From f43b508dda7334487a1640b0bbd908d7b3aa3cb6 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 十月 2024 13:14:28 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 519 +++++++++++++++++++++++++++------------------------------
1 files changed, 247 insertions(+), 272 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 126fd3d..be5cc3e 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
@@ -1,19 +1,14 @@
package com.zy.asrs.wcs.core.kernel;
+import com.alibaba.fastjson.JSON;
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;
-import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
-import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
-import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
-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;
+import com.zy.asrs.wcs.core.utils.*;
+import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -26,6 +21,7 @@
import org.springframework.stereotype.Service;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
/**
@@ -54,7 +50,20 @@
@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 +76,6 @@
/**
* 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
@@ -110,6 +113,11 @@
return motionList;
}
+ BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
+ if (basConveyorStaDest == 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) {
@@ -144,6 +152,9 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = shuttleStandbyFrom.getLockPath$();
+
// 鍏ュ簱鐩爣灞傛湁绌挎杞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
@@ -151,14 +162,15 @@
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.setSync(0);//寮傛鎵ц
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+// dto.setSync();//寮傛鎵ц
}))
));
@@ -175,28 +187,6 @@
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�
motionList.addAll(kernelService.shuttleAction(
null,
@@ -206,30 +196,7 @@
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());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
-
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -240,7 +207,7 @@
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀叆搴撴墭鐩樹笅闄�
@@ -254,14 +221,23 @@
/**
* 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(
@@ -275,6 +251,15 @@
dto.setLocNo(standbyLocNoTo);
})),
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
@@ -316,17 +301,15 @@
}))
));
- // 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));
}))
));
@@ -338,15 +321,6 @@
}))
));
- // 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
@@ -356,7 +330,7 @@
}))
));
- // 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());
@@ -379,7 +353,25 @@
}))
));
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 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﹀叆搴撻《鍗�
+ motionList.addAll(kernelService.shuttleAction(
+ null,
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ })),
+ MotionCtgType.SHUTTLE_PALLET_LIFT
+ ));
+
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -390,7 +382,7 @@
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
// 绌挎杞﹀叆搴撴墭鐩樹笅闄�
@@ -445,6 +437,11 @@
return motionList;
}
+ BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
+ if (basConveyorStaOrigin == 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) {
@@ -482,6 +479,9 @@
//绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
String shuttleFromLiftStandbyLoc = shuttleStandbyFrom.getStandbyLoc();
+ //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.OUT))
@@ -498,15 +498,21 @@
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;
+ }
+ //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
- * 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)) {
@@ -535,7 +541,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ // 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());
@@ -543,41 +549,24 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(lastPathStartLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
- // 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
+ // 绌挎杞﹁浇璐ц嚦鎻愬崌鏈哄緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
+ dto.setLocNo(lastPathStartLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoTo);
+ dto.setLocNo(standbyLocNoTo);
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
})),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -589,44 +578,6 @@
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�
- }))
- , 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.setSync(0);//寮傛鎵ц
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
-
// 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
@@ -636,35 +587,43 @@
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleFromLiftStandbyLoc);
+ 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
));
- // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
- motionList.addAll(kernelService.conveyorOutbound(
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
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
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
+ }))
+ , 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(31001);//鍑哄簱绔欑偣
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+ }))
));
+
+ // 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
+// ));
/**
* 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 {
@@ -680,6 +639,15 @@
dto.setLocNo(standbyLocNoTo);
})),
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
@@ -773,6 +741,15 @@
}))
));
+ // 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 -> {
@@ -796,7 +773,7 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
- // 绌挎杞﹀嚭搴撹嚦鎻愬崌鏈哄緟鏈轰綅
+ // 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());
@@ -804,41 +781,24 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(lastPathStartLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
- // 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
+ // 绌挎杞﹁浇璐ц嚦鎻愬崌鏈哄緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(lastPathStartLoc);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
+ dto.setLocNo(standbyLocNoFrom);
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
})),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -850,43 +810,6 @@
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�
- }))
- , 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.setSync(0);//寮傛鎵ц
- }))
- ));
-
// 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
@@ -896,22 +819,40 @@
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleFromLiftStandbyLoc);
+ dto.setSync(0);//寮傛鎵ц
+ dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀剧┛姊溅
})),
MotionCtgType.SHUTTLE_MOVE
));
- // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
- motionList.addAll(kernelService.conveyorOutbound(
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
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
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getOriginLoc()));
+ dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
+ }))
+ , 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(31001);//鍑哄簱绔欑偣
+ dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
+ }))
));
+
+ // 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
+// ));
}
@@ -1133,8 +1074,6 @@
MotionCtgType.SHUTTLE_MOVE
));
- task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
- taskService.updateById(task);
}
// 绌挎杞﹀紑濮嬪厖鐢�
@@ -1280,6 +1219,9 @@
//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()));
+ //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
+ List<String> lockPath = liftDispatcher.getLockPathByLocNo(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(
@@ -1293,6 +1235,15 @@
dto.setLocNo(standbyLocNoTo);
})),
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
@@ -1324,14 +1275,6 @@
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�
@@ -1393,6 +1336,15 @@
}))
));
+ // 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鐩爣浣嶇疆
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
@@ -1422,7 +1374,7 @@
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())
@@ -1522,7 +1474,7 @@
motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
}));
- // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(device.getId().intValue());
@@ -1532,7 +1484,7 @@
dto.setShuttleNo(device.getId().intValue());
dto.setLocNo(targetLoc);
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_TRANSPORT
));
//鎵樼洏涓嬮檷
@@ -1566,7 +1518,8 @@
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
@@ -1578,23 +1531,45 @@
}))
));
- } 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;
--
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