#

zjj

2024-06-21 86c03a7e96cab90ab36dfc199c7127aead381466

#

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

@@ -278,7 +278,12 @@
                        key: '13',
                        label: '自动',
                        children: item.mode ? 'Y' : 'N',
                    }
                    },
                    {
                        key: '14',
                        label: '库位号',
                        children: item.currentLocNo,
                    },
                ];
                return <div key={item.id} style={{ width: '45%' }}>
                    <div style={{ marginBottom: '10px' }}>

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

@@ -63,8 +63,6 @@
    public List<Motion> generateFirstZoneMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();

        String shuttleNo = null;
        String liftNo = null;
        /**
         * 入库
         * 一、入库目标层有穿梭车
@@ -111,7 +109,7 @@
            }

            //检测穿梭车是否有任务绑定
            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice);
            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
            if (shuttleResult) {
                //存在任务，禁止解析
                return motionList;
@@ -151,161 +149,112 @@
            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

            // shuttle
//            ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
//            ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, 1);
//            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

//            // conveyor
//            DevpSlave devpSlave = conveyorDispatcher.queryByInBound(task.getSourceStaNo());
//            DevpSlave.Sta slaveInSta = devpSlave.queryInSta(wrkMast.getSourceStaNo());

//            //检测穿梭车是否有任务绑定
//            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
//            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(liftSlave.getId());
//            if (liftResult) {
//                //存在任务，禁止解析
//                return motionList;
//            }

//            //穿梭车到提升机库位号
//            String liftLocNoTo = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo), task.getHostId());
//
//            //穿梭车出提升机库位号
//            String liftLocNoFrom = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()), task.getHostId());
//
//            //穿梭车到提升机待机位库位号
//            String standbyLocNoTo = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo));
//
//            //穿梭车出提升机待机位库位号
//            String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()));

            // 入库目标层有穿梭车
            if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {

                // 穿梭车走行至库位
                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(0);//提升机内侧
                        }))
                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
                            dto.setLocNo(task.getDestLoc());
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

//                // 提升机空载移动
//                motionList.addAll(kernelService.liftMove(
//                        null
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
////                            dto.setLev(slaveInSta.getLiftLev());
//                            dto.setLev(1);
//                        }))
//                ));
//
//                // 输送线入库至提升机口
//                motionList.addAll(kernelService.conveyorInbound(
//                        MotionDto.build((dto -> {
////                            dto.setDevpNo(devpSlave.getId());
//                            dto.setDevpNo(1);
//                            dto.setStaNo(Integer.valueOf(task.getOriginSite()));
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
////                            dto.setLev(slaveInSta.getLiftLev());
//                            dto.setLev(1);
//                        })),
//                        MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
//                ));
//
//                // 目标库位是否与输送线入库站属于同一层
//                if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
//                    // 提升机载货移动
//                    motionList.addAll(kernelService.liftMoveGoods(
//                            MotionDto.build((dto -> {
//                                dto.setLiftNo(liftSlave.getId());
//                                dto.setLev(slaveInSta.getLiftLev());
//                            }))
//                            , MotionDto.build((dto -> {
//                                dto.setLiftNo(liftSlave.getId());
//                                dto.setLev(Utils.getLev(wrkMast.getLocNo()));
//                            }))
//                    ));
//                }
//
//                // 穿梭车走行至提升机库位待机位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(shuttleLocNo);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(standbyLocNoTo);
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE
//                ));
//
//                // 提升机移动至小车楼层
//                motionList.addAll(kernelService.liftMove(
//                        null
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLev(Utils.getLev(shuttleLocNo));
//                        }))
//                ));
//
//                // 穿梭车待机位至提升机库位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoTo);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(liftLocNoTo);
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
//                ));
//
//                // 穿梭车入库顶升并移动至提升机待机位
//                motionList.addAll(kernelService.shuttleTransport(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(liftLocNoFrom);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoFrom);
//                        })),
//                        MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
//                ));
//
//                // 穿梭车走行至提升机库位待机位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoFrom);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(wrkMast.getLocNo());
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
//                ));
                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车入库移动至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车入库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            /**
             * 二、入库目标层没有穿梭车
@@ -317,161 +266,229 @@
             * 6.穿梭车入库至目标库位
             */
            } else {
//
//                // 穿梭车走行至提升机库位待机位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(shuttleLocNo);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(standbyLocNoTo);
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE
//                ));
//
//                // 提升机空载移动到穿梭车层
//                motionList.addAll(kernelService.liftMove(
//                        null
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLev(Utils.getLev(shuttleLocNo));
//                        }))
//                ));
//
//                // 穿梭车待机位至提升机库位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoTo);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(liftLocNoTo);
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
//                ));
//
//                // 提升机搬车 至 输送线层
//                motionList.addAll(kernelService.liftMoveShuttle(
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLev(Utils.getLev(shuttleLocNo));
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLev(slaveInSta.getLiftLev());
//                        }))
//                ));
//
//                // 输送线入库至提升机口
//                motionList.addAll(kernelService.conveyorInbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(devpSlave.getId());
//                            dto.setStaNo(wrkMast.getSourceStaNo());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLev(slaveInSta.getLiftLev());
//                        })),
//                        MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
//                ));
//
//                // 目标库位是否与输送线入库站属于同一层
//                if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
//                    // 提升机载货移动
//                    motionList.addAll(kernelService.liftMoveGoodsAndShuttle(
//                            MotionDto.build((dto -> {
//                                dto.setLiftNo(liftSlave.getId());
//                                dto.setLev(slaveInSta.getLiftLev());
//                            }))
//                            , MotionDto.build((dto -> {
//                                dto.setLiftNo(liftSlave.getId());
//                                dto.setLev(Utils.getLev(wrkMast.getLocNo()));
//                            }))
//                    ));
//                }
//
//                // 穿梭车入库顶升并移动至提升机待机位
//                motionList.addAll(kernelService.shuttleTransport(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(liftLocNoFrom);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoFrom);
//                        })),
//                        MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
//                ));
//
//                // 穿梭车待机位至入库库位
//                motionList.addAll(kernelService.shuttleMove(
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLocNo(standbyLocNoFrom);
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                            dto.setLiftNo(liftSlave.getId());
//                            dto.setLocNo(wrkMast.getLocNo());
//                        })),
//                        MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
//                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 提升机空载移动到穿梭车层
                motionList.addAll(kernelService.liftMove(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(0);//提升机内侧
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
                        , MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        }))
                ));

