#入库逻辑优化

Junjie

2024-12-13 b03732972ca2bf2a8b859449e141dc05fe9cbb9f

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

@@ -101,8 +101,8 @@

            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

            //获取距离目标位置最近的空闲可换层提升机
            LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
            //获取距离目标位置最近的可换层提升机(可能不空闲)
            LiftThread liftThread = liftDispatcher.searchLift(shuttleLocNo, task.getHostId(), true);
            if (liftThread == null) {
                return motionList;
            }
@@ -158,21 +158,21 @@
            // 入库目标层有穿梭车
            if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//入库站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            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
                        }))
                ));
//                // 提升机载货移动
//                motionList.addAll(kernelService.liftMoveGoods(
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(1);//光泰1层是输送线层
//                            dto.setStaNo(31004);//入库站点
//                        }))
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            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
//                        }))
//                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -182,6 +182,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -204,6 +205,7 @@
                        })),
                        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
@@ -225,21 +227,21 @@
             */
            } else {

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//入库站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            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
                        }))
                ));
//                // 提升机载货移动
//                motionList.addAll(kernelService.liftMoveGoods(
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(1);//光泰1层是输送线层
//                            dto.setStaNo(31004);//入库站点
//                        }))
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            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
//                        }))
//                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -249,6 +251,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
@@ -289,6 +292,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
@@ -341,6 +345,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -381,6 +386,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                        })),
@@ -521,6 +527,7 @@
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setShuttleDevice(shuttleDevice);
                                dto.setLocNo(originLoc);
                            })),
                            MotionCtgType.SHUTTLE_MOVE
@@ -536,18 +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(
@@ -557,6 +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
@@ -581,6 +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
@@ -630,6 +642,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
@@ -670,6 +683,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
@@ -722,6 +736,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -754,6 +769,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(originLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -768,18 +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(
@@ -789,6 +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
@@ -813,6 +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
@@ -946,6 +967,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -961,6 +983,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -991,6 +1014,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
@@ -1043,6 +1067,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1064,6 +1089,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1132,6 +1158,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1186,6 +1213,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(locNo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -1226,6 +1254,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                    })),
@@ -1266,6 +1295,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
@@ -1318,6 +1348,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1349,6 +1380,7 @@
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
@@ -1404,6 +1436,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setShuttleDevice(device);
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -1456,6 +1489,7 @@
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(device.getId().intValue());
                                dto.setShuttleDevice(device);
                                dto.setLocNo(sourceLoc);
                            })),
                            MotionCtgType.SHUTTLE_MOVE
@@ -1477,6 +1511,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setShuttleDevice(device);
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT