From 9c4da646aaefcd8476eb7a23a889b6af6cffab4e Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 09 十月 2024 10:45:06 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 431 ++++++++++++++++++++---------------------------------
1 files changed, 162 insertions(+), 269 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 e1b9bf6..d81b555 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
@@ -1,8 +1,6 @@
package com.zy.asrs.wcs.core.kernel;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.asrs.framework.common.Cools;
-import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
@@ -26,7 +24,9 @@
import org.springframework.stereotype.Service;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* 1.鍏呯數浠诲姟锛�2.搴撲綅绉昏浆锛�3.灏忚溅杩佺Щ锛�4.鎵嬪姩浠诲姟
@@ -54,7 +54,20 @@
@Autowired
private BasConveyorPathService basConveyorPathService;
@Autowired
+ private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
private TaskCtgService taskCtgService;
+
+ public Integer getStaByLev(Integer lev) {
+ HashMap<Integer, Integer> map = new HashMap<>();
+ map.put(1, 31006);
+ map.put(2, 31007);
+ map.put(3, 31008);
+
+ return map.get(lev);
+ }
public List<Motion> generateMotion(Task task) {
List<Motion> motionList = new ArrayList<>();
@@ -67,12 +80,6 @@
/**
* 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) {
// locNo
@@ -110,16 +117,14 @@
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�
+ BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
+ if (basConveyorStaDest == null) {
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) {
+ //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;
}
@@ -158,13 +163,15 @@
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�
+ dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(31004);//鍏ュ簱绔欑偣
}))
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+// dto.setSync();//寮傛鎵ц
}))
));
@@ -176,32 +183,9 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 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�
@@ -211,28 +195,6 @@
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
@@ -260,14 +222,23 @@
/**
* 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 {
+
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(31004);//鍏ュ簱绔欑偣
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getDestLoc()));
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+ }))
+ ));
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -281,6 +252,15 @@
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ motionList.addAll(kernelService.mapLockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ }))
));
// 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
@@ -322,17 +302,15 @@
}))
));
- // 鎻愬崌鏈鸿浇璐хЩ鍔�
- motionList.addAll(kernelService.liftMoveGoods(
+ // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
+ motionList.addAll(kernelService.liftMoveShuttle(
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.setLev(Utils.getLev(shuttleLocNo));
+ })),
+ MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getDestLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ dto.setLev(Utils.getLev(destLoc));
}))
));
@@ -344,15 +322,6 @@
}))
));
- // 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
@@ -362,7 +331,7 @@
}))
));
- // 绌挎杞﹀叆搴撶Щ鍔ㄨ嚦鎻愬崌鏈哄緟鏈轰綅
+ // 绌挎杞︾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());
@@ -381,7 +350,17 @@
null
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
+ ));
+
+ // 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﹁蛋琛岃嚦鐩爣搴撲綅
@@ -450,16 +429,14 @@
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�
+ BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
+ if (basConveyorStaOrigin == null) {
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) {
+ //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;
}
@@ -512,13 +489,6 @@
/**
* 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(originLoc)) {
@@ -561,37 +531,6 @@
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
- ));
-
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
motionList.addAll(kernelService.shuttleAction(
null,
@@ -601,40 +540,20 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 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(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());
- }))
- ));
-
// 鎻愬崌鏈鸿浇璐хЩ鍔�
motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLev(Utils.getLev(task.getOriginLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
}))
, 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�
+ dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(31001);//鍑哄簱绔欑偣
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
dto.setSync(0);//寮傛鎵ц
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -652,30 +571,20 @@
));
// 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
- motionList.addAll(kernelService.conveyorOutbound(
- MotionDto.build((dto -> {
- dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
- dto.setStaNo(basConveyorPath.getDeviceStn());
- })),
- MotionDto.build((dto -> {
- dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
- dto.setStaNo(basConveyorPath.getStnNo());
- })),
- MotionCtgType.CONVEYOR_OUTBOUND
- ));
+// motionList.addAll(kernelService.conveyorOutbound(
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getDeviceStn());
+// })),
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getStnNo());
