#path similarity

Junjie

2024-12-11 8ef2bb5e46d84594e6ed632c07ea0b47a1bf6c4d

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

@@ -170,7 +170,7 @@
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setSync();//异步执行
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -182,6 +182,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -204,8 +205,10 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
//                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
@@ -236,6 +239,7 @@
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -247,6 +251,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
@@ -287,6 +292,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
@@ -339,6 +345,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -379,6 +386,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                        })),
@@ -519,6 +527,7 @@
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setShuttleDevice(shuttleDevice);
                                dto.setLocNo(originLoc);
                            })),
                            MotionCtgType.SHUTTLE_MOVE
@@ -534,18 +543,21 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车载货出库至最后一段路径等待
                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(lastPathStartLoc);
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
                if (!originLoc.equals(lastPathStartLoc)) {
                    // 穿梭车载货出库至最后一段路径等待
                    motionList.addAll(kernelService.shuttleMove(
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setLocNo(originLoc);
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setShuttleDevice(shuttleDevice);
                                dto.setLocNo(lastPathStartLoc);
                            })),
                            MotionCtgType.SHUTTLE_TRANSPORT
                    ));
                }

                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -555,6 +567,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
@@ -579,6 +592,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocs);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
@@ -628,6 +642,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
@@ -668,6 +683,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
@@ -720,6 +736,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -752,6 +769,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(originLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -766,18 +784,21 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车载货出库至最后一段路径等待
                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(lastPathStartLoc);
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
                if (!originLoc.equals(lastPathStartLoc)) {
                    // 穿梭车载货出库至最后一段路径等待
                    motionList.addAll(kernelService.shuttleMove(
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setLocNo(originLoc);
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setShuttleDevice(shuttleDevice);
                                dto.setLocNo(lastPathStartLoc);
                            })),
                            MotionCtgType.SHUTTLE_TRANSPORT
                    ));
                }

                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -787,6 +808,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
@@ -811,6 +833,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocs);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
@@ -944,6 +967,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -959,6 +983,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -989,6 +1014,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
@@ -1041,6 +1067,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1062,6 +1089,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1130,6 +1158,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1184,6 +1213,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(locNo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -1224,6 +1254,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                    })),
@@ -1264,6 +1295,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
@@ -1316,6 +1348,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1347,6 +1380,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1402,6 +1436,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setShuttleDevice(device);
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -1454,6 +1489,7 @@
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(device.getId().intValue());
                                dto.setShuttleDevice(device);
                                dto.setLocNo(sourceLoc);
                            })),
                            MotionCtgType.SHUTTLE_MOVE
@@ -1475,6 +1511,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setShuttleDevice(device);
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT