From 4146cd7916dc94b2336e56267824ad14904435f2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 17 二月 2025 14:45:49 +0800
Subject: [PATCH] #移库任务
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 1444 +++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 989 insertions(+), 455 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..4901619 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
@@ -1,26 +1,19 @@
package com.zy.asrs.wcs.core.kernel;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
-import com.zy.asrs.wcs.core.entity.ShuttleStandby;
-import com.zy.asrs.wcs.core.entity.Task;
-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.TaskStsType;
-import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
-import com.zy.asrs.wcs.core.service.TaskService;
-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.entity.*;
+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.*;
+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.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
-import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
@@ -28,6 +21,7 @@
import org.springframework.stereotype.Service;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
/**
@@ -53,6 +47,23 @@
private DeviceService deviceService;
@Autowired
private ShuttleStandbyService shuttleStandbyService;
+ @Autowired
+ private BasConveyorPathService basConveyorPathService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
+ private TaskCtgService taskCtgService;
+
+ public Integer getStaByLev(Integer lev) {
+ HashMap<Integer, Integer> map = new HashMap<>();
+ map.put(1, 31006);
+ map.put(2, 31007);
+ map.put(3, 31008);
+
+ return map.get(lev);
+ }
public List<Motion> generateMotion(Task task) {
List<Motion> motionList = new ArrayList<>();
@@ -65,12 +76,6 @@
/**
* 鍏ュ簱
- * 涓�銆佸叆搴撶洰鏍囧眰鏈夌┛姊溅
- * 1.鎻愬崌鏈哄崌闄嶅埌婧愬眰
- * 2.璐х墿浠庤緭閫佺嚎鍒版彁鍗囨満
- * 3.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
- * 4.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈�
- * 5.绌挎杞﹀叆搴撹嚦鐩爣搴撲綅
*/
if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
// locNo
@@ -96,8 +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;
}
@@ -108,16 +113,14 @@
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�
+ BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
+ if (basConveyorStaDest == null) {
return motionList;
}
- //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
- boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- if (liftResult) {
+ //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;
}
@@ -149,22 +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(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�
- }))
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
- }))
- ));
+// // 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(
@@ -174,32 +182,10 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 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﹀叆搴撻《鍗�
@@ -211,29 +197,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹀叆搴撶Щ鍔ㄨ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﹁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());
@@ -241,10 +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�
@@ -258,14 +224,24 @@
/**
* 浜屻�佸叆搴撶洰鏍囧眰娌℃湁绌挎杞�
- * 1.鎻愬崌鏈哄崌闄嶅埌绌挎杞﹀眰
- * 2.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
- * 3.鎻愬崌鏈烘惉杩愮┛姊溅鑷崇洰鏍囧眰
- * 4.璐х墿浠庤緭閫佺嚎鍒版彁鍗囨満
- * 5.鎻愬崌鏈鸿浇杞︿笌璐хЩ鍔紙闈炲繀闇�锛�
- * 6.绌挎杞﹀叆搴撹嚦鐩爣搴撲綅
*/
} 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());
+// 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(
@@ -275,10 +251,20 @@
})),
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
@@ -306,6 +292,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -320,17 +307,15 @@
}))
));
- // 鎻愬崌鏈鸿浇璐хЩ鍔�
- motionList.addAll(kernelService.liftMoveGoods(
+ // 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(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�
- }))
- , MotionDto.build((dto -> {
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ })),
+ MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ dto.setLev(Utils.getLev(destLoc));
}))
));
@@ -339,6 +324,48 @@
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︾Щ鍔ㄨ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));
}))
));
@@ -351,38 +378,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 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﹀叆搴撶Щ鍔ㄨ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﹁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());
@@ -390,10 +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�
@@ -448,16 +445,14 @@
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�
+ BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
+ if (basConveyorStaOrigin == null) {
return motionList;
}
- //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
- boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- if (liftResult) {
+ //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;
}
@@ -489,298 +484,394 @@
//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(
+ //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.OUT))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return motionList;
+ }
+ //鑾峰彇杈撻�佺嚎璺緞
+ BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
+ .eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
+ .eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
+ .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�
+ }
+
+ /**
+ * 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
+ ));
+
+ 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(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_TRANSPORT_TO_CONVEYOR
+ ));
+
+ // 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︽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�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
+ }))
+ , 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(31001);//鍑哄簱绔欑偣
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+ }))
+ ));
+
+ // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+// motionList.addAll(kernelService.conveyorOutbound(
// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(wrkMast.getSourceLocNo());
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getDeviceStn());
// })),
// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(standbyLocNoTo);
