From 9c248839d8750db523fe6192101bfa085fe1305f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 26 三月 2024 16:20:23 +0800
Subject: [PATCH] Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 308 +++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 915 +++++++++++++++++++++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ConveyorDispatcher.java | 45 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/WorkZoneType.java | 34 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java | 7
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java | 45 +
zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml | 8
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java | 19
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java | 22
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCodeType.java | 79 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/BuildSupport.java | 7
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java | 5
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 176 +++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java | 49 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java | 21
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/dto/MotionDto.java | 40 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java | 21
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java | 5
18 files changed, 1,806 insertions(+), 0 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/BuildSupport.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/BuildSupport.java
new file mode 100644
index 0000000..bab5d00
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/BuildSupport.java
@@ -0,0 +1,7 @@
+package com.zy.asrs.wcs.core;
+
+public interface BuildSupport<T> {
+
+ void execute(T t);
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/dto/MotionDto.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/dto/MotionDto.java
new file mode 100644
index 0000000..03e3d94
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/dto/MotionDto.java
@@ -0,0 +1,40 @@
+package com.zy.asrs.wcs.core.domain.dto;
+
+import com.zy.asrs.wcs.core.BuildSupport;
+import lombok.Data;
+
+/**
+ * Created by vincent on 2023/10/16
+ */
+@Data
+public class MotionDto {
+
+ private Integer devpNo;
+
+ private Integer shuttleNo;
+
+ private Integer liftNo;
+
+ private String locNo;
+
+ private Integer row;
+
+ private Integer bay;
+
+ private Integer lev;
+
+ private Integer staNo;
+
+ private Boolean updateLiftNo;
+
+ protected Integer wrkNo;
+
+ public static MotionDto build(BuildSupport<MotionDto> support) {
+ MotionDto dto = new MotionDto();
+
+ support.execute(dto);
+
+ return dto;
+ }
+
+}
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
new file mode 100644
index 0000000..ae54ee7
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -0,0 +1,915 @@
+package com.zy.asrs.wcs.core.kernel;
+
+import com.zy.asrs.framework.common.Cools;
+import com.zy.asrs.wcs.core.domain.dto.MotionDto;
+import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
+import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
+import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.utils.LiftDispatcher;
+import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
+import com.zy.asrs.wcs.core.utils.Utils;
+import com.zy.asrs.wcs.rcs.entity.Motion;
+import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
+import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.service.MotionService;
+import com.zy.asrs.wcs.rcs.thread.LiftThread;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * todo:luxiaotao 1.鍏呯數浠诲姟锛�2.搴撲綅绉昏浆锛�3.灏忚溅杩佺Щ
+ * Created by vincent on 2023/10/11
+ */
+@Service
+public class AnalyzeService {
+
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private KernelService kernelService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
+// @Autowired
+// private ConveyorDispatcher conveyorDispatcher;
+
+ public List<Motion> generateMotion(Task task) {
+ List<Motion> motionList = new ArrayList<>();
+ switch (Objects.requireNonNull(WorkZoneType.query(task.getTaskSts() == TaskStsType.NEW_INBOUND.sts ? task.getOriginSite() : task.getDestSite()))) {
+ case FIRST_ZONE:
+ motionList = this.generateFirstZoneMotion(task);
+ break;
+ default:
+ }
+ return motionList;
+ }
+
+ 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
+ * 1.鎻愬崌鏈哄崌闄嶅埌婧愬眰
+ * 2.璐х墿浠庤緭閫佺嚎鍒版彁鍗囨満
+ * 3.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
+ * 4.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈�
+ * 5.绌挎杞﹀叆搴撹嚦鐩爣搴撲綅
+ */
+ if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
+ // lift
+ LiftThread liftThread = liftDispatcher.queryLiftForTransport(task.getOriginSite());
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return motionList;
+ }
+
+ // shuttle
+ ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
