/// <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>
/// 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>
/// 构造指令地图
/// </summary>
/// <param name="iotype">出库入库</param>
/// <param name="rackcode1">取货仓位编码</param>
/// <param name="rackcode2">卸货仓位编码</param>
/// <param name="tuopancode">托盘编码</param>
/// <returns></returns>
public InstructionInfo SetToMap(InOutType iotype, string rackcode1, string rackcode2, string tuopancode)
{
initData();
InstructionInfo insInfo = new InstructionInfo();
RackLayerService x_rlService = new RackLayerService();
var rlayer = x_rlService.Get(a => a.RackLayerCode == rackcode1).FirstOrDefault();
if (rlayer != null)
{
var rkitem = rackList.Single(a => a.Id == rlayer.RackId);
insInfo.InPackCode = rkitem.RouteCode;
insInfo.InPackLayer = rlayer.RackLayerNum.ToString("x2");
}
var rlayer2 = x_rlService.Get(a => a.RackLayerCode == rackcode2).FirstOrDefault();
if (rlayer2 != null)
{
var rkitem = rackList.Single(a => a.Id == rlayer2.RackId);
insInfo.OutPackCode = rkitem.RouteCode;
insInfo.OutPackLayer = rlayer2.RackLayerNum.ToString("x2");
}
TruckInfo freetruck = getLatestTruck(insInfo.InPackCode); //寻找最近空闲叉车
if (freetruck == null)
{
insInfo.StatusEnum = InstructionStatus.NoTruck;
return(insInfo);
}
string truckcode = freetruck.Truckcode;
string truckcoderoute = freetruck.TruckrouteCode;
insInfo.StartCode = insInfo.getStartType(StartType.Start);
insInfo.InOut = insInfo.getIOType(iotype);
insInfo.TruckCode = truckcode;
insInfo.TuopanCode = tuopancode;
if (iotype == InOutType.In)
{
insInfo.RackLayerCode = rackcode2;
}
else
{
insInfo.RackLayerCode = rackcode1;
}
var packList = routelist.Where(a => a.Isstart == 2);
TruckService x_tkServic = new TruckService();
var tkList = x_tkServic.Get(a => a.Isvalid == 1 && a.HouseId == HouseId);
//排除掉已占用的停车位，还需要排除掉已被规划的停车位
foreach (var item in packList)
{
foreach (var titem in tkList)
{
if (titem.TruckrouteCode == item.Routecode)
{
item.IsValid = 0;
}
}
}
foreach (var item in waylist)
{
var code = item[item.Count - 1].RouteCode;
foreach (var pitem in packList)
{
if (pitem.Routecode == code)
{
pitem.IsValid = 0;
}
}
}
string endroute = "";
var end_item = packList.Where(a => a.IsValid == 1).FirstOrDefault();
if (end_item != null)
{
endroute = end_item.Routecode;
}
else
{
endroute = truckcoderoute;
end_item = routelist.Where(a => a.Routecode == endroute).First();
}
//开始计算路径
PathMathHelper.InitRouteNodes(nodeDict);
PathMathResult result = PathMathHelper.Start(truckcoderoute, insInfo.InPackCode); //取货路径
string path1 = truckcoderoute + result.Path; //取货路径
insInfo.PathList.Add(path1);
PathMathHelper.InitRouteNodes(nodeDict);
result = PathMathHelper.Start(insInfo.InPackCode, insInfo.OutPackCode);
string path2 = result.Path; //卸货路径
insInfo.PathList.Add(path2);
PathMathHelper.InitRouteNodes(nodeDict);
result = PathMathHelper.Start(insInfo.OutPackCode, endroute); //停车路径
string path3 = result.Path; //停车路径
insInfo.PathList.Add(path3);
var rack_item = rackList.Where(a => a.Rackcode == insInfo.InPackCode).FirstOrDefault();
var out_rack_item = rackList.Where(a => a.Rackcode == insInfo.OutPackCode).FirstOrDefault();
ComputePath(insInfo, path1, path2, rack_item);
ComputePath(insInfo, path2, path3, out_rack_item);
ComputePath(insInfo, path3);
//如果终点是停车位，则反转停车位的转向
if (end_item != null && end_item.Isstart == 2)
{
if (insInfo.RouteWay.Count > 2)
{
var wayinfo = insInfo.RouteWay.Last();
if (wayinfo.Way == TurnWay.Left)
{
wayinfo.Way = TurnWay.Right;
insInfo.AddItem(wayinfo.RouteCode, TurnWay.Back);
}
else if (wayinfo.Way == TurnWay.Right)
{
wayinfo.Way = TurnWay.Left;
insInfo.AddItem(wayinfo.RouteCode, TurnWay.Back);
}
}
}
insInfo.AddItem(end_item.Routecode, TurnWay.Stop);
waylist.Add(insInfo.RouteWay);
return(insInfo);
}
