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

@@ -477,10 +477,9 @@
            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

            //穿梭车出提升机后小车待机位
            List<String> standbyLocs = shuttleStandbyFrom.getStandbyLoc$();//获取全部待机位
            //获取可用待机位
            String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
            //穿梭车出提升机后全部待机位
            String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//获取全部待机位


            //获取出库任务类型
            TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
@@ -635,7 +634,7 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setLocNo(standbyLocs);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));
@@ -904,9 +903,9 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleFromLiftStandbyLoc);
                            dto.setLocNo(standbyLocs);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                ));

                // 输送线运输至出库口

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

@@ -289,6 +289,10 @@
                    motion.setTemp(String.valueOf(origin.getLiftNo()));//保存提升机号
                    motion.setDockNo(String.valueOf(target.getStaNo()));
                    break;
                case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                    motion.setTarget(null);//等待自动搜索
                    motion.setTemp(target.getLocNo());//全部待机位
                    break;
                default:
                    break;
            }

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

@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.core.kernel.command;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
@@ -18,6 +19,7 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -58,6 +60,8 @@
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    // 计算
    public Boolean accept(Motion motion) {
@@ -70,7 +74,7 @@
        if (null == shuttleProtocol) {
            return false;
        }

        Device shuttleDevice = shuttleThread.getDevice();
        if (!shuttleThread.isIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
@@ -222,6 +226,21 @@
            case SHUTTLE_UPDATE_LOCATION://小车坐标更新
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
                shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;

                //获取全部待机位
                List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
                //获取可用待机位
                String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);

                //更新动作可用待机位
                motion.setTarget(shuttleFromLiftStandbyLoc);
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
@@ -396,6 +415,11 @@
                    return false;
                }
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }
                break;
            default:
                break;
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MapNodeType.java

New file
@@ -0,0 +1,49 @@
package com.zy.asrs.wcs.core.model.enums;

public enum MapNodeType {

    DISABLE(-1, "禁用"),
    NORMAL_PATH(0, "货位"),
    START_POINT(1, "起点"),
    TARGET_POINT(2, "终点"),
    MAIN_PATH(3, "母轨"),
    CONVEYOR(4, "输送站点"),
    CHARGE(5, "充电桩"),
    CONVEYOR_CAR_GO(6, "小车可走输送站点"),
    CAR(66, "小车"),
    LIFT(67, "提升机"),
    LOCK(-999, "锁定节点"),
    ;

    public Integer id;
    public String desc;

    MapNodeType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static MapNodeType get(Short id) {
        if (null == id) {
            return null;
        }
        for (MapNodeType type : MapNodeType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static MapNodeType get(MapNodeType type) {
        if (null == type) {
            return null;
        }
        for (MapNodeType type1 : MapNodeType.values()) {
            if (type1 == type) {
                return type1;
            }
        }
        return null;
    }
}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java

@@ -40,6 +40,7 @@
    SHUTTLE_MOVE_TO_LIFT(SHUTTLE),
    SHUTTLE_MOVE_FROM_CONVEYOR(SHUTTLE),
    SHUTTLE_MOVE_TO_CONVEYOR(SHUTTLE),
    SHUTTLE_MOVE_STANDBY(SHUTTLE),

    SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR(SHUTTLE),


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

@@ -4,8 +4,10 @@
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;


import java.util.ArrayList;
import java.util.List;
@@ -204,7 +206,13 @@
            return false;
        }
        // 如果结点的位置小于0，则不合法
        if (map[x][y] < 0) return false;
        if (map[x][y] < 0) {
            return false;
        }

        if (map[x][y] == MapNodeType.CAR.id) {//节点是小车
            return false;
        }
        NavigateNode navigateNode = new NavigateNode(x, y);
        if (is_exist(navigateNode)) {
            return false;

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

@@ -488,6 +488,25 @@

        return levCount < Integer.parseInt(dict.getValue());
    }
    //分析出库路径待机库位
    public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
        //计算路径并分解成两段动作
        List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
            return null;
        }
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
        if (data.size() <= 1) {
            return null;//两点之间只有一段路径
        }

        //取出倒数第二段路径
        ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2);
        NavigateNode startNode = navigateNodes.get(0);
        String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
        return lastPathStartLoc;
    }

}

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

@@ -650,6 +650,7 @@
            case SHUTTLE_PALLET_DOWN://托盘下降
            case SHUTTLE_CHARGE_ON://充电开
            case SHUTTLE_CHARGE_OFF://充电关
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                return deviceTaskNo;
            default:
                return taskNo;