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/KernelService.java | 32 +++++++++++++++++++++++++++-----
1 files changed, 27 insertions(+), 5 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 dd37a7e..386c3c6 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
@@ -1,11 +1,21 @@
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.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
+import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.entity.Motion;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
+import com.zy.asrs.wcs.core.utils.NavigateUtils;
+import com.zy.asrs.wcs.core.utils.Utils;
+import com.zy.asrs.wcs.rcs.News;
+import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -22,6 +32,10 @@
private MotionService motionService;
@Autowired
private LiftDispatcher liftDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private DeviceService deviceService;
// agv -----------------------------------------------------------------------------
@Deprecated
@@ -51,11 +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());
}
@@ -321,6 +335,14 @@
motion.setReleaseLift(target.getReleaseLift());
}
+ 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));
+ }
+
}));
return motionList;
--
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