#

Junjie

2024-10-13 99573d3503e32befd853dda7cc0180e01a4c8597

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

@@ -26,7 +26,6 @@
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
@@ -252,6 +251,15 @@
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定目标楼层穿梭车待机位路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        }))
                ));

                // 提升机空载移动到穿梭车层
@@ -531,6 +539,21 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车提升机待机位 - 到待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
@@ -543,22 +566,8 @@
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setSync(0);//异步执行
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 穿梭车提升机待机位 - 到待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 输送线运输至出库口
@@ -591,6 +600,15 @@
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定目标楼层穿梭车待机位路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        }))
                ));

                // 提升机空载移动到穿梭车层
@@ -730,6 +748,21 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车提升机待机位 - 到待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放穿梭车
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
@@ -741,23 +774,9 @@
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setSync(0);//异步执行
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 穿梭车提升机待机位 - 到待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 输送线运输至出库口
@@ -1153,6 +1172,15 @@
                    MotionCtgType.SHUTTLE_MOVE
            ));

            // 锁定目标楼层穿梭车待机位路径
            motionList.addAll(kernelService.mapLockPath(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoFrom);
                    }))
            ));

            // 提升机空载移动到穿梭车层
            motionList.addAll(kernelService.liftMove(
                    null