Merge branch 'csc'

chengsc

2 天以前 969aafa8bd335025da4caf5939a1626bad4f4236

 Admin.NET/WCS.Application/Util/FourWayCarUtil.cs

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

namespace WCS.Application.Util;
@@ -25,6 +26,10 @@
    /// <returns></returns>
    public static List<CarModel> GetCarPathUp(List<CarModel> list, int moveType)
    {
        if (list == null)
        {
            return null;
        }
        for (int i = 0; i < list.Count; i++)
        {
            if (i >= 0 && i < list.Count - 1)
@@ -162,6 +167,15 @@

    }

    /// <summary>
    /// 
    /// </summary>
    /// <param name="data">当前任务总路径</param>
    /// <param name="kXCarList">所有小车</param>
    /// <param name="assignCar">当前分配小车</param>
    /// <param name="waitTask">当前总任务</param>
    /// <param name="moveType">0去取货任务  1去放货</param>
    /// <returns></returns>
    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）
@@ -196,13 +210,13 @@
                        executionPath1 += pathXYZQian + ";";
                    }
                    executionPath2 += pathXYZQian + ";";
                    //判断添加前置任务Id
                    if (!preId1.Contains(item + ""))
                    {
                        preId1 += item + ";";
                    }
                    
                }
                
                //判断添加前置任务Id
                if (!preId1.Contains(item + ""))
                {
                    preId1 += item + ";";
                }

                isOk = "2";
            }
@@ -277,7 +291,8 @@
                    PalletNo = "",
                    Status = TaskStatusEnum.Wait,
                    Levels = 999,
                    Origin = "WCS"
                    Origin = "WCS",
                    CarIp = item.CarPlcIp
                };
                _db.Insertable(modTask).ExecuteCommand();
                HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
@@ -301,7 +316,8 @@
        #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 taskListTask4 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait || m.Status == TaskStatusEnum.Doing) && m.CarNo!=assignCar.CarPlcIp).GroupBy(m=>m.TaskNo).Select(m=>m.TaskNo).ToList();
        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

@@ -310,16 +326,22 @@
            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)
        foreach (var item in taskListTask4)
        {
            var lastPathList = item.ExecutionPath.Split(';');
            var lastTask = taskList4.Where(m =>  m.TaskNo == item ).OrderBy(m=>m.CreateTime).LastOrDefault();
            if (lastTask == null)
            {
                continue;
            }
            var lastPathList = lastTask.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
            //如果此此分配路径包含任务中最终节点路径，添加移走小车
            if (path.Contains(lastPath2))
            {
                
                var endLocate = "";
                var executionPath4 = "";
                var path4 = "";
@@ -327,7 +349,7 @@
                //查找目标位置
                while (endLocate == "" || datas4.Count == 0 || datas4 == null)
                {
                    endLocate = FourWayCarUtil.GetCarEndLocation(lastPath, str4);
                    endLocate = FourWayCarUtil.GetCarEndLocation(lastPath, str4+path);
                    var data4 = FourWayCarUtil.GetCarPath(lastPath, endLocate);
                    datas4 = FourWayCarUtil.GetCarPathUp(data4, 0);
                }
@@ -351,7 +373,8 @@
                    PalletNo = "",
                    Status = TaskStatusEnum.Wait,
                    Levels = 999,
                    Origin = "WCS"
                    Origin = "WCS",
                    CarIp = lastTask.CarNo
                };
                _db.Insertable(modTask).ExecuteCommand();
                HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
@@ -362,7 +385,7 @@
                    PreId = "",
                    ExecutionPath = executionPath4,
                    Path = path4,
                    CarNo = item.CarNo,
                    CarNo = lastTask.CarNo,
                    Status = TaskStatusEnum.Wait
                };
                var idLong = _db.Insertable(carTaskYC).ExecuteReturnSnowflakeId();
@@ -391,7 +414,7 @@
            var carTask2 = new WcsCarTasks()
            {
                TaskNo = waitTask.TaskNo,
                PreId = preId1,
                PreId = "",
                ExecutionPath = executionPath2,
                Path = path,
                CarNo = assignCar.CarPlcIp,
@@ -399,19 +422,19 @@
            };
            _db.Insertable(carTask2).ExecuteCommand();
        }
        waitTask.CarIp = assignCar.CarPlcIp;
        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>());
            waitTask.UpdateTime = DateTime.Now; 
        }
        
        _db.Updateable(waitTask).ExecuteCommand();
        HubUtil.PublicTask(waitTask.Adapt<WcsTaskOutput>());

        return true;
        #endregion
    }



    /// <summary>
@@ -481,7 +504,7 @@

                if (current.Equals(end))
                {
                    Log.Error(ReconstructPath(cameFrom, current).ToString());
                    Log.Error("小车路径分配：" +ReconstructPath(cameFrom, current).ToString());
                    return ReconstructPath(cameFrom, current);
                }

@@ -601,6 +624,28 @@
    }

    /// <summary>
    /// 获取总任务表下发ID主键
    /// </summary>
    /// <returns></returns>
    public static int GetTaskId()
    {
        var list = _db.Queryable<WcsTask>().ToList();
        var maxNo = list.Max(m => m.TaskId);

        if (maxNo != null && maxNo > 0)
        {
            if (maxNo++ > 99999999)
            {
                return 1;
            }

            return (int)maxNo++;
        }

        return 1;
    }

    /// <summary>
    /// 计算曼哈顿距离
    /// </summary>
    /// <param name="start">起始位置</param>