From f5ce30b28233487bbad44b20e9f93ca299941a8a Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 26 九月 2024 15:36:44 +0800
Subject: [PATCH] #

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java |   99 +++++++++++++++++++++++++++++++++++++++----------
 1 files changed, 79 insertions(+), 20 deletions(-)

diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
index b0b342d..3b3b015 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
@@ -55,13 +55,15 @@
                 motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
             }
             motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
-        }));
 
-//        if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
-//            if (target.getUpdateLiftNo()) {
-//
-//            }
-//        }
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
+        }));
 
         return motionList;
     }
@@ -85,8 +87,16 @@
             motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
             motion.setTarDrt(target.getStaNo());//鐩爣绔�
 
+            if (target.getDevpNo() != null) {
+                motion.setDockNo(String.valueOf(target.getDevpNo()));//杈撻�佺嚎ID
+            }
+
             if (target.getSync() != null) {
                 motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
             }
         }));
 
@@ -108,6 +118,11 @@
             if (null != origin) {
                 motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
             }
+
+            if (target.getTaskNo() != null) {
+                motion.setTaskNo(target.getTaskNo());
+            }
+
             motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
         }));
 
@@ -166,6 +181,14 @@
             motion.setDeviceCtg(DeviceCtgType.LIFT.val());
             motion.setDevice(String.valueOf(target.getLiftNo()));
             motion.setMotionCtg(MotionCtgType.LIFT_LOCK.val());
+
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
         }));
 
         return motionList;
@@ -181,6 +204,14 @@
             motion.setDeviceCtg(DeviceCtgType.LIFT.val());
             motion.setDevice(String.valueOf(target.getLiftNo()));
             motion.setMotionCtg(MotionCtgType.LIFT_UNLOCK.val());
+
+            if (target.getSync() != null) {
+                motion.setSync(target.getSync());
+            }
+
+            if (target.getReleaseLift() != null) {
+                motion.setReleaseLift(target.getReleaseLift());
+            }
         }));
 
         return motionList;
@@ -331,23 +362,15 @@
                 case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
 
                     break;
+                case SHUTTLE_CHARGE_ON://鍏呯數寮�
+
+                    break;
+                case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
+
+                    break;
                 default:
                     break;
             }
-
-        }));
-
-        return motionList;
-    }
-
-    public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
-        List<Motion> motionList = new ArrayList<>();
-
-        motionList.add(Motion.build(motion -> {
-            motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
-            motion.setDevice(String.valueOf(target.getShuttleNo()));
-
-            motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
 
         }));
 
@@ -417,4 +440,40 @@
         return motionList;
     }
 
+    // Map -----------------------------------------------------------------------------
+
+    /**
+     * 鍦板浘璺緞閿佸畾
+     */
+    public List<Motion> mapLockPath(MotionDto origin, MotionDto target) {
+        List<Motion> motionList = new ArrayList<>();
+
+        motionList.add(Motion.build(motion -> {
+            motion.setDeviceCtg(DeviceCtgType.MAP.val());
+            motion.setDevice(String.valueOf(target.getShuttleNo()));
+            motion.setMotionCtg(MotionCtgType.MAP_LOCK_PATH.val());
+
+            motion.setTarget(target.getLocNo());
+        }));
+
+        return motionList;
+    }
+
+    /**
+     * 鍦板浘璺緞瑙ｉ攣
+     */
+    public List<Motion> mapUnlockPath(MotionDto origin, MotionDto target) {
+        List<Motion> motionList = new ArrayList<>();
+
+        motionList.add(Motion.build(motion -> {
+            motion.setDeviceCtg(DeviceCtgType.MAP.val());
+            motion.setDevice(String.valueOf(target.getShuttleNo()));
+            motion.setMotionCtg(MotionCtgType.MAP_UNLOCK_PATH.val());
+
+            motion.setTarget(target.getLocNo());
+        }));
+
+        return motionList;
+    }
+
 }

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