#

Junjie

2024-07-10 e62c1e7ff1fa9623ac3f8e6aa35ad44b725a21ed

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

@@ -117,13 +117,6 @@
                return motionList;
            }

            //检测提升机是否有任务绑定
            boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            if (liftResult) {
                //存在任务，禁止解析
                return motionList;
            }

            //获取小车待机库位 ==> 进提升机
            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
@@ -165,6 +158,7 @@
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setSync(0);//异步执行
                        }))
                ));

@@ -176,7 +170,6 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -232,6 +225,7 @@
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -381,6 +375,7 @@
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -453,13 +448,6 @@
            //检测穿梭车是否有任务绑定
            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
            if (shuttleResult) {
                //存在任务，禁止解析
                return motionList;
            }

            //检测提升机是否有任务绑定
            boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            if (liftResult) {
                //存在任务，禁止解析
                return motionList;
            }
@@ -635,6 +623,7 @@
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setSync(0);//异步执行
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -780,6 +769,7 @@
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

@@ -982,13 +972,6 @@
            return motionList;
        }

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
        if (liftResult) {
            //存在任务，禁止解析
            return motionList;
        }

        //获取小车待机库位 ==> 进提升机
        ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
@@ -1150,16 +1133,15 @@
                    MotionCtgType.SHUTTLE_MOVE
            ));

            task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            taskService.updateById(task);
        }

        // 穿梭车开始充电
        motionList.addAll(kernelService.shuttleCharge(
        motionList.addAll(kernelService.shuttleAction(
                null,
                MotionDto.build((dto -> {
                    dto.setShuttleNo(shuttleDevice.getId().intValue());
                }))
                })),
                MotionCtgType.SHUTTLE_CHARGE_ON
        ));

        return motionList;
@@ -1197,6 +1179,15 @@
        // 判断穿梭车是否在目标层
        if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

            // 穿梭车关闭充电
            motionList.addAll(kernelService.shuttleAction(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                    })),
                    MotionCtgType.SHUTTLE_CHARGE_OFF
            ));

            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {