From d62c5c0eb2e28b7bf27d23de84a609b5a2e415e4 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 17 十月 2024 18:48:00 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 37 +++++++++++++++----------------------
1 files changed, 15 insertions(+), 22 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 5c2f664..0f11234 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
@@ -206,6 +206,7 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
+ dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
MotionCtgType.SHUTTLE_TRANSPORT
));
@@ -381,6 +382,7 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
+ dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
MotionCtgType.SHUTTLE_TRANSPORT
));
@@ -476,10 +478,8 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
- //绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
- List<String> standbyLocs = shuttleStandbyFrom.getStandbyLoc$();//鑾峰彇鍏ㄩ儴寰呮満浣�
- //鑾峰彇鍙敤寰呮満浣�
- String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+ //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
+ String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
//鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
List<String> lockPath = shuttleStandbyFrom.getLockPath$();
@@ -500,18 +500,11 @@
return motionList;
}
- //璁＄畻璺緞骞跺垎瑙ｆ垚涓ゆ鍔ㄤ綔
- List<NavigateNode> nodeList = NavigateUtils.calc(originLoc, standbyLocNoTo, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(originLoc)));
- if (nodeList == null) {
- News.error("{} dash {} can't find navigate path!", originLoc, standbyLocNoTo);
- return null;
+ //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�
}
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
- //鍙栧嚭鏈�鍚庝竴娈佃矾寰�
- ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 1);
- NavigateNode startNode = navigateNodes.get(0);
- String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
/**
* 鍑哄簱
@@ -580,7 +573,7 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -588,11 +581,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleFromLiftStandbyLoc);
+ dto.setLocNo(standbyLocs);
dto.setSync(0);//寮傛鎵ц
dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
@@ -812,7 +805,7 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -820,11 +813,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleFromLiftStandbyLoc);
+ dto.setLocNo(standbyLocs);
dto.setSync(0);//寮傛鎵ц
- dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀剧┛姊溅
+ dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
--
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