+ if (Cools.isEmpty(shuttleThread)) { return motionList; }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ 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.getOriginLoc())) {
+
+ // 绌挎杞﹁蛋琛岃嚦搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
+ dto.setLocNo(task.getDestLoc());
+ })),
+ 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
+// ));
+
+ /**
+ * 浜屻�佸叆搴撶洰鏍囧眰娌℃湁绌挎杞�
+ * 1.鎻愬崌鏈哄崌闄嶅埌绌挎杞﹀眰
+ * 2.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
+ * 3.鎻愬崌鏈烘惉杩愮┛姊溅鑷崇洰鏍囧眰
+ * 4.璐х墿浠庤緭閫佺嚎鍒版彁鍗囨満
+ * 5.鎻愬崌鏈鸿浇杞︿笌璐хЩ鍔紙闈炲繀闇�锛�
+ * 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
+// ));
+
+ }
+
+ 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()));
+//
+// /**
+// * 鍑哄簱
+// * 涓�銆佸嚭搴撹捣濮嬪眰鏈夌┛姊溅
+// * 1.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+// * 2.鎻愬崌鏈哄埌鍑哄簱璧峰灞�
+// * 3.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
+// * 4.绌挎杞︾寮�鎻愬崌鏈�
+// * 5.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
+// * 6.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+// */
+// if (Utils.getLev(shuttleLocNo) == Utils.getLev(wrkMast.getSourceLocNo())) {
+//
+// //绌挎杞︿笉鍦ㄥ嚭搴撳簱浣�
+// if (!shuttleLocNo.equals(wrkMast.getSourceLocNo())) {
+// // 绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+// motionList.addAll(kernelService.shuttleMove(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(shuttleLocNo);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(wrkMast.getSourceLocNo());
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+// }
+//
+// // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+// motionList.addAll(kernelService.shuttleTransport(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(wrkMast.getSourceLocNo());
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLocNo(standbyLocNoTo);
+// })),
+// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
+// ));
+//
+// // 鎻愬崌鏈虹┖杞界Щ鍔�
+// motionList.addAll(kernelService.liftMove(
+// null
+// , MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
+// }))
+// ));
+//
+// // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
+// motionList.addAll(kernelService.shuttleTransport(
+// 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_TRANSPORT_TO_LIFT
+// ));
+//
+// // 绌挎杞︾寮�鎻愬崌鏈� - 鍒版彁鍗囨満寰呮満浣�
+// motionList.addAll(kernelService.shuttleMove(
+// 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_MOVE_FROM_LIFT
+// ));
+//
+// // 鎻愬崌鏈鸿浇璐хЩ鍔�
+// // 鍑哄簱搴撲綅鏄惁涓庤緭閫佺嚎鍑哄簱绔欏睘浜庡悓涓�灞�
+// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
+// motionList.addAll(kernelService.liftMoveGoods(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
+// })),
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(slaveOutSta.getLiftLev());
+// }))
+// ));
+// }
+//
+// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
+//
+// // 鎻愬崌鏈鸿繍杈撳埌杈撻�佺嚎
+// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(slaveOutSta.getLiftLev());
+// })),
+// MotionDto.build((dto -> {
+// dto.setDevpNo(devpSlave.getId());
+// dto.setStaNo(neighborType.staNo);
+// }))
+// ));
+//
+// // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+// motionList.addAll(kernelService.shuttleMove(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(
+// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
+// );
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+//
+// /**
+// * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
+// *
+// * 1.鎻愬崌鏈哄埌绌挎杞﹀眰
+// * 2.绌挎杞﹁蛋琛岃嚦鎻愬崌鏈�
+// * 3.鎻愬崌鏈鸿浇杞﹁嚦鍑哄簱璧峰灞�
+// * 4.绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+// * 5.绌挎杞﹀嚭搴撹嚦鎻愬崌鏈�
+// * 6.绌挎杞︾寮�鎻愬崌鏈�
+// * 7.鎻愬崌鏈鸿浇璐хЩ鍔紙闈炲繀闇�锛�
+// * 8.杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
+// *
+// */
+// } 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(shuttleLocNo);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLocNo(standbyLocNoTo);
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+//
+// // 鎻愬崌鏈哄埌绌挎杞﹀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
+// 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
+// ));
+//
+// // 鎻愬崌鏈鸿浇杞﹁嚦鍑哄簱璧峰灞�
+// 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(Utils.getLev(wrkMast.getSourceLocNo()));
+// }))
+// ));
+//
+// // 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLocNo(liftLocNoFrom);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
+// ));
+//
+// // 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(wrkMast.getSourceLocNo());
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+//
+// // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+// motionList.addAll(kernelService.shuttleMove(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(wrkMast.getSourceLocNo());
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
+// ));
+//
+// // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鎻愬崌鏈�
+// motionList.addAll(kernelService.shuttleTransport(
+// 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(liftLocNoFrom);
+// })),
+// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
+// ));
+//
+// // 绌挎杞︾寮�鎻愬崌鏈�
