OutletTaskUtil.cs
29.0 KB
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using AGVLib;
using CtuDeviceLib;
using Mushiny;
using OnlineStore.Common;
using System.Collections.Generic;
using System.Linq;
namespace DeviceLibrary.CtuService.CtuTask.Out
{
public class OutletTaskUtil
{
/// <summary>
/// 出料待机点获取背篓里可放满箱的任务
/// </summary>
/// <param name="ctu"></param>
/// <returns></returns>
//public static CtuTaskBase GetPutFullBoxAtCurPos(CTU ctu)
//{
// CtuTaskBase putFullBoxTask = null;
// var posInfo = PosInfos.GetAllPosInfos()?.Find(s => s.PointCode == ctu.CurLandMark && s.Name.StartsWith(Setting_Init.outLine) && s.Name.EndsWith(Setting_Init.dir_in));
// if(posInfo != null)
// {
// ctu.GetFullBaskets()?.ForEach(basket => {
// if(Setting_Init.Out_FeedingInlet.Equals(basket.DstName))
// {
// if(putFullBoxTask==null)
// {
// putFullBoxTask = new PutFullBoxToOutletTask(ctu, posInfo.Name, basket.BoxCode);
// }
// }
// });
// }
// return putFullBoxTask;
//}
/// <summary>
/// 获取附近出空箱，并且该分拣机无法继续工作
/// </summary>
/// <param name="ctu"></param>
/// <returns></returns>
//public static CtuTaskBase GetNearstUrgentTakeEmptyBoxTask(CTU ctu)
//{
// CtuTaskBase currentCtuNearestTakeFullBoxTask = null;
// var clientNodes = RobotManager.GetClientNodes();
// if (clientNodes != null)
// {
// var nodes = filterRawLineOut(clientNodes);
// nodes.ForEach(n =>
// {
// //距离当前节点最近的CTU任务
// CtuTaskBase nearestNodeTakeEmptyBoxTask = null;
// var nodePosInfo = PosInfos.GetPosInfoByName(n.name);
// CTUManager.GetEnabledCTUs().ForEach(c =>
// {
// if (c.Enabled && !CTUManager.InletGroup.IsInGroup(c.Name))
// {
// var hasNeedLeave = true;
// var inTask = TaskUtil.Outlet_GetInStores()?.Find(s => n.name.Equals(s.fromLoc));
// if (inTask == null)
// {
// inTask = TaskUtil.Manual_GetInStore();
// if (inTask != null)
// {
// hasNeedLeave = n.name.Equals(inTask.fromLoc);
// }
// else
// {
// hasNeedLeave = false;
// }
// }
// //判断该分拣机是否卡住
// hasNeedLeave = false;
// if (hasNeedLeave)
// {
// if (c.HasEmptyBasket())
// {
// var rtn = PathManger.PathCalc(c, nodePosInfo.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
// if (rtn)
// {
// if (nearestNodeTakeEmptyBoxTask == null || PathPointCodes.Count < nearestNodeTakeEmptyBoxTask.planedPoints.Count)
// {
// if (Setting_Init.rawLine_out.Equals(n.name))
// {
// nearestNodeTakeEmptyBoxTask = new TakeBoxFromLineTask(c);
// nearestNodeTakeEmptyBoxTask.planedPoints = PathPointCodes;
// }
// else
// {
// nearestNodeTakeEmptyBoxTask = new TakeEmptyBoxFromOutletTask(c, TaskManager.GenRobotTask(inTask));
// nearestNodeTakeEmptyBoxTask.planedPoints = PathPointCodes;
// }
// }
// }
// }
// }
// else //没有需要离开的空箱任务
// {
// }
// }
// });
// if (nearestNodeTakeEmptyBoxTask != null && nearestNodeTakeEmptyBoxTask.ctu.IP.Equals(ctu.IP))
// {
// //可取这个节点满箱的CTU就是当前的CTU，与已有任务进行比对，看是否比之前的任务更近
// if (currentCtuNearestTakeFullBoxTask == null || nearestNodeTakeEmptyBoxTask.planedPoints.Count < currentCtuNearestTakeFullBoxTask.planedPoints.Count)
// {
// currentCtuNearestTakeFullBoxTask = nearestNodeTakeEmptyBoxTask;
// }
// }
// });
// }
// else
// {
// Msg.add("无启用取空箱箱的线体(出料缓存线/手动线)，请检查!", MsgLevel.warning);
// }