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getStnNo());
// })),
-// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
+// MotionCtgType.CONVEYOR_OUTBOUND
// ));
-//
-// // 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()));
-// }))
+
+ /**
+ * 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
+ ));
+
+ 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(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_TRANSPORT_TO_CONVEYOR
+ ));
+
+ // 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︽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�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
+ }))
+ , 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(31001);//鍑哄簱绔欑偣
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+ }))
+ ));
+
+ // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+// motionList.addAll(kernelService.conveyorOutbound(
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getDeviceStn());
+// })),
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getStnNo());
+// })),
+// MotionCtgType.CONVEYOR_OUTBOUND
// ));
-//
-// // 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());
+
+ }
+
}
return motionList;
@@ -838,13 +929,6 @@
return motionList;
}
- //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
- boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- if (liftResult) {
- //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())
@@ -883,6 +967,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -898,6 +983,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -928,6 +1014,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -980,6 +1067,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1001,21 +1089,21 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
));
- task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- taskService.updateById(task);
}
// 绌挎杞﹀紑濮嬪厖鐢�
- motionList.addAll(kernelService.shuttleCharge(
+ motionList.addAll(kernelService.shuttleAction(
null,
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- }))
+ })),
+ MotionCtgType.SHUTTLE_CHARGE_ON
));
return motionList;
@@ -1053,6 +1141,15 @@
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
+ // 绌挎杞﹀叧闂厖鐢�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_CHARGE_OFF
+ ));
+
// 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
@@ -1061,6 +1158,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1115,6 +1213,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1143,6 +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(
@@ -1152,10 +1254,20 @@
})),
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
@@ -1183,18 +1295,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
- // 鍚戞彁鍗囨満鍙戦�佸皬杞﹀凡鍒颁綅淇″彿
- motionList.addAll(kernelService.liftShuttleArrival(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(liftDevice.getId().intValue());
- }))
));
// 瑙ｉ攣鎻愬崌鏈�
@@ -1243,6 +1348,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1256,6 +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 -> {
@@ -1265,6 +1380,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1285,7 +1401,7 @@
String sourceLoc = task.getOriginLoc();//婧愬簱浣�
String targetLoc = task.getDestLoc();//浠诲姟鐩爣(鍊熺敤瀛楁)
- String targetSite = task.getDestSite();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
+ String targetSite = task.getMemo();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
.eq(Device::getDeviceNo, task.getShuttleNo())
@@ -1320,6 +1436,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(targetLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1372,6 +1489,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(sourceLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1385,7 +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());
@@ -1393,9 +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
@@ -1429,7 +1548,8 @@
return motionList;
}
- if (task.getDestSite().equals("move")) {
+ String destSite = task.getMemo();//浠诲姟鐩爣(鍊熺敤瀛楁)
+ if (destSite.equals("move")) {
//鎻愬崌鏈哄崌闄嶆ゼ灞�
// 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
@@ -1441,26 +1561,440 @@
}))
));
- } else if (task.getDestSite().equals("movePallet")) {
+ } else if (destSite.equals("movePallet")) {
//绉诲姩鎵樼洏
+ BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
+ BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
+ if(basConveyorStaOrigin == null || basConveyorStaDest == null) {
+ return motionList;
+ }
// 鎻愬崌鏈虹Щ鍔ㄦ墭鐩�
motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
dto.setLiftNo(device.getId().intValue());
- dto.setLev(Integer.parseInt(task.getOriginLoc()));
+ dto.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
dto.setStaNo(Integer.parseInt(task.getOriginSite()));
}))
, MotionDto.build((dto -> {
dto.setLiftNo(device.getId().intValue());
- dto.setLev(Integer.parseInt(task.getDestLoc()));
+ dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
dto.setStaNo(Integer.parseInt(task.getDestSite()));
}))
));
+ } else if (destSite.equals("lock")) {
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ }))
+ ));
+ } else if (destSite.equals("unlock")) {
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ }))
+ ));
}
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.OUT))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return motionList;
+ }
+ //鑾峰彇杈撻�佺嚎璺緞
+ BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
+ .eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
+ .eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
+ .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, locNo, shuttleDevice);
+ if (lastPathStartLoc == null) {
+ return motionList;//鏈垎鏋愭垚鍔�
+ }
+
+ /**
+ * 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
+ ));
+
+ 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(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_TRANSPORT_TO_CONVEYOR
+// ));
+
+ // 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(lastPathStartLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 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
+ ));
+
+ 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﹁蛋琛岃嚦鐩爣搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(lastPathStartLoc);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 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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