+// motionList.addAll(kernelService.shuttleMove(
+// 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(
+// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
+// );
+// })),
+// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
+// ));
+//
+// // 鎻愬崌鏈鸿浇璐хЩ鍔�
+// // 鍑哄簱搴撲綅鏄惁涓庤緭閫佺嚎鍑哄簱绔欏睘浜庡悓涓�灞�
+// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
+// motionList.addAll(kernelService.liftMoveGoods(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
+// })),
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(slaveOutSta.getLiftLev());
+// }))
+// ));
+// }
+//
+// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
+//
+// // 鎻愬崌鏈鸿繍杈撳埌杈撻�佺嚎
+// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
+// MotionDto.build((dto -> {
+// dto.setLiftNo(liftSlave.getId());
+// dto.setLev(slaveOutSta.getLiftLev());
+// })),
+// MotionDto.build((dto -> {
+// dto.setDevpNo(devpSlave.getId());
+// dto.setStaNo(neighborType.staNo);
+// }))
+// ));
+//
+// }
+//
+// shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
+// liftNo = String.valueOf(liftProtocol.getLiftNo());
+ }
+
+ assert !Cools.isEmpty(shuttleNo);
+// task.setShuttleNo(Integer.parseInt(shuttleNo));
+// task.setLiftNo(Integer.parseInt(liftNo));
+
+ return motionList;
+ }
+
+
+// /**
+// * 鐢熸垚鍏呯數鍔ㄤ綔
+// */
+// public List<Motion> generateChargeMotion(WrkCharge wrkCharge) {
+// List<Motion> motionList = new ArrayList<>();
+// if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_CHARGE.sts || wrkCharge.getIoType() != WrkIoTypeType.CHARGE.sts) {
+// return motionList;
+// }
+//
+// // locNo
+// String chargeLocNo = wrkCharge.getLocNo();
+//
+// // lift
+// Integer transferLiftNo = 2;
+// SiemensLiftThread liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, transferLiftNo);
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
+// return motionList;
+// }
+//
+// // shuttle
+// Integer shuttleNo = wrkCharge.getShuttleNo();
+// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+// if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+// return motionList;
+// }
+// if (!shuttleProtocol.isIdle()) {
+// return motionList;
+// }
+//
+// //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(transferLiftNo);
+// if (liftResult) {
+// //瀛樺湪浠诲姟锛岀姝㈣В鏋�
+// return motionList;
+// }
+//
+// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+//
+// //绌挎杞﹀埌鎻愬崌鏈哄簱浣嶅彿
+// String liftLocNoTo = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
+//
+// //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
+// String liftLocNoFrom = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
+//
+// //绌挎杞﹀埌鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
+//
+// //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
+//
+// // 鍒ゆ柇绌挎杞︽槸鍚﹀湪鍏呯數灞�
+// if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
+//
+// // 绌挎杞﹁蛋琛岃嚦鍏呯數妗╁簱浣�
+// motionList.addAll(kernelService.shuttleMove(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(shuttleLocNo);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(shuttleLocNo);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().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(transferLiftNo);
+// dto.setLev(Utils.getLev(shuttleLocNo));
+// }))
+// ));
+//
+// // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鎻愬崌鏈哄簱浣�
+// 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(transferLiftNo);
+// 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(transferLiftNo);
+// dto.setLev(Utils.getLev(shuttleLocNo));
+// })),
+// MotionDto.build((dto -> {
+// dto.setLiftNo(transferLiftNo);
+// dto.setLev(Utils.getLev(chargeLocNo));
+// }))
+// ));
+//
+// // 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLiftNo(transferLiftNo);
+// dto.setLocNo(liftLocNoFrom);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
+// ));
+//
+// // 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(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(standbyLocNoFrom);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(chargeLocNo);
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+//
+// wrkCharge.setLiftNo(transferLiftNo);
+// wrkChargeMapper.updateById(wrkCharge);
+// }
+//
+// // 绌挎杞﹀紑濮嬪厖鐢�
+// motionList.addAll(kernelService.shuttleCharge(
+// null,
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// }))
+// ));
+//
+// return motionList;
+// }
+//
+// /**
+// * 鐢熸垚鍏呯數瀹屾垚鍔ㄤ綔
+// */
+// public List<Motion> generateShuttleChargeWrkComplete(WrkCharge wrkCharge) {
+// List<Motion> motionList = new ArrayList<>();
+// if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_MOVE.sts || wrkCharge.getIoType() != WrkIoTypeType.MOVE.sts) {
+// return motionList;
+// }
+//
+// // locNo
+// String locNo = wrkCharge.getLocNo();
+//
+// // shuttle
+// Integer shuttleNo = wrkCharge.getShuttleNo();
+// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+// if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+// return motionList;
