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using Sln.Wcs.Business.Domain.Enum;
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using Sln.Wcs.Model.Domain;
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using Sln.Wcs.Serilog;
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namespace Sln.Wcs.Business;
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/// <summary>
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/// 接驳位拓扑驱动的任务创建服务
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/// 根据起止楼栋/楼层/位置，自动生成 LiveTaskQueue 及其子任务明细序列
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/// </summary>
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public class TaskCreateService
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{
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private readonly SerilogHelper _logger;
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public TaskCreateService(SerilogHelper logger) => _logger = logger;
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#region 拓扑配置
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private record TopoNode(int Building, int Floor);
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/// <summary>
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/// 拓扑邻接表：(栋,层) → 可达的相邻节点
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/// 所有楼栋 1~5F，本栋提升机可直达任意楼层（全连接）
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/// 跨栋仅 2F 连通: (13,2)↔(14,2) 廊桥交接, (14,2)↔(15,2) AGV直连
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/// </summary>
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private static readonly Dictionary<TopoNode, List<TopoNode>> Topology = BuildTopology();
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private static Dictionary<TopoNode, List<TopoNode>> BuildTopology()
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{
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var dict = new Dictionary<TopoNode, List<TopoNode>>();
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// 每个楼栋内全连接（提升机直达任意楼层）
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foreach (var building in new[] { 13, 14, 15 })
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{
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for (int f1 = 1; f1 <= 5; f1++)
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{
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var neighbors = new List<TopoNode>();
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for (int f2 = 1; f2 <= 5; f2++)
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{
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if (f1 != f2)
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neighbors.Add(new(building, f2));
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}
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dict[new(building, f1)] = neighbors;
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}
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}
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// 跨栋: 仅 2F 连通
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dict[new(13, 2)].Add(new(14, 2)); // 13↔14 廊桥交接
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dict[new(14, 2)].Add(new(13, 2));
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dict[new(14, 2)].Add(new(15, 2)); // 14↔15 AGV直连
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dict[new(15, 2)].Add(new(14, 2));
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return dict;
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}
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#endregion
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/// <summary>
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/// 创建任务：输入楼栋/楼层/位置号，自动生成明细序列
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/// </summary>
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/// <param name="startBuilding">起始楼栋 (13/14/15)</param>
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/// <param name="startFloor">起始楼层</param>
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/// <param name="startLocation">起始位置号，如 "01"</param>
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/// <param name="endBuilding">目标楼栋 (13/14/15)</param>
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/// <param name="endFloor">目标楼层</param>
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/// <param name="endLocation">目标位置号，如 "02"</param>
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/// <param name="taskType">任务类型: 1-入库, 2-出库</param>
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/// <param name="taskCategory">任务类别: 1-包材, 2-成品, 3-托盘</param>
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/// <param name="palletBarcode">托盘条码</param>
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/// <param name="materialCode">物料编码</param>
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/// <returns>完整 LiveTaskQueue（含明细列表）</returns>
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public LiveTaskQueue CreateTask(
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int startBuilding, int startFloor, string startLocation,
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int endBuilding, int endFloor, string endLocation,
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int taskType, int taskCategory,
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string palletBarcode, string materialCode)
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{
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var startPoint = PosCode(startBuilding, startFloor, startLocation);
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var endPoint = PosCode(endBuilding, endFloor, endLocation);
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_logger.Info($"创建任务 - {startPoint} ({startBuilding}#_{startFloor}F) → {endPoint} ({endBuilding}#_{endFloor}F)");
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// Step 1: BFS 找最短路径（节点序列）
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var nodes = FindPath(startBuilding, startFloor, endBuilding, endFloor);
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_logger.Info($"路由节点: {string.Join(" → ", nodes.Select(n => $"({n.Building},{n.Floor})"))}");
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// Step 2: 沿节点路径逐段生成明细
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// 规则: 同层移动=AGV, 跨层=提升机, 跨栋(13↔14)=廊桥交接两段AGV
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var details = new List<LiveTaskDetail>();
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int seq = 1;
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var taskCode = GenerateTaskCode();
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string currentPos = startPoint; // 当前货物所在接驳位
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for (int i = 0; i < nodes.Count - 1; i++)
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{
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var (b1, f1) = nodes[i];
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var (b2, f2) = nodes[i + 1];
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if (b1 != b2) // 跨栋
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{
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if (IsBridgeRequired(b1, b2))
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{
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// 13↔14: 廊桥交接 — 13# AGV 送到廊桥，等待 14# AGV
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details.Add(NewDetail(taskCode, palletBarcode, materialCode,
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taskType, taskCategory, seq++, currentPos, "BRIDGE_13_14", deviceType: 1));
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currentPos = "BRIDGE_13_14";
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}
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// 14↔15: 14# AGV 可直接驶入 15#，不生成过渡段，由下一步直达
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}
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else if (f1 != f2) // 同栋跨层 → AGV到提升机入口 + 提升机
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{
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var hoistEntry = HoistPoint(b1, f1);
