From ebdfec3e9db0977bccca0527be7d2226fbbd0229 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 12 六月 2024 11:02:16 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 214 ++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 185 insertions(+), 29 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 0e3e5f2..1bcdc9e 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
@@ -8,9 +8,9 @@
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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.ShuttleStandbyService;
import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.utils.ConveyorDispatcher;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
@@ -29,10 +29,9 @@
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
+ * 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
* Created by vincent on 2023/10/11
*/
@Service
@@ -48,8 +47,8 @@
private ShuttleDispatcher shuttleDispatcher;
@Autowired
private LiftDispatcher liftDispatcher;
-// @Autowired
-// private ConveyorDispatcher conveyorDispatcher;
+ @Autowired
+ private ConveyorDispatcher conveyorDispatcher;
@Autowired
private DeviceService deviceService;
@Autowired
@@ -57,12 +56,13 @@
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:
- }
+// switch (Objects.requireNonNull(WorkZoneType.query(task.getTaskSts() == TaskStsType.NEW_INBOUND.sts ? task.getOriginSite() : task.getDestSite()))) {
+// case FIRST_ZONE:
+// motionList = this.generateFirstZoneMotion(task);
+// break;
+// default:
+// }
+ motionList = this.generateFirstZoneMotion(task);
return motionList;
}
@@ -968,16 +968,16 @@
// locNo
String locNo = task.getDestLoc();
- Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ 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 (device == null) {
+ if (shuttleDevice == null) {
return motionList;
}
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
if (shuttleThread == null) {
return motionList;
}
@@ -992,14 +992,116 @@
// 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
+ if (!shuttleLocNo.equals(locNo)) {//灏忚溅涓嶅湪鐩爣搴撲綅
+ // 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(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(locNo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+ }
+
+ } else {
+ //灏忚溅璺ㄥ眰
+
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鎻愬崌鏈�
+ LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId());
+ if (liftThread == null) {
+ return motionList;
+ }
+ Device liftDevice = liftThread.getDevice();
+
+ //绌挎杞﹀埌鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoTo = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(shuttleLocNo));
+
+ //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoFrom = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(task.getDestLoc()));
+
+ //绌挎杞﹀埌鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+ String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));
+
+ //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
+ String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));
+
+
+ // 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(device.getId().intValue());
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleLocNo);
})),
MotionDto.build((dto -> {
- dto.setShuttleNo(device.getId().intValue());
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(liftDevice.getId().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(liftDevice.getId().intValue());
+ 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(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(liftDevice.getId().intValue());
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ ));
+
+ // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
+ motionList.addAll(kernelService.liftMoveShuttle(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(liftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(shuttleLocNo));
+ })),
+ MotionDto.build((dto -> {
+ dto.setLiftNo(liftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(locNo));
+ }))
+ ));
+
+ // 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(liftDevice.getId().intValue());
+ dto.setLocNo(liftLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
+ ));
+
+ // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鐩爣浣嶇疆
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLiftNo(liftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoFrom);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(locNo);
})),
MotionCtgType.SHUTTLE_MOVE
@@ -1098,18 +1200,20 @@
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {
- // 绌挎杞﹁蛋琛岃嚦婧愬簱浣�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(device.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(device.getId().intValue());
- dto.setLocNo(sourceLoc);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
+ if (!shuttleLocNo.equals(sourceLoc)) {//灏忚溅涓嶅湪鐩爣搴撲綅
+ // 绌挎杞﹁蛋琛岃嚦婧愬簱浣�
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(device.getId().intValue());
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(device.getId().intValue());
+ dto.setLocNo(sourceLoc);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
+ ));
+ }
//鎵樼洏椤跺崌
motionList.add(Motion.build(motion -> {
@@ -1144,4 +1248,56 @@
return motionList;
}
+ /**
+ * 鐢熸垚鎻愬崌鏈烘墜鍔ㄥ姩浣�
+ */
+ public List<Motion> generateLiftManualMotion(Task task) {
+ List<Motion> motionList = new ArrayList<>();
+ if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
+ return motionList;
+ }
+
+ Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceNo, task.getLiftNo())
+ .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+ if (device == null) {
+ return motionList;
+ }
+
+ if (task.getDestSite().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
+ motionList.addAll(kernelService.liftMove(
+ null
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ dto.setLev(Integer.parseInt(task.getDestLoc()));
+ }))
+ ));
+
+ } else if (task.getDestSite().equals("movePallet")) {
+ //绉诲姩鎵樼洏
+
+ // 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.setStaNo(Integer.parseInt(task.getOriginSite()));
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ dto.setLev(Integer.parseInt(task.getDestLoc()));
+ dto.setStaNo(Integer.parseInt(task.getDestSite()));
+ }))
+ ));
+
+ }
+
+ return motionList;
+ }
+
}
--
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