#

gtsxc

2024-11-25 d8b1f82c07cf723b2590cae5a432ff78a514b05e

 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
                        }))
                ));

@@ -206,6 +206,7 @@
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
//                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
@@ -236,6 +237,7 @@
                            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
                        }))
                ));

@@ -476,8 +478,8 @@
            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

            //穿梭车出提升机后小车待机位
            String shuttleFromLiftStandbyLoc = shuttleStandbyFrom.getStandbyLoc();
            //穿梭车出提升机后全部待机位
            String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//获取全部待机位

            //换层需要锁定的路径
            List<String> lockPath = shuttleStandbyFrom.getLockPath$();
@@ -498,18 +500,11 @@
                return motionList;
            }

            //计算路径并分解成两段动作
            List<NavigateNode> nodeList = NavigateUtils.calc(originLoc, standbyLocNoTo, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(originLoc)));
            if (nodeList == null) {
                News.error("{} dash {} can't find navigate path!", originLoc, standbyLocNoTo);
                return null;
            //分析出库路径待机库位
            String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
            if (lastPathStartLoc == null) {
                return motionList;//未分析成功
            }
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
            //取出最后一段路径
            ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 1);
            NavigateNode startNode = navigateNodes.get(0);
            String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());

            /**
             * 出库
@@ -541,18 +536,20 @@
                        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.setLocNo(lastPathStartLoc);
                            })),
                            MotionCtgType.SHUTTLE_TRANSPORT
                    ));
                }

                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -578,7 +575,7 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车提升机待机位 - 到待机位
                // 穿梭车提升机待机位 - 到待机位(自动选择合适待机位)
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -586,11 +583,11 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setLocNo(standbyLocs);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                ));

                // 提升机载货移动
@@ -773,18 +770,20 @@
                        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.setLocNo(lastPathStartLoc);
                            })),
                            MotionCtgType.SHUTTLE_TRANSPORT
                    ));
                }

                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
@@ -810,7 +809,7 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车提升机待机位 - 到待机位
                // 穿梭车提升机待机位 - 到待机位(自动选择合适待机位)
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -818,11 +817,11 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setLocNo(standbyLocs);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放穿梭车
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                ));

                // 提升机载货移动