package com.zy.asrs.wcs.core.kernel;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.wcs.core.domain.dto.MotionDto;
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import com.zy.asrs.wcs.core.entity.ShuttleStandby;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.utils.ConveyorDispatcher;
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import com.zy.asrs.wcs.core.utils.LiftDispatcher;
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import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.rcs.service.DeviceService;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
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* Created by vincent on 2023/10/11
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*/
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@Service
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public class AnalyzeService {
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@Autowired
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private TaskService taskService;
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@Autowired
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private MotionService motionService;
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@Autowired
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private KernelService kernelService;
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@Autowired
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private ShuttleDispatcher shuttleDispatcher;
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@Autowired
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private LiftDispatcher liftDispatcher;
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@Autowired
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private ConveyorDispatcher conveyorDispatcher;
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@Autowired
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private DeviceService deviceService;
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@Autowired
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private ShuttleStandbyService shuttleStandbyService;
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public List<Motion> generateMotion(Task task) {
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List<Motion> motionList = new ArrayList<>();
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motionList = this.generateFirstZoneMotion(task);
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return motionList;
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}
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public List<Motion> generateFirstZoneMotion(Task task) {
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List<Motion> motionList = new ArrayList<>();
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String shuttleNo = null;
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String liftNo = null;
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/**
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* 入库
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* 一、入库目标层有穿梭车
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* 1.提升机升降到源层
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* 2.货物从输送线到提升机
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* 3.提升机载货移动（非必需）
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* 4.穿梭车走行至提升机
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* 5.穿梭车入库至目标库位
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*/
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if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
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// locNo
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String destLoc = task.getDestLoc();
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// shuttle
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Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceNo, task.getShuttleNo())
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getHostId, task.getHostId())
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.eq(Device::getStatus, 1));
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if (shuttleDevice == null) {
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return motionList;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
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return motionList;
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}
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if (!shuttleThread.isIdle()) {
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return motionList;
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}
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String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
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//获取距离目标位置最近的空闲可换层提升机
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LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
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if (liftThread == null) {
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return motionList;
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}
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Device transferLiftDevice = liftThread.getDevice();
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
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return motionList;
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}
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//检测穿梭车是否有任务绑定
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boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice);
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if (shuttleResult) {
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//存在任务，禁止解析
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return motionList;
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}
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//检测提升机是否有任务绑定
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boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
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if (liftResult) {
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//存在任务，禁止解析
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return motionList;
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}
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//获取小车待机库位 ==> 进提升机
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ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
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.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
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.eq(ShuttleStandby::getStatus, 1));
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//获取小车待机库位 ==> 出提升机
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ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
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.eq(ShuttleStandby::getDeviceLev, Utils.getLev(destLoc))
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.eq(ShuttleStandby::getStatus, 1));
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if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
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return motionList;
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}
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//穿梭车进提升机库位号
