NodeCom = current.NodeCom;
			// }

			// neighbor.IsSendPlc = true;
			//}
			if (currentModel.Make != locationModel.Make)
			{
			neighbor.IsSendPlc = true;
			}


			neighbor.Make = locationModel.Make;
			current.Make = currentModel.Make;

			// 更新实际距离与预估距离
			cameFrom[neighbor] = current;
			gScore[neighbor] = tentativeGScore;
			@@ -283,159 +598,6 @@
			}

			return null;
			}

			/// <summary>
			/// 获取小车移动的目标位置
			/// </summary>
			/// <param name="startLocation">起始位置</param>
			/// <param name="noPathStr">不能存放的储位字符串</param>
			/// <returns></returns>
			public static string GetCarEndLocation(string startLocation,string noPathStr)
			{
			if (string.IsNullOrEmpty(startLocation))
			{
			return null;
			}

			// 起始位置
			CarModel start = new CarModel()
			{
			X = int.Parse(startLocation.Substring(0, 2)),
			Y = int.Parse(startLocation.Substring(2, 2)),
			Z = int.Parse(startLocation.Substring(4, 2)),
			NodeCom = 0
			};

			// 获取储位表信息存储到集合里
			var layer = int.Parse(startLocation.Substring(4, 2));

			// 获取当前层储位信息
			var locationModels = _db.Queryable<WcsStorageLocat>()
			.Where(m => m.WareHouseNo == "W01" && m.Layer == layer && m.IsDelete == false)
			.ToList();

			#region MyRegion

			var list = locationModels.Where(m => !noPathStr.Contains(m.LocatNo)).OrderBy(m=> Math.Abs(start.X - m.Row) + Math.Abs(start.Y - m.Column)).ToList();
			var locateStr = "";
			foreach (var item in list)
			{
			// 储位状态为损坏不可通行储位状态为屏蔽为可通行不可存储托盘
			if (item.Flag == "2")
			{
			continue;
			}
			locateStr = item.LocatNo;
			break;
			}
			return locateStr;
			#endregion

			#region 使用算法计算小车可移动的目标路径
			//try
			//{

			// // 定义关闭节点字典
			// var closeSet = new Dictionary<CarModel, CarModel>();

			// // 存储小车可运行的方向
			// var validDirections = new List<CarModel>();
			// var currentLocation = locationModels.FirstOrDefault(m => m.Row == start.X && m.Column == start.Y);
			// if (currentLocation.Make == "0")
			// {
			// // 主通道
			// validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
			// validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
			// validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
			// validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上
			// }

			// if (currentLocation.Make == "1")
			// {
			// // 子通道
			// // 先拆分出口
			// var outNode = currentLocation.AisleOne;
			// if (string.IsNullOrEmpty(outNode))
			// {
			// throw new Exception("当前位置没有维护出口！");
			// }
			// int outX = int.Parse(outNode.Substring(0, 2));
			// int outY = int.Parse(outNode.Substring(2, 2));
			// if (start.X == outX)
			// {
			// validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 下
			// validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 上

			// }
			// else
			// {
			// validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 右
			// validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 左
			// }
			// }

			// foreach (var dir in validDirections)
			// {
			// CarModel neighbor = new CarModel() { X = start.X + dir.X, Y = start.Y + dir.Y, Z = layer };

			// // 验证下一节点位置是否可通行并且判断是否被其他小车占用


			// // 判断下一节点是否关闭
			// if (closeSet.ContainsKey(neighbor))
			// {
			// closeSet[neighbor] = neighbor;
			// }

			// // 当前节点
			// var currentModel = locationModels.FirstOrDefault(it => it.Row == start.X && it.Column == start.Y);
			// // 下一节点
			// var locationModel = locationModels.FirstOrDefault(it => it.Row == neighbor.X && it.Column == neighbor.Y);

			// // 不存在此位置信息
			// if (locationModel == null)
			// {
			// closeSet[neighbor] = neighbor;
			// continue;
			// }
			// // 储位状态为损坏不可通行储位状态为屏蔽为可通行不可存储托盘
			// if (locationModel.Flag == "2")
			// {
			// closeSet[neighbor] = neighbor;
			// continue;
			// }

			// }



			//}
			//catch (Exception)
			//{
			// throw;
			//}

			//return null;
			#endregion
			}

			public static int GetTaskNo()
			{
			var list = _db.Queryable<WcsCarTasks>().ToList();
			var maxNo = list.Max(m => m.CarTaskNo);

			if (maxNo!=null && maxNo > 0)
			{
			if (maxNo++ > 65535)
			{
			return 1;
			}

			return (int)maxNo++;
			}
			return 1;

			}

			/// <summary>
			@@ -494,6 +656,11 @@
			/// </summary>
			public bool IsSendPlc { get; set; }

			/// <summary>
			/// 0通道 1 储位
			/// </summary>
			public string Make { get; set; }

			public int CompareTo(CarModel other)
			{
			if (other == null)