+// })),
+// MotionCtgType.CONVEYOR_OUTBOUND
+// ));
/**
* 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 {
@@ -691,6 +600,15 @@
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ motionList.addAll(kernelService.mapLockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ }))
));
// 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
@@ -780,6 +698,7 @@
null
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -820,37 +739,6 @@
MotionCtgType.SHUTTLE_MOVE
));
- // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌鐩爣灞�
- motionList.addAll(kernelService.liftMove(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(originLoc));
- }))
- ));
-
- // 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(standbyLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- })),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
motionList.addAll(kernelService.shuttleAction(
null,
@@ -860,40 +748,20 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 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(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());
- }))
- ));
-
// 鎻愬崌鏈鸿浇璐хЩ鍔�
motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLev(Utils.getLev(task.getOriginLoc()));
- dto.setStaNo(0);//鎻愬崌鏈哄唴渚�
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
}))
, 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�
+ dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
+ dto.setStaNo(31001);//鍑哄簱绔欑偣
dto.setSync(0);//寮傛鎵ц
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -911,17 +779,17 @@
));
// 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
- motionList.addAll(kernelService.conveyorOutbound(
- MotionDto.build((dto -> {
- dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
- dto.setStaNo(basConveyorPath.getDeviceStn());
- })),
- MotionDto.build((dto -> {
- dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
- dto.setStaNo(basConveyorPath.getStnNo());
- })),
- MotionCtgType.CONVEYOR_OUTBOUND
- ));
+// motionList.addAll(kernelService.conveyorOutbound(
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getDeviceStn());
+// })),
+// MotionDto.build((dto -> {
+// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
+// dto.setStaNo(basConveyorPath.getStnNo());
+// })),
+// MotionCtgType.CONVEYOR_OUTBOUND
+// ));
}
@@ -978,13 +846,6 @@
//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;
}
@@ -1150,16 +1011,15 @@
MotionCtgType.SHUTTLE_MOVE
));
- task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- taskService.updateById(task);
}
// 绌挎杞﹀紑濮嬪厖鐢�
- motionList.addAll(kernelService.shuttleCharge(
+ motionList.addAll(kernelService.shuttleAction(
null,
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- }))
+ })),
+ MotionCtgType.SHUTTLE_CHARGE_ON
));
return motionList;
@@ -1196,6 +1056,15 @@
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
+
+ // 绌挎杞﹀叧闂厖鐢�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_CHARGE_OFF
+ ));
// 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
@@ -1302,6 +1171,15 @@
MotionCtgType.SHUTTLE_MOVE
));
+ // 閿佸畾鐩爣妤煎眰绌挎杞﹀緟鏈轰綅璺緞
+ motionList.addAll(kernelService.mapLockPath(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ }))
+ ));
+
// 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
motionList.addAll(kernelService.liftMove(
null
@@ -1331,14 +1209,6 @@
dto.setLocNo(liftLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
- // 鍚戞彁鍗囨満鍙戦�佸皬杞﹀凡鍒颁綅淇″彿
- motionList.addAll(kernelService.liftShuttleArrival(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(liftDevice.getId().intValue());
- }))
));
// 瑙ｉ攣鎻愬崌鏈�
@@ -1429,7 +1299,7 @@
String sourceLoc = task.getOriginLoc();//婧愬簱浣�
String targetLoc = task.getDestLoc();//浠诲姟鐩爣(鍊熺敤瀛楁)
- String targetSite = task.getDestSite();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
+ String targetSite = task.getMemo();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
.eq(Device::getDeviceNo, task.getShuttleNo())
@@ -1573,7 +1443,8 @@
return motionList;
}
- if (task.getDestSite().equals("move")) {
+ String destSite = task.getMemo();//浠诲姟鐩爣(鍊熺敤瀛楁)
+ if (destSite.equals("move")) {
//鎻愬崌鏈哄崌闄嶆ゼ灞�
// 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
@@ -1585,23 +1456,45 @@
}))
));
- } else if (task.getDestSite().equals("movePallet")) {
+ } else if (destSite.equals("movePallet")) {
//绉诲姩鎵樼洏
+ BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
+ BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
+ if(basConveyorStaOrigin == null || basConveyorStaDest == null) {
+ return motionList;
+ }
// 鎻愬崌鏈虹Щ鍔ㄦ墭鐩�
motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
dto.setLiftNo(device.getId().intValue());
- dto.setLev(Integer.parseInt(task.getOriginLoc()));
+ dto.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
dto.setStaNo(Integer.parseInt(task.getOriginSite()));
}))
, MotionDto.build((dto -> {
dto.setLiftNo(device.getId().intValue());
- dto.setLev(Integer.parseInt(task.getDestLoc()));
+ dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
dto.setStaNo(Integer.parseInt(task.getDestSite()));
}))
));
+ } else if (destSite.equals("lock")) {
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ }))
+ ));
+ } else if (destSite.equals("unlock")) {
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ }))
+ ));
}
return motionList;
--
Gitblit v1.9.1