public PathFindingResult <PickingTravelStep> FindPath(PickingOrder order)
{
var result = new PathFindingResult <PickingTravelStep>
{
Success = true,
};
var currentPosition = new PickingTravelStep(_warehouseLayout.GetPickingStartPosition(), new Dictionary <long, int>(order.RequiredArticles));
var possiblePickingSlots = order.RequiredArticles
.SelectMany(x => _warehouseLayout.GetPickingSlotsWithSku(x.Key))
.OrderBy(x => x.AlleyNumber).ThenBy(x => x.PositionNumber)
.ToList();
var precalculatedRoutes = GetRoutesBetweenSlots(possiblePickingSlots);
var remainingInOrder = new Dictionary <long, int>(order.RequiredArticles);
foreach (var possiblePickingSlot in possiblePickingSlots)
{
var previousPosition = currentPosition;
if (!remainingInOrder.TryGetValue(possiblePickingSlot.Sku, out int positionUnits) || remainingInOrder[possiblePickingSlot.Sku] < 1)
{
continue;
}
if (positionUnits < 1)
{
continue;
}
var unitsToTake = Math.Min(positionUnits, remainingInOrder[possiblePickingSlot.Sku]);
_warehouseLayout.GetPickingSlots().FirstOrDefault(x => x == possiblePickingSlot).Units -= unitsToTake;
remainingInOrder[possiblePickingSlot.Sku] -= unitsToTake;
currentPosition = new PickingTravelStep(possiblePickingSlot, unitsToTake, new Dictionary <long, int>(remainingInOrder));
currentPosition.Parent = previousPosition;
if (!remainingInOrder.Any(x => x.Value > 0))
{
break;
}
}
var endPosition = _warehouseLayout.GetPickingEndPosition();
var finalStep = new PickingTravelStep(endPosition, currentPosition.PendingSkus);
finalStep.CostFromStart = currentPosition.CostFromStart + FindTravelCostBetween(precalculatedRoutes, finalStep.Position, currentPosition.Position);
finalStep.Parent = currentPosition;
currentPosition = finalStep;
var steps = new List <ITravelStep>();
while (currentPosition != null)
{
var nextPosition = currentPosition.Parent;
currentPosition.Parent = null;
steps.Add(currentPosition);
if (nextPosition != null && currentPosition != (PickingTravelStep)nextPosition)
{
var route = FindTravelRouteBetween(precalculatedRoutes, currentPosition.Position, nextPosition.Position).Route;
foreach (var coord in route)
{
result.PathCoordinates.Add(coord);
}
}
currentPosition = nextPosition as PickingTravelStep;
}
result.Steps = steps.ToArray();
return(result);
}
public PathFindingResult <PickingTravelStep> FindPath(PickingOrder order)
{
var result = new PathFindingResult <PickingTravelStep>
{
Success = true,
};
var openList = new Heap <PickingTravelStep>();
var currentPosition = new PickingTravelStep(_warehouseLayout.GetPickingStartPosition(), new Dictionary <long, int>(order.RequiredArticles));
var possiblePickingSlots = order.RequiredArticles
.SelectMany(x => _warehouseLayout.GetPickingSlotsWithSku(x.Key))
.ToList();
var routesBetweenSlots = GetRoutesBetweenSlots(possiblePickingSlots);
var endPosition = _warehouseLayout.GetPickingEndPosition();
while (currentPosition.PendingSkus.Any(x => x.Value > 0))
{
if (currentPosition.Sku > 0 && currentPosition.PickingSlot.Units > 0 && currentPosition.PendingSkus.ContainsKey(currentPosition.Sku))
{
var requiredUnits = currentPosition.PendingSkus[currentPosition.Sku];
var unitsToTake = Math.Min(requiredUnits, currentPosition.PickingSlot.AvailableUnits);
currentPosition.PendingSkus[currentPosition.Sku] -= unitsToTake;
}
if (currentPosition.PendingSkus.All(x => x.Value == 0))
{
result.Success = true;
break;
}
var possibleNextSlots = possiblePickingSlots.Where(x => !currentPosition.VisitedSlots.Contains(x) &&
currentPosition.PendingSkus.TryGetValue(x.Sku, out var value) &&
value > 0)
.ToList();
if (!possibleNextSlots.Any())
{
result.Success = false;
break;
}
foreach (var nextSlot in possibleNextSlots)
{
var remainingRequiredUnits = currentPosition.PendingSkus[nextSlot.Sku];
var unitsToTake = Math.Min(remainingRequiredUnits, nextSlot.Units - nextSlot.ReservedUnits);
var remainingSlots = possibleNextSlots.Where(x => x != nextSlot);
if (unitsToTake == remainingRequiredUnits)
{
remainingSlots = remainingSlots.Where(x => x.Sku != nextSlot.Sku);
}
var remainingSlotsList = remainingSlots.ToList();
var next = new PickingTravelStep(nextSlot, unitsToTake, new Dictionary <long, int>(currentPosition.PendingSkus))
{
Parent = currentPosition,
};
next.CostFromStart = currentPosition.CostFromStart + FindTravelCostBetween(routesBetweenSlots, next.Position, currentPosition.Position);
next.VisitedSlots = new List <PickingSlot>(currentPosition.VisitedSlots)
{
nextSlot
};
var tentativeCost = FindTravelCostBetween(routesBetweenSlots, nextSlot.Position, endPosition);
tentativeCost += currentPosition.CostFromStart;
tentativeCost += remainingSlotsList.Sum(x => FindTravelCostBetween(routesBetweenSlots, nextSlot.Position, x.Position));
openList.Add(new HeapNode <PickingTravelStep>(next, tentativeCost));
}
currentPosition = openList.TakeHeapHeadPosition();
}
var finalStep = new PickingTravelStep(endPosition, currentPosition.PendingSkus);
finalStep.CostFromStart = currentPosition.CostFromStart + FindTravelCostBetween(routesBetweenSlots, finalStep.Position, currentPosition.Position);
finalStep.Parent = currentPosition;
currentPosition = finalStep;
// recreate found path and reserve items on stock
var pickedArticles = order.RequiredArticles.Select(x => x.Key).ToDictionary(x => x, x => 0);
var steps = new List <ITravelStep>();
while (currentPosition != null)
{
if (pickedArticles.ContainsKey(currentPosition.Sku))
{
pickedArticles[currentPosition.Sku] += currentPosition.UnitsToTake;
}
if (currentPosition.PickingSlot != null)
{
_warehouseLayout.ReserveArticles(currentPosition.PickingSlot.Address, currentPosition.Sku, currentPosition.UnitsToTake);
}
var nextPosition = currentPosition.Parent;
currentPosition.Parent = null;
steps.Add(currentPosition);
if (nextPosition != null && currentPosition != (PickingTravelStep)nextPosition)
{
var route = FindTravelRouteBetween(routesBetweenSlots, currentPosition.Position, nextPosition.Position).Route;
foreach (var coord in route)
{
result.PathCoordinates.Add(coord);
}
}
currentPosition = nextPosition as PickingTravelStep;
}
result.Steps = steps.ToArray();
return(result);
}