From 86c03a7e96cab90ab36dfc199c7127aead381466 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期五, 21 六月 2024 19:53:56 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 28 ++
zy-asrs-flow/src/pages/device/shuttle/index.jsx | 7
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 607 +++++++++++++++++++++++++------------------------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java | 12
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java | 4
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java | 4
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java | 7
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 10
zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml | 8
12 files changed, 380 insertions(+), 313 deletions(-)
diff --git a/zy-asrs-flow/src/pages/device/shuttle/index.jsx b/zy-asrs-flow/src/pages/device/shuttle/index.jsx
index 1aebf64..418c98b 100644
--- a/zy-asrs-flow/src/pages/device/shuttle/index.jsx
+++ b/zy-asrs-flow/src/pages/device/shuttle/index.jsx
@@ -278,7 +278,12 @@
key: '13',
label: '鑷姩',
children: item.mode ? 'Y' : 'N',
- }
+ },
+ {
+ key: '14',
+ label: '搴撲綅鍙�',
+ children: item.currentLocNo,
+ },
];
return <div key={item.id} style={{ width: '45%' }}>
<div style={{ marginBottom: '10px' }}>
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 5791605..2e5d418 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
@@ -63,8 +63,6 @@
public List<Motion> generateFirstZoneMotion(Task task) {
List<Motion> motionList = new ArrayList<>();
- String shuttleNo = null;
- String liftNo = null;
/**
* 鍏ュ簱
* 涓�銆佸叆搴撶洰鏍囧眰鏈夌┛姊溅
@@ -111,7 +109,7 @@
}
//妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
- boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice);
+ boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
if (shuttleResult) {
//瀛樺湪浠诲姟锛岀姝㈣В鏋�
return motionList;
@@ -151,161 +149,112 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
- // shuttle
-// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
-// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, 1);
-// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
-
-// // conveyor
-// DevpSlave devpSlave = conveyorDispatcher.queryByInBound(task.getSourceStaNo());
-// DevpSlave.Sta slaveInSta = devpSlave.queryInSta(wrkMast.getSourceStaNo());
-
-// //妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
-// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
-// if (shuttleResult) {
-// //瀛樺湪浠诲姟锛岀姝㈣В鏋�
-// return motionList;
-// }
-//
-// //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
-// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
-// if (liftResult) {
-// //瀛樺湪浠诲姟锛岀姝㈣В鏋�
-// return motionList;
-// }
-
-// //绌挎杞﹀埌鎻愬崌鏈哄簱浣嶅彿
-// String liftLocNoTo = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo), task.getHostId());
-//
-// //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
-// String liftLocNoFrom = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()), task.getHostId());
-//
-// //绌挎杞﹀埌鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
-// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo));
-//
-// //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
-// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()));
-
// 鍏ュ簱鐩爣灞傛湁绌挎杞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
- // 绌挎杞﹁蛋琛岃嚦搴撲綅
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(5);//绱㈢墝椤圭洰5灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(1);//鎻愬崌鏈哄乏渚�
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getDestLoc()));
+ dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ }))
+ ));
+
+ // 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(Integer.valueOf(shuttleProtocol.getShuttleNo()));
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleLocNo);
})),
MotionDto.build((dto -> {
- dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
- dto.setLocNo(task.getDestLoc());
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
));
-// // 鎻愬崌鏈虹┖杞界Щ鍔�
-// motionList.addAll(kernelService.liftMove(
-// null
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
-//// dto.setLev(slaveInSta.getLiftLev());
-// dto.setLev(1);
-// }))
-// ));
-//
-// // 杈撻�佺嚎鍏ュ簱鑷虫彁鍗囨満鍙�
-// motionList.addAll(kernelService.conveyorInbound(
-// MotionDto.build((dto -> {
-//// dto.setDevpNo(devpSlave.getId());
-// dto.setDevpNo(1);
-// dto.setStaNo(Integer.valueOf(task.getOriginSite()));
-// })),
-// MotionDto.build((dto -> {
-// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
-//// dto.setLev(slaveInSta.getLiftLev());
-// dto.setLev(1);
-// })),
-// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
-// ));
-//
-// // 鐩爣搴撲綅鏄惁涓庤緭閫佺嚎鍏ュ簱绔欏睘浜庡悓涓�灞�
-// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// motionList.addAll(kernelService.liftMoveGoods(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveInSta.getLiftLev());
-// }))
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
-// }))
-// ));
-// }
-//
-// // 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(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(shuttleLocNo);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(standbyLocNoTo);
-// })),
-// MotionCtgType.SHUTTLE_MOVE
-// ));
-//
-// // 鎻愬崌鏈虹Щ鍔ㄨ嚦灏忚溅妤煎眰
-// motionList.addAll(kernelService.liftMove(
-// null
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(shuttleLocNo));
-// }))
-// ));
-//
-// // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満搴撲綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoTo);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(liftLocNoTo);
-// })),
-// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
-// ));
-//
-// // 绌挎杞﹀叆搴撻《鍗囧苟绉诲姩鑷虫彁鍗囨満寰呮満浣�
-// motionList.addAll(kernelService.shuttleTransport(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(liftLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
-// ));
-//
-// // 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(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(wrkMast.getLocNo());
-// })),
-// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
-// ));