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String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
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//穿梭车出提升机库位号
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String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();
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//穿梭车进提升机待机位库位号
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String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
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//穿梭车出提升机待机位库位号
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String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
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// shuttle
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// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
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// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, 1);
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// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
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// // conveyor
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// DevpSlave devpSlave = conveyorDispatcher.queryByInBound(task.getSourceStaNo());
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// DevpSlave.Sta slaveInSta = devpSlave.queryInSta(wrkMast.getSourceStaNo());
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// //检测穿梭车是否有任务绑定
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// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
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// if (shuttleResult) {
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// //存在任务，禁止解析
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// return motionList;
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// }
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//
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// //检测提升机是否有任务绑定
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// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
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// if (liftResult) {
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// //存在任务，禁止解析
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// return motionList;
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// }
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// //穿梭车到提升机库位号
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// String liftLocNoTo = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo), task.getHostId());
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//
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// //穿梭车出提升机库位号
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// String liftLocNoFrom = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()), task.getHostId());
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//
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// //穿梭车到提升机待机位库位号
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// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo));
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//
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// //穿梭车出提升机待机位库位号
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// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()));
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// 入库目标层有穿梭车
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if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
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// 穿梭车走行至库位
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motionList.addAll(kernelService.shuttleMove(
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MotionDto.build((dto -> {
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dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
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dto.setLocNo(shuttleLocNo);
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})),
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MotionDto.build((dto -> {
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dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
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dto.setLocNo(task.getDestLoc());
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})),
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MotionCtgType.SHUTTLE_MOVE
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));
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// // 提升机空载移动
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// motionList.addAll(kernelService.liftMove(
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// null
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// , MotionDto.build((dto -> {
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// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
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//// dto.setLev(slaveInSta.getLiftLev());
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// dto.setLev(1);
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// }))
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// ));
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//
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// // 输送线入库至提升机口
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// motionList.addAll(kernelService.conveyorInbound(
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// MotionDto.build((dto -> {
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//// dto.setDevpNo(devpSlave.getId());
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// dto.setDevpNo(1);
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// dto.setStaNo(Integer.valueOf(task.getOriginSite()));
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// })),
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// MotionDto.build((dto -> {
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// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
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//// dto.setLev(slaveInSta.getLiftLev());
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// dto.setLev(1);
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// })),
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// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
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// ));
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//
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// // 目标库位是否与输送线入库站属于同一层
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// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
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// // 提升机载货移动
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// motionList.addAll(kernelService.liftMoveGoods(
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// MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(slaveInSta.getLiftLev());
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// }))
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// , MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
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// }))
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// ));
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// }
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//
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// // 穿梭车走行至提升机库位待机位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(shuttleLocNo);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(standbyLocNoTo);
