#

Junjie

2025-04-03 ac09ee9c9f39cb9d452b57504e5c79321e0371eb

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

@@ -65,11 +65,11 @@

            motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
            }
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));

//            if (null != origin) {
//                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
//            }
//            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
            motion.setTarget(target.getLev().toString());
            if (target.getSync() != null) {
                motion.setSync(target.getSync());
            }
@@ -95,11 +95,13 @@
            motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());

            if (null != origin) {
                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
                motion.setOriDrt(origin.getStaNo());//源站
//                motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
//                motion.setOriDrt(origin.getStaNo());//源站
                motion.setOrigin(String.valueOf(origin.getStaNo()));
            }
            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
            motion.setTarDrt(target.getStaNo());//目标站
//            motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
//            motion.setTarDrt(target.getStaNo());//目标站
            motion.setTarget(String.valueOf(target.getStaNo()));

            if (target.getDevpNo() != null) {
                motion.setDockNo(String.valueOf(target.getDevpNo()));//输送线ID
@@ -335,11 +337,13 @@
                motion.setReleaseLift(target.getReleaseLift());
            }

            List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
            if (nodeList == null) {
                throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
            if (motion.getOrigin() != null && motion.getTarget() != null) {
                List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
                if (nodeList == null) {
                    throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
                }
                motion.setMovePath(JSON.toJSONString(nodeList));
            }
            motion.setMovePath(JSON.toJSONString(nodeList));

        }));