#

zjj

2024-06-22 090b09847dc5317c2252c277fa39647e7e787988

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java

@@ -815,17 +815,17 @@
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 提升机空载移动到穿梭车层
                // 提升机空载移动到目标层
                motionList.addAll(kernelService.liftMove(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                            dto.setLev(Utils.getLev(originLoc));
                        }))
                ));

@@ -841,12 +841,12 @@
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));
@@ -1155,11 +1155,12 @@
        }

        // 穿梭车开始充电
        motionList.addAll(kernelService.shuttleCharge(
        motionList.addAll(kernelService.shuttleAction(
                null,
                MotionDto.build((dto -> {
                    dto.setShuttleNo(shuttleDevice.getId().intValue());
                }))
                })),
                MotionCtgType.SHUTTLE_CHARGE_ON
        ));

        return motionList;
@@ -1197,6 +1198,15 @@
        // 判断穿梭车是否在目标层
        if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

            // 穿梭车关闭充电
            motionList.addAll(kernelService.shuttleAction(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                    })),
                    MotionCtgType.SHUTTLE_CHARGE_OFF
            ));

            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {