From 664b83b2e10025a36b29ad086f68c66cb80e339c Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 02 四月 2025 10:29:20 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 687 +++-----------------------------------------------------
1 files changed, 43 insertions(+), 644 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 cc2ba2e..8542d54 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
@@ -4,11 +4,9 @@
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.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.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -125,250 +123,50 @@
return motionList;
}
- //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 杩涙彁鍗囨満
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鎻愬崌鏈�
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(destLoc))
- .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� 杈撻�佺嚎浣嶇疆
String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
//绌挎杞︽崲灞傛椂寰呮満浣嶇疆 浣跨敤琛ㄥ垪 memo鏁版嵁
String standbyLocNoMemo = shuttleStandbyTo.getMemo();
- //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.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(
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 绌挎杞﹀叆搴撻《鍗�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_LIFT
- ));
-
- // 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());
- dto.setLocNo(standbyLocNoFrom);
- })),
- 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_TRANSPORT
- ));
-
- // 绌挎杞﹀叆搴撴墭鐩樹笅闄�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_DOWN
- ));
-
- /**
- * 浜屻�佸叆搴撶洰鏍囧眰娌℃湁绌挎杞�
- */
- } 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(
- 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(standbyLocNoMemo);
- })),
- 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));
+ dto.setStaNo(Integer.parseInt(task.getOriginSite()));//鍏ュ簱绔欑偣
}))
- ));
-
- // 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(standbyLocNoMemo);
- })),
- 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(destLoc));
- }))
- ));
-
- // 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︾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.setLev(Utils.getLev(task.getDestLoc()));
+ dto.setStaNo(Integer.parseInt(task.getDestSite()));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().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,
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣�
+ motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(JSON.toJSONString(lockPath));
- }))
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
));
// 绌挎杞﹀叆搴撻《鍗�
@@ -380,17 +178,33 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦寰呮満搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
// 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());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(standbyLocNoTo);
})),
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_TRANSPORT
));
@@ -403,7 +217,6 @@
})),
MotionCtgType.SHUTTLE_PALLET_DOWN
));
-
}
}
@@ -465,35 +278,14 @@
.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� 杈撻�佺嚎浣嶇疆
String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
//绌挎杞︽崲灞傛椂寰呮満浣嶇疆 浣跨敤琛ㄥ垪 memo鏁版嵁
String standbyLocNoMemo = shuttleStandbyTo.getMemo();
-
- //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>()
@@ -580,245 +372,27 @@
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
-// ));
-
- /**
- * 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(standbyLocNoMemo);
- })),
- 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
+ // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌鍑哄簱灞�
motionList.addAll(kernelService.liftMove(
null
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
+ dto.setLev(Utils.getLev(originLoc));
}))
));
- // 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
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣�
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoMemo);
+ 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�
@@ -834,12 +408,12 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(liftLocNoTo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocs);
+ dto.setLocNo(standbyLocNoTo);
dto.setSync(0);//寮傛鎵ц
dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
@@ -851,29 +425,15 @@
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
+ dto.setStaNo(Integer.parseInt(task.getOriginSite()));//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.setStaNo(Integer.parseInt(task.getDestSite()));//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
-// ));
}
@@ -915,51 +475,12 @@
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(chargeLocNo))
- .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();
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鍏呯數灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
@@ -969,128 +490,6 @@
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(chargeLocNo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- } 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(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 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︽彁鍗囨満寰呮満浣嶈嚦鎻愬崌鏈�
- 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� 鍏呯數灞�
- 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(chargeLocNo));
- }))
- ));
-
- // 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︽彁鍗囨満鑷虫彁鍗囨満寰呮満浣�
- 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());
- }))
- ));
-
- // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鍏呯數浣�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1204,7 +603,7 @@
return motionList;
}
- String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+ String shuttleLocNo = task.getOriginLoc();
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
--
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