+// }
+//
+// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+//
+// // 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
+// if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
+//
+// // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+// motionList.addAll(kernelService.shuttleMove(
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(shuttleLocNo);
+// })),
+// MotionDto.build((dto -> {
+// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
+// dto.setLocNo(locNo);
+// })),
+// MotionCtgType.SHUTTLE_MOVE
+// ));
+//
+// }
+// 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
new file mode 100644
index 0000000..86a7415
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
@@ -0,0 +1,308 @@
+package com.zy.asrs.wcs.core.kernel;
+
+import com.zy.asrs.wcs.core.domain.dto.MotionDto;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
+import com.zy.asrs.wcs.rcs.entity.Motion;
+import com.zy.asrs.wcs.rcs.service.MotionService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Created by vincent on 2023/10/9
+ */
+@Service(value = "kernelService")
+public class KernelService {
+
+ @Autowired
+ private MotionService motionService;
+
+
+ // agv -----------------------------------------------------------------------------
+ @Deprecated
+ public List<Motion> agvTransport() {
+ List<Motion> motionList = new ArrayList<>();
+
+ // 1.AGV鎼繍璐х墿
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.AGV.val());
+ motion.setMotionCtg(MotionCtgType.AGV_TRANSPORT.val());
+ }));
+
+ return motionList;
+ }
+
+ // lift -----------------------------------------------------------------------------
+
+ /**
+ * 鎻愬崌鏈虹Щ鍔�
+ */
+ public List<Motion> liftMove(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+
+ motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());
+
+ if (null != origin) {
+ motion.setOrigin(String.valueOf(origin.getLev()));
+ }
+ motion.setTarget(String.valueOf(target.getLev()));
+ }));
+
+// if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
+// if (target.getUpdateLiftNo()) {
+//
+// }
+// }
+
+ return motionList;
+ }
+
+ /**
+ * 鎻愬崌鏈鸿浇璐хЩ鍔�
+ */
+ public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+
+ motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());
+
+ if (null != origin) {
+ motion.setOrigin(String.valueOf(origin.getLev()));
+ }
+ motion.setTarget(String.valueOf(target.getLev()));
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 鎻愬崌鏈烘惉杩愮┛姊溅
+ */
+ public List<Motion> liftMoveShuttle(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+
+ motion.setMotionCtg(MotionCtgType.LIFT_WITH_SHUTTLE.val());
+
+ if (null != origin) {
+ motion.setOrigin(String.valueOf(origin.getLev()));
+ }
+ motion.setTarget(String.valueOf(target.getLev()));
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 鎻愬崌鏈鸿浇绌挎杞︿笌璐хЩ鍔�
+ */
+ public List<Motion> liftMoveGoodsAndShuttle(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+
+ motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS_AND_SHUTTLE.val());
+
+ if (null != origin) {
+ motion.setOrigin(String.valueOf(origin.getLev()));
+ }
+ motion.setTarget(String.valueOf(target.getLev()));
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 鎻愬崌鏈鸿浇绌挎杞︿笌璐хЩ鍔�
+ */
+ public List<Motion> liftTransportGoodsToConveyor(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(origin.getLiftNo()));
+
+ motion.setMotionCtg(MotionCtgType.LIFT_TRANSPORT_TO_CONVEYOR.val());
+
+ motion.setOrigin(String.valueOf(origin.getLev()));
+ motion.setDockNo(String.valueOf(target.getDevpNo()));
+ motion.setTarget(String.valueOf(target.getStaNo()));
+
+ }));
+
+ return motionList;
+ }
+
+
+ // shuttle -----------------------------------------------------------------------------
+
+ /**
+ * 绌挎杞︾┖杞界Щ鍔�
+ */
+ public List<Motion> shuttleMove(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());
+
+ motion.setOrigin(origin.getLocNo());
+ motion.setTarget(target.getLocNo());
+
+ switch (motionCtgType) {
+ case SHUTTLE_MOVE_FROM_LIFT://绌挎杞︾Щ鍑烘彁鍗囨満
+ motion.setTemp(String.valueOf(origin.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
+ break;
+ case SHUTTLE_MOVE_TO_LIFT://绌挎杞︾Щ鍔ㄥ埌鎻愬崌鏈�
+ motion.setTemp(String.valueOf(target.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
+ break;
+ case SHUTTLE_MOVE_FROM_CONVEYOR:
+ motion.setDockNo(String.valueOf(origin.getStaNo()));
+ break;
+ case SHUTTLE_MOVE_TO_CONVEYOR:
+ motion.setDockNo(String.valueOf(target.getStaNo()));
+ break;
+ case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://绌挎杞︾Щ鍑烘彁鍗囨満鍘昏緭閫佺嚎
+ motion.setTemp(String.valueOf(origin.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
+ motion.setDockNo(String.valueOf(target.getStaNo()));
+ break;
+ default:
+ break;
+ }
+
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 绌挎杞﹁浇璐хЩ鍔�
+ */
+ public List<Motion> shuttleTransport(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_TRANSPORT_FROM_LIFT:
