From e644b249b5a3d4b3b0e72f00d60eb06ae3743d3a Mon Sep 17 00:00:00 2001
From: chengsc <11752@DESKTOP-DS49RCP>
Date: 星期六, 19 四月 2025 17:48:44 +0800
Subject: [PATCH] Merge branch 'master' of http://47.95.120.53:8083/r/JC34WMS
---
Wms/WMS.DAL/Common.cs | 329 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 328 insertions(+), 1 deletions(-)
diff --git a/Wms/WMS.DAL/Common.cs b/Wms/WMS.DAL/Common.cs
index 3b87b65..3941cf0 100644
--- a/Wms/WMS.DAL/Common.cs
+++ b/Wms/WMS.DAL/Common.cs
@@ -1,6 +1,7 @@
锘縰sing System;
using System.Collections.Generic;
using System.ComponentModel;
+using System.ComponentModel.DataAnnotations;
using System.ComponentModel.Design;
using System.Data;
using System.Linq;
@@ -8,6 +9,7 @@
using System.Threading.Tasks;
using Model.ModelDto.BllSoDto;
using Model.ModelDto.SysDto;
+using Serilog;
using SqlSugar;
using WMS.Entity.BllAsnEntity;
using WMS.Entity.BllCheckEntity;
@@ -17,12 +19,13 @@
using WMS.Entity.LogEntity;
using WMS.Entity.SysEntity;
+
namespace WMS.DAL
{
public class Common
{
//public static readonly DataContext Db = new DataContext();
-
+
/// <summary>
/// 鑾峰彇娣卞害涓�1鐨勫偍浣嶅彿锛堟牴鎹繁搴︿负2鐨勫偍浣嶅彿锛�
@@ -477,6 +480,268 @@
}
}
+ /// <summary>
+ /// 鑾峰彇灏忚溅璺緞
+ /// </summary>
+ /// <param name="startLocation">璧峰浣嶇疆</param>
+ /// <param name="endLocation">鐩爣浣嶇疆</param>
+ /// <param name="moveType">绉诲姩绫诲瀷 0:绉诲姩 1:鍙栬揣 2:鏀捐揣</param>
+ /// <param name="isLoad">鏄惁杞借揣0锛氭湭杞借揣 1锛氬凡杞借揣</param>
+ /// <returns></returns>
+ public static List<CarModel> GetCarPath(string startLocation, string endLocation, int moveType, string isLoad = "0")
+ {
+ var _db = DataContext.Db;
+ if (string.IsNullOrEmpty(startLocation) || string.IsNullOrEmpty(endLocation))
+ {
+ return null;
+ }
+
+ // 璧峰浣嶇疆
+ 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
+ };
+
+ // 鐩爣浣嶇疆
+ CarModel end = new CarModel()
+ {
+ X = int.Parse(endLocation.Substring(0, 2)),
+ Y = int.Parse(endLocation.Substring(2, 2)),
+ Z = int.Parse(endLocation.Substring(4, 2)),
+ NodeCom = 0
+ };
+
+ // 鑾峰彇鍌ㄤ綅琛ㄤ俊鎭瓨鍌ㄥ埌闆嗗悎閲�
+ var layer = int.Parse(startLocation.Substring(4, 2));
+
+ // 鑾峰彇褰撳墠灞傚偍浣嶄俊鎭�
+ var locationModels = _db.Queryable<WCSStorageLocat>()
+ .Where(m => m.WareHouseNo == "W01" && m.Layer == layer && m.IsDelete == false)
+ .ToList();
+
+ #region 涓嶇敤缁樺埗鍦板浘锛岀洿鎺ユ牴鎹偍浣嶈〃璁＄畻 liudl
+ // 缁樺埗浠撳簱鍦板浘 -1:涓嶅彲鐢� 0锛氫富閫氶亾 1锛氬瓙閫氶亾
+ //int[,] warehouseMap = new int[maxRow, maxColumn];
+ //for (int row = 0; row < maxRow; row++)
+ //{
+ // for (int column = 0; column < maxColumn; column++)
+ // {
+ // // 鑾峰彇褰撳墠浣嶇疆鍌ㄤ綅淇℃伅
+ // var locationModel = locationModels.First(it => it.Row == row && it.Column == column);
+
+ // // 涓嶅瓨鍦ㄦ浣嶇疆淇℃伅
+ // if (locationModel == null)
+ // {
+ // warehouseMap[row, column] = -1;
+ // continue;
+ // }
+
+ // // 鍌ㄤ綅鐘舵�佷负鎹熷潖涓嶅彲閫氳 鍌ㄤ綅鐘舵�佷负灞忚斀涓哄彲閫氳涓嶅彲瀛樺偍鎵樼洏
+ // if (locationModel.Flag == "2")
+ // {
+ // warehouseMap[row, column] = -1;
