#取放货动作

Junjie

2024-04-12 89e6e823e4eeed9c08ac612d8089678ad24b4ef2

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

@@ -980,6 +980,7 @@
            return motionList;
        }

        String sourceLoc = task.getOriginLoc();//源库位
        String targetLoc = task.getDestLoc();//任务目标(借用字段)
        String targetSite = task.getDestSite();//任务类型(借用字段)

@@ -1052,6 +1053,54 @@
            }));
        } else if (targetSite.equals("reset")) {
            //复位
        } else if (targetSite.equals("takeMove")) {
            //取放货
            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

                // 穿梭车走行至源库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(sourceLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                //托盘顶升
                motionList.add(Motion.build(motion -> {
                    motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                    motion.setDevice(String.valueOf(device.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(device.getId().intValue());
                            dto.setLocNo(sourceLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

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

            }
        }

        return motionList;