// return currentCtuNearestTakeFullBoxTask;
//}
/// <summary>
/// CTU最近的急需满箱的出料线体/手动线
/// 分拣机无可用满箱
/// </summary>
//public static CtuTaskBase GetNearestUrgentPutFullBoxTask(CTU ctu)
//{
// CtuTaskBase currentCtuNearestPutFullBoxTask = null;
// bool isUrgent = false;
// var clientNodes = RobotManager.GetClientNodes()?.FindAll(s => s.opened);
// if (clientNodes != null)
// {
// var nodes = filterOutLineIn(clientNodes);
// nodes.ForEach(n =>
// {
// CtuTaskBase nearestNodePutFulloxTask = null;
// var nodePosInfo = PosInfos.GetPosInfoByName(n.name);
// #region 哪个CTU可将满箱放到当前节点
// CTUManager.GetEnabledCTUs().ForEach(c =>
// {
// if (!CTUManager.InletGroup.IsInGroup(c.Name))
// {
// string boxCodeInBasket = null;
// var needBoxBaskets = c.GetFullBaskets();
// needBoxBaskets.ForEach(b =>
// {
// if (Setting_Init.Out_FeedingInlet.Equals(b.DstName))
// {
// boxCodeInBasket = b.BoxCode;
// if (boxCodeInBasket != null)
// {
// var rtn = PathManger.PathCalc(c, nodePosInfo.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
// if (rtn)
// {
// bool needResetTask = false;
// if (nearestNodePutFulloxTask == null)
// {
// needResetTask = true;
// }
// else
// {
// if (PathPointCodes.Count < nearestNodePutFulloxTask.planedPoints.Count)
// {
// needResetTask = true;
// }
// }
// needResetTask = isUrgent;
// if (needResetTask)
// {
// if (Setting_Init.rawLine_in.Equals(n.name))
// {
// nearestNodePutFulloxTask = new PutBoxToLineTask(c, n.name, boxCodeInBasket);
// nearestNodePutFulloxTask.planedPoints = PathPointCodes;
// }
// else
// {
// nearestNodePutFulloxTask = new PutFullBoxToOutletTask(c, n.name, boxCodeInBasket);
// nearestNodePutFulloxTask.planedPoints = PathPointCodes;
// }
// }
// }
// }
// }
// });
// }
// });
// #endregion
// if (nearestNodePutFulloxTask != null && nearestNodePutFulloxTask.ctu.IP.Equals(ctu.IP))
// {
// //可向这个节点放满箱的CTU就是当前的CTU，与已有任务进行比对，看是否比之前的任务更近
// if (currentCtuNearestPutFullBoxTask == null || nearestNodePutFulloxTask.planedPoints.Count < currentCtuNearestPutFullBoxTask.planedPoints.Count)
// {
// currentCtuNearestPutFullBoxTask = nearestNodePutFulloxTask;
// }
// }
// });
// }
// else
// {
// Msg.add("无启用放满箱的线体(出料缓存线/手动线)，请检查!", MsgLevel.warning);
// }
// return currentCtuNearestPutFullBoxTask;
//}
/// <summary>
/// 获取最近的放空箱或补满箱任务-v1
/// 顺序：
/// 1、最近放空箱，未找到转2，否则路上是否有取满箱
/// 2、最近取满箱
/// </summary>
/// <param name="ctu"></param>
/// <returns></returns>
//public static CtuTaskBase GetNearestPutEmptyOrTakeFullTask(CTU ctu)
//{
// var task = GetNearestPutEmptyBoxToShelfTask(ctu, out _);
// if (task != null)
// {
// //看看路上是否有取满箱任务，如果有，就先取满箱
// CtuTaskBase takeEmptyBoxTask = GetTakeFullBoxTaskInPath(ctu, task.planedPoints);
// if (takeEmptyBoxTask != null)
// {
// task = takeEmptyBoxTask;
// }
// }
// else
// {
// //补满箱
// var takeFullBoxTask = GetNearstTakeFullBoxTask(ctu);
// if (takeFullBoxTask != null)
// {
// task = takeFullBoxTask;
// }
// }
// return task;
//}
/// <summary>
/// 获取当前CTU可取空料箱出料线体的最近节点任务-v1
/// </summary>
/// <returns></returns>
//public static CtuTaskBase GetNearstTakeEmptyBoxTask(CTU ctu)
//{
// CtuTaskBase currentCtuNearestTakeFullBoxTask = null;
// var clientNodes = RobotManager.GetClientNodes();