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// })),
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// MotionCtgType.SHUTTLE_MOVE
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// ));
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//
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// // 提升机移动至小车楼层
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// motionList.addAll(kernelService.liftMove(
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// null
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// , MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(Utils.getLev(shuttleLocNo));
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// }))
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// ));
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//
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// // 穿梭车待机位至提升机库位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoTo);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(liftLocNoTo);
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// })),
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// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
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// ));
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//
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// // 穿梭车入库顶升并移动至提升机待机位
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// motionList.addAll(kernelService.shuttleTransport(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(liftLocNoFrom);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoFrom);
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// })),
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// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
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// ));
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//
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// // 穿梭车走行至提升机库位待机位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoFrom);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(wrkMast.getLocNo());
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// })),
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// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
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// ));
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/**
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* 二、入库目标层没有穿梭车
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* 1.提升机升降到穿梭车层
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* 2.穿梭车走行至提升机待机位
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* 3.提升机搬运穿梭车至目标层
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* 4.货物从输送线到提升机
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* 5.提升机载车与货移动（非必需）
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* 6.穿梭车入库至目标库位
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*/
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} else {
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//
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// // 穿梭车走行至提升机库位待机位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(shuttleLocNo);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(standbyLocNoTo);
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// })),
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// MotionCtgType.SHUTTLE_MOVE
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// ));
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//
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// // 提升机空载移动到穿梭车层
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// motionList.addAll(kernelService.liftMove(
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// null
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// , MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(Utils.getLev(shuttleLocNo));
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// }))
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// ));
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//
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// // 穿梭车待机位至提升机库位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoTo);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(liftLocNoTo);
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// })),
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// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
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// ));
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//
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// // 提升机搬车 至 输送线层
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// motionList.addAll(kernelService.liftMoveShuttle(
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// MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(Utils.getLev(shuttleLocNo));
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// })),
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// MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(slaveInSta.getLiftLev());
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// }))
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// ));
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//
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// // 输送线入库至提升机口
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// motionList.addAll(kernelService.conveyorInbound(
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// MotionDto.build((dto -> {
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// dto.setDevpNo(devpSlave.getId());
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// dto.setStaNo(wrkMast.getSourceStaNo());
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// })),
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// MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(slaveInSta.getLiftLev());
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// })),
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// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
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// ));
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//
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// // 目标库位是否与输送线入库站属于同一层
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// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
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// // 提升机载货移动
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// motionList.addAll(kernelService.liftMoveGoodsAndShuttle(
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// MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(slaveInSta.getLiftLev());
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// }))
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// , MotionDto.build((dto -> {
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
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// }))
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// ));
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// }
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//
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// // 穿梭车入库顶升并移动至提升机待机位
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// motionList.addAll(kernelService.shuttleTransport(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(liftLocNoFrom);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoFrom);
