#

Junjie

2024-04-23 36b753105aa294e6a34fd7acccbd26693b9b93d1

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

@@ -8,7 +8,6 @@
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.ConveyorDispatcher;
@@ -30,10 +29,9 @@

import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

/**
 * todo:luxiaotao 1.充电任务，2.库位移转，3.小车迁移
 * 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
 * Created by vincent on 2023/10/11
 */
@Service
@@ -970,16 +968,16 @@
        // locNo
        String locNo = task.getDestLoc();

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
        Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceNo, task.getShuttleNo())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        if (device == null) {
        if (shuttleDevice == null) {
            return motionList;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
        if (shuttleThread == null) {
            return motionList;
        }
@@ -997,11 +995,111 @@
            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(device.getId().intValue());
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(device.getId().intValue());
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

        } else {
            //小车跨层

            //获取距离目标位置最近的空闲提升机
            LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId());
            if (liftThread == null) {
                return motionList;
            }
            Device liftDevice = liftThread.getDevice();

            //穿梭车到提升机库位号
            String liftLocNoTo = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(shuttleLocNo));

            //穿梭车出提升机库位号
            String liftLocNoFrom = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(task.getDestLoc()));

            //穿梭车到提升机待机位库位号
            String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));

            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));


            // 穿梭车走行至提升机库位待机位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                    })),
                    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(liftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(shuttleLocNo));
                    }))
            ));

            // 穿梭车待机位至提升机库位
            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(liftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_TO_LIFT
            ));

            // 提升机搬车 至 目标位置层
            motionList.addAll(kernelService.liftMoveShuttle(
                    MotionDto.build((dto -> {
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(shuttleLocNo));
                    })),
                    MotionDto.build((dto -> {
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(locNo));
                    }))
            ));

            // 穿梭车走行至提升机待机位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoFrom);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
            ));

            // 穿梭车提升机待机位至目标位置
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1146,4 +1244,56 @@
        return motionList;
    }

    /**
     * 生成提升机手动动作
     */
    public List<Motion> generateLiftManualMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
            return motionList;
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceNo, task.getLiftNo())
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        if (device == null) {
            return motionList;
        }

        if (task.getDestSite().equals("move")) {
            //提升机升降楼层

            // 提升机空载移动到穿梭车层
            motionList.addAll(kernelService.liftMove(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Integer.parseInt(task.getDestLoc()));
                    }))
            ));

        } else if (task.getDestSite().equals("movePallet")) {
            //移动托盘

            // 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.setStaNo(Integer.parseInt(task.getOriginSite()));
                    }))
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Integer.parseInt(task.getDestLoc()));
                        dto.setStaNo(Integer.parseInt(task.getDestSite()));
                    }))
            ));

        }

        return motionList;
    }

}