JC34WCS.git - Gitblit

			@@ -7,6 +7,7 @@
			using System.Text;
			using System.Threading.Tasks;
			using WCS.Application.Entity;
			using static Elastic.Clients.Elasticsearch.JoinField;

			namespace WCS.Application.Util;

			@@ -14,16 +15,67 @@
			{
			private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);


			/// <summary>
			///
			/// </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)
			{
			for (int i = 0; i < list.Count; i++)
			{
			if (i > 0 && i < list.Count - 1)
			{
			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;
			}
			}
			if (i== 0)
			{
			list[i].IsSendPlc = true;
			if (moveType == 0)
			{
			if (list[i + 1] == null)
			{
			continue;
			}

			}
			else
			{
			list[i].NodeCom = 1;
			}
			}
			if (i == list.Count-1)
			{
			list[i].IsSendPlc = true;
			if (moveType == 0)
			{
			list[i].NodeCom = list[i + 1].NodeCom;
			}
			else
			{
			list[i].NodeCom = 4;
			}
			}
			}
			return list;
			}

			/// <summary>
			/// 获取小车路径
			/// </summary>
			/// <param name="startLocation">起始位置</param>
			/// <param name="endLocation">目标位置</param>
			/// <param name="moveType">移动类型 0:移动 1:取货 2:放货</param>
			/// <param name="isLoad">是否载货0：未载货 1：已载货</param>
			/// <returns></returns>
			public static List<CarModel> GetCarPath(string startLocation, string endLocation, int moveType, string isLoad = "0")
			public static List<CarModel> GetCarPath(string startLocation, string endLocation, string isLoad = "0")
			{
			if (string.IsNullOrEmpty(startLocation) \|\| string.IsNullOrEmpty(endLocation))
			{
			@@ -174,25 +226,55 @@
			if (!gScore.ContainsKey(neighbor) \|\| tentativeGScore < gScore[neighbor])
			{
			neighbor.IsSendPlc = false;
			// 补充参数
			if (neighbor.Equals(end))
			{
			neighbor.NodeCom = moveType;
			neighbor.IsSendPlc = true;
			}
			else if (currentModel.Make != locationModel.Make)
			{
			if (current.X == neighbor.X)
			{
			neighbor.NodeCom = 3;
			}
			else if (current.Y == neighbor.Y)
			{
			neighbor.NodeCom = 2;
			}

			neighbor.IsSendPlc = true;
			//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)
			{
			//if (current.X != neighbor.X)
			//{
			// current.IsSendPlc = true;
			//}

			if (current.Y > neighbor.Y)
			{
			current.IsSendPlc = true;
			}
			else if (current.Y < neighbor.Y)
			{
			neighbor.IsSendPlc = true;
			}

			//current.IsSendPlc = true;
			}


			// 更新实际距离与预估距离
			cameFrom[neighbor] = current;
			@@ -372,6 +454,28 @@
			}

			/// <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>