#

Junjie

2024-05-20 4d8bb57c9eb3fda399fd7b9e9de7ecbf754244f7

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -11,6 +11,7 @@
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.LocStsType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
@@ -382,6 +383,66 @@
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 4) {//取放货
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
                shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
                return;
            }

            //判断x轴货位是否放满
            boolean flag = true;
            for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getRow, xCurrent)
                    .ge(Loc::getBay, shuttleProtocol.getYStart())
                    .le(Loc::getBay, shuttleProtocol.getYTarget()))) {
                if (loc.getLocSts() != LocStsType.F.val()) {
                    flag = false;//未满
                    break;
                }
            }
            if (flag) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

            //搜索有货库位
            List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocSts, LocStsType.F.val())
                    .eq(Loc::getHostId, device.getHostId())
                    .notIn(Loc::getRow, xCurrent)
                    .eq(Loc::getStatus, 1));
            if (list.isEmpty()) {
                return;
            }

            Loc start = list.get(0);

            List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getStatus, 1)
                    .eq(Loc::getLocSts, LocStsType.O.val())
                    .eq(Loc::getRow, xCurrent)
                    .orderByDesc(Loc::getBay)
                    .orderByAsc(Loc::getRow));
            if (locList.isEmpty()) {
                return;
            }

            Loc target = locList.get(0);
            if (target == null) {
                return;
            }

            //调度去目标位置
            if (!shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                Task task = shuttleDispatcher.generateManuaTakeMoveTask(device, start.getLocNo(), target.getLocNo());
//                if(task != null) {//调度成功
//                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
//                }
            }
        }
    }