From a032e83b86f182f2939454949129adfece45ebed Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 26 九月 2024 16:35:52 +0800
Subject: [PATCH] #

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java |   98 +++++++++++++++++++++++++++++++++++++++++++++----
 1 files changed, 90 insertions(+), 8 deletions(-)

diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
index 8cad0eb..d827bd6 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
@@ -55,13 +55,15 @@
                 motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
             }
             motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
-        }));
 
-//        if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
-//            if (target.getUpdateLiftNo()) {
-//
-//            }
-//        }
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
+        }));
 
         return motionList;
     }
@@ -84,6 +86,14 @@
             }
             motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
             motion.setTarDrt(target.getStaNo());//鐩爣绔�
+
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
         }));
 
         return motionList;
@@ -162,6 +172,14 @@
             motion.setDeviceCtg(DeviceCtgType.LIFT.val());
             motion.setDevice(String.valueOf(target.getLiftNo()));
             motion.setMotionCtg(MotionCtgType.LIFT_LOCK.val());
+
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
         }));
 
         return motionList;
@@ -177,6 +195,14 @@
             motion.setDeviceCtg(DeviceCtgType.LIFT.val());
             motion.setDevice(String.valueOf(target.getLiftNo()));
             motion.setMotionCtg(MotionCtgType.LIFT_UNLOCK.val());
+
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
         }));
 
         return motionList;
@@ -308,14 +334,34 @@
         return motionList;
     }
 
-    public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
+    /**
+     * 绌挎杞﹀姩浣�
+     */
+    public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
         List<Motion> motionList = new ArrayList<>();
 
         motionList.add(Motion.build(motion -> {
             motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
             motion.setDevice(String.valueOf(target.getShuttleNo()));
 
-            motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
+            motion.setMotionCtg(motionCtgType.val());
+
+            switch (motionCtgType) {
+                case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+
+                    break;
+                case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+
+                    break;
+                case SHUTTLE_CHARGE_ON://鍏呯數寮�
+
+                    break;
+                case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
+
+                    break;
+                default:
+                    break;
+            }
 
         }));
 
@@ -385,4 +431,40 @@
         return motionList;
     }
 
+    // Map -----------------------------------------------------------------------------
+
+    /**
+     * 鍦板浘璺緞閿佸畾
+     */
+    public List<Motion> mapLockPath(MotionDto origin, MotionDto target) {
+        List<Motion> motionList = new ArrayList<>();
+
+        motionList.add(Motion.build(motion -> {
+            motion.setDeviceCtg(DeviceCtgType.MAP.val());
+            motion.setDevice(String.valueOf(target.getShuttleNo()));
+            motion.setMotionCtg(MotionCtgType.MAP_LOCK_PATH.val());
+
+            motion.setTarget(target.getLocNo());
+        }));
+
+        return motionList;
+    }
+
+    /**
+     * 鍦板浘璺緞瑙ｉ攣
+     */
+    public List<Motion> mapUnlockPath(MotionDto origin, MotionDto target) {
+        List<Motion> motionList = new ArrayList<>();
+
+        motionList.add(Motion.build(motion -> {
+            motion.setDeviceCtg(DeviceCtgType.MAP.val());
+            motion.setDevice(String.valueOf(target.getShuttleNo()));
+            motion.setMotionCtg(MotionCtgType.MAP_UNLOCK_PATH.val());
+
+            motion.setTarget(target.getLocNo());
+        }));
+
+        return motionList;
+    }
+
 }

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