From 80d97d40c44165674ee0168be5f08c8ca52d3c06 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 09 六月 2025 09:36:43 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/jxgtwcs' into jxgtwcs
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 33 +++++++++++++++++++++++++++++++++
1 files changed, 33 insertions(+), 0 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 1cb5283..2d75205 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
@@ -298,6 +312,13 @@
motion.setTemp(String.valueOf(origin.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
motion.setDockNo(String.valueOf(target.getStaNo()));
break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ motion.setDockNo(String.valueOf(target.getStaNo()));
+ break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ motion.setTarget(null);//绛夊緟鑷姩鎼滅储
+ motion.setTemp(target.getLocNo());//鍏ㄩ儴寰呮満浣�
+ break;
default:
break;
}
@@ -310,6 +331,18 @@
motion.setReleaseShuttle(target.getReleaseShuttle());
}
+ if (target.getReleaseLift() != null) {
+ 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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