package com.zy.asrs.wcs.core.kernel;
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import com.zy.asrs.wcs.core.domain.dto.MotionDto;
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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.entity.Motion;
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import com.zy.asrs.wcs.core.service.MotionService;
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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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* Created by vincent on 2023/10/9
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*/
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@Service(value = "kernelService")
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public class KernelService {
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@Autowired
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private MotionService motionService;
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// agv -----------------------------------------------------------------------------
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@Deprecated
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public List<Motion> agvTransport() {
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List<Motion> motionList = new ArrayList<>();
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// 1.AGV搬运货物
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.AGV.val());
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motion.setMotionCtg(MotionCtgType.AGV_TRANSPORT.val());
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}));
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return motionList;
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}
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// lift -----------------------------------------------------------------------------
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/**
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* 提升机移动
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*/
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public List<Motion> liftMove(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.LIFT.val());
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motion.setDevice(String.valueOf(target.getLiftNo()));
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motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());
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if (null != origin) {
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motion.setOrigin(String.valueOf(origin.getLev()));
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}
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motion.setTarget(String.valueOf(target.getLev()));
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}));
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// if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
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// if (target.getUpdateLiftNo()) {
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//
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// }
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// }
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return motionList;
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}
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/**
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* 提升机载货移动
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*/
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public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.LIFT.val());
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motion.setDevice(String.valueOf(target.getLiftNo()));
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motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());
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if (null != origin) {
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motion.setOrigin(String.valueOf(origin.getLev()));
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}
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motion.setTarget(String.valueOf(target.getLev()));
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}));
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return motionList;
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}
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/**
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* 提升机搬运穿梭车
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*/
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public List<Motion> liftMoveShuttle(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.LIFT.val());
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motion.setDevice(String.valueOf(target.getLiftNo()));
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motion.setMotionCtg(MotionCtgType.LIFT_WITH_SHUTTLE.val());
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if (null != origin) {
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motion.setOrigin(String.valueOf(origin.getLev()));
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}
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motion.setTarget(String.valueOf(target.getLev()));
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}));
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return motionList;
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}
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/**
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* 提升机载穿梭车与货移动
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*/
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public List<Motion> liftMoveGoodsAndShuttle(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.LIFT.val());
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motion.setDevice(String.valueOf(target.getLiftNo()));
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motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS_AND_SHUTTLE.val());
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if (null != origin) {
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motion.setOrigin(String.valueOf(origin.getLev()));
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}
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motion.setTarget(String.valueOf(target.getLev()));
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}));
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return motionList;
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}
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/**
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* 提升机载穿梭车与货移动
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*/
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public List<Motion> liftTransportGoodsToConveyor(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.LIFT.val());
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motion.setDevice(String.valueOf(origin.getLiftNo()));
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motion.setMotionCtg(MotionCtgType.LIFT_TRANSPORT_TO_CONVEYOR.val());
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motion.setOrigin(String.valueOf(origin.getLev()));
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motion.setDockNo(String.valueOf(target.getDevpNo()));
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motion.setTarget(String.valueOf(target.getStaNo()));
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}));
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return motionList;
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}
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// shuttle -----------------------------------------------------------------------------
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/**
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* 穿梭车空载移动
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*/
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public List<Motion> shuttleMove(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
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motion.setDevice(String.valueOf(target.getShuttleNo()));
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motion.setMotionCtg(motionCtgType.val());
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motion.setOrigin(origin.getLocNo());
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motion.setTarget(target.getLocNo());
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switch (motionCtgType) {
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case SHUTTLE_MOVE_FROM_LIFT://穿梭车移出提升机
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motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
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break;
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case SHUTTLE_MOVE_TO_LIFT://穿梭车移动到提升机
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motion.setTemp(String.valueOf(target.getLiftNo()));//保存提升机号
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break;
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case SHUTTLE_MOVE_FROM_CONVEYOR:
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motion.setDockNo(String.valueOf(origin.getStaNo()));
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break;
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case SHUTTLE_MOVE_TO_CONVEYOR:
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motion.setDockNo(String.valueOf(target.getStaNo()));
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break;
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case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://穿梭车移出提升机去输送线
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motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
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motion.setDockNo(String.valueOf(target.getStaNo()));
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break;
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default:
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break;
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}
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}));
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return motionList;
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}
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/**
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* 穿梭车载货移动
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*/
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public List<Motion> shuttleTransport(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
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motion.setDevice(String.valueOf(target.getShuttleNo()));
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motion.setMotionCtg(motionCtgType.val());
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switch (motionCtgType) {
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case SHUTTLE_TRANSPORT_FROM_LIFT:
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motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
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break;
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case SHUTTLE_TRANSPORT_TO_LIFT:
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motion.setTemp(String.valueOf(target.getLiftNo()));//保存提升机号
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break;
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case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
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motion.setDockNo(String.valueOf(origin.getStaNo()));
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break;
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case SHUTTLE_TRANSPORT_TO_CONVEYOR:
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motion.setDockNo(String.valueOf(target.getStaNo()));
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break;
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default:
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break;
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}
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motion.setOrigin(origin.getLocNo());
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motion.setTarget(target.getLocNo());
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}));
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return motionList;
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}
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public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
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motion.setDevice(String.valueOf(target.getShuttleNo()));
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motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
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}));
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return motionList;
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}
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// conveyor -----------------------------------------------------------------------------
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/**
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* 输送线入库
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*/
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public List<Motion> conveyorInbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
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motion.setDevice(String.valueOf(origin.getDevpNo()));
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motion.setMotionCtg(motionCtgType.val());
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switch (motionCtgType) {
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case CONVEYOR_INBOUND:
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motion.setTarget(String.valueOf(target.getStaNo()));
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break;
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case CONVEYOR_INBOUND_TO_LIFT:
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motion.setDockNo(String.valueOf(target.getLiftNo()));
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motion.setTarget(String.valueOf(target.getLev()));
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break;
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default:
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break;
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}
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motion.setOrigin(String.valueOf(origin.getStaNo()));
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}));
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return motionList;
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}
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/**
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* 输送线出库
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*/
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public List<Motion> conveyorOutbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
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List<Motion> motionList = new ArrayList<>();
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motionList.add(Motion.build(motion -> {
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motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
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motion.setDevice(String.valueOf(origin.getDevpNo()));
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motion.setMotionCtg(motionCtgType.val());
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switch (motionCtgType) {
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case CONVEYOR_OUTBOUND:
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motion.setOrigin(String.valueOf(origin.getStaNo()));
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break;
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case CONVEYOR_OUTBOUND_FROM_LIFT:
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motion.setDockNo(String.valueOf(origin.getLiftNo()));
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break;
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default:
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break;
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}
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motion.setTarget(String.valueOf(target.getStaNo()));
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}));
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return motionList;
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}
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}
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