+ // continue;
+ // }
+
+ // warehouseMap[row, column] = int.Parse(locationModel.Make);
+ // }
+ //}
+ #endregion
+
+ #region 浣跨敤绠楁硶璁＄畻灏忚溅璺緞
+ try
+ {
+ // 瀹氫箟寮�鍙戝垪琛ㄥ瓨鍌ㄨ矾寰勮妭鐐�
+ var openSet = new SortedSet<(int fscore, CarModel pos)>();
+ // 瀹氫箟鍏抽棴鑺傜偣瀛楀吀
+ var closeSet = new Dictionary<CarModel, CarModel>();
+ // 瀹氫箟涓婁竴浣嶇疆涓庣洰鏍囦綅缃瓧鍏�
+ var cameFrom = new Dictionary<CarModel, CarModel>();
+ // 瀹氫箟涓婁竴浣嶇疆涓庣洰鏍囦綅缃殑瀹為檯璺濈瀛楀吀
+ var gScore = new Dictionary<CarModel, int>();
+ // 瀹氫箟涓婁竴浣嶇疆涓庣洰鏍囦綅缃殑棰勪及璺濈瀛楀吀
+ var fScore = new Dictionary<CarModel, int>();
+
+ // 瀛樺偍鏈�浼樿窛绂伙紝鍙婅捣濮嬭妭鐐�
+ openSet.Add((Heuristic(start, end), start));
+ gScore[start] = 0;
+ fScore[start] = Heuristic(start, end);
+
+ // 寰幆鏌ユ壘璺緞
+ while (openSet.Count > 0)
+ {
+ var current = openSet.Min.pos;
+ openSet.Remove(openSet.Min);
+
+ if (current.Equals(end))
+ {
+ Log.Error(ReconstructPath(cameFrom, current).ToString());
+ return ReconstructPath(cameFrom, current);
+ }
+
+ // 瀛樺偍灏忚溅鍙繍琛岀殑鏂瑰悜
+ var validDirections = new List<CarModel>();
+ var currentLocation = locationModels.FirstOrDefault(m => m.Row == current.X && m.Column == current.Y);
+ if (currentLocation.Make == "0")
+ {
+ // 涓婚�氶亾
+ validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 鍙�
+ validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 宸�
+ validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 涓�
+ validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 涓�
+ }
+
+ if (currentLocation.Make == "1" )
+ {
+ // 瀛愰�氶亾
+ // 鍏堟媶鍒嗗嚭鍙�
+ var outNode = currentLocation.AisleOne;
+ if (string.IsNullOrEmpty(outNode))
+ {
+ throw new Exception("褰撳墠浣嶇疆娌℃湁缁存姢鍑哄彛锛�");
+ }
+ int outX = int.Parse(outNode.Substring(0, 2));
+ int outY = int.Parse(outNode.Substring(2, 2));
+ if (current.X == outX)
+ {
+ validDirections.Add(new CarModel() { X = 0, Y = 1 }); // 涓�
+ validDirections.Add(new CarModel() { X = 0, Y = -1 }); // 涓�
+
+ }
+ else
+ {
+ validDirections.Add(new CarModel() { X = 1, Y = 0 }); // 鍙�
+ validDirections.Add(new CarModel() { X = -1, Y = 0 }); // 宸�
+ }
+ }
+
+ // 寰幆杩炴帴鑺傜偣銆�
+ bool isNextNode = false;
+ foreach (var dir in validDirections)
+ {
+ CarModel neighbor = new CarModel() { X = current.X + dir.X, Y = current.Y + dir.Y ,Z=layer};
+
+ // 楠岃瘉涓嬩竴鑺傜偣浣嶇疆鏄惁鍙�氳骞朵笖鍒ゆ柇鏄惁琚叾浠栧皬杞﹀崰鐢�
+
+
+ // 鍒ゆ柇涓嬩竴鑺傜偣鏄惁鍏抽棴
+ if (closeSet.ContainsKey(neighbor))
+ {
+ closeSet[neighbor] = neighbor;
+ }
+
+ // 褰撳墠鑺傜偣
+ var currentModel = locationModels.FirstOrDefault(it => it.Row == current.X && it.Column == current.Y);
+ // 涓嬩竴鑺傜偣
+ var locationModel = locationModels.FirstOrDefault(it => it.Row == neighbor.X && it.Column == neighbor.Y);
+
+ // 涓嶅瓨鍦ㄦ浣嶇疆淇℃伅
+ if (locationModel == null)
+ {
+ closeSet[neighbor] = neighbor;
+ continue;
+ }
+ // 鍌ㄤ綅鐘舵�佷负鎹熷潖涓嶅彲閫氳 鍌ㄤ綅鐘舵�佷负灞忚斀涓哄彲閫氳涓嶅彲瀛樺偍鎵樼洏
+ if (locationModel.Flag == "2")
+ {
+ closeSet[neighbor] = neighbor;
+ continue;
+ }
+ // 鍒ゆ柇涓嬩竴鑺傜偣涓婃槸鍚︽湁鎵樼洏