                // 穿梭车入库移动至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车入库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            }

            shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
//            liftNo = String.valueOf(liftProtocol.getLiftNo());
        }

        /**
         * 出库
         */
        if (task.getTaskSts() == TaskStsType.NEW_OUTBOUND.sts) {
//            // lift
//            LiftProtocol liftProtocol = liftDispatcher.queryLiftForTransport(wrkMast.getStaNo());
//            LiftSlave liftSlave = liftProtocol.querySlave();
//
//            // shuttle
//            ShuttleProtocol shuttleProtocol = shuttleDispatcher.queryShuttleWhichConvenient(wrkMast, liftProtocol.getLiftNo().intValue());
//            if (Cools.isEmpty(shuttleProtocol)) { return motionList; }
//            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
//
//            // conveyor
//            DevpSlave devpSlave = conveyorDispatcher.queryByOutBound(wrkMast.getSourceStaNo());
//            DevpSlave.Sta slaveOutSta = devpSlave.queryOutSta(wrkMast.getSourceStaNo());
//
//            //检测穿梭车是否有任务绑定
//            boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
//            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(liftSlave.getId());
//            if (liftResult) {
//                //存在任务，禁止解析
//                return motionList;
//            }
//
//            //穿梭车到提升机库位号
//            String liftLocNoTo = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
//
//            //穿梭车出提升机库位号
//            String liftLocNoFrom = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
//
//            //穿梭车到提升机待机位库位号
//            String standbyLocNoTo = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
//
//            //穿梭车出提升机待机位库位号
//            String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
//
            // locNo
            String originLoc = task.getOriginLoc();

            // shuttle
            Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceNo, task.getShuttleNo())
                    .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                    .eq(Device::getHostId, task.getHostId())
                    .eq(Device::getStatus, 1));
            if (shuttleDevice == null) {
                return motionList;
            }
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                return motionList;
            }
            if (!shuttleThread.isIdle()) {
                return motionList;
            }

            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

            //获取距离目标位置最近的空闲可换层提升机
            LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
            if (liftThread == null) {
                return motionList;
            }
            Device transferLiftDevice = liftThread.getDevice();

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
                return motionList;
            }

            //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;
            }

            //获取小车待机库位 ==> 进提升机
            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
                    .eq(ShuttleStandby::getStatus, 1));

