#

zjj

2025-04-08 3df03c486fde77ab36b9298a94bdbb0aa065a7e2

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

@@ -153,8 +153,9 @@
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
//                            dto.setReleaseLift(1);//执行完成后释放提升机
                        })),
                        MotionCtgType.LIFT_WITH_GOODS_IN
                ));

                // 穿梭车走行至提升机库位
@@ -191,6 +192,7 @@
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
@@ -262,11 +264,6 @@
                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) {
@@ -286,22 +283,14 @@
            //穿梭车进提升机待机位库位号 输送线位置
            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

            //穿梭车换层时待机位置 使用表列 memo数据
            String standbyLocNoMemo = shuttleStandbyTo.getMemo();
            //穿梭车待机位置 使用表列
            String standbyLocNoList = shuttleStandbyTo.getStandbyLoc();

            //获取出库任务类型
            TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                    .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
                    .eq(TaskCtg::getStatus, 1));
            if (taskCtg == null) {
                return motionList;
            }
            //获取输送线路径
            BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
                    .eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
                    .eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
                    .eq(BasConveyorPath::getTypeNo, taskCtg.getId()));
            if (basConveyorPath == null) {
                return motionList;
            }

@@ -371,15 +360,16 @@
                            dto.setLocNo(standbyLocNoTo);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                Integer liftLevLogic = liftDispatcher.getLiftLevOffset(transferLiftDevice.getId().intValue(), Utils.getLev(originLoc));
                // 提升机空载移动到出库层
                motionList.addAll(kernelService.liftMove(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(originLoc));
                            dto.setLev(liftLevLogic);
                        }))
                ));

@@ -415,8 +405,8 @@
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoTo);
                            dto.setSync(0);//异步执行
                            dto.setLocNo(standbyLocNoList);
//                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
@@ -432,9 +422,9 @@
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));//出库站点
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                        })),
                        MotionCtgType.LIFT_WITH_GOODS_OUT
                ));

            }
@@ -597,6 +587,14 @@
                return motionList;//未分析成功
            }

            //获取小车待机库位 ==> 进提升机
            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
                    .eq(ShuttleStandby::getStatus, 1));

            //穿梭车待机位置 使用表列
            String standbyLocNoList = shuttleStandbyTo.getStandbyLoc();

            String standbyLocNo;
            if (originSite == 1015) {
                standbyLocNo = "1200101";
@@ -686,8 +684,8 @@
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNo);
                            dto.setSync(0);//异步执行
                            dto.setLocNo(standbyLocNoList);
//                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
@@ -1213,12 +1211,13 @@
        if (destSite.equals("move")) {
            //提升机升降楼层

            Integer liftLevLogic = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Integer.parseInt(task.getDestLoc()));
            // 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()));
                        dto.setLev(liftLevLogic);
                    }))
            ));

@@ -1230,19 +1229,23 @@
                return motionList;
            }

            Integer originLev = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Utils.getLev(basConveyorStaOrigin.getLocNo()));
            Integer targetLev = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Utils.getLev(basConveyorStaDest.getLocNo()));

            // 提升机移动托盘
            motionList.addAll(kernelService.liftMoveGoods(
                    MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
                        dto.setLev(originLev);
                        dto.setStaNo(Integer.parseInt(task.getOriginSite()));
                    }))
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
                        dto.setLev(targetLev);
                        dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        dto.setStaNo(Integer.parseInt(task.getDestSite()));
                    }))
                    })),
                    MotionCtgType.LIFT_WITH_GOODS
            ));

        } else if (destSite.equals("lock")) {