#

zjj

2024-06-24 3ca9c0654a81f0670e8005e405615da9f84edcc4

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

@@ -5,6 +5,7 @@
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

@@ -19,7 +20,8 @@

    @Autowired
    private MotionService motionService;

    @Autowired
    private LiftDispatcher liftDispatcher;

    // agv -----------------------------------------------------------------------------
    @Deprecated
@@ -50,9 +52,9 @@
            motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(origin.getLev()));
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(target.getLev()));
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
        }));

//        if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
@@ -77,9 +79,15 @@
            motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(origin.getLev()));
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
                motion.setOriDrt(origin.getStaNo());//源站
            }
            motion.setTarget(String.valueOf(target.getLev()));
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
            motion.setTarDrt(target.getStaNo());//目标站

            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }
        }));

        return motionList;
@@ -98,9 +106,9 @@
            motion.setMotionCtg(MotionCtgType.LIFT_WITH_SHUTTLE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(origin.getLev()));
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(target.getLev()));
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
        }));

        return motionList;
@@ -119,9 +127,9 @@
            motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS_AND_SHUTTLE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(origin.getLev()));
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(target.getLev()));
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
        }));

        return motionList;
@@ -139,7 +147,7 @@

            motion.setMotionCtg(MotionCtgType.LIFT_TRANSPORT_TO_CONVEYOR.val());

            motion.setOrigin(String.valueOf(origin.getLev()));
            motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(origin.getLiftNo(), origin.getLev())));
            motion.setDockNo(String.valueOf(target.getDevpNo()));
            motion.setTarget(String.valueOf(target.getStaNo()));

@@ -148,8 +156,84 @@
        return motionList;
    }

    /**
     * 提升机锁定
     */
    public List<Motion> liftLock(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_LOCK.val());
        }));

        return motionList;
    }

    /**
     * 提升机解锁
     */
    public List<Motion> liftUnlock(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_UNLOCK.val());
        }));

        return motionList;
    }

    /**
     * 提升机-小车已到位
     */
    public List<Motion> liftShuttleArrival(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_ARRIVAL.val());
        }));

        return motionList;
    }

    /**
     * 提升机-小车已驶离
     */
    public List<Motion> liftShuttleLeave(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.LIFT.val());
            motion.setDevice(String.valueOf(target.getLiftNo()));
            motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_LEAVE.val());
        }));

        return motionList;
    }

    // shuttle -----------------------------------------------------------------------------

    /**
     * 小车坐标更新
     */
    public List<Motion> shuttleUpdateLocation(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));
            motion.setMotionCtg(MotionCtgType.SHUTTLE_UPDATE_LOCATION.val());

            motion.setTarget(target.getLocNo());
        }));

        return motionList;
    }

    /**
     * 穿梭车空载移动
@@ -228,14 +312,34 @@
        return motionList;
    }

    public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
    /**
     * 穿梭车动作
     */
    public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));

            motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case SHUTTLE_PALLET_LIFT://托盘顶升

                    break;
                case SHUTTLE_PALLET_DOWN://托盘下降

                    break;
                case SHUTTLE_CHARGE_ON://充电开

                    break;
                case SHUTTLE_CHARGE_OFF://充电关

                    break;
                default:
                    break;
            }

        }));