/// <summary>
/// 根据转向获取当前朝向
/// </summary>
/// <param name="fromWay"></param>
/// <param name="turnWay"></param>
/// <returns></returns>
public DirectionWay getDirection(DirectionWay fromWay, TurnWay turnWay)
{
if (turnWay == TurnWay.Next)
{
return(fromWay);
}
if (fromWay == DirectionWay.Easet)
{
switch (turnWay)
{
case TurnWay.Left: return(DirectionWay.North);
case TurnWay.Right: return(DirectionWay.South);
case TurnWay.Back: return(DirectionWay.West);
}
}
else if (fromWay == DirectionWay.South)
{
switch (turnWay)
{
case TurnWay.Left: return(DirectionWay.Easet);
case TurnWay.Right: return(DirectionWay.West);
case TurnWay.Back: return(DirectionWay.North);
}
}
else if (fromWay == DirectionWay.West)
{
switch (turnWay)
{
case TurnWay.Left: return(DirectionWay.South);
case TurnWay.Right: return(DirectionWay.North);
case TurnWay.Back: return(DirectionWay.Easet);
}
}
else if (fromWay == DirectionWay.North)
{
switch (turnWay)
{
case TurnWay.Left: return(DirectionWay.West);
case TurnWay.Right: return(DirectionWay.Easet);
case TurnWay.Back: return(DirectionWay.South);
}
}
return(DirectionWay.None);
}
/// <summary>
/// 计算仓位的转向逻辑
/// </summary>
/// <param name="insInfo"></param>
/// <param name="nextPathArray"></param>
/// <param name="lastPath"></param>
/// <param name="item"></param>
/// <param name="rackItem"></param>
private void setRouteByRack(InstructionInfo insInfo, string nextPathArray, string lastPath, RouteInfo item, RackInfo rackItem)
{
string[] path2Arr = nextPathArray.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
string next = path2Arr[0];
var nextItem = routelist.Where(a => a.Routecode == next).FirstOrDefault();
int xsub = item.X - nextItem.X;
int ysub = item.Y - nextItem.Y;
int xrack = 0;
int yrack = 0;
if (rackItem != null)
{
xrack = item.X - rackItem.X;
yrack = item.Y - rackItem.Y;
}
if (xsub == 0)
{
if (ysub > 0) //向南
{
if (lastPath == inpackroute || lastPath == outpackroute)
{
if (direction == DirectionWay.South)
{
if (xrack > 0) //右手
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Right);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Left);
}
}
else if (direction == DirectionWay.North)
{
if (xrack > 0) //左手
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Right);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Left);
}
}
else if (direction == DirectionWay.West)
{
insInfo.AddItem(lastPath, TurnWay.Left);
//insInfo.AddItem(lastPath, TurnWay.Next);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
//insInfo.AddItem(lastPath, TurnWay.Next);
}
}
direction = DirectionWay.South;
}
else //向北
{
if (lastPath == inpackroute || lastPath == outpackroute)
{
if (direction == DirectionWay.South)
{
if (xrack > 0) //右手
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Left);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Right);
}
}
else if (direction == DirectionWay.North)
{
if (xrack > 0) //左手
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Left);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Right);
}
}
else if (direction == DirectionWay.Easet)
{
insInfo.AddItem(lastPath, TurnWay.Left);
//insInfo.AddItem(lastPath, TurnWay.Next);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
//insInfo.AddItem(lastPath, TurnWay.Next);
}
}
direction = DirectionWay.North;
}
}
else if (ysub == 0)
{
if (xsub > 0) //向西
{
if (lastPath == inpackroute || lastPath == outpackroute)
{
if (direction == DirectionWay.South)
{
insInfo.AddItem(lastPath, TurnWay.Right);
//insInfo.AddItem(lastPath, TurnWay.Back);
//insInfo.AddItem(lastPath, TurnWay.Left);
}
else if (direction == DirectionWay.Easet)
{
if (yrack > 0) //右手
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Left);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Right);
}
}
else if (direction == DirectionWay.West)
{
if (yrack > 0) //左手
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Left);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Right);
}
}
else
{
insInfo.AddItem(lastPath, TurnWay.Left);
