From 54b4f53323d0833cbac86fd18932c5fa5a5447a8 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 17 二月 2025 14:19:17 +0800
Subject: [PATCH] #移库任务
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 149 +++++++++++++++++++++++++++++++++++++++----------
1 files changed, 117 insertions(+), 32 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 22a654f..a04b0ba 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
@@ -101,8 +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;
}
@@ -158,21 +158,21 @@
// 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.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
+// // 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(
@@ -227,21 +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());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
+// // 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(
@@ -1605,4 +1605,89 @@
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();
+
+ 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());
+ if (shuttleThread == null) {
+ return motionList;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ return motionList;
+ }
+
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+
+ // 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
+ if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
+
+ if (!shuttleLocNo.equals(locNo)) {//灏忚溅涓嶅湪鐩爣搴撲綅
+ // 绌挎杞﹁蛋琛岃嚦婧愬簱浣�
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(originLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 绌挎杞﹂《鍗�
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
+ motion.setDevice(String.valueOf(shuttleDevice.getId()));
+ motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
+ }));
+
+ // 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.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ //绌挎杞︽墭鐩樹笅闄�
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
+ motion.setDevice(String.valueOf(shuttleDevice.getId()));
+ motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
+ }));
+
+ }
+
+ } else {
+ //灏忚溅璺ㄥ眰
+ }
+ return motionList;
+ }
}
--
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