From 0364142d852f4c50034527a93670f900eeedd995 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 21 六月 2024 20:15:55 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 682 ++++++++++++++++++++++++++++++++------------------------
1 files changed, 390 insertions(+), 292 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
index 2e5d418..13cf97a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -489,298 +489,396 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
-// /**
-// * 鍑哄簱
-// * 涓�銆佸嚭搴撹捣濮嬪眰鏈夌┛姊溅
-// * 1.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
-// * 2.鎻愬崌鏈哄埌鍑哄簱璧峰灞�
-// * 3.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
-// * 4.绌挎杞︾寮�鎻愬崌鏈�
-// * 5.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
-// * 6.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
-// */
-// if (Utils.getLev(shuttleLocNo) == Utils.getLev(wrkMast.getSourceLocNo())) {
-//
-// //绌挎杞︿笉鍦ㄥ嚭搴撳簱浣�
-// if (!shuttleLocNo.equals(wrkMast.getSourceLocNo())) {
-// // 绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(shuttleLocNo);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(wrkMast.getSourceLocNo());
-// })),
-// MotionCtgType.SHUTTLE_MOVE
-// ));
-// }
-//
-// // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
-// motionList.addAll(kernelService.shuttleTransport(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(wrkMast.getSourceLocNo());
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(standbyLocNoTo);
-// })),
-// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
-// ));
-//
-// // 鎻愬崌鏈虹┖杞界Щ鍔�
-// motionList.addAll(kernelService.liftMove(
-// null
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
-// }))
-// ));
-//
-// // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
-// motionList.addAll(kernelService.shuttleTransport(
-// 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_TRANSPORT_TO_LIFT
-// ));
-//
-// // 绌挎杞︾寮�鎻愬崌鏈� - 鍒版彁鍗囨満寰呮満浣�
-// motionList.addAll(kernelService.shuttleMove(
-// 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_MOVE_FROM_LIFT
-// ));
-//
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// // 鍑哄簱搴撲綅鏄惁涓庤緭閫佺嚎鍑哄簱绔欏睘浜庡悓涓�灞�
-// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
-// motionList.addAll(kernelService.liftMoveGoods(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
-// })),
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveOutSta.getLiftLev());
-// }))
-// ));
-// }
-//
-// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
-//
-// // 鎻愬崌鏈鸿繍杈撳埌杈撻�佺嚎
-// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveOutSta.getLiftLev());
-// })),
-// MotionDto.build((dto -> {
-// dto.setDevpNo(devpSlave.getId());
-// dto.setStaNo(neighborType.staNo);
-// }))
-// ));
-//
-// // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(
-// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
-// );
-// })),
-// MotionCtgType.SHUTTLE_MOVE
-// ));
-//
-// /**
-// * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
-// *
-// * 1.鎻愬崌鏈哄埌绌挎杞﹀眰
-// * 2.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈�
-// * 3.鎻愬崌鏈鸿浇杞﹁嚦鍑哄簱璧峰灞�
-// * 4.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
-// * 5.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
-// * 6.绌挎杞︾寮�鎻愬崌鏈�
-// * 7.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
-// * 8.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
-// *
-// */
-// } else {
-//
-// // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
-// 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
-// ));
-//
-// // 鎻愬崌鏈哄埌绌挎杞﹀眰
-// motionList.addAll(kernelService.liftMove(
-// null
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(shuttleLocNo));
-// }))
-// ));
-//
-// // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
-// 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
-// ));
-//
-// // 鎻愬崌鏈鸿浇杞﹁嚦鍑哄簱璧峰灞�
-// 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(Utils.getLev(wrkMast.getSourceLocNo()));
-// }))
-// ));
-//
-// // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
-// motionList.addAll(kernelService.shuttleMove(
-// 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_MOVE_FROM_LIFT
-// ));
-//
-// // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鍑哄簱搴撲綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(wrkMast.getSourceLocNo());
-// })),
-// MotionCtgType.SHUTTLE_MOVE
-// ));
-//
-// // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(wrkMast.getSourceLocNo());
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
-// ));
-//
-// // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鎻愬崌鏈�
-// motionList.addAll(kernelService.shuttleTransport(
-// 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(liftLocNoFrom);
-// })),
-// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