//insInfo.AddItem(lastPath, TurnWay.Back);
//insInfo.AddItem(lastPath, TurnWay.Right);
}
}
direction = DirectionWay.West;
}
else //向东
{
if (lastPath == inpackroute || lastPath == outpackroute)
{
if (direction == DirectionWay.South)
{
insInfo.AddItem(lastPath, TurnWay.Left);
//insInfo.AddItem(lastPath, TurnWay.Back);
//insInfo.AddItem(lastPath, TurnWay.Right);
}
else if (direction == DirectionWay.Easet)
{
if (yrack > 0) //右手
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Right);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Left);
}
}
else if (direction == DirectionWay.West)
{
if (yrack > 0) //左手
{
insInfo.AddItem(lastPath, TurnWay.Right);
insInfo.AddItem(lastPath, TurnWay.Right);
}
else
{
insInfo.AddItem(lastPath, TurnWay.Left);
insInfo.AddItem(lastPath, TurnWay.Left);
}
}
else
{
insInfo.AddItem(lastPath, TurnWay.Right);
//insInfo.AddItem(lastPath, TurnWay.Back);
//insInfo.AddItem(lastPath, TurnWay.Left);
}
}
direction = DirectionWay.Easet;
}
}
}
/// <summary>
/// 计算路径以及转向逻辑
/// </summary>
/// <param name="insInfo"></param>
/// <param name="path1"></param>
/// <param name="path2"></param>
/// <param name="rackItem"></param>
private void ComputePath(InstructionInfo insInfo, string path1, string path2 = null, RackInfo rackItem = null)
{
string[] path1Arr = path1.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
int path1Length = path1Arr.Length;
for (int i = 0; i < path1Length; i++)
{
string path = path1Arr[i];
if (i == 0 && !string.IsNullOrEmpty(lastRoute)) //如果取/卸货仓位是紧邻的仓位，则指令需要跳过下一位置
{
var rackInfo = rackList.Where(a => a.RouteCode == path).FirstOrDefault();
if (rackInfo != null)
{
var lastInfo = rackList.Where(a => a.RouteCode == lastRoute).FirstOrDefault();
if (lastInfo != null)
{
continue;
}
}
}
lastRoute = path;
var item = routelist.Where(a => a.Routecode == path1Arr[i]).FirstOrDefault();
if (i + 1 < path1Length) //还有下一节点
{
string next = path1Arr[i + 1];
var nextItem = routelist.Where(a => a.Routecode == next).FirstOrDefault();
int xsub = item.X - nextItem.X;
int ysub = item.Y - nextItem.Y;
if (xsub == 0)
{
if (ysub > 0) //向南
{
insInfo.AddItem(path, insInfo.getWay(direction, DirectionWay.South));
direction = DirectionWay.South;
}
else //向北
{
insInfo.AddItem(path, insInfo.getWay(direction, DirectionWay.North));
direction = DirectionWay.North;
}
}
else if (ysub == 0)
{
if (xsub > 0) //向西
{
insInfo.AddItem(path, insInfo.getWay(direction, DirectionWay.West));
direction = DirectionWay.West;
}
else //向东
{
insInfo.AddItem(path, insInfo.getWay(direction, DirectionWay.Easet));
direction = DirectionWay.Easet;
}
}
}
else if (!string.IsNullOrEmpty(path2)) //一期默认货架在右侧，即X正，Y负
{
setRouteByRack(insInfo, path2, path, item, rackItem);
}
}
}
/// <summary>
/// 根据方向获取转向
/// </summary>
/// <param name="fromWay"></param>
/// <param name="toWay"></param>
/// <returns></returns>
public TurnWay getWay(DirectionWay fromWay, DirectionWay toWay)
{
if (fromWay == DirectionWay.None)
{
return(TurnWay.Next);
}
if (fromWay == DirectionWay.Easet)
{
switch (toWay)
{
case DirectionWay.Easet: return(TurnWay.Next);
case DirectionWay.North: return(TurnWay.Left);
case DirectionWay.South: return(TurnWay.Right);
case DirectionWay.West: return(TurnWay.Back);
}
}
else if (fromWay == DirectionWay.South)
{
switch (toWay)
{
case DirectionWay.Easet: return(TurnWay.Left);
case DirectionWay.North: return(TurnWay.Back);
case DirectionWay.South: return(TurnWay.Next);
case DirectionWay.West: return(TurnWay.Right);
}
}
else if (fromWay == DirectionWay.North)
{
switch (toWay)
{
case DirectionWay.Easet: return(TurnWay.Right);
case DirectionWay.North: return(TurnWay.Next);
case DirectionWay.South: return(TurnWay.Back);
case DirectionWay.West: return(TurnWay.Left);
}
}
else if (fromWay == DirectionWay.West)
{
switch (toWay)
{
case DirectionWay.Easet: return(TurnWay.Back);
case DirectionWay.North: return(TurnWay.Right);
case DirectionWay.South: return(TurnWay.Left);
case DirectionWay.West: return(TurnWay.Next);
}
}
return(TurnWay.Stop);
}