+ // 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(standbyLocNoTo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ ));
+
+ // 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﹀叆搴撶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.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﹁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.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(destLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 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�
@@ -317,161 +266,229 @@
* 6.绌挎杞﹀叆搴撹嚦鐩爣搴撲綅
*/
} 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(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(shuttleLocNo);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// 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(liftSlave.getId());
-// dto.setLev(Utils.getLev(shuttleLocNo));
-// }))
-// ));
-//
-// // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満搴撲綅
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoTo);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(liftLocNoTo);
-// })),
-// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
-// ));
-//
-// // 鎻愬崌鏈烘惉杞� 鑷� 杈撻�佺嚎灞�
-// motionList.addAll(kernelService.liftMoveShuttle(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(shuttleLocNo));
-// })),
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveInSta.getLiftLev());
-// }))
-// ));
-//
-// // 杈撻�佺嚎鍏ュ簱鑷虫彁鍗囨満鍙�
-// motionList.addAll(kernelService.conveyorInbound(
-// MotionDto.build((dto -> {
-// dto.setDevpNo(devpSlave.getId());
-// dto.setStaNo(wrkMast.getSourceStaNo());
-// })),
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveInSta.getLiftLev());
-// })),
-// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
-// ));
-//
-// // 鐩爣搴撲綅鏄惁涓庤緭閫佺嚎鍏ュ簱绔欏睘浜庡悓涓�灞�
-// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// motionList.addAll(kernelService.liftMoveGoodsAndShuttle(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(slaveInSta.getLiftLev());
-// }))
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
-// }))
-// ));
-// }
-//
-// // 绌挎杞﹀叆搴撻《鍗囧苟绉诲姩鑷虫彁鍗囨満寰呮満浣�
-// motionList.addAll(kernelService.shuttleTransport(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(liftLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
-// ));
-//
-// // 绌挎杞﹀緟鏈轰綅鑷冲叆搴撳簱浣�
-// motionList.addAll(kernelService.shuttleMove(
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLocNo(standbyLocNoFrom);
-// })),
-// MotionDto.build((dto -> {
-// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
-// dto.setLiftNo(liftSlave.getId());
-// dto.setLocNo(wrkMast.getLocNo());
-// })),
-// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
-// ));
+
+ // 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.setLiftNo(transferLiftDevice.getId().intValue());
+ 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﹀緟鏈轰綅鑷虫彁鍗囨満
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ 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());
+ }))
+ ));
+
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(5);//绱㈢墝椤圭洰5灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(1);//鎻愬崌鏈哄乏渚�
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getDestLoc()));
+ dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 绌挎杞﹀叆搴撻《鍗�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_LIFT
+ ));
+
+ // 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﹀叆搴撶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.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﹁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.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(destLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 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
+ ));
}
- shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
-// liftNo = String.valueOf(liftProtocol.getLiftNo());
}
/**
* 鍑哄簱
*/
if (task.getTaskSts() == TaskStsType.NEW_OUTBOUND.sts) {
-// // lift
-// LiftProtocol liftProtocol = liftDispatcher.queryLiftForTransport(wrkMast.getStaNo());
-// LiftSlave liftSlave = liftProtocol.querySlave();
-//
-// // shuttle
-// ShuttleProtocol shuttleProtocol = shuttleDispatcher.queryShuttleWhichConvenient(wrkMast, liftProtocol.getLiftNo().intValue());
-// if (Cools.isEmpty(shuttleProtocol)) { return motionList; }
-// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
-//
-// // conveyor
-// DevpSlave devpSlave = conveyorDispatcher.queryByOutBound(wrkMast.getSourceStaNo());
-// DevpSlave.Sta slaveOutSta = devpSlave.queryOutSta(wrkMast.getSourceStaNo());
-//
-// //妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
-// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
-// if (shuttleResult) {
-// //瀛樺湪浠诲姟锛岀姝㈣В鏋�
-// return motionList;
-// }
-//
-// //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
-// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
-// if (liftResult) {
-// //瀛樺湪浠诲姟锛岀姝㈣В鏋�
-// return motionList;
-// }
-//
-// //绌挎杞﹀埌鎻愬崌鏈哄簱浣嶅彿
-// String liftLocNoTo = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
-//
-// //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
-// String liftLocNoFrom = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
-//
-// //绌挎杞﹀埌鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
-// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
-//
-// //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
-// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
-//
+ // locNo
+ String originLoc = task.getOriginLoc();
+
+ // shuttle
+ 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());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ return motionList;
+ }
+ if (!shuttleThread.isIdle()) {
+ return motionList;
+ }
+
+ 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;
+ }
+
+ //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
+ boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
+ if (liftResult) {
+ //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(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�
+ 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();
