#

zjj

2024-08-28 0a6532305b842185c85afd4e8c670f64700f2a6d

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

@@ -1,8 +1,6 @@
package com.zy.asrs.wcs.core.kernel;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
@@ -26,7 +24,9 @@
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
@@ -54,7 +54,20 @@
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private TaskCtgService taskCtgService;

    public Integer getStaByLev(Integer lev) {
        HashMap<Integer, Integer> map = new HashMap<>();
        map.put(1, 31006);
        map.put(2, 31007);
        map.put(3, 31008);

        return map.get(lev);
    }

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
@@ -67,12 +80,6 @@

        /**
         * 入库
         * 一、入库目标层有穿梭车
         * 1.提升机升降到源层
         * 2.货物从输送线到提升机
         * 3.提升机载货移动（非必需）
         * 4.穿梭车走行至提升机
         * 5.穿梭车入库至目标库位
         */
        if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
            // locNo
@@ -107,6 +114,11 @@

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
                return motionList;
            }

            BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
            if (basConveyorStaDest == null) {
                return motionList;
            }

@@ -151,14 +163,15 @@
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//入库站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setSync(0);//异步执行
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setSync();//异步执行
                        }))
                ));

@@ -175,28 +188,6 @@
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                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
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
@@ -204,29 +195,6 @@
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车入库移动至提升机待机位
                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
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 穿梭车走行至目标库位
@@ -254,14 +222,23 @@

            /**
             * 二、入库目标层没有穿梭车
             * 1.提升机升降到穿梭车层
             * 2.穿梭车走行至提升机待机位
             * 3.提升机搬运穿梭车至目标层
             * 4.货物从输送线到提升机
             * 5.提升机载车与货移动（非必需）
             * 6.穿梭车入库至目标库位
             */
            } else {

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//入库站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        }))
                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -316,17 +293,15 @@
                        }))
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                // 提升机搬车 至 目标位置层
                motionList.addAll(kernelService.liftMoveShuttle(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLev(Utils.getLev(shuttleLocNo));
                        })),
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setLev(Utils.getLev(destLoc));
                        }))
                ));

@@ -338,15 +313,6 @@
                        }))
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
@@ -356,7 +322,7 @@
                        }))
                ));

                // 穿梭车入库移动至提升机待机位
                // 穿梭车移动至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -377,6 +343,15 @@
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车走行至目标库位
@@ -445,6 +420,11 @@
                return motionList;
            }

            BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
            if (basConveyorStaOrigin == null) {
                return motionList;
            }

            //检测穿梭车是否有任务绑定
            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
            if (shuttleResult) {
@@ -500,13 +480,6 @@

            /**
             * 出库
             * 一、出库起始层有穿梭车
             * 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(originLoc)) {

@@ -549,37 +522,6 @@
                        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));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                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
                ));

                // 穿梭车出库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
@@ -589,39 +531,18 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车离开提升机 - 到提升机待机位
                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
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setSync(0);//异步执行
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
@@ -641,30 +562,20 @@
                ));

                // 输送线运输至出库口
                motionList.addAll(kernelService.conveyorOutbound(
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getDeviceStn());
                        })),
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getStnNo());
                        })),
                        MotionCtgType.CONVEYOR_OUTBOUND
                ));
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            /**
             * 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 {

@@ -810,37 +721,6 @@
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 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(originLoc));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));

                // 穿梭车出库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
@@ -850,40 +730,20 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车离开提升机 - 到提升机待机位
                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
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setSync(0);//异步执行
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -901,17 +761,17 @@
                ));

                // 输送线运输至出库口
                motionList.addAll(kernelService.conveyorOutbound(
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getDeviceStn());
                        })),
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getStnNo());
                        })),
                        MotionCtgType.CONVEYOR_OUTBOUND
                ));
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            }

@@ -1133,8 +993,6 @@
                    MotionCtgType.SHUTTLE_MOVE
            ));

            task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            taskService.updateById(task);
        }

        // 穿梭车开始充电
@@ -1326,14 +1184,6 @@
                    MotionCtgType.SHUTTLE_MOVE_TO_LIFT
            ));

            // 向提升机发送小车已到位信号
            motionList.addAll(kernelService.liftShuttleArrival(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(liftDevice.getId().intValue());
                    }))
            ));

            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
@@ -1422,7 +1272,7 @@

        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)
        String targetSite = task.getMemo();//任务类型(借用字段)

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceNo, task.getShuttleNo())
@@ -1566,7 +1416,8 @@
            return motionList;
        }

        if (task.getDestSite().equals("move")) {
        String destSite = task.getMemo();//任务目标(借用字段)
        if (destSite.equals("move")) {
            //提升机升降楼层

            // 提升机空载移动到穿梭车层
@@ -1578,23 +1429,45 @@
                    }))
            ));

        } else if (task.getDestSite().equals("movePallet")) {
        } else if (destSite.equals("movePallet")) {
            //移动托盘
            BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
            BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
            if(basConveyorStaOrigin == null || basConveyorStaDest == null) {
                return motionList;
            }

            // 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.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
                        dto.setStaNo(Integer.parseInt(task.getOriginSite()));
                    }))
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Integer.parseInt(task.getDestLoc()));
                        dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
                        dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        dto.setStaNo(Integer.parseInt(task.getDestSite()));
                    }))
            ));

        } else if (destSite.equals("lock")) {
            // 锁定提升机
            motionList.addAll(kernelService.liftLock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                    }))
            ));
        } else if (destSite.equals("unlock")) {
            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                    }))
            ));
        }

        return motionList;