#移库任务

zjj

2025-02-17 54b4f53323d0833cbac86fd18932c5fa5a5447a8

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

@@ -1605,4 +1605,89 @@
        return motionList;
    }

    /**
     * 生成小车载货迁移动作
     */
    public List<Motion> generateShuttleLadenMoveMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_LADEN_MOVE.sts) {
            return motionList;
        }
        //originLoc 源库位
        String originLoc =  task.getOriginLoc();
        // locNo 目标库位
        String locNo = task.getDestLoc();

        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 (shuttleDevice == null) {
            return motionList;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
        if (shuttleThread == null) {
            return motionList;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
            return motionList;
        }

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

        // 判断穿梭车是否在目标层
        if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

            if (!shuttleLocNo.equals(locNo)) {//小车不在目标库位
                // 穿梭车走行至源库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(originLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车顶升
                motionList.add(Motion.build(motion -> {
                    motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                    motion.setDevice(String.valueOf(shuttleDevice.getId()));
                    motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
                }));

                // 穿梭车走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(originLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(locNo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                //穿梭车托盘下降
                motionList.add(Motion.build(motion -> {
                    motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                    motion.setDevice(String.valueOf(shuttleDevice.getId()));
                    motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
                }));

            }

        } else {
            //小车跨层
        }
        return motionList;
    }
}