+ motion.setTemp(String.valueOf(origin.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
+ break;
+ case SHUTTLE_TRANSPORT_TO_LIFT:
+ motion.setTemp(String.valueOf(target.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
+ break;
+ case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
+ motion.setDockNo(String.valueOf(origin.getStaNo()));
+ break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR:
+ motion.setDockNo(String.valueOf(target.getStaNo()));
+ break;
+ default:
+ break;
+ }
+
+ motion.setOrigin(origin.getLocNo());
+ motion.setTarget(target.getLocNo());
+ }));
+
+ return motionList;
+ }
+
+ public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
+ motion.setDevice(String.valueOf(target.getShuttleNo()));
+
+ motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
+
+ }));
+
+ return motionList;
+ }
+
+ // conveyor -----------------------------------------------------------------------------
+
+ /**
+ * 杈撻�佺嚎鍏ュ簱
+ */
+ public List<Motion> conveyorInbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
+ motion.setDevice(String.valueOf(origin.getDevpNo()));
+
+ motion.setMotionCtg(motionCtgType.val());
+
+ switch (motionCtgType) {
+ case CONVEYOR_INBOUND:
+ motion.setTarget(String.valueOf(target.getStaNo()));
+ break;
+ case CONVEYOR_INBOUND_TO_LIFT:
+ motion.setDockNo(String.valueOf(target.getLiftNo()));
+ motion.setTarget(String.valueOf(target.getLev()));
+ break;
+ default:
+ break;
+ }
+
+ motion.setOrigin(String.valueOf(origin.getStaNo()));
+
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 杈撻�佺嚎鍑哄簱
+ */
+ public List<Motion> conveyorOutbound(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.CONVEYOR.val());
+ motion.setDevice(String.valueOf(origin.getDevpNo()));
+
+ motion.setMotionCtg(motionCtgType.val());
+
+ switch (motionCtgType) {
+ case CONVEYOR_OUTBOUND:
+ motion.setOrigin(String.valueOf(origin.getStaNo()));
+ break;
+ case CONVEYOR_OUTBOUND_FROM_LIFT:
+ motion.setDockNo(String.valueOf(origin.getLiftNo()));
+ break;
+ default:
+ break;
+ }
+
+ motion.setTarget(String.valueOf(target.getStaNo()));
+
+ }));
+
+ return motionList;
+ }
+
+}
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 c4079bf..bca7c4b 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
@@ -3,10 +3,15 @@
import com.zy.asrs.wcs.core.entity.Task;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;
+
+import java.util.List;
@Mapper
@Repository
public interface TaskMapper extends BaseMapper<Task> {
+ List<Task> selectOutboundByShuttleNo(@Param("shuttleNo") Integer shuttleNo);
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCodeType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCodeType.java
new file mode 100644
index 0000000..22465ab
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCodeType.java
@@ -0,0 +1,79 @@
+package com.zy.asrs.wcs.core.model.enums;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.framework.common.SpringUtils;
+import com.zy.asrs.wcs.core.entity.Loc;
+import com.zy.asrs.wcs.core.service.LocService;
+import com.zy.asrs.wcs.core.utils.Utils;
+
+public enum LiftCodeType {
+
+ NONE(-1, -1, "鏈煡", "0402001"),
+ LIFT_2(2, 198, "2鍙锋彁鍗囨満浜岀淮鐮�", "0402001"),
+ LIFT_1(1, 0, "1鍙锋彁鍗囨満鏃犱簩缁寸爜", "0800701"),
+ ;
+
+ public Integer liftNo;
+ public Integer code;
+ public String desc;
+ public String standbyLocNo;//寰呮満搴撲綅
+
+ LiftCodeType(Integer liftNo, Integer code, String desc, String standbyLocNo) {
+ this.liftNo = liftNo;
+ this.code = code;
+ this.desc = desc;
+ this.standbyLocNo = standbyLocNo;
+ }
+
+ public static LiftCodeType query(Integer code) {
+ for (LiftCodeType value : LiftCodeType.values()) {
+ if (value.code.equals(code)) {
+ return value;
+ }
+ }
+ return NONE;
+ }
+
+ public static String getLocNo(Integer liftNo, Integer lev, Long hostId) {
+ LiftCodeType type = null;
+ for (LiftCodeType value : LiftCodeType.values()) {
+ if (value.liftNo.equals(liftNo)) {
+ type = value;
+ break;
+ }
+ }
+
+ if (type == null) {
+ return null;
+ }
+
+ LocService locService = SpringUtils.getBean(LocService.class);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getHostId, hostId)
+ .eq(Loc::getCode, type.code)
+ .eq(Loc::getLev, lev));
+ if (loc == null) {
+ return null;
+ }
+
+ return loc.getLocNo();
+ }
+
+
+ public static String getStandbyLocNo(Integer liftNo, Integer lev) {
+ LiftCodeType type = null;
+ for (LiftCodeType value : LiftCodeType.values()) {
+ if (value.liftNo.equals(liftNo)) {
+ type = value;
+ break;
+ }
+ }
+
+ if (type == null) {
+ return null;
+ }
+
+ return Utils.getLocNo(Utils.getRow(type.standbyLocNo), Utils.getBay(type.standbyLocNo), lev);
+ }
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java
new file mode 100644
index 0000000..6f17dec
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java
@@ -0,0 +1,49 @@
+package com.zy.asrs.wcs.core.model.enums;
+
+import com.zy.asrs.framework.exception.CoolException;
+
+public enum TaskStsType {