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// })),
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// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
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// ));
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//
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// // 穿梭车待机位至入库库位
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// motionList.addAll(kernelService.shuttleMove(
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLocNo(standbyLocNoFrom);
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// })),
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// MotionDto.build((dto -> {
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// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
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// dto.setLiftNo(liftSlave.getId());
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// dto.setLocNo(wrkMast.getLocNo());
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// })),
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// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
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// ));
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}
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shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
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// liftNo = String.valueOf(liftProtocol.getLiftNo());
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}
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/**
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* 出库
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*/
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if (task.getTaskSts() == TaskStsType.NEW_OUTBOUND.sts) {
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// // lift
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// LiftProtocol liftProtocol = liftDispatcher.queryLiftForTransport(wrkMast.getStaNo());
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// LiftSlave liftSlave = liftProtocol.querySlave();
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//
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// // shuttle
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// ShuttleProtocol shuttleProtocol = shuttleDispatcher.queryShuttleWhichConvenient(wrkMast, liftProtocol.getLiftNo().intValue());
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// if (Cools.isEmpty(shuttleProtocol)) { return motionList; }
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// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
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//
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// // conveyor
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// DevpSlave devpSlave = conveyorDispatcher.queryByOutBound(wrkMast.getSourceStaNo());
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// DevpSlave.Sta slaveOutSta = devpSlave.queryOutSta(wrkMast.getSourceStaNo());
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//
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// //检测穿梭车是否有任务绑定
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// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
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// if (shuttleResult) {
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// //存在任务，禁止解析
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// return motionList;
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// }
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//
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// //检测提升机是否有任务绑定
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// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
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// if (liftResult) {
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// //存在任务，禁止解析
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// return motionList;
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// }
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//
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// //穿梭车到提升机库位号
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// String liftLocNoTo = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
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//
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// //穿梭车出提升机库位号
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// String liftLocNoFrom = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
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//
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// //穿梭车到提升机待机位库位号
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// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
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//
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// //穿梭车出提升机待机位库位号
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// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
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//
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// /**
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// * 出库
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// * 一、出库起始层有穿梭车
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// * 1.穿梭车走行至出库库位
|
// * 2.提升机到出库起始层
|
// * 3.穿梭车出库至提升机
|
// * 4.穿梭车离开提升机
|
// * 5.提升机载货移动（非必需）
|
// * 6.输送线运输至出库口
|
// */
|
// if (Utils.getLev(shuttleLocNo) == Utils.getLev(wrkMast.getSourceLocNo())) {
|
//
|
// //穿梭车不在出库库位
|
// if (!shuttleLocNo.equals(wrkMast.getSourceLocNo())) {
|
// // 穿梭车走行至出库库位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(shuttleLocNo);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(wrkMast.getSourceLocNo());
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE
|
// ));
|
// }
|
//
|
// // 穿梭车出库至提升机待机位
|
// motionList.addAll(kernelService.shuttleTransport(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(wrkMast.getSourceLocNo());
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(standbyLocNoTo);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
|
// ));
|
//
|
// // 提升机空载移动
|
// motionList.addAll(kernelService.liftMove(
|
// null
|
// , MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
|
// }))
|
// ));
|
//
|
// // 穿梭车待机位至提升机
|
// motionList.addAll(kernelService.shuttleTransport(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoTo);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoTo);
|
// })),
|
// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
|
// ));
|
//
|
// // 穿梭车离开提升机 - 到提升机待机位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
|
// ));
|
//
|
// // 提升机载货移动
|
// // 出库库位是否与输送线出库站属于同一层
|
// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
|
// motionList.addAll(kernelService.liftMoveGoods(
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(slaveOutSta.getLiftLev());
|
// }))
|
// ));
|
// }
|
//
|
// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
|
//
|
// // 提升机运输到输送线
|
// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(slaveOutSta.getLiftLev());
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setDevpNo(devpSlave.getId());
|
// dto.setStaNo(neighborType.staNo);
|
// }))
|
// ));
|
//
|
// // 穿梭车提升机待机位 - 到待机位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(
|
// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
|
// );
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE
|