// if (clientNodes != null)
// {
// var nodes = filterRawLineOut(clientNodes);
// nodes.ForEach(n =>
// {
// //距离当前节点最近的CTU任务
// CtuTaskBase nearestNodeTakeEmptyBoxTask = null;
// var nodePosInfo = PosInfos.GetPosInfoByName(n.name);
// CTUManager.GetEnabledCTUs().ForEach(c =>
// {
// if (c.Enabled && !CTUManager.InletGroup.IsInGroup(c.Name))
// {
// var hasNeedLeave = true;
// var inTask = TaskUtil.Outlet_GetInStores()?.Find(s => n.name.Equals(s.fromLoc));
// if (inTask == null)
// {
// inTask = TaskUtil.Manual_GetInStore();
// if (inTask != null)
// {
// hasNeedLeave = n.name.Equals(inTask.fromLoc);
// }
// else
// {
// hasNeedLeave = false;
// }
// }
// if (hasNeedLeave)
// {
// if (c.HasEmptyBasket())
// {
// var rtn = PathManger.PathCalc(c, nodePosInfo.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
// if (rtn)
// {
// if (nearestNodeTakeEmptyBoxTask == null || PathPointCodes.Count < nearestNodeTakeEmptyBoxTask.planedPoints.Count)
// {
// if (Setting_Init.rawLine_out.Equals(n.name))
// {
// nearestNodeTakeEmptyBoxTask = new TakeBoxFromLineTask(c);
// nearestNodeTakeEmptyBoxTask.planedPoints = PathPointCodes;
// }
// else
// {
// nearestNodeTakeEmptyBoxTask = new TakeEmptyBoxFromOutletTask(c, TaskManager.GenRobotTask(inTask));
// nearestNodeTakeEmptyBoxTask.planedPoints = PathPointCodes;
// }
// }
// }
// }
// }
// else //没有需要离开的空箱任务
// {
// }
// }
// });
// if (nearestNodeTakeEmptyBoxTask != null && nearestNodeTakeEmptyBoxTask.ctu.IP.Equals(ctu.IP))
// {
// //可取这个节点满箱的CTU就是当前的CTU，与已有任务进行比对，看是否比之前的任务更近
// if (currentCtuNearestTakeFullBoxTask == null || nearestNodeTakeEmptyBoxTask.planedPoints.Count < currentCtuNearestTakeFullBoxTask.planedPoints.Count)
// {
// currentCtuNearestTakeFullBoxTask = nearestNodeTakeEmptyBoxTask;
// }
// }
// });
// }
// else
// {
// Msg.add("无启用取空箱箱的线体(出料缓存线/手动线)，请检查!", MsgLevel.warning);
// }
// return currentCtuNearestTakeFullBoxTask;
//}
/// <summary>
/// 获取最近的取满箱任务-v1
/// </summary>
/// <returns></returns>
public static CtuTaskBase GetNearstTakeFullBoxTask(CTU ctu)
{
CtuTaskBase takeFullBoxTask = null;
var emptyBasketCount = ctu.GetAllBaskets().Count(b => !b.Shield && string.IsNullOrEmpty(b.BoxCode));
var needSize = "";
if (!ctu.AllBasketIsEmpty())
{
var basket = ctu.GetFirstFullBasket();
needSize = basket?.BoxCode?.Substring(0, 3) ?? "";
}
//不要预留一个空背篓，所以空背篓数量必须大于1
if (emptyBasketCount > 0)//1
{
List<PathWay> cutUsedPathWays = new List<PathWay>();
CTUManager.GetEnabledCTUs().ForEach(c =>
{
var pathWay = PathWays.GetPathWay(c.CurLandMark);
if (pathWay != null)
{
cutUsedPathWays.Add(pathWay);
}
var taskDstName = c.CtuTask?.DstName;
if (!string.IsNullOrEmpty(taskDstName))
{
var taskDstPos = PosInfos.GetPosInfoByName(taskDstName);
if (taskDstPos != null)
{
var taskPathWay = PathWays.GetPathWay(taskDstPos.PointCode);
if (taskPathWay != null)
{
cutUsedPathWays.Add(taskPathWay);
}
}
}
});
var fullBoxList = TaskUtil.Outlet_FilterOutStores()?.FindAll(s => s.boxCode.StartsWith(needSize));
fullBoxList?.ForEach(b =>
{
var boxPos = PosInfos.GetPosInfoByName(b.fromLoc);
if(boxPos != null)
{
var ctuUsedPathway = cutUsedPathWays?.Find(p => p.Paths.Contains(boxPos.PointCode));