+
// /**
// * 鍑哄簱
// * 涓�銆佸嚭搴撹捣濮嬪眰鏈夌┛姊溅
@@ -766,10 +783,6 @@
// liftNo = String.valueOf(liftProtocol.getLiftNo());
}
- assert !Cools.isEmpty(shuttleNo);
-// task.setShuttleNo(Integer.parseInt(shuttleNo));
-// task.setLiftNo(Integer.parseInt(liftNo));
-
return motionList;
}
@@ -819,7 +832,7 @@
}
//妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
- boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice);
+ boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
if (shuttleResult) {
//瀛樺湪浠诲姟锛岀姝㈣В鏋�
return motionList;
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 8cad0eb..313e204 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
@@ -308,6 +308,34 @@
return motionList;
}
+ /**
+ * 绌挎杞﹀姩浣�
+ */
+ public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
+ motion.setDevice(String.valueOf(target.getShuttleNo()));
+
+ motion.setMotionCtg(motionCtgType.val());
+
+ switch (motionCtgType) {
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+
+ break;
+ default:
+ break;
+ }
+
+ }));
+
+ return motionList;
+ }
+
public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
List<Motion> motionList = new ArrayList<>();
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
index 371cf83..051ea35 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
@@ -196,11 +196,11 @@
return false;
}
-// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
-// return false;
-// }
-
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
+ return false;
+ }
+
+ if (!liftProtocol.getHasTray()) {
return false;
}
@@ -230,6 +230,10 @@
return false;
}
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
return false;
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index 9d49fb4..8f22f11 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -391,6 +391,16 @@
break;
case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
break;
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ if (!shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ if (shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
default:
break;
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
index 0601b8d..4943afc 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
@@ -42,7 +42,7 @@
Task selectManualWorking(Integer shuttleNo);
- List<Task> selectWorkingByShuttle(Integer shuttleNo);
+ List<Task> selectWorkingByShuttle(Integer shuttleNo, String taskNo);
List<Task> selectWorkingByLift(Integer liftNo);
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
index a39dbe7..5bc6821 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
@@ -40,7 +40,7 @@
Task selectManualWorking(Integer shuttleNo);
- List<Task> selectWorkingByShuttle(Integer shuttleNo);
+ List<Task> selectWorkingByShuttle(Integer shuttleNo, String taskNo);
List<Task> selectWorkingByLift(Integer liftNo);
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
index 9eeecf4..7aec3bf 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
@@ -127,8 +127,8 @@
}
@Override
- public List<Task> selectWorkingByShuttle(Integer shuttleNo) {
- return this.baseMapper.selectWorkingByShuttle(shuttleNo);
+ public List<Task> selectWorkingByShuttle(Integer shuttleNo, String taskNo) {
+ return this.baseMapper.selectWorkingByShuttle(shuttleNo, taskNo);
}
@Override
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
index 3f2c412..1ac081c 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -161,7 +161,7 @@
}
// 鎸傝浇浠诲姟鏉冮噸
- List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
+ List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
if (!Cools.isEmpty(tasks)) {
currDistance += tasks.size() * WEIGHT;
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java
index d03039a..7da2faa 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java
@@ -186,9 +186,9 @@
/**
* 妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
*/
- public static boolean checkShuttleHasBinding(Device device) {
+ public static boolean checkShuttleHasBinding(Device device, String taskNo) {
TaskService taskService = SpringUtils.getBean(TaskService.class);
- List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()));
+ List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()), taskNo);
if (tasks.isEmpty()) {
return false;//鏃犱换鍔＄粦瀹�
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
index ae8097c..b8849fd 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
@@ -92,8 +92,13 @@
//----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
//妯″紡
liftProtocol.setModel(true);
+
+ boolean runningState = data.getInteger("runningState") == 1;
+ if (data.getInteger("completeTaskNo") != data.getInteger("taskNo")) {
+ runningState = true;//宸ヤ綔鍙蜂笉涓�鑷达紝璁や负澶勪簬杩愯涓�
+ }
//杩愯鐘舵��
- liftProtocol.setRun(data.getInteger("runningState") == 1);
+ liftProtocol.setRun(runningState);
//灏辩华鐘舵��
liftProtocol.setReady(data.getInteger("readyState") == 1);
//鏈夋墭鐩�
diff --git a/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml b/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
index 40cd790..f3550fb 100644
--- a/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
+++ b/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
@@ -67,14 +67,13 @@
</select>
<select id="selectWaitAnalyzeInBoundTask" resultType="com.zy.asrs.wcs.core.entity.Task">
- select * from wcs_task where task_ctg = 1 and task_sts = 1
+ select * from wcs_task where task_sts = 1
order by priority desc,start_time,task_no asc
</select>
<select id="selectPakOut" resultType="com.zy.asrs.wcs.core.entity.Task">
select * from wcs_task
where task_sts=101
- and (task_ctg=101 or task_ctg=110)
order by priority desc,start_time,task_no asc
</select>
@@ -107,7 +106,10 @@
<select id="selectWorkingByShuttle" resultType="com.zy.asrs.wcs.core.entity.Task">
select * from wcs_task
where task_sts in (1,2,3,101,102,103,301,302,303,401,402,403)
- and shuttle_no = #{shuttleNo}
+ and shuttle_no = #{shuttleNo}
+ <if test="taskNo!=null">
+ and task_no != #{taskNo}
+ </if>
order by priority desc,start_time,task_no asc
</select>
--
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