From 34a7a5a6969d3000495d54081dbc99b02527a001 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 17 二月 2025 13:49:36 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 190 +++++++++++++++++++++++++++++++++--------------
1 files changed, 132 insertions(+), 58 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..6660003 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
@@ -156,6 +152,9 @@
//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())) {
@@ -171,7 +170,7 @@
dto.setLev(Utils.getLev(task.getDestLoc()));
dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
-// dto.setSync();//寮傛鎵ц
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -197,7 +196,7 @@
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());
@@ -207,8 +206,9 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
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�
@@ -237,6 +237,7 @@
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
}))
));
@@ -254,12 +255,12 @@
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));
}))
));
@@ -354,6 +355,15 @@
}))
));
+ // 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 +373,7 @@
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());
@@ -374,7 +384,7 @@
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 +478,11 @@
//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>()
@@ -485,6 +498,12 @@
.eq(BasConveyorPath::getTypeNo, taskCtg.getId()));
if (basConveyorPath == null) {
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�
}
/**
@@ -517,18 +536,34 @@
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.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.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 +573,21 @@
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.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 +602,8 @@
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
@@ -602,12 +638,12 @@
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));
}))
));
@@ -702,6 +738,15 @@
}))
));
+ // 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 -> {
@@ -725,18 +770,34 @@
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.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.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 +807,21 @@
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.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 +835,9 @@
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
@@ -1156,6 +1218,9 @@
//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(
@@ -1171,12 +1236,12 @@
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));
}))
));
@@ -1267,6 +1332,15 @@
null
, MotionDto.build((dto -> {
dto.setLiftNo(liftDevice.getId().intValue());
+ }))
+ ));
+
+ // 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));
}))
));
@@ -1399,7 +1473,7 @@
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());
@@ -1409,7 +1483,7 @@
dto.setShuttleNo(device.getId().intValue());
dto.setLocNo(targetLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
//鎵樼洏涓嬮檷
--
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