From d8f676ad00f7053180bcbdb91b8abe511eae208e Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 10 四月 2025 15:53:20 +0800
Subject: [PATCH] #motion == null时释放小车
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 500 ++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 438 insertions(+), 62 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 fdea0f4..cc2ba2e 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
@@ -101,8 +101,8 @@
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
- //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
- LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑鍙崲灞傛彁鍗囨満(鍙兘涓嶇┖闂�)
+ LiftThread liftThread = liftDispatcher.searchLift(shuttleLocNo, task.getHostId(), true);
if (liftThread == null) {
return motionList;
}
@@ -146,8 +146,10 @@
//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();
@@ -158,21 +160,21 @@
// 鍏ュ簱鐩爣灞傛湁绌挎杞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
- // 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());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
+// // 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());
+// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+// }))
+// ));
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -182,6 +184,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -204,6 +207,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
// dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
@@ -225,21 +229,21 @@
*/
} 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());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
+// // 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());
+// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+// }))
+// ));
// 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
@@ -249,8 +253,9 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionCtgType.SHUTTLE_MOVE
));
@@ -285,10 +290,11 @@
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());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -341,6 +347,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -381,6 +388,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
})),
@@ -472,8 +480,11 @@
//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();
@@ -521,6 +532,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(originLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -536,18 +548,21 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 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.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(
@@ -557,6 +572,7 @@
})),
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
@@ -581,6 +597,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
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�
@@ -630,8 +647,9 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(standbyLocNoMemo);
})),
MotionCtgType.SHUTTLE_MOVE
));
@@ -666,10 +684,11 @@
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());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -722,6 +741,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -754,6 +774,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(originLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -768,18 +789,21 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 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.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(
@@ -789,6 +813,7 @@
})),
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
@@ -813,6 +838,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
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�
@@ -946,6 +972,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -961,6 +988,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoTo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -991,6 +1019,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -1043,6 +1072,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1064,6 +1094,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(chargeLocNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1132,6 +1163,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1186,6 +1218,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1226,6 +1259,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
dto.setLocNo(standbyLocNoTo);
})),
@@ -1266,6 +1300,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(liftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
@@ -1318,6 +1353,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(standbyLocNoFrom);
})),
MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
@@ -1349,6 +1385,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1404,6 +1441,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(targetLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1456,6 +1494,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(sourceLoc);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1477,6 +1516,7 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleDevice(device);
dto.setLocNo(targetLoc);
})),
MotionCtgType.SHUTTLE_TRANSPORT
@@ -1570,4 +1610,340 @@
return motionList;
}
+ /**
+ * 鐢熸垚灏忚溅杞借揣杩佺Щ鍔ㄤ綔
+ */
+ public List<Motion> generateShuttleLadenMoveMotion(Task task) {
+ List<Motion> motionList = new ArrayList<>();
+ if (task.getTaskSts() != TaskStsType.NEW_LADEN_MOVE.sts) {
+ return motionList;
+ }
+ //originLoc 婧愬簱浣�
+ String originLoc = task.getOriginLoc();
+ // locNo 鐩爣搴撲綅
+ String locNo = task.getDestLoc();
+
+ // shuttle
+ Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceNo, task.getShuttleNo())
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+ if (shuttleDevice == null) {
+ return motionList;
+ }
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ return motionList;
+ }
+ if (!shuttleThread.isIdle()) {
+ return motionList;
+ }
+
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
+ LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
+ if (liftThread == null) {
+ return motionList;
+ }
+ Device transferLiftDevice = liftThread.getDevice();
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null || liftProtocol.getLiftNo() == 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) {
+ //瀛樺湪浠诲姟锛岀姝㈣В鏋�
+ return motionList;
+ }
+
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 杩涙彁鍗囨満
+ ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
+ .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
+ .eq(ShuttleStandby::getStatus, 1));
+
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鍑烘彁鍗囨満
+ ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
+ .eq(ShuttleStandby::getDeviceLev, Utils.getLev(originLoc))
+ .eq(ShuttleStandby::getStatus, 1));
+ if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
+ return motionList;
+ }
+
+ //绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
+
+ //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� 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();
+
+ //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$();
+
+ //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.MOVE))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return motionList;
+ }
+
+
+
+
+ /**
+ * 鍑哄簱
+ */
+ if (Utils.getLev(shuttleLocNo) == Utils.getLev(originLoc)) {
+
+ //绌挎杞︿笉鍦ㄥ嚭搴撳簱浣�
+ if (!shuttleLocNo.equals(task.getOriginLoc())) {
+ // 绌挎杞﹁蛋琛岃嚦鍑哄簱搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(originLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+ }
+
+ // 绌挎杞﹀嚭搴撻《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
+ 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(locNo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
+ // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+
+
+ /**
+ * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
+ */
+ } 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(shuttleDevice.getId().intValue());
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ 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));
+ }))
+ ));
+
+ // 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(standbyLocNoMemo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ ));
+
+ // 瑙ｉ攣鎻愬崌鏈�
+ motionList.addAll(kernelService.liftUnlock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
+ motionList.addAll(kernelService.liftMoveShuttle(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ })),
+ MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(liftLocNoFrom));
+ }))
+ ));
+
+ // 閿佸畾鎻愬崌鏈�
+ motionList.addAll(kernelService.liftLock(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ }))
+ ));
+
+ // 鏇存柊灏忚溅鍧愭爣
+ motionList.addAll(kernelService.shuttleUpdateLocation(
+ null
+ , MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(liftLocNoFrom);
+ }))
+ ));
+
+ // 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(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(liftLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ 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());
+ 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));
+ }))
+ ));
+
+ // 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(shuttleDevice.getId().intValue());
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(originLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+
+ // 绌挎杞﹀嚭搴撻《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
+ 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(locNo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
+ // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_DOWN
+ ));
+
+ }
+ return motionList;
+ }
}
--
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