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var hoistExit = HoistPoint(b2, f2);
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details.Add(NewDetail(taskCode, palletBarcode, materialCode,
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taskType, taskCategory, seq++, currentPos, hoistEntry, deviceType: 1));
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details.Add(NewDetail(taskCode, palletBarcode, materialCode,
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taskType, taskCategory, seq++, hoistEntry, hoistExit, deviceType: 2));
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currentPos = hoistExit;
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}
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}
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// Step 3: 最终 AGV 送达终点（同栋同层时直接一条 AGV）
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if (details.Count == 0 || currentPos != endPoint)
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{
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details.Add(NewDetail(taskCode, palletBarcode, materialCode,
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taskType, taskCategory, seq, currentPos, endPoint, deviceType: 1));
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}
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_logger.Info($"生成 {details.Count} 条明细");
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return new LiveTaskQueue
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{
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taskCode = taskCode,
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taskType = taskType,
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taskCategory = taskCategory,
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taskStatus = 1,
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startPoint = startPoint,
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endPoint = endPoint,
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palletBarcode = palletBarcode,
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materialCode = materialCode,
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taskSteps = details.Count,
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taskDetails = details,
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};
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}
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#region 内部方法
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/// <summary>BFS 最短路径</summary>
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private static List<TopoNode> FindPath(int b_s, int f_s, int b_e, int f_e)
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{
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var start = new TopoNode(b_s, f_s);
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var end = new TopoNode(b_e, f_e);
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if (start == end) return new List<TopoNode> { start };
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// 校验起止节点是否在拓扑中
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if (!Topology.ContainsKey(start))
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throw new InvalidOperationException($"起始位置不在拓扑中: {b_s}#_{f_s}F，可用节点: {string.Join(", ", Topology.Keys.Select(n => $"{n.Building}#_{n.Floor}F"))}");
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if (!Topology.ContainsKey(end))
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throw new InvalidOperationException($"目标位置不在拓扑中: {b_e}#_{f_e}F，可用节点: {string.Join(", ", Topology.Keys.Select(n => $"{n.Building}#_{n.Floor}F"))}");
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var visited = new HashSet<TopoNode> { start };
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var queue = new Queue<List<TopoNode>>();
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queue.Enqueue(new List<TopoNode> { start });
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while (queue.Count > 0)
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{
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var path = queue.Dequeue();
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var current = path[^1];
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if (!Topology.TryGetValue(current, out var neighbors)) continue;
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foreach (var next in neighbors)
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{
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if (visited.Contains(next)) continue;
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var newPath = new List<TopoNode>(path) { next };
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if (next == end) return newPath;
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visited.Add(next);
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queue.Enqueue(newPath);
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}
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}
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throw new InvalidOperationException($"无路径: ({b_s},{f_s}) → ({b_e},{f_e})");
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}
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/// <summary>是否需要廊桥交接</summary>
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private static bool IsBridgeRequired(int b1, int b2) =>
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(b1 == 13 && b2 == 14) || (b1 == 14 && b2 == 13);
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/// <summary>拼接位置编码: 楼栋#_L楼层_位置号</summary>
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private static string PosCode(int building, int floor, string location) =>
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$"{building}#_L{floor}_{location}";
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/// <summary>提升机接驳位</summary>
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private static string HoistPoint(int building, int floor) =>
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$"{building}#_L{floor}_HOIST";
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/// <summary>普通接驳位（非提升机、非廊桥）</summary>
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private static string DockingPoint(int building, int floor) =>
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$"{building}#_L{floor}_01";
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/// <summary>生成任务编号</summary>
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private static string GenerateTaskCode() =>
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DateTime.Now.ToString("yyyyMMddHHmmss") + new Random().Next(10, 99);
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/// <summary>创建一条 LiveTaskDetail</summary>
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private static LiveTaskDetail NewDetail(
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string taskCode, string palletBarcode, string materialCode,
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int taskType, int taskCategory, int seq,
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string startPoint, string endPoint, int deviceType) =>
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new()
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{
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taskCode = taskCode,
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objId = seq,
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palletBarcode = palletBarcode,
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materialCode = materialCode,
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startPoint = startPoint,
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endPoint = endPoint,
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deviceType = deviceType,
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taskType = taskType,
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taskCategory = taskCategory,
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taskStatus = 1,
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};
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#endregion
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}
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