#path similarity

Junjie

2024-12-10 0dab5a05ed6e734a83c43f8e6e5ef1b07115f48d

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

@@ -1,11 +1,21 @@
package com.zy.asrs.wcs.core.kernel;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

@@ -22,6 +32,10 @@
    private MotionService motionService;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private DeviceService deviceService;

    // agv -----------------------------------------------------------------------------
    @Deprecated
@@ -298,6 +312,13 @@
                    motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                    motion.setTarget(null);//等待自动搜索
                    motion.setTemp(target.getLocNo());//全部待机位
                    break;
                default:
                    break;
            }
@@ -310,6 +331,16 @@
                motion.setReleaseShuttle(target.getReleaseShuttle());
            }

            if (target.getReleaseLift() != null) {
                motion.setReleaseLift(target.getReleaseLift());
            }

            List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
            if (nodeList == null) {
                throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
            }
            motion.setMovePath(JSON.toJSONString(nodeList));

        }));

        return motionList;