+ if (!string.IsNullOrEmpty(locationModel.PalletNo))
+ {
+ // 鍒ゆ柇灏忚溅鏄惁杞芥墭鐩樼洏
+ if (isLoad == "1")
+ {
+ closeSet[neighbor] = neighbor;
+ // 灏忚溅涓婅浇鎵樼洏涓嶅彲閫氳璺宠繃
+ continue;
+ }
+ }
+ // 浼樺寲椤癸紝楠岃瘉涓嬩竴鑺傜偣鏄惁琚埆鐨勫皬杞﹀崰鐢� liudl锛氬湪姝ゆ坊鍔犱紭鍖栦唬鐮�
+
+ // 鏇存柊瀹為檯璺濈
+ int tentativeGScore = gScore[current] + 1;
+ // 鍒ゆ柇浣嶇疆鏄惁宸插寘鍚湪璺緞鍐� 涓� 鏄惁鏇磋繎鑺傜偣
+ if (!gScore.ContainsKey(neighbor) || tentativeGScore < gScore[neighbor])
+ {
+ neighbor.IsSendPlc = false;
+ // 琛ュ厖鍙傛暟
+ 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;
+ }
+
+ // 鏇存柊瀹為檯璺濈涓庨浼拌窛绂�
+ cameFrom[neighbor] = current;
+ gScore[neighbor] = tentativeGScore;
+ fScore[neighbor] = tentativeGScore + Heuristic(neighbor, end);
+ openSet.Add((fScore[neighbor], neighbor));
+ isNextNode = true;
+ }
+ }
+
+ if (!isNextNode)
+ {
+ closeSet[current] = current;
+ }
+ }
+ #endregion
+ }
+ catch (Exception ex)
+ {
+ throw ex;
+ }
+
+
+ return null;
+ }
+
+ /// <summary>
+ /// 璁＄畻鏇煎搱椤胯窛绂�
+ /// </summary>
+ /// <param name="start">璧峰浣嶇疆</param>
+ /// <param name="end">鐩爣浣嶇疆</param>
+ /// <returns>浣嶇疆璺濈</returns>
+ private static int Heuristic(CarModel start, CarModel end)
+ {
+ return Math.Abs(start.X - end.X) + Math.Abs(start.Y - end.Y);
+ }
+
+ /// <summary>
+ /// 閲嶆瀯瀹屾暣璺緞
+ /// </summary>
+ /// <param name="cameFrom"></param>
+ /// <param name="current"></param>
+ /// <returns></returns>
+ private static List<CarModel> ReconstructPath(Dictionary<CarModel, CarModel> cameFrom, CarModel current)
+ {
+ var path = new List<CarModel> { current };
+ while (cameFrom.ContainsKey(current))
+ {
+ current = cameFrom[current];
+ path.Insert(0, current);
+ }
+ return path;
+ }
+
}
public enum InOutFlag
{
@@ -522,4 +787,66 @@
[Description("璐ㄦ璇烽獙鍗�")]
QC
}
+
+ public class CarModel : IComparable<CarModel>
+ {
+ /// <summary>
+ /// 琛�=X
+ /// </summary>
+ public int X { get; set; }
+
+ /// <summary>
+ /// 鍒�=Y
+ /// </summary>
+ public int Y { get; set; }
+
+ /// <summary>
+ /// 灞�=Z
+ /// </summary>
+ public int Z { get; set; }
+
+ /// <summary>
+ /// 鑺傜偣鍛戒护 1:椤惰揣 2:瀛愰�氶亾杩愯 3:涓婚�氶亾杩愯 4:鏀捐揣
+ /// </summary>
+ public int NodeCom { get; set; }
+
+ /// <summary>
+ /// 鏄惁涓嬪彂plc
+ /// </summary>
+ public bool IsSendPlc { get; set; }
+
+ public int CompareTo(CarModel other)
+ {
+ if (other == null)
+ return 1;
+
+ // 杩欓噷鏍规嵁 X銆乊銆乑 鍧愭爣杩涜姣旇緝
+ int result = X.CompareTo(other.X);
+ if (result != 0)
+ return result;
+
+ result = Y.CompareTo(other.Y);
+ if (result != 0)
+ return result;
+
+ return Z.CompareTo(other.Z);
+ }
+
+ // 閲嶅啓 Equals 鏂规硶
+ public override bool Equals(object obj)
+ {
+ if (obj == null || GetType() != obj.GetType())
+ return false;
+
+ CarModel other = (CarModel)obj;
+ return X == other.X && Y == other.Y && Z == other.Z;
+ }
+
+ // 閲嶅啓 GetHashCode 鏂规硶
+ public override int GetHashCode()
+ {
+ return HashCode.Combine(X, Y, Z);
+ }
+ }
+
}
--
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