From 89a94a91bd97e1e47fba93c762b4e53a5830b760 Mon Sep 17 00:00:00 2001
From: gtsxc <3272660260@qq.com>
Date: 星期一, 19 五月 2025 19:44:51 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 356 ++++++++++++++++++++++++++++-------------------------------
1 files changed, 168 insertions(+), 188 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 6fd54f3..e263be0 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
@@ -1,14 +1,11 @@
package com.zy.asrs.wcs.core.kernel;
-import com.alibaba.fastjson.JSON;
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;
@@ -146,8 +143,10 @@
//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�
+ //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();
@@ -253,19 +252,19 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ 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));
- }))
- ));
+// // 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
motionList.addAll(kernelService.liftMove(
@@ -288,7 +287,7 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -360,14 +359,14 @@
}))
));
- // 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));
- }))
- ));
+// // 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﹀叆搴撻《鍗�
motionList.addAll(kernelService.shuttleAction(
@@ -478,8 +477,11 @@
//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�
+ //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();
@@ -506,11 +508,11 @@
return motionList;
}
- //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
- String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
- if (lastPathStartLoc == null) {
- return motionList;//鏈垎鏋愭垚鍔�
- }
+// //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+// String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
+// if (lastPathStartLoc == null) {
+// return motionList;//鏈垎鏋愭垚鍔�
+// }
/**
* 鍑哄簱
@@ -543,27 +545,43 @@
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
- ));
- }
+// 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(standbyLocNoTo);
+// dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
+// })),
+// MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
+// ));
// 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);
+ dto.setLocNo(originLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -644,19 +662,19 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ 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));
- }))
- ));
+// // 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
motionList.addAll(kernelService.liftMove(
@@ -679,7 +697,7 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -751,14 +769,14 @@
}))
));
- // 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));
- }))
- ));
+// // 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(
@@ -784,27 +802,43 @@
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
- ));
- }
+// 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﹁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);
+ dto.setLocNo(originLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -950,6 +984,9 @@
//绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();
+ //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﹁繘鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
@@ -984,7 +1021,7 @@
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionCtgType.SHUTTLE_MOVE
));
@@ -1010,7 +1047,7 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1239,6 +1276,9 @@
//绌挎杞﹀埌鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));
+ //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 = liftDispatcher.getInLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));
+
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));
@@ -1256,19 +1296,19 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ 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));
- }))
- ));
+// // 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
motionList.addAll(kernelService.liftMove(
@@ -1291,7 +1331,7 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1359,17 +1399,18 @@
null
, MotionDto.build((dto -> {
dto.setLiftNo(liftDevice.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));
- }))
- ));
+// // 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鐩爣浣嶇疆
motionList.addAll(kernelService.shuttleMove(
@@ -1650,11 +1691,6 @@
return motionList;
}
- BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
- if (basConveyorStaOrigin == 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) {
@@ -1683,8 +1719,11 @@
//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�
+ //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();
@@ -1697,25 +1736,14 @@
//鑾峰彇鍑哄簱浠诲姟绫诲瀷
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
.eq(TaskCtg::getStatus, 1));
if (taskCtg == null) {
return motionList;
}
- //鑾峰彇杈撻�佺嚎璺緞
- BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
- .eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
- .eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
- .eq(BasConveyorPath::getTypeNo, taskCtg.getId()));
- if (basConveyorPath == null) {
- return motionList;
- }
- //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
- String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
- if (lastPathStartLoc == null) {
- return motionList;//鏈垎鏋愭垚鍔�
- }
+
+
/**
* 鍑哄簱
@@ -1748,50 +1776,18 @@
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(standbyLocNoTo);
-// dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
-// })),
-// MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
-// ));
-
// 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(lastPathStartLoc);
+ dto.setLocNo(originLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -1820,19 +1816,19 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ 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));
- }))
- ));
+// // 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
motionList.addAll(kernelService.liftMove(
@@ -1855,7 +1851,7 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1927,14 +1923,14 @@
}))
));
- // 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));
- }))
- ));
+// // 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(
@@ -1960,34 +1956,18 @@
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﹁蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(lastPathStartLoc);
+ dto.setLocNo(originLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
--
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