-// ));
-//
-// // 绌挎杞︾寮�鎻愬崌鏈�
-// motionList.addAll(kernelService.shuttleMove(
-// 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(
-// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
-// );
-// })),
-// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
-// ));
-//
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// // 鍑哄簱搴撲綅鏄惁涓庤緭閫佺嚎鍑哄簱绔欏睘浜庡悓涓�灞�
-// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
-// motionList.addAll(kernelService.liftMoveGoods(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
-// })),
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveOutSta.getLiftLev());
-// }))
-// ));
-// }
-//
-// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
-//
-// // 鎻愬崌鏈鸿繍杈撳埌杈撻�佺嚎
-// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveOutSta.getLiftLev());
-// })),
-// MotionDto.build((dto -> {
-// dto.setDevpNo(devpSlave.getId());
-// dto.setStaNo(neighborType.staNo);
-// }))
-// ));
-//
-// }
-//
-// shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
-// liftNo = String.valueOf(liftProtocol.getLiftNo());
+ //绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
+ String shuttleFromLiftStandbyLoc = shuttleStandbyFrom.getStandbyLoc();
+
+ /**
+ * 鍑哄簱
+ * 涓�銆佸嚭搴撹捣濮嬪眰鏈夌┛姊溅
+ * 1.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+ * 2.鎻愬崌鏈哄埌鍑哄簱璧峰灞�
+ * 3.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
+ * 4.绌挎杞︾寮�鎻愬崌鏈�
+ * 5.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
+ * 6.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+ */
+ if (Utils.getLev(shuttleLocNo) == Utils.getLev(originLoc)) {
+
+ //绌挎杞︿笉鍦ㄥ嚭搴撳簱浣�
+ if (!shuttleLocNo.equals(task.getOriginLoc())) {
+ // 绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+ }
+
+ // 绌挎杞﹀嚭搴撻《鍗�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_LIFT
+ ));
+
+ // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
+ motionList.addAll(kernelService.liftMove(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
+ 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
+ ));
+
+ // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+ // 绌挎杞︾寮�鎻愬崌鏈� - 鍒版彁鍗囨満寰呮満浣�
+ 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
+ ));
+
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(5);//绱㈢墝椤圭洰5灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(1);//鎻愬崌鏈哄乏渚�
+ }))
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleFromLiftStandbyLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ /**
+ * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
+ *
+ * 1.鎻愬崌鏈哄埌绌挎杞﹀眰
+ * 2.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈�
+ * 3.鎻愬崌鏈鸿浇杞﹁嚦鍑哄簱璧峰灞�
+ * 4.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+ * 5.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
+ * 6.绌挎杞︾寮�鎻愬崌鏈�
+ * 7.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
+ * 8.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+ *
+ */
+ } else {
+
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
+ 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
+ ));
+
+ // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
+ motionList.addAll(kernelService.liftMove(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
+ 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
+ ));
+
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
+ motionList.addAll(kernelService.liftMoveShuttle(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ })),
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(liftLocNoFrom));
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鏇存柊灏忚溅鍧愭爣
+ motionList.addAll(kernelService.shuttleUpdateLocation(
+ null
+ , MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(liftLocNoFrom);
+ }))
+ ));
+
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
+ 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
+ ));
+
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鍑哄簱搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 绌挎杞﹀嚭搴撻《鍗�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_LIFT
+ ));
+
+ // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
+ motionList.addAll(kernelService.liftMove(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
+ 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
+ ));
+
+ // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+ // 绌挎杞︾寮�鎻愬崌鏈� - 鍒版彁鍗囨満寰呮満浣�
+ 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
+ ));
+
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(5);//绱㈢墝椤圭洰5灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(1);//鎻愬崌鏈哄乏渚�
+ }))
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleFromLiftStandbyLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ }
+
}
return motionList;
--
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