public void CalculatePickingRoutes(PathSolver solver)
{
var coordsSet = new HashSet <Coord>(PickingSlots.Select(x => x.Value.Position))
{
GetPickingStartPosition(),
GetPickingEndPosition()
};
var coords = coordsSet.ToArray();
var collection = new ConcurrentDictionary <RouteBetweenCoords, byte>();
int done = 1;
int todo = coords.Length;
var sw = new Stopwatch();
sw.Start();
Parallel.For(0, coords.Length, startIndex =>
{
var coord1 = coords[startIndex];
for (var endIndex = startIndex + 1; endIndex < PickingSlots.Count; endIndex++)
{
var coord2 = coords[endIndex];
var result = solver.FindPath(new TravelStep(coord1), new TravelStep(coord2), false);
if (result.Success)
{
//Debug.WriteLine($"Sprawdzono {coord1} - {coord2}");
var route = new RouteBetweenCoords(coord1, coord2);
route.ReadTravelsteps(result.Steps);
collection.AddOrUpdate(route, x => 0, (x, b) => 0);
}
}
done += 1;
PickingRoutesCalculationProgress?.Invoke(null, new CalculatePickingRouteProgressEventArgs()
{
Done = done,
IterationIndex = startIndex,
Todo = todo,
Elapsed = sw.Elapsed,
CheckeCoord = coord1
});
});
PickingSlotRoutes = new HashSet <RouteBetweenCoords>(collection.Keys);
}
public PickingScanSolver(WarehouseLayout warehouseLayout)
{
_warehouseLayout = warehouseLayout;
_pathSolver = new PathSolver(warehouseLayout);
}