From 50435a81915932eda06b7f1afd48f9ff1ae84f19 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期四, 10 四月 2025 17:50:28 +0800
Subject: [PATCH] 1
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 35 +++++++++++++++++++++--------------
1 files changed, 21 insertions(+), 14 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
index e4f74df..678014a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
@@ -65,11 +65,11 @@
motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());
- if (null != origin) {
- motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
- }
- motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
-
+// if (null != origin) {
+// motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
+// }
+// motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
+ motion.setTarget(target.getLev().toString());
if (target.getSync() != null) {
motion.setSync(target.getSync());
}
@@ -85,7 +85,7 @@
/**
* 鎻愬崌鏈鸿浇璐хЩ鍔�
*/
- public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target) {
+ public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target, MotionCtgType type) {
List<Motion> motionList = new ArrayList<>();
motionList.add(Motion.build(motion -> {
@@ -93,13 +93,18 @@
motion.setDevice(String.valueOf(target.getLiftNo()));
motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());
+ if (type != null) {
+ motion.setMotionCtg(type.val());
+ }
if (null != origin) {
- motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
- motion.setOriDrt(origin.getStaNo());//婧愮珯
+// motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
+// motion.setOriDrt(origin.getStaNo());//婧愮珯
+ motion.setOrigin(String.valueOf(origin.getStaNo()));
}
- motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
- motion.setTarDrt(target.getStaNo());//鐩爣绔�
+// motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
+// motion.setTarDrt(target.getStaNo());//鐩爣绔�
+ motion.setTarget(String.valueOf(target.getStaNo()));
if (target.getDevpNo() != null) {
motion.setDockNo(String.valueOf(target.getDevpNo()));//杈撻�佺嚎ID
@@ -335,11 +340,13 @@
motion.setReleaseLift(target.getReleaseLift());
}
- List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
- if (nodeList == null) {
- throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
+ if (motion.getOrigin() != null && motion.getTarget() != null) {
+ List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
+ if (nodeList == null) {
+ throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
+ }
+ motion.setMovePath(JSON.toJSONString(nodeList));
}
- motion.setMovePath(JSON.toJSONString(nodeList));
}));
--
Gitblit v1.9.1