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 com.zy.asrs.wcs.core.utils.LiftDispatcher;
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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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@Autowired
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private LiftDispatcher liftDispatcher;
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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(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
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}
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motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
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if (target.getSync() != null) {
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motion.setSync(target.getSync());
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}
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if (target.getReleaseLift() != null) {
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motion.setReleaseLift(target.getReleaseLift());
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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(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
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motion.setOriDrt(origin.getStaNo());//源站
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}
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motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
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motion.setTarDrt(target.getStaNo());//目标站
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if (target.getSync() != null) {
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motion.setSync(target.getSync());
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}
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if (target.getReleaseLift() != null) {
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motion.setReleaseLift(target.getReleaseLift());
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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(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
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}
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motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), 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(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
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}
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motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), 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(liftDispatcher.getLiftLevOffset(origin.getLiftNo(), 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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/**
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* 提升机锁定
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*/
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public List<Motion> liftLock(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_LOCK.val());
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if (target.getSync() != null) {
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motion.setSync(target.getSync());
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}
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if (target.getReleaseLift() != null) {
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motion.setReleaseLift(target.getReleaseLift());
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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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* 提升机解锁
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*/
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public List<Motion> liftUnlock(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_UNLOCK.val());
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if (target.getSync() != null) {
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motion.setSync(target.getSync());
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}
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if (target.getReleaseLift() != null) {
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motion.setReleaseLift(target.getReleaseLift());
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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-小车已到位
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*/
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public List<Motion> liftShuttleArrival(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_SHUTTLE_ARRIVAL.val());
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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-小车已驶离
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*/
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public List<Motion> liftShuttleLeave(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_SHUTTLE_LEAVE.val());
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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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* 小车坐标更新
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*/
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public List<Motion> shuttleUpdateLocation(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_UPDATE_LOCATION.val());
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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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/**
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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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case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
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motion.setTarget(null);//等待自动搜索
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motion.setTemp(target.getLocNo());//全部待机位
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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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/**
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* 穿梭车动作
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*/
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public List<Motion> shuttleAction(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_PALLET_LIFT://托盘顶升
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break;
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case SHUTTLE_PALLET_DOWN://托盘下降
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break;
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case SHUTTLE_CHARGE_ON://充电开
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break;
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case SHUTTLE_CHARGE_OFF://充电关
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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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// 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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// Map -----------------------------------------------------------------------------
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/**
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* 地图路径锁定
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*/
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public List<Motion> mapLockPath(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.MAP.val());
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motion.setDevice(String.valueOf(target.getShuttleNo()));
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motion.setMotionCtg(MotionCtgType.MAP_LOCK_PATH.val());
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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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/**
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* 地图路径解锁
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*/
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public List<Motion> mapUnlockPath(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.MAP.val());
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motion.setDevice(String.valueOf(target.getShuttleNo()));
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motion.setMotionCtg(MotionCtgType.MAP_UNLOCK_PATH.val());
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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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}
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