+
+ NEW_INBOUND(1, "鐢熸垚鍏ュ簱浠诲姟"),
+ ANALYZE_INBOUND(2, "鍏ュ簱浠诲姟瑙ｆ瀽"),
+ EXECUTE_INBOUND(3, "鎵ц鍏ュ簱浠诲姟"),
+ COMPLETE_INBOUND(9, "鍏ュ簱瀹屾垚"),
+ SETTLE_INBOUND(10, "鍏ュ簱搴撳瓨鏇存柊"),
+
+ NEW_OUTBOUND(101, "鐢熸垚鍑哄簱浠诲姟"),
+ ANALYZE_OUTBOUND(102, "鍑哄簱浠诲姟瑙ｆ瀽"),
+ EXECUTE_OUTBOUND(103, "鎵ц鍑哄簱浠诲姟"),
+ COMPLETE_OUTBOUND(109, "鍑哄簱瀹屾垚"),
+ SETTLE_OUTBOUND(110, "鍑哄簱搴撳瓨鏇存柊"),
+
+ NEW_CHARGE(201, "鐢熸垚鍏呯數浠诲姟"),
+ ANALYZE_CHARGE(202, "鍏呯數浠诲姟瑙ｆ瀽"),
+ EXECUTE_CHARGE(203, "鎵ц鍏呯數浠诲姟"),
+ CHARGE_WORKING(204, "鍏呯數涓�"),
+ COMPLETE_CHARGE(210, "鍏呯數瀹屾垚"),
+
+ NEW_MOVE(301, "鐢熸垚杩佺Щ浠诲姟"),
+ ANALYZE_MOVE(302, "杩佺Щ浠诲姟瑙ｆ瀽"),
+ EXECUTE_MOVE(303, "鎵ц杩佺Щ浠诲姟"),
+ COMPLETE_MOVE(310, "杩佺Щ瀹屾垚"),
+ ;
+
+
+ public long sts;
+ public String desc;
+
+ TaskStsType(long sts, String desc) {
+ this.sts = sts;
+ this.desc = desc;
+ }
+
+ public static TaskStsType query(Long sts) {
+ for (TaskStsType value : TaskStsType.values()) {
+ if (value.sts == sts) {
+ return value;
+ }
+ }
+ throw new CoolException("TaskStsType Error!!!");
+ }
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/WorkZoneType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/WorkZoneType.java
new file mode 100644
index 0000000..db1659e
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/WorkZoneType.java
@@ -0,0 +1,34 @@
+package com.zy.asrs.wcs.core.model.enums;
+
+import com.zy.asrs.framework.exception.CoolException;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum WorkZoneType {
+
+ FIRST_ZONE(new ArrayList<Integer>(){{add(1);add(2);}}, 2, 1),
+ SECOND_ZONE(new ArrayList<Integer>(){{add(3);add(4);}}, 2, 1),
+ THIRD_ZONE(new ArrayList<Integer>(){{add(5);add(6);add(7);add(8);add(9);add(10);add(11);}}, 1, 2)
+ ;
+
+ public List<Integer> staList;
+ public Integer liftNo;
+ public Integer devpPlcId;
+
+ WorkZoneType(List<Integer> staList, Integer liftNo, Integer devpPlcId) {
+ this.staList = staList;
+ this.liftNo = liftNo;
+ this.devpPlcId = devpPlcId;
+ }
+
+ public static WorkZoneType query(String sta) {
+ for (WorkZoneType value : WorkZoneType.values()) {
+ if (value.staList.contains(String.valueOf(sta))) {
+ return value;
+ }
+ }
+ throw new CoolException("WorkZoneType Error !!!");
+ }
+
+}
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 c2647f6..37c2839 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
@@ -2,7 +2,14 @@
import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.asrs.wcs.core.entity.Task;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
public interface TaskService extends IService<Task> {
+ Boolean judgeInbound(Task task);
+
+ Boolean hasBusyOutboundByShuttle(Integer shuttleNo);
+
}
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 7131f9e..9103f8f 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
@@ -1,12 +1,57 @@
package com.zy.asrs.wcs.core.service.impl;
+import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.mapper.TaskMapper;
import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.TaskService;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.zy.asrs.wcs.rcs.service.MotionService;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+
+import java.util.List;
@Service("taskService")
public class TaskServiceImpl extends ServiceImpl<TaskMapper, Task> implements TaskService {
+ @Autowired
+ private MotionService motionService;
+
+ @Override
+ public Boolean judgeInbound(Task task) {
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case NEW_INBOUND:
+ case ANALYZE_INBOUND:
+ case EXECUTE_INBOUND:
+ case COMPLETE_INBOUND:
+ case SETTLE_INBOUND:
+ return Boolean.TRUE;
+ case NEW_OUTBOUND:
+ case ANALYZE_OUTBOUND:
+ case EXECUTE_OUTBOUND:
+ case COMPLETE_OUTBOUND:
+ case SETTLE_OUTBOUND:
+ return Boolean.FALSE;
+ }
+ return Boolean.TRUE;
+ }
+
+ @Override
+ public Boolean hasBusyOutboundByShuttle(Integer shuttleNo) {
+ List<Task> tasks = this.baseMapper.selectOutboundByShuttleNo(shuttleNo);
+ if (Cools.isEmpty(tasks)) {
+ return false;
+ }
+ for (Task task : tasks) {
+ if (task.getTaskSts().equals(TaskStsType.NEW_OUTBOUND.sts) || task.getTaskSts().equals(TaskStsType.ANALYZE_OUTBOUND.sts)) {
+ return true;
+ }
+ if (!Cools.isEmpty(motionService.selectUnCompleteByUuidAndDeviceCtg(task.getUuid(), DeviceCtgType.SHUTTLE))) {
+ return true;
+ }
+ }
+ return false;
+ }
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ConveyorDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ConveyorDispatcher.java
new file mode 100644
index 0000000..3b268b3
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ConveyorDispatcher.java
@@ -0,0 +1,45 @@
+//package com.zy.asrs.wcs.core.utils;
+//
+//import com.zy.core.model.DevpSlave;
+//import com.zy.core.properties.SlaveProperties;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.beans.factory.annotation.Autowired;
+//import org.springframework.stereotype.Service;
+//
+///**
+// * Created by vincent on 2023/10/20
+// */
+//@Slf4j
+//@Service
+//public class ConveyorDispatcher {
+//
