#

Junjie

2024-06-12 7180e7e7c548c78f327a9f66c2bc89af64039e7e

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java

@@ -11,6 +11,7 @@
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.rcs.News;
@@ -153,7 +154,7 @@

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MOVE")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return null;
@@ -198,6 +199,62 @@
        return task;
    }

    //生成手动取放货任务
    public synchronized Task generateManuaTakeMoveTask(Device device, String sourceLocNo, String locNo) {
        // 已有手动任务
        if (taskService.selectManualWorking(Integer.valueOf(device.getDeviceNo())) != null) {
            return null;
        }

        //获取手动任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return null;
        }

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

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
        task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(sourceLocNo);
        task.setDestSite("takeMove");
        task.setDestLoc(locNo);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("manual");
        task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(device.getHostId());

        // generate motion list
        List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
        if (Cools.isEmpty(motionList)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
            return null;
        }
        motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());

        task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);

        if (!taskService.save(task)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
            return null;
        }

        return task;
    }

    /**
     * 搜索避让库位，通过小车号和目标库位
     */