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去除日志分割线，看着眼花

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yang.lee
2023-12-06 11:48:00 +08:00
parent 6055f28734
commit 104462c352
5 changed files with 128 additions and 69 deletions
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112
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
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@@ -42,6 +42,7 @@ namespace Tnb.WarehouseMgr
private readonly IElevatorControlService _elevatorControlService;
private static readonly Dictionary<string, int> _elevatorAgvCtlStatusMap = new(StringComparer.OrdinalIgnoreCase);
private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
private static Dictionary<string, object> locMap = new Dictionary<string, object>(StringComparer.OrdinalIgnoreCase);
public Func<string, int, Task> AddUnExecuteTask { get; set; }
public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService,
@@ -215,6 +216,7 @@ namespace Tnb.WarehouseMgr
List<WmsCarryH> items = await cyDb.Queryable<WmsCarryH>().LeftJoin<WmsCarryCode>((a, b) => a.id == b.carry_id)
.LeftJoin<BasLocation>((a, b, c) => a.location_id == c.id)
.Where(whereExpr)
//.OrderByIF((a,b,c)=>SqlFunc.IsNullOrEmpty())
.OrderBy(policy.policy)
.Select<WmsCarryH>()
.ToListAsync();
@@ -318,8 +320,11 @@ namespace Tnb.WarehouseMgr
if (areaPreTasks.Any(x => x.third_eqp_type.ToEnum<EnumTaskChainType>() != EnumTaskChainType.CTU))
{
foreach (var x in items)
Logger.Information("非CTU任务链生成");
for (int i = 0; i < items.Count; i++)
{
var num = (i + 1);
var x = items[i];
string groupCode = _billRullService.GetBillNumber(WmsWareHouseConst.WMS_TASK_EXECUTE_ENCODE).Result;
x.is_chain = 0;
x.groups = groupCode;
@@ -328,6 +333,8 @@ namespace Tnb.WarehouseMgr
}
else if ((moveNum >= areaPreTasks.Count && areaPreTasks.Count > 1) || moveNum <= areaPreTasks.Count)
{
Logger.Information("CTU任务链生成");
string groupCode = await _billRullService.GetBillNumber(WmsWareHouseConst.WMS_TASK_EXECUTE_ENCODE);
items.ForEach(x => x.is_chain = 1);
@@ -445,15 +452,16 @@ namespace Tnb.WarehouseMgr
{
await ExecuteTargetFloorTask(elevatorTask);
}
}
////调用AGV创建任务链接口
List<WmsDistaskH> agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
if (agvTasks?.Count > 0)
{
await AgvDispatch(agvTasks, agvCts.Token);
}
}
////调用AGV创建任务链接口
List<WmsDistaskH> agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
if (agvTasks?.Count > 0)
{
Logger.Information($"Agv任务数量：{agvTasks.Count},taskCodes:{string.Join(",", agvTasks.Select(x => x.bill_code).Distinct())}");
await AgvDispatch(agvTasks, agvCts.Token);
}
}
}
@@ -481,7 +489,6 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
private async Task CallingLanding(List<(string endlocation_code, string device_id, string id, int floorNO)> endLocCodes)
{
Logger.Information("--------------------------------------------------------");
Logger.Information($" 开始呼梯操作.............");
Logger.Information($"电梯信息:{JsonConvert.SerializeObject(s_elevatorMap)}");
try
@@ -559,7 +566,6 @@ namespace Tnb.WarehouseMgr
Logger.Error($"呼梯操作错误堆栈跟踪:{Environment.NewLine}{ex.StackTrace}");
throw;
}
Logger.Information("--------------------------------------------------------");
}
/// <summary>
@@ -569,7 +575,6 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
private async Task ExecuteTargetFloorTask(WmsDistaskH disTask)
{
Logger.Information("--------------------------------------------------------");
//收到放货确认通知，向电梯发送到3楼的指令
Logger.Information($"开始执行电梯任务，任务ID:{disTask.id}");
try
@@ -648,7 +653,6 @@ namespace Tnb.WarehouseMgr
Logger.Error("执行到目标楼层电梯任务失败", ex);
throw;
}
Logger.Information("--------------------------------------------------------");
}
/// <summary>
/// Agv调度
@@ -1167,49 +1171,61 @@ namespace Tnb.WarehouseMgr
#endregion
#region dijkstra
List<WmsPointH>? points = await _db.Queryable<WmsPointH>().ToListAsync();
WmsPointH? startObj = points.Find(x => x.id == pStartId);
WmsPointH? endObj = points.Find(x => x.id == pEndId);
int sIndex = points.IndexOf(startObj);
int eIndex = points.IndexOf(endObj);
if (eIndex < sIndex)
{
(eIndex, sIndex) = (sIndex, eIndex);
(points[eIndex], points[sIndex]) = (points[sIndex], points[eIndex]);
}
List<WmsPointH> results = new();
string[] vexs = points.Select(p => p.id).ToArray();
EData[] edges = new EData[roads.Count];
for (int i = 0; i < edges.Length; i++)
try
{
string start = roads[i].startpoint_id;
string end = roads[i].endpoint_id;
int weight = roads[i].distance;
edges[i] = new EData(start, end, weight);
}
Dijkstra pG = new(vexs, edges);
int[] prev = new int[pG.mVexs.Length];
int[] dist = new int[pG.mVexs.Length];
List<WmsPointH> vertexs = new() { startObj };
pG.CalcDijkstra(sIndex, prev, dist);
List<string> pointIds = points.Select(p => p.id).ToList();
Stack<string> result = new();
GetPoints(pointIds, prev, result, eIndex);
List<WmsPointH> results = new() { startObj };
if (points?.Count > 0)
{
//points.Where(it => result.Contains(it.id));
foreach (string i in result)
List<WmsPointH>? points = await _db.Queryable<WmsPointH>().ToListAsync();
WmsPointH? startObj = points.Find(x => x.id == pStartId);
WmsPointH? endObj = points.Find(x => x.id == pEndId);
int sIndex = points.IndexOf(startObj);
int eIndex = points.IndexOf(endObj);
if (eIndex < sIndex)
{
WmsPointH? point = points?.Find(x => x.id == i);
if (point != null)
(eIndex, sIndex) = (sIndex, eIndex);
(points[eIndex], points[sIndex]) = (points[sIndex], points[eIndex]);
}
string[] vexs = points.Select(p => p.id).ToArray();
EData[] edges = new EData[roads.Count];
for (int i = 0; i < edges.Length; i++)
{
string start = roads[i].startpoint_id;
string end = roads[i].endpoint_id;
int weight = roads[i].distance;
edges[i] = new EData(start, end, weight);
}
Dijkstra pG = new(vexs, edges);
int[] prev = new int[pG.mVexs.Length];
int[] dist = new int[pG.mVexs.Length];
List<WmsPointH> vertexs = new() { startObj };
pG.CalcDijkstra(sIndex, prev, dist);
List<string> pointIds = points.Select(p => p.id).ToList();
Stack<string> result = new();
GetPoints(pointIds, prev, result, eIndex);
results = new() { startObj };
if (points?.Count > 0)
{
//points.Where(it => result.Contains(it.id));
foreach (string i in result)
{
results.Add(point);
WmsPointH? point = points?.Find(x => x.id == i);
if (point != null)
{
results.Add(point);
}
}
}
}
catch (Exception ex)
{
Logger.Error("路径算法错误", ex);
throw;
}
return results;
#endregion