if (ctuUsedPathway == null)
{
var rtn = PathManger.PathCalc(ctu, boxPos.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
if (rtn)
{
if (takeFullBoxTask == null || PathPointCodes.Count < takeFullBoxTask.planedPoints.Count)
{
takeFullBoxTask = new TakeBoxFromShelfTask(ctu, TaskManager.GenRobotTask(b));
takeFullBoxTask.planedPoints = PathPointCodes;
}
}
}
}
else
{
Msg.add($"库位【{b.fromLoc}】未查询到,请确认",MsgLevel.warning);
}
});
if (takeFullBoxTask == null)
{
fullBoxList?.ForEach(b =>
{
var boxPos = PosInfos.GetPosInfoByName(b.fromLoc);
var ctuUsedPathway = cutUsedPathWays?.Find(p => p.Paths.Contains(boxPos.PointCode));
if (ctuUsedPathway == null || !ctuUsedPathway.IsLimitOneCtu)
{
var rtn = PathManger.PathCalc(ctu, boxPos.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
if (rtn)
{
if (takeFullBoxTask == null || PathPointCodes.Count < takeFullBoxTask.planedPoints.Count)
{
takeFullBoxTask = new TakeBoxFromShelfTask(ctu, TaskManager.GenRobotTask(b));
takeFullBoxTask.planedPoints = PathPointCodes;
}
}
}
});
}
}
return takeFullBoxTask;
}
/// <summary>
/// 在路径上查找取满箱任务
/// </summary>
/// <param name="PathPointCodes"></param>
/// <returns></returns>
public static CtuTaskBase GetTakeFullBoxTaskInPath(CTU ctu, List<PointCode> PathPointCodes)
{
CtuTaskBase takeFullBoxTask = null;
var emptyBasketCount = ctu.GetAllBaskets().Count(b => !b.Shield && string.IsNullOrEmpty(b.BoxCode));
var needSize = "";
if (!ctu.AllBasketIsEmpty())
{
var basket = ctu.GetFirstFullBasket();
needSize = basket?.BoxCode?.Substring(0, 3) ?? "";
}
//暂不预留一个空背篓，所以空背篓数量必须大于1
if (emptyBasketCount > 0)//1
{
var fullBoxList = TaskUtil.Outlet_FilterOutStores()?.FindAll(s => s.boxCode.StartsWith(needSize));
FinishedCtuTask boxToTake = null;
fullBoxList?.ForEach(b =>
{
var boxPos = PosInfos.GetPosInfoByName(b.fromLoc);
if (boxPos != null)
{
var index = PathPointCodes.FindIndex(s => s.Id == boxPos.PointCode);
if (index != -1)
{
//该箱子在路径上,先取这个箱子
PathPointCodes = PathPointCodes.Take(index + 1).ToList();
boxToTake = b;
}
}
else
{
Msg.add($"库位[{b.fromLoc}]不存在，无法执行出满箱任务", MsgLevel.warning);
}
});
if (boxToTake != null)
{
takeFullBoxTask = new TakeBoxFromShelfTask(ctu, TaskManager.GenRobotTask(boxToTake));
}
}
return takeFullBoxTask;
}
static List<ClientNode> filterOutLineIn(List<ClientNode> clientNodes)
{
return clientNodes.FindAll(s => s.name.StartsWith(Setting_Init.outLine) && s.name.EndsWith(Setting_Init.dir_in));//
}
static List<ClientNode> filterRawLineOut(List<ClientNode> clientNodes)
{
return clientNodes.FindAll(s =>
((s.name.StartsWith(Setting_Init.outLine) && s.name.EndsWith(Setting_Init.dir_out)) ||
(Setting_Init.rawLine_out.Equals(s.name))));
}
/// <summary>
/// CTU可放满箱的手动线体
/// </summary>
/// <param name="ctu"></param>
/// <returns></returns>
public static CtuTaskBase GetPutFullBoxToManualTask(CTU ctu)
{
var boxToRawLinBasket = ctu.GetAllBaskets().Find(s => Setting_Init.rawLine_in.Equals(s.DstName));
if (boxToRawLinBasket != null)
{
return new PutBoxToLineTask(ctu, Setting_Init.rawLine_in, boxToRawLinBasket.BoxCode);
}
return null;
}
/// <summary>
/// CTU最近的可放满箱的出料线体
/// </summary>
//public static CtuTaskBase GetNearestPutFullBoxToOutLineTask(CTU ctu)
