#

Junjie

2024-05-15 79498222e62c7bfb0ad545ec8e1edb5e9b953955

#

 zy-asrs-flow/src/pages/device/shuttle/index.jsx

@@ -297,7 +297,7 @@
                                        defaultValue="0"
                                        onChange={moveLocTypeChange}
                                        style={{ width: 120 }}
                                        options={[{ value: '0', label: '跑轨道' }, { value: '1', label: '跑库位' }, { value: '2', label: '母轨道循环跑' }, { value: '3', label: '子轨道循环跑' }]}
                                        options={[{ value: '0', label: '跑轨道' }, { value: '1', label: '跑库位' }, { value: '2', label: '母轨道循环跑' }, { value: '3', label: '子轨道循环跑' }, { value: '4', label: '取放货' }]}
                                    />
                                </div>
                                <Button onClick={() => shuttleMoveLoc()}>跑库</Button>

 zy-asrs-flow/src/pages/map/drawer/shuttle/handle.jsx

@@ -160,7 +160,8 @@
                                        { value: '0', label: '跑轨道' },
                                        { value: '1', label: '跑库位' },
                                        { value: '2', label: '母轨道循环跑' },
                                        { value: '3', label: '子轨道循环跑' }
                                        { value: '3', label: '子轨道循环跑' },
                                        { value: '4', label: '取放货' }
                                    ]}
                                />
                            </div>

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -11,6 +11,7 @@
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.LocStsType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
@@ -382,6 +383,50 @@
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 4) {//取放货
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值，进行归零且Y方向+1
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            //搜索有货库位
            List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocSts, LocStsType.F.val())
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getStatus, 1));
            if (list.isEmpty()) {
                return;
            }

            Loc start = list.get(0);

            Integer yCurrent = shuttleProtocol.getYCurrent();
            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocNo, locNo)
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getStatus, 1));
            if (target == null) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

            if (target.getLocSts() != LocStsType.O.val()) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//小车和目标位置一致，跳过
            } else {
                Task task = shuttleDispatcher.generateManuaTakeMoveTask(device, start.getLocNo(), target.getLocNo());
                if(task != null) {//调度成功
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                }
            }
        }
    }


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java

@@ -38,6 +38,8 @@

    Task selectMoveWorking(Integer shuttleNo);

    Task selectManualWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    List<Task> selectWorkingByLift(Integer liftNo);

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java

@@ -36,6 +36,8 @@

    Task selectMoveWorking(Integer shuttleNo);

    Task selectManualWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    List<Task> selectWorkingByLift(Integer liftNo);

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java

@@ -117,6 +117,11 @@
    }

    @Override
    public Task selectManualWorking(Integer shuttleNo) {
        return this.baseMapper.selectManualWorking(shuttleNo);
    }

    @Override
    public List<Task> selectWorkingByShuttle(Integer shuttleNo) {
        return this.baseMapper.selectWorkingByShuttle(shuttleNo);
    }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java

@@ -70,6 +70,7 @@
                locService.updateById(destLoc);
            }
        } else if (task.getRecordLoc().equals("record-dest")) {//只记录目标库位信息
            //目标库位 => 在库
            Loc destLoc = locService.selectByLocNo(task.getDestLoc());
            if (destLoc != null) {
                destLoc.setLocSts(LocStsType.F.val());

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.*;
@@ -198,6 +199,61 @@
        return task;
    }

    //生成手动取放货任务
    public synchronized Task generateManuaTakeMoveTask(Device device, String sourceLocNo, String locNo) {
        // 已有手动任务
        if (taskService.selectManualWorking(Integer.valueOf(device.getDeviceNo())) != null) {
            return null;
        }

        //获取手动任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MANUAL")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return null;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return null;
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
        task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(sourceLocNo);
        task.setDestSite(null);
        task.setDestLoc(locNo);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("manual");
        task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
        task.setRecordLoc("Y");//记录库存信息

        // generate motion list
        List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
        if (Cools.isEmpty(motionList)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
            return null;
        }
        motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());

        task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);

        if (!taskService.save(task)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
            return null;
        }

        return task;
    }

    /**
     * 搜索避让库位，通过小车号和目标库位
     */

 zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml

@@ -91,6 +91,13 @@
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectManualWorking" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (401,402,403)
        and shuttle_no = #{shuttleNo}
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectWorkingByShuttle" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (1,2,3,101,102,103,301,302,303,401,402,403)