// ));
|
//
|
// /**
|
// * 二、出库起始层没有穿梭车
|
// *
|
// * 1.提升机到穿梭车层
|
// * 2.穿梭车走行至提升机
|
// * 3.提升机载车至出库起始层
|
// * 4.穿梭车走行至出库库位
|
// * 5.穿梭车出库至提升机
|
// * 6.穿梭车离开提升机
|
// * 7.提升机载货移动（非必需）
|
// * 8.输送线运输至出库口
|
// *
|
// */
|
// } else {
|
//
|
// // 穿梭车走行至提升机待机位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(shuttleLocNo);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(standbyLocNoTo);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE
|
// ));
|
//
|
// // 提升机到穿梭车层
|
// motionList.addAll(kernelService.liftMove(
|
// null
|
// , MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(shuttleLocNo));
|
// }))
|
// ));
|
//
|
// // 穿梭车待机位至提升机
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoTo);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoTo);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
|
// ));
|
//
|
// // 提升机载车至出库起始层
|
// motionList.addAll(kernelService.liftMoveShuttle(
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(shuttleLocNo));
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
|
// }))
|
// ));
|
//
|
// // 穿梭车走行至提升机待机位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
|
// ));
|
//
|
// // 穿梭车提升机待机位至出库库位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(wrkMast.getSourceLocNo());
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE
|
// ));
|
//
|
// // 穿梭车出库至提升机待机位
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(wrkMast.getSourceLocNo());
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
|
// ));
|
//
|
// // 穿梭车提升机待机位至提升机
|
// motionList.addAll(kernelService.shuttleTransport(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(standbyLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoFrom);
|
// })),
|
// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
|
// ));
|
//
|
// // 穿梭车离开提升机
|
// motionList.addAll(kernelService.shuttleMove(
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLocNo(liftLocNoFrom);
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
|
// dto.setLocNo(
|
// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
|
// );
|
// })),
|
// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
|
// ));
|
//
|
// // 提升机载货移动
|
// // 出库库位是否与输送线出库站属于同一层
|
// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
|
// motionList.addAll(kernelService.liftMoveGoods(
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(slaveOutSta.getLiftLev());
|
// }))
|
// ));
|
// }
|
//
|
// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
|
//
|
// // 提升机运输到输送线
|
// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
|
// MotionDto.build((dto -> {
|
// dto.setLiftNo(liftSlave.getId());
|
// dto.setLev(slaveOutSta.getLiftLev());
|
// })),
|
// MotionDto.build((dto -> {
|
// dto.setDevpNo(devpSlave.getId());
|
// dto.setStaNo(neighborType.staNo);
|
// }))
|
// ));
|
//
|
// }
|
//
|
// shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
|
// liftNo = String.valueOf(liftProtocol.getLiftNo());
|
}
|
|
assert !Cools.isEmpty(shuttleNo);
|
// task.setShuttleNo(Integer.parseInt(shuttleNo));
|
// task.setLiftNo(Integer.parseInt(liftNo));
|
|
return motionList;
|
}
|
|
|
/**
|
* 生成充电动作
|
*/
|
public List<Motion> generateChargeMotion(Task task) {
|
List<Motion> motionList = new ArrayList<>();
|
if (task.getTaskSts() != TaskStsType.NEW_CHARGE.sts) {
|
return motionList;
|
}
|
|
// locNo
|
String chargeLocNo = task.getDestLoc();
|
|
// shuttle
|
Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceNo, task.getShuttleNo())
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getHostId, task.getHostId())
|
.eq(Device::getStatus, 1));
|
if (shuttleDevice == null) {
|
return motionList;
|
}
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
|
return motionList;
|
}
|
if (!shuttleThread.isIdle()) {
|
return motionList;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
|
|
//获取距离目标位置最近的空闲可换层提升机
|
LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
|
if (liftThread == null) {
|
return motionList;
|
}
|
Device transferLiftDevice = liftThread.getDevice();
|
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
|
return motionList;
|
}
|
|
//检测穿梭车是否有任务绑定
|
boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice);
|
if (shuttleResult) {
|
//存在任务，禁止解析
|
return motionList;
|
}
|
|
//检测提升机是否有任务绑定
|
boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
|
if (liftResult) {
|
//存在任务，禁止解析
|
return motionList;
|
}
|
|
//获取小车待机库位 ==> 进提升机
|
ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
|
.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
|
.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
|
.eq(ShuttleStandby::getStatus, 1));
|
|
//获取小车待机库位 ==> 出提升机
|
ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
|
.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
|
.eq(ShuttleStandby::getDeviceLev, Utils.getLev(chargeLocNo))
|
.eq(ShuttleStandby::getStatus, 1));
|
if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
|
return motionList;
|
}
|
|
//穿梭车进提升机库位号
|
String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
|
|
//穿梭车出提升机库位号
|
String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();
|
|
//穿梭车进提升机待机位库位号
|
String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
|
|
//穿梭车出提升机待机位库位号
|
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
|
|
// 判断穿梭车是否在充电层
|
if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
|
|
// 穿梭车走行至充电桩库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(chargeLocNo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
} else {
|
|
// 穿梭车走行至提升机待机位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoTo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
// 提升机空载移动到穿梭车层
|
motionList.addAll(kernelService.liftMove(
|
null
|
, MotionDto.build((dto -> {
|
dto.setLiftNo(transferLiftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(shuttleLocNo));
|
}))
|
));
|
|
// 穿梭车提升机待机位至提升机库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoTo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(transferLiftDevice.getId().intValue());
|
dto.setLocNo(liftLocNoTo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE_TO_LIFT
|
));
|
|
// 提升机搬车 至 充电层
|
motionList.addAll(kernelService.liftMoveShuttle(
|
MotionDto.build((dto -> {
|
dto.setLiftNo(transferLiftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(shuttleLocNo));
|
})),
|
MotionDto.build((dto -> {
|
dto.setLiftNo(transferLiftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(chargeLocNo));
|
}))
|
));
|
|
// 穿梭车提升机至提升机待机位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(transferLiftDevice.getId().intValue());
|
dto.setLocNo(liftLocNoFrom);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoFrom);
|
})),
|
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
|
));
|
|
// 穿梭车提升机待机位至充电位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoFrom);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(chargeLocNo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
|
taskService.updateById(task);
|
}
|
|
// 穿梭车开始充电
|
motionList.addAll(kernelService.shuttleCharge(
|
null,
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
}))
|
));
|
|
return motionList;
|
}
|
|
/**
|
* 生成充电完成动作
|
*/
|
public List<Motion> generateShuttleChargeWrkComplete(Task task) {
|
List<Motion> motionList = new ArrayList<>();
|
if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
|
return motionList;
|
}
|
|
// locNo
|
String locNo = task.getDestLoc();
|
|
// shuttle
|
Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceNo, task.getShuttleNo())
