#

zjj

2024-09-20 c8f5e604019bdbc4bd67113ffc0b2dbb1a79017a

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

@@ -24,7 +24,9 @@
import org.springframework.stereotype.Service;

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
@@ -54,7 +56,18 @@
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private TaskCtgService taskCtgService;

    public Integer getStaByLev(Integer lev) {
        HashMap<Integer, Integer> map = new HashMap<>();
        map.put(1, 31006);
        map.put(2, 31007);
        map.put(3, 31008);

        return map.get(lev);
    }

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
@@ -101,6 +114,11 @@

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
                return motionList;
            }

            BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
            if (basConveyorStaDest == null) {
                return motionList;
            }

@@ -151,8 +169,9 @@
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));
                            dto.setSync(0);//异步执行
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setSync();//异步执行
                        }))
                ));

@@ -216,7 +235,8 @@
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        }))
                ));

@@ -400,6 +420,11 @@
                return motionList;
            }

            BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
            if (basConveyorStaOrigin == null) {
                return motionList;
            }

            //检测穿梭车是否有任务绑定
            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
            if (shuttleResult) {
@@ -511,12 +536,13 @@
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//出库站点
                            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
                        }))
@@ -536,17 +562,17 @@
                ));

                // 输送线运输至出库口
                motionList.addAll(kernelService.conveyorOutbound(
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getDeviceStn());
                        })),
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getStnNo());
                        })),
                        MotionCtgType.CONVEYOR_OUTBOUND
                ));
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            /**
             * 二、出库起始层没有穿梭车
@@ -709,13 +735,14 @@
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//出库站点
                            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
                        }))
                ));
@@ -734,17 +761,17 @@
                ));

                // 输送线运输至出库口
                motionList.addAll(kernelService.conveyorOutbound(
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getDeviceStn());
                        })),
                        MotionDto.build((dto -> {
                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
                            dto.setStaNo(basConveyorPath.getStnNo());
                        })),
                        MotionCtgType.CONVEYOR_OUTBOUND
                ));
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            }

@@ -1409,6 +1436,7 @@
            if(basConveyorStaOrigin == null || basConveyorStaDest == null) {
                return motionList;
            }

            // 提升机移动托盘
            motionList.addAll(kernelService.liftMoveGoods(
                    MotionDto.build((dto -> {
@@ -1419,6 +1447,7 @@
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
                        dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        dto.setStaNo(Integer.parseInt(task.getDestSite()));
                    }))
            ));