From 16f5e8d67c29b726bf07e790da3214d72eb0e053 Mon Sep 17 00:00:00 2001
From: gtsxc <3272660260@qq.com>
Date: 星期五, 28 二月 2025 08:26:23 +0800
Subject: [PATCH] #搜索空闲小车地图改为DFX，增加车辆有没有被任务绑定判断
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 614 +++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 526 insertions(+), 88 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 d81b555..72c684e 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
@@ -1,17 +1,14 @@
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.enums.DeviceCtgType;
-import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
-import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
-import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+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.ConveyorDispatcher;
-import com.zy.asrs.wcs.core.utils.LiftDispatcher;
-import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
-import com.zy.asrs.wcs.core.utils.Utils;
+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;
@@ -26,7 +23,6 @@
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
-import java.util.Map;
/**
* 1.鍏呯數浠诲姟锛�2.搴撲綅绉昏浆锛�3.灏忚溅杩佺Щ锛�4.鎵嬪姩浠诲姟
@@ -105,8 +101,8 @@
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
- //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
- LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑鍙崲灞傛彁鍗囨満(鍙兘涓嶇┖闂�)
+ LiftThread liftThread = liftDispatcher.searchLift(shuttleLocNo, task.getHostId(), true);
if (liftThread == null) {
return motionList;
}
@@ -156,24 +152,27 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = shuttleStandbyFrom.getLockPath$();
+
// 鍏ュ簱鐩爣灞傛湁绌挎杞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
- // 鎻愬崌鏈鸿浇璐хЩ鍔�
- motionList.addAll(kernelService.liftMoveGoods(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
- dto.setStaNo(31004);//鍏ュ簱绔欑偣
- }))
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
- dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
-// dto.setSync();//寮傛鎵ц
- }))
- ));
+// // 鎻愬崌鏈鸿浇璐хЩ鍔�
+// motionList.addAll(kernelService.liftMoveGoods(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(transferLiftDevice.getId().intValue());
+// dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+// dto.setStaNo(31004);//鍏ュ簱绔欑偣
+// }))
+// , MotionDto.build((dto -> {
+// dto.setLiftNo(transferLiftDevice.getId().intValue());
+// dto.setLev(Utils.getLev(task.getDestLoc()));
+// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
+// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+// }))
+// ));
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -183,6 +182,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -197,7 +197,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -205,10 +205,12 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
+// dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀叆搴撴墭鐩樹笅闄�
@@ -225,20 +227,21 @@
*/
} else {
- // 鎻愬崌鏈鸿浇璐хЩ鍔�
- motionList.addAll(kernelService.liftMoveGoods(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
- dto.setStaNo(31004);//鍏ュ簱绔欑偣
- }))
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
- dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
- }))
- ));
+// // 鎻愬崌鏈鸿浇璐хЩ鍔�
+// motionList.addAll(kernelService.liftMoveGoods(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(transferLiftDevice.getId().intValue());
+// dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+// dto.setStaNo(31004);//鍏ュ簱绔欑偣
+// }))
+// , MotionDto.build((dto -> {
+// dto.setLiftNo(transferLiftDevice.getId().intValue());
+// dto.setLev(Utils.getLev(task.getDestLoc()));
+// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
+// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+// }))
+// ));
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -248,18 +251,19 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
));
- // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ // 閿佸畾鎹㈠眰璺緞
motionList.addAll(kernelService.mapLockPath(
null,
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(JSON.toJSONString(lockPath));
}))
));
@@ -288,6 +292,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -340,6 +345,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -354,6 +360,15 @@
}))
));
+ // 瑙ｉ攣鎹㈠眰璺緞
+ motionList.addAll(kernelService.mapUnlockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(JSON.toJSONString(lockPath));
+ }))
+ ));
+
// 绌挎杞﹀叆搴撻《鍗�
motionList.addAll(kernelService.shuttleAction(
null,
@@ -363,7 +378,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -371,10 +386,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀叆搴撴墭鐩樹笅闄�
@@ -468,8 +484,11 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
- //绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
- String shuttleFromLiftStandbyLoc = shuttleStandbyFrom.getStandbyLoc();
+ //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
+ String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
+
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = shuttleStandbyFrom.getLockPath$();
//鑾峰彇鍑哄簱浠诲姟绫诲瀷
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
@@ -487,6 +506,12 @@
return motionList;
}
+ //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+ String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
+ if (lastPathStartLoc == null) {
+ return motionList;//鏈垎鏋愭垚鍔�
+ }
+
/**
* 鍑哄簱
*/
@@ -502,6 +527,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(originLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -517,18 +543,36 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ if (!originLoc.equals(lastPathStartLoc)) {
+ // 绌挎杞﹁浇璐у嚭搴撹嚦鏈�鍚庝竴娈佃矾寰勭瓑寰�
+ 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
+ ));
+ }
+
+ // 绌挎杞﹁浇璐ц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);
+ 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())));//杈撻�佺珯
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -538,6 +582,22 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
})),
MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(standbyLocs);
+ dto.setSync(0);//寮傛鎵ц
+ dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
+ })),
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
@@ -552,22 +612,8 @@
dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
dto.setStaNo(31001);//鍑哄簱绔欑偣
dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
- dto.setSync(0);//寮傛鎵ц
dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
- ));
-
- // 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
));
// 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
@@ -596,18 +642,19 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
));
- // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ // 閿佸畾鎹㈠眰璺緞
motionList.addAll(kernelService.mapLockPath(
null,
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(JSON.toJSONString(lockPath));
}))
));