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getHostId, task.getHostId())
|
.eq(Device::getStatus, 1));
|
if (shuttleDevice == null) {
|
return motionList;
|
}
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
|
return motionList;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
|
|
// 判断穿梭车是否在目标层
|
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
|
|
// 穿梭车走行至目标库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(locNo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
}
|
return motionList;
|
}
|
|
/**
|
* 生成小车迁移动作
|
*/
|
public List<Motion> generateShuttleMoveMotion(Task task) {
|
List<Motion> motionList = new ArrayList<>();
|
if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
|
return motionList;
|
}
|
|
// locNo
|
String locNo = task.getDestLoc();
|
|
Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceNo, task.getShuttleNo())
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getHostId, task.getHostId())
|
.eq(Device::getStatus, 1));
|
if (shuttleDevice == null) {
|
return motionList;
|
}
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
|
if (shuttleThread == null) {
|
return motionList;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
|
return motionList;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
|
|
// 判断穿梭车是否在目标层
|
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
|
|
if (!shuttleLocNo.equals(locNo)) {//小车不在目标库位
|
// 穿梭车走行至目标库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(locNo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
}
|
|
} else {
|
//小车跨层
|
|
//获取距离目标位置最近的空闲可换层提升机
|
LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
|
if (liftThread == null) {
|
return motionList;
|
}
|
Device liftDevice = liftThread.getDevice();
|
|
//穿梭车到提升机库位号
|
String liftLocNoTo = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(shuttleLocNo));
|
|
//穿梭车出提升机库位号
|
String liftLocNoFrom = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(task.getDestLoc()));
|
|
//穿梭车到提升机待机位库位号
|
String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));
|
|
//穿梭车出提升机待机位库位号
|
String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));
|
|
|
// 穿梭车走行至提升机库位待机位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoTo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
// 提升机空载移动到穿梭车层
|
motionList.addAll(kernelService.liftMove(
|
null
|
, MotionDto.build((dto -> {
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(shuttleLocNo));
|
}))
|
));
|
|
// 穿梭车待机位至提升机库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoTo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLocNo(liftLocNoTo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE_TO_LIFT
|
));
|
|
// 提升机搬车 至 目标位置层
|
motionList.addAll(kernelService.liftMoveShuttle(
|
MotionDto.build((dto -> {
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(shuttleLocNo));
|
})),
|
MotionDto.build((dto -> {
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLev(Utils.getLev(locNo));
|
}))
|
));
|
|
// 穿梭车走行至提升机待机位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLocNo(liftLocNoFrom);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoFrom);
|
})),
|
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
|
));
|
|
// 穿梭车提升机待机位至目标位置
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLiftNo(liftDevice.getId().intValue());
|
dto.setLocNo(standbyLocNoFrom);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(shuttleDevice.getId().intValue());
|
dto.setLocNo(locNo);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
}
|
return motionList;
|
}
|
|
/**
|
* 生成小车手动动作
|
*/
|
public List<Motion> generateShuttleManualMotion(Task task) {
|
List<Motion> motionList = new ArrayList<>();
|
if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
|
return motionList;
|
}
|
|
String sourceLoc = task.getOriginLoc();//源库位
|
String targetLoc = task.getDestLoc();//任务目标(借用字段)
|
String targetSite = task.getDestSite();//任务类型(借用字段)
|
|
Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceNo, task.getShuttleNo())
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getHostId, task.getHostId())
|
.eq(Device::getStatus, 1));
|
if (device == null) {
|
return motionList;
|
}
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
|
if (shuttleThread == null) {
|
return motionList;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
|
return motionList;
|
}
|
|
if (targetSite.equals("moveLoc")) {//移动
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
|
|
// 判断穿梭车是否在目标层
|
if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {
|
|
// 穿梭车走行至目标库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(targetLoc);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
}
|
} else if (targetSite.equals("palletLift")) {
|
//托盘顶升
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
|
}));
|
} else if (targetSite.equals("palletDown")) {
|
//托盘下降
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
|
}));
|
} else if (targetSite.equals("chargeOpen")) {
|
//充电开
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
|
}));
|
} else if (targetSite.equals("chargeClose")) {
|
//充电关
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val());
|
}));
|
} else if (targetSite.equals("reset")) {
|
//复位
|
} else if (targetSite.equals("takeMove")) {
|
//取放货
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
|
|
// 判断穿梭车是否在目标层
|
if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {
|
|
if (!shuttleLocNo.equals(sourceLoc)) {//小车不在目标库位
|
// 穿梭车走行至源库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(shuttleLocNo);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(sourceLoc);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
}
|
|
//托盘顶升
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
|
}));
|
|
// 穿梭车走行至目标库位
|
motionList.addAll(kernelService.shuttleMove(
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(sourceLoc);
|
})),
|
MotionDto.build((dto -> {
|
dto.setShuttleNo(device.getId().intValue());
|
dto.setLocNo(targetLoc);
|
})),
|
MotionCtgType.SHUTTLE_MOVE
|
));
|
|
//托盘下降
|
motionList.add(Motion.build(motion -> {
|
motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
|
motion.setDevice(String.valueOf(device.getId()));
|
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
|
}));
|
|
}
|
}
|
|
return motionList;
|
}
|
|
/**
|
* 生成提升机手动动作
|
*/
|
public List<Motion> generateLiftManualMotion(Task task) {
|
List<Motion> motionList = new ArrayList<>();
|
if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
|
return motionList;
|
}
|
|
Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceNo, task.getLiftNo())
|
.eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
|
.eq(Device::getHostId, task.getHostId())
|
.eq(Device::getStatus, 1));
|
if (device == null) {
|
return motionList;
|
}
|
|
if (task.getDestSite().equals("move")) {
|
//提升机升降楼层
|
|
// 提升机空载移动到穿梭车层
|
motionList.addAll(kernelService.liftMove(
|
null
|
, MotionDto.build((dto -> {
|
dto.setLiftNo(device.getId().intValue());
|
dto.setLev(Integer.parseInt(task.getDestLoc()));
|
}))
|
));
|
|
} else if (task.getDestSite().equals("movePallet")) {
|
//移动托盘
|
|
// 提升机移动托盘
|
motionList.addAll(kernelService.liftMoveGoods(
|
MotionDto.build((dto -> {
|
dto.setLiftNo(device.getId().intValue());
|
dto.setLev(Integer.parseInt(task.getOriginLoc()));
|
dto.setStaNo(Integer.parseInt(task.getOriginSite()));
|
}))
|
, MotionDto.build((dto -> {
|
dto.setLiftNo(device.getId().intValue());
|
dto.setLev(Integer.parseInt(task.getDestLoc()));
|
dto.setStaNo(Integer.parseInt(task.getDestSite()));
|
}))
|
));
|
|
}
|
|
return motionList;
|
}
|
|
}
|