+// @Autowired
+// private SlaveProperties slaveProperties;
+//
+// public DevpSlave queryByInBound(Integer staNo) {
+// for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+// for (DevpSlave.Sta sta : devpSlave.getInSta()) {
+// if (sta.getStaNo().equals(staNo)) {
+// return devpSlave;
+// }
+// }
+//
+// }
+// return null;
+// }
+//
+// public DevpSlave queryByOutBound(Integer staNo) {
+// for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+// for (DevpSlave.Sta sta : devpSlave.getOutSta()) {
+// if (sta.getStaNo().equals(staNo)) {
+// return devpSlave;
+// }
+// }
+//
+// }
+// return null;
+// }
+//
+//
+//
+//}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java
new file mode 100644
index 0000000..f849ab6
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java
@@ -0,0 +1,21 @@
+package com.zy.asrs.wcs.core.utils;
+
+import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.thread.LiftThread;
+import org.springframework.stereotype.Service;
+
+/**
+ * Created by vincent on 2023/10/16
+ */
+@Service
+public class LiftDispatcher {
+
+ public LiftThread queryLiftForTransport(String staNo) {
+ WorkZoneType zoneType = WorkZoneType.query(staNo);
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, zoneType.liftNo);
+ return liftThread;
+ }
+
+}
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
new file mode 100644
index 0000000..70f77a0
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -0,0 +1,176 @@
+package com.zy.asrs.wcs.core.utils;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.common.wms.service.CommonService;
+import com.zy.asrs.framework.common.Cools;
+import com.zy.asrs.framework.common.SnowflakeIdWorker;
+import com.zy.asrs.framework.exception.CoolException;
+import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.kernel.AnalyzeService;
+import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
+import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.rcs.entity.DeviceType;
+import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
+import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
+import com.zy.asrs.wcs.rcs.service.MotionService;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.Date;
+import java.util.List;
+
+/**
+ * Created by vincent on 2023/10/12
+ */
+@Service
+public class ShuttleDispatcher {
+
+ private static final Integer INF = 9999999;
+ private static final Integer WEIGHT = 1000000;
+
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+// @Autowired
+// private CommonService commonService;
+ @Autowired
+ private AnalyzeService analyzeService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private DeviceService deviceService;
+ @Autowired
+ private DeviceTypeService deviceTypeService;
+
+ public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
+ String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
+ ShuttleThread resThread = null;
+ Integer finalDistance = ShuttleDispatcher.INF;
+
+ DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
+ .eq(DeviceType::getHostId, task.getHostId())
+ .eq(DeviceType::getStatus, 1)
+ .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
+ if (deviceType == null) {
+ throw new CoolException("璁惧绫诲瀷涓嶅瓨鍦�");
+ }
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, deviceType.getId())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+
+ for (Device device : list) {
+ if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
+ continue;
+ }
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+// //妫�娴嬫槸鍚﹀瓨鍦ㄥ厖鐢典换鍔�
+// WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
+// if (wrkCharge != null) {
+// continue;
+// }
+
+ // 鏈夋病鏈夎鍏朵粬浠诲姟璋冨害
+ int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠灞傞珮
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
+
+ if (currentLocNo.equals(locNo)) {
+ resThread = shuttleThread;
+ break;
+ }
+
+ String targetLocNo = LiftCodeType.getStandbyLocNo(liftNo, currentLev);//榛樿鍒版彁鍗囨満寰呮満浣�
+ // 鍚屾ゼ灞傜洿鎺ヨ绠楀埌鐩爣搴撲綅
+ if (currentLev == Utils.getLev(locNo)) {
+ targetLocNo = locNo;
+ }
+
+ //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
+ currentLocNo
+ , targetLocNo
+ , NavigationMapType.NORMAL.id
+ , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
+ );//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+
+ Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+ // 涓嶅悓妤煎眰鏉冮噸
+ if (currentLev != Utils.getLev(locNo)) {
+ currDistance += WEIGHT;
+ }
+
+// // 鎸傝浇浠诲姟鏉冮噸
+// List<Task> tasks = taskService.selectWorkingByShuttle(shuttle.getId());
+// if (!Cools.isEmpty(tasks)) {
+// currDistance += tasks.size() * WEIGHT;
+// }
+
+ if (currDistance < finalDistance) {
+ finalDistance = currDistance;
+ resThread = shuttleThread;
+ }
+ }
+
+ return resThread;
+ }
+
+// /**
+// * 鐢熸垚绌挎杞﹁縼绉讳换鍔�
+// */
+// public WrkCharge generateShuttleChargeWrkComplete(Integer shuttleNo, String locNo) {
+// WrkCharge wrkCharge = new WrkCharge();