@@ -636,6 +683,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -688,6 +736,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -702,6 +751,15 @@
}))
));
+ // 瑙ｉ攣鎹㈠眰璺緞
+ motionList.addAll(kernelService.mapUnlockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(JSON.toJSONString(lockPath));
+ }))
+ ));
+
// 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 -> {
@@ -711,6 +769,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(originLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -725,18 +784,36 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ if (!originLoc.equals(lastPathStartLoc)) {
+ // 绌挎杞﹁浇璐у嚭搴撹嚦鏈�鍚庝竴娈佃矾寰勭瓑寰�
+ 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
+ ));
+ }
+
+ // 绌挎杞﹁浇璐ц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);
+ 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())));//杈撻�佺珯
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -746,6 +823,22 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
})),
MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(standbyLocs);
+ dto.setSync(0);//寮傛鎵ц
+ dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
+ })),
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
@@ -759,23 +852,9 @@
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
dto.setStaNo(31001);//鍑哄簱绔欑偣
- dto.setSync(0);//寮傛鎵ц
dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
- ));
-
- // 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
));
// 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
@@ -888,6 +967,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -903,6 +983,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -933,6 +1014,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -985,6 +1067,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1006,6 +1089,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1074,6 +1158,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1128,6 +1213,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1156,6 +1242,9 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = liftDispatcher.getLockPathByLocNo(liftThread, Utils.getLev(task.getDestLoc()));
+
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -1165,18 +1254,19 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
));
- // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ // 閿佸畾鎹㈠眰璺緞
motionList.addAll(kernelService.mapLockPath(
null,
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(JSON.toJSONString(lockPath));
}))
));
@@ -1205,6 +1295,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -1257,6 +1348,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1270,6 +1362,15 @@
}))
));
+ // 瑙ｉ攣鎹㈠眰璺緞
+ motionList.addAll(kernelService.mapUnlockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(JSON.toJSONString(lockPath));
+ }))
+ ));
+
// 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鐩爣浣嶇疆
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
@@ -1279,6 +1380,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1334,6 +1436,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(targetLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1386,6 +1489,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(sourceLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1399,7 +1503,7 @@
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
}));
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
@@ -1407,9 +1511,10 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(targetLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
//鎵樼洏涓嬮檷
@@ -1500,4 +1605,337 @@
return motionList;
}
+ /**
+ * 鐢熸垚灏忚溅杞借揣杩佺Щ鍔ㄤ綔
+ */
+ public List<Motion> generateShuttleLadenMoveMotion(Task task) {
+ List<Motion> motionList = new ArrayList<>();
+ if (task.getTaskSts() != TaskStsType.NEW_LADEN_MOVE.sts) {
+ return motionList;
+ }
+ //originLoc 婧愬簱浣�
+ String originLoc = task.getOriginLoc();
+ // locNo 鐩爣搴撲綅
+ String locNo = task.getDestLoc();
+
+ // 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();
+
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
+ 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;
+ }
+
+ //妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
+ boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
+ if (shuttleResult) {
+ //瀛樺湪浠诲姟锛岀姝㈣В鏋�
+ return motionList;
+ }
+
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 杩涙彁鍗囨満
+ ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
+ .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
+ .eq(ShuttleStandby::getStatus, 1));
+
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鍑烘彁鍗囨満
+ 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;
+ }
+
+ //绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
+
+ //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();
+
+ //绌挎杞﹁繘鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+ String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
+
+ //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+ String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
+
+ //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
+ String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
+
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = shuttleStandbyFrom.getLockPath$();
+
+ //鑾峰彇鍑哄簱浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return motionList;
+ }
+
+
+
+
+ /**
+ * 鍑哄簱
+ */
+ 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.setShuttleDevice(shuttleDevice);
+ 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﹁蛋琛岃嚦鐩爣搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
+ // 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
+ ));
+
+
+
+ /**
+ * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
+ */
+ } 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.setShuttleDevice(shuttleDevice);
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 閿佸畾鎹㈠眰璺緞
+ motionList.addAll(kernelService.mapLockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(JSON.toJSONString(lockPath));
+ }))
+ ));
+
+ // 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.setShuttleDevice(shuttleDevice);
+ 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.setShuttleDevice(shuttleDevice);
+ 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());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+ }))
+ ));
+
+ // 瑙ｉ攣鎹㈠眰璺緞
+ motionList.addAll(kernelService.mapUnlockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(JSON.toJSONString(lockPath));
+ }))
+ ));
+
+ // 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.setShuttleDevice(shuttleDevice);
+ 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﹁蛋琛岃嚦鐩爣搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
+ // 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
+ ));
+
+ }
+ return motionList;
+ }
}
--
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