From f46e6a76cee1e4f231fab74981a87947bf84677d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 十月 2024 11:02:47 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 65 ++++++++++++++++++++++++++++----
1 files changed, 57 insertions(+), 8 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index d0725bc..5390f51 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -7,24 +7,20 @@
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
-import com.zy.asrs.wcs.core.entity.BasShuttle;
-import com.zy.asrs.wcs.core.entity.Loc;
-import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
-import com.zy.asrs.wcs.core.service.BasShuttleService;
-import com.zy.asrs.wcs.core.service.LocService;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.service.*;
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.core.entity.Motion;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
-import com.zy.asrs.wcs.core.service.MotionService;
+import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
+import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -60,6 +56,10 @@
private LiftAction liftAction;
@Autowired
private LiftDispatcher liftDispatcher;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -92,6 +92,11 @@
return false;
}
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
assignCommand.setTaskNo(motion.getTaskNo());
@@ -112,6 +117,48 @@
if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
.eq(Loc::getLocNo, motion.getTarget())
.eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ break;
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
+ break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//鑾峰彇杈撻�佺珯鐐�
+ if (originStaObj == null) {
+ return false;
+ }
+
+ BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
+ if(basConveyor == null) {
+ return false;
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
+ if (devpThread == null) {
+ return false;
+ }
+ StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(motion.getDockNo()));//杈撻�佺珯
+ if (staProtocol == null) {
+ return false;
+ }
+ if (!(staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
+ return false;
+ }
+
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -297,6 +344,8 @@
case SHUTTLE_MOVE_DOWN_PALLET:
case SHUTTLE_MOVE_TO_CONVEYOR:
case SHUTTLE_MOVE_FROM_CONVEYOR:
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
return false;
}
--
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