JC34WCS.git - Gitblit

			@@ -26,6 +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)
			@@ -163,6 +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）
			@@ -197,13 +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";
			}
			@@ -278,7 +291,8 @@
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 999,
			Origin = "WCS"
			Origin = "WCS",
			CarIp = item.CarPlcIp
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			@@ -302,7 +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

			@@ -311,16 +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 = "";
			@@ -328,7 +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);
			}
			@@ -352,7 +373,8 @@
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 999,
			Origin = "WCS"
			Origin = "WCS",
			CarIp = lastTask.CarNo
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			@@ -363,7 +385,7 @@
			PreId = "",
			ExecutionPath = executionPath4,
			Path = path4,
			CarNo = item.CarNo,
			CarNo = lastTask.CarNo,
			Status = TaskStatusEnum.Wait
			};
			var idLong = _db.Insertable(carTaskYC).ExecuteReturnSnowflakeId();
			@@ -392,7 +414,7 @@
			var carTask2 = new WcsCarTasks()
			{
			TaskNo = waitTask.TaskNo,
			PreId = preId1,
			PreId = "",
			ExecutionPath = executionPath2,
			Path = path,
			CarNo = assignCar.CarPlcIp,
			@@ -400,19 +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>
			@@ -482,7 +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);
			}

			@@ -599,159 +621,6 @@
			}

			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>