            //获取小车待机库位 ==> 出提升机
            ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(originLoc))
                    .eq(ShuttleStandby::getStatus, 1));
            if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
                return motionList;
            }

            //穿梭车进提升机库位号
            String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

            //穿梭车出提升机库位号
            String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

            //穿梭车进提升机待机位库位号
            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

//            /**
//             * 出库
//             * 一、出库起始层有穿梭车
@@ -766,10 +783,6 @@
//            liftNo = String.valueOf(liftProtocol.getLiftNo());
        }

        assert !Cools.isEmpty(shuttleNo);
//        task.setShuttleNo(Integer.parseInt(shuttleNo));
//        task.setLiftNo(Integer.parseInt(liftNo));

        return motionList;
    }

@@ -819,7 +832,7 @@
        }

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

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

@@ -308,6 +308,34 @@
        return motionList;
    }

    /**
     * 穿梭车动作
     */
    public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
        List<Motion> motionList = new ArrayList<>();

        motionList.add(Motion.build(motion -> {
            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
            motion.setDevice(String.valueOf(target.getShuttleNo()));

            motion.setMotionCtg(motionCtgType.val());

            switch (motionCtgType) {
                case SHUTTLE_PALLET_LIFT://托盘顶升

                    break;
                case SHUTTLE_PALLET_DOWN://托盘下降

                    break;
                default:
                    break;
            }

        }));

        return motionList;
    }

    public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
        List<Motion> motionList = new ArrayList<>();


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

@@ -196,11 +196,11 @@
                    return false;
                }

//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                    return false;
//                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

                if (!liftProtocol.getHasTray()) {
                    return false;
                }

@@ -230,6 +230,10 @@
                    return false;
                }

                if (!liftProtocol.getHasTray()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

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

@@ -391,6 +391,16 @@
                break;
            case SHUTTLE_UPDATE_LOCATION://小车坐标更新
                break;
            case SHUTTLE_PALLET_LIFT://托盘顶升
                if (!shuttleProtocol.getHasLift()) {
                    return false;
                }
                break;
            case SHUTTLE_PALLET_DOWN://托盘下降
                if (shuttleProtocol.getHasLift()) {
                    return false;
                }
                break;
            default:
                break;
        }

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

@@ -42,7 +42,7 @@

    Task selectManualWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);
    List<Task> selectWorkingByShuttle(Integer shuttleNo, String taskNo);

    List<Task> selectWorkingByLift(Integer liftNo);


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

@@ -40,7 +40,7 @@

    Task selectManualWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);
    List<Task> selectWorkingByShuttle(Integer shuttleNo, String taskNo);

    List<Task> selectWorkingByLift(Integer liftNo);


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

@@ -127,8 +127,8 @@
    }

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

    @Override

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

@@ -161,7 +161,7 @@
            }

            // 挂载任务权重
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
            if (!Cools.isEmpty(tasks)) {
                currDistance += tasks.size() * WEIGHT;
            }

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

@@ -186,9 +186,9 @@
    /**
     * 检测穿梭车是否有任务绑定
     */
    public static boolean checkShuttleHasBinding(Device device) {
    public static boolean checkShuttleHasBinding(Device device, String taskNo) {
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()));
        List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()), taskNo);
        if (tasks.isEmpty()) {
            return false;//无任务绑定
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java

@@ -92,8 +92,13 @@
                //----------读取提升机状态-----------
                //模式
                liftProtocol.setModel(true);

                boolean runningState = data.getInteger("runningState") == 1;
                if (data.getInteger("completeTaskNo") != data.getInteger("taskNo")) {
                    runningState = true;//工作号不一致，认为处于运行中
                }
                //运行状态
                liftProtocol.setRun(data.getInteger("runningState") == 1);
                liftProtocol.setRun(runningState);
                //就绪状态
                liftProtocol.setReady(data.getInteger("readyState") == 1);
                //有托盘

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

@@ -67,14 +67,13 @@
    </select>

    <select id="selectWaitAnalyzeInBoundTask" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task where task_ctg = 1 and task_sts = 1
        select * from wcs_task where task_sts = 1
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectPakOut" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts=101
        and (task_ctg=101 or task_ctg=110)
        order by priority desc,start_time,task_no asc
    </select>

@@ -107,7 +106,10 @@
    <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)
          and shuttle_no = #{shuttleNo}
        and shuttle_no = #{shuttleNo}
        <if test="taskNo!=null">
            and task_no != #{taskNo}
        </if>
        order by priority desc,start_time,task_no asc
    </select>