+// wrkCharge.setShuttleNo(shuttleNo);
+// wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
+// wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+// wrkCharge.setWrkSts(WrkMastStsType.NEW_MOVE.sts); // 杩佺Щ浠诲姟
+// wrkCharge.setIoType(WrkIoTypeType.MOVE.sts);
+// wrkCharge.setIoPri((double) 10);
+// wrkCharge.setLocNo(locNo);
+// wrkCharge.setMemo("reset");
+// wrkCharge.setAppeTime(new Date());
+//
+// // generate motion list
+// List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(wrkCharge);
+// if (Cools.isEmpty(motionList)) {
+// News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", shuttleNo);
+// return null;
+// }
+// motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
+//
+// wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_MOVE.sts);
+//
+// if (!wrkChargeService.insert(wrkCharge)) {
+// News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", shuttleNo);
+// return null;
+// }
+//
+// return wrkCharge;
+// }
+
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
index 1aeec03..d508c7b 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java
@@ -3,7 +3,9 @@
import java.text.SimpleDateFormat;
import java.util.Date;
+import com.zy.asrs.wcs.core.BuildSupport;
import com.zy.asrs.wcs.core.entity.DeviceCtg;
+import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.service.MotionCtgService;
@@ -273,6 +275,25 @@
this.hostId = hostId;
}
+ public static Motion build(BuildSupport<Motion> support) {
+ Motion motion = new Motion();
+ Date date = new Date();
+
+ support.execute(motion);
+
+ if (null == motion.getSync()) {
+ motion.setSync(1);
+ }
+ if (null == motion.getMotionSts()) {
+ motion.setMotionSts(MotionStsType.INIT.val());
+ }
+
+ motion.setStatus(1);
+ motion.setCreateTime(date);
+ motion.setUpdateTime(date);
+ return motion;
+ }
+
// Motion motion = new Motion(
// null, // 缂栧彿
// null, // 浠诲姟鍙�
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
index d9a3147..9bf65b6 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
@@ -249,4 +249,23 @@
return currentLoc.getLocNo();
}
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+ public Boolean isIdle() {
+ if (this.deviceStatus == null
+ || this.pakMk == null
+ || this.errorCode == null
+ || this.protocolStatus == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.deviceStatus.equals(ShuttleDeviceStatusType.IDLE)
+ && this.pakMk
+ && !this.errorCode.equals("0")
+ && this.getTaskNo() == 0
+ && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
+ ;
+ return res;
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
index 5b20073..8bf4ae8 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java
@@ -1,8 +1,13 @@
package com.zy.asrs.wcs.rcs.service;
import com.baomidou.mybatisplus.extension.service.IService;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.rcs.entity.Motion;
+import java.util.List;
+
public interface MotionService extends IService<Motion> {
+ List<Motion> selectUnCompleteByUuidAndDeviceCtg(String uuid, DeviceCtgType deviceCtgType);
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
index 3180bb0..57df7a0 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java
@@ -1,12 +1,34 @@
package com.zy.asrs.wcs.rcs.service.impl;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionStsType;
+import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.rcs.mapper.MotionMapper;
import com.zy.asrs.wcs.rcs.entity.Motion;
import com.zy.asrs.wcs.rcs.service.MotionService;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.zy.asrs.wcs.rcs.service.MotionStsService;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+
+import java.util.List;
@Service("motionService")
public class MotionServiceImpl extends ServiceImpl<MotionMapper, Motion> implements MotionService {
+ @Autowired
+ private DeviceCtgService deviceCtgService;
+ @Autowired
+ private MotionStsService motionStsService;
+
+ @Override
+ public List<Motion> selectUnCompleteByUuidAndDeviceCtg(String uuid, DeviceCtgType deviceCtgType) {
+ return this.list(new LambdaQueryWrapper<Motion>()
+ .eq(Motion::getUuid, uuid)
+ .eq(Motion::getDeviceCtg, deviceCtgService.selectByFlag(deviceCtgType.toString()).getId())
+ .lt(Motion::getMotionSts, motionStsService.selectByFlag(MotionStsType.COMPLETE.toString()).getId())
+ .orderByDesc(Motion::getPriority)
+ );
+ }
}
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 283c334..dd069ab 100644
--- a/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
+++ b/zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
@@ -2,4 +2,12 @@
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.wcs.core.mapper.TaskMapper">
+ <select id="selectOutboundByShuttleNo" resultType="com.zy.asrs.wcs.core.entity.Task">
+ select * from wcs_task
+ where 1=1
+ and task_sts in (101, 102, 103)
+ and shuttle_no = #{shuttleNo}
+ order by priority desc,start_time,task_no asc
+ </select>
+
</mapper>
--
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