//{
// CtuTaskBase currentCtuNearestPutFullBoxTask = null;
// var clientNodes = RobotManager.GetClientNodes()?.FindAll(s => s.opened);
// if (clientNodes != null)
// {
// var nodes = filterOutLineIn(clientNodes);
// nodes.ForEach(n =>
// {
// CtuTaskBase nearestNodePutFulloxTask = null;
// var nodePosInfo = PosInfos.GetPosInfoByName(n.name);
// #region 哪个CTU可将空箱放到当前节点
// CTUManager.GetEnabledCTUs().ForEach(c =>
// {
// if (!CTUManager.InletGroup.IsInGroup(c.Name))
// {
// string boxCodeInBasket = null;
// var needBoxBaskets = c.GetFullBaskets();
// needBoxBaskets.ForEach(b =>
// {
// if (Setting_Init.Out_FeedingInlet.Equals(b.DstName))
// {
// boxCodeInBasket = b.BoxCode;
// if (boxCodeInBasket != null)
// {
// var rtn = PathManger.PathCalc(c, nodePosInfo.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
// if (rtn)
// {
// bool needResetTask = false;
// if (nearestNodePutFulloxTask == null)
// {
// needResetTask = true;
// }
// else
// {
// if (PathPointCodes.Count < nearestNodePutFulloxTask.planedPoints.Count)
// {
// needResetTask = true;
// }
// }
// if (needResetTask)
// {
// //if (Setting_Init.rawLine_in.Equals(n.name))
// //{
// // nearestNodePutFulloxTask = new PutFullBoxToManualTask(c, n.name, boxCodeInBasket);
// // nearestNodePutFulloxTask.planedPoints = PathPointCodes;
// //}
// //else
// {
// nearestNodePutFulloxTask = new PutFullBoxToOutletTask(c, n.name, boxCodeInBasket);
// nearestNodePutFulloxTask.planedPoints = PathPointCodes;
// }
// }
// }
// }
// }
// });
// }
// });
// #endregion
// if (nearestNodePutFulloxTask != null && nearestNodePutFulloxTask.ctu.IP.Equals(ctu.IP))
// {
// //可向这个节点放满箱的CTU就是当前的CTU，与已有任务进行比对，看是否比之前的任务更近
// if (currentCtuNearestPutFullBoxTask == null || nearestNodePutFulloxTask.planedPoints.Count < currentCtuNearestPutFullBoxTask.planedPoints.Count)
// {
// currentCtuNearestPutFullBoxTask = nearestNodePutFulloxTask;
// }
// }
// });
// }
// else
// {
// Msg.add("无启用放满箱的线体(出料缓存线/手动线)，请检查!", MsgLevel.warning);
// }
// return currentCtuNearestPutFullBoxTask;
//}
///// <summary>
///// 查找最近的入库空箱任务--目的地检查限制一辆车
///// </summary>
///// <returns></returns>
//public static CtuTaskBase GetNearestPutEmptyBoxToShelfTask(CTU ctu, out string occupiedCtu)
//{
// occupiedCtu = "";
// string occupiedCtu1 = "";
// CtuTaskBase nearstPutEmptyBoxToShelfTask = null;
// ctu.GetFullBaskets().ForEach(basket =>
// {
// var boxPosInfo = PosInfos.GetPosInfoByName(basket.DstName);
// if (boxPosInfo?.IsShelf() ?? false)
// {
// bool otherCtuUsedTheLaneway = OutletTaskUtil.IsOtherCtuUsedLimitOneCtuLaneWay(ctu, boxPosInfo.PointCode, out occupiedCtu1);
// if (!otherCtuUsedTheLaneway)
// {
// var rtn = PathManger.PathCalc(ctu, boxPosInfo.PointCode, out List<PointCode> PathPointCodes, out string errmsg);
// if (rtn)
// {
// if (nearstPutEmptyBoxToShelfTask == null || PathPointCodes.Count < nearstPutEmptyBoxToShelfTask.planedPoints.Count)
// {
// nearstPutEmptyBoxToShelfTask = new PutBoxToShelfTask(ctu, basket.DstName, basket.BoxCode);
// nearstPutEmptyBoxToShelfTask.planedPoints = PathPointCodes;
// }
// }
// }
// }
// });
// occupiedCtu = occupiedCtu1;
// return nearstPutEmptyBoxToShelfTask;
//}
}
}