#小车换层优化

Junjie

2025-04-18 3dcc70402e27760de274dbc7d50a5f0726ce58cb

#小车换层优化

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

@@ -1,14 +1,11 @@
package com.zy.asrs.wcs.core.kernel;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -260,14 +257,14 @@
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定换层路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));
//                // 锁定换层路径
//                motionList.addAll(kernelService.mapLockPath(
//                        null,
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleDevice.getId().intValue());
//                            dto.setLocNo(JSON.toJSONString(lockPath));
//                        }))
//                ));

                // 提升机空载移动到穿梭车层
                motionList.addAll(kernelService.liftMove(
@@ -362,14 +359,14 @@
                        }))
                ));

                // 解锁换层路径
                motionList.addAll(kernelService.mapUnlockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));
//                // 解锁换层路径
//                motionList.addAll(kernelService.mapUnlockPath(
//                        null,
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleDevice.getId().intValue());
//                            dto.setLocNo(JSON.toJSONString(lockPath));
//                        }))
//                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
@@ -511,11 +508,11 @@
                return motionList;
            }

            //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
            }
//            //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
//            }

            /**
             * 出库
@@ -548,27 +545,43 @@
                        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
                    ));
                }
//                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
//                ));

                // 穿梭车载货至提升机待机位
                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());
@@ -654,14 +667,14 @@
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定换层路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));
//                // 锁定换层路径
//                motionList.addAll(kernelService.mapLockPath(
//                        null,
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleDevice.getId().intValue());
//                            dto.setLocNo(JSON.toJSONString(lockPath));
//                        }))
//                ));

                // 提升机空载移动到穿梭车层
                motionList.addAll(kernelService.liftMove(
@@ -756,14 +769,14 @@
                        }))
                ));

                // 解锁换层路径
                motionList.addAll(kernelService.mapUnlockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));
//                // 解锁换层路径
//                motionList.addAll(kernelService.mapUnlockPath(
//                        null,
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleDevice.getId().intValue());
//                            dto.setLocNo(JSON.toJSONString(lockPath));
//                        }))
//                ));

                // 穿梭车提升机待机位至出库库位
                motionList.addAll(kernelService.shuttleMove(
@@ -789,27 +802,43 @@
                        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
                    ));
                }
//                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(standbyLocNoFrom);
//                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
//                        })),
//                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
//                ));

                // 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);
                            dto.setLocNo(originLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1244,6 +1273,9 @@
            //穿梭车到提升机待机位库位号
            String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));

            //穿梭车换层时待机位置 使用表列 memo数据
            String standbyLocNoMemo = liftDispatcher.getInLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));

            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));

@@ -1261,19 +1293,19 @@
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(liftDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                        dto.setLocNo(standbyLocNoMemo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

            // 锁定换层路径
            motionList.addAll(kernelService.mapLockPath(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(JSON.toJSONString(lockPath));
                    }))
            ));
//            // 锁定换层路径
//            motionList.addAll(kernelService.mapLockPath(
//                    null,
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
//                        dto.setLocNo(JSON.toJSONString(lockPath));
//                    }))
//            ));

            // 提升机空载移动到穿梭车层
            motionList.addAll(kernelService.liftMove(
@@ -1296,7 +1328,7 @@
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                        dto.setLocNo(standbyLocNoMemo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1367,14 +1399,14 @@
                    }))
            ));

            // 解锁换层路径
            motionList.addAll(kernelService.mapUnlockPath(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(JSON.toJSONString(lockPath));
                    }))
            ));
//            // 解锁换层路径
//            motionList.addAll(kernelService.mapUnlockPath(
//                    null,
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
//                        dto.setLocNo(JSON.toJSONString(lockPath));
//                    }))
//            ));

            // 穿梭车提升机待机位至目标位置
            motionList.addAll(kernelService.shuttleMove(
@@ -1785,14 +1817,14 @@
                    MotionCtgType.SHUTTLE_MOVE
            ));

            // 锁定换层路径
            motionList.addAll(kernelService.mapLockPath(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(JSON.toJSONString(lockPath));
                    }))
            ));
//            // 锁定换层路径
//            motionList.addAll(kernelService.mapLockPath(
//                    null,
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
//                        dto.setLocNo(JSON.toJSONString(lockPath));
//                    }))
//            ));

            // 提升机空载移动到穿梭车层
            motionList.addAll(kernelService.liftMove(
@@ -1887,14 +1919,14 @@
                    }))
            ));

            // 解锁换层路径
            motionList.addAll(kernelService.mapUnlockPath(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(JSON.toJSONString(lockPath));
                    }))
            ));
//            // 解锁换层路径
//            motionList.addAll(kernelService.mapUnlockPath(
//                    null,
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
//                        dto.setLocNo(JSON.toJSONString(lockPath));
//                    }))
//            ));

            // 穿梭车提升机待机位至出库库位
            motionList.addAll(kernelService.shuttleMove(

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java

@@ -186,6 +186,22 @@
    }

    /**
     * 获取进提升机待机位位置
     */
    public String getInLiftStandByLocNo(LiftThread liftThread, Integer lev) {
        Device device = liftThread.getDevice();
        ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, device.getId())
                .eq(ShuttleStandby::getDeviceLev, lev)
                .eq(ShuttleStandby::getStatus, 1));
        if (standby == null) {
            return null;
        }

        return standby.getMemo();
    }

    /**
     * 获取换层需要锁定的路径
     */
    public List<String> getLockPathByLocNo(LiftThread liftThread, Integer lev) {

 zy-asrs-wcs/src/main/resources/20250418111004.nb3

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