#移库任务

zjj

2025-02-17 200a5b4d08215c44fd3fb2d010191e7dedb5e4c5

#移库任务

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

@@ -1706,11 +1706,7 @@
            return motionList;
        }

        //分析出库路径待机库位
        String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, locNo, shuttleDevice);
        if (lastPathStartLoc == null) {
            return motionList;//未分析成功
        }


        /**
         * 出库
@@ -1743,43 +1739,11 @@
                    MotionCtgType.SHUTTLE_PALLET_LIFT
            ));

            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(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
//                        dto.setLocNo(lastPathStartLoc);
//                    })),
//                    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
//                    })),
//                    MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
//            ));

            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(lastPathStartLoc);
                        dto.setLocNo(originLoc);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1955,27 +1919,11 @@
                    MotionCtgType.SHUTTLE_PALLET_LIFT
            ));

            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
                ));
            }

            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(lastPathStartLoc);
                        dto.setLocNo(originLoc);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());