From d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 四月 2025 13:30:35 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 261 +++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 238 insertions(+), 23 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 dd04470..678014a 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
@@ -1,10 +1,21 @@
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.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
+import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.entity.Motion;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.MotionService;
+import com.zy.asrs.wcs.core.utils.LiftDispatcher;
+import com.zy.asrs.wcs.core.utils.NavigateUtils;
+import com.zy.asrs.wcs.core.utils.Utils;
+import com.zy.asrs.wcs.rcs.News;
+import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -19,7 +30,12 @@
@Autowired
private MotionService motionService;
-
+ @Autowired
+ private LiftDispatcher liftDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private DeviceService deviceService;
// agv -----------------------------------------------------------------------------
@Deprecated
@@ -49,17 +65,19 @@
motion.setMotionCtg(MotionCtgType.LIFT_MOVE.val());
- if (null != origin) {
- motion.setOrigin(String.valueOf(origin.getLev()));
- }
- motion.setTarget(String.valueOf(target.getLev()));
- }));
-
-// if (target.getUpdateLiftNo() != null && target.getWrkNo() != null) {
-// if (target.getUpdateLiftNo()) {
-//
+// if (null != origin) {
+// motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
// }
-// }
+// motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
+ motion.setTarget(target.getLev().toString());
+ if (target.getSync() != null) {
+ motion.setSync(target.getSync());
+ }
+
+ if (target.getReleaseLift() != null) {
+ motion.setReleaseLift(target.getReleaseLift());
+ }
+ }));
return motionList;
}
@@ -67,7 +85,7 @@
/**
* 鎻愬崌鏈鸿浇璐хЩ鍔�
*/
- public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target) {
+ public List<Motion> liftMoveGoods(MotionDto origin, MotionDto target, MotionCtgType type) {
List<Motion> motionList = new ArrayList<>();
motionList.add(Motion.build(motion -> {
@@ -75,13 +93,30 @@
motion.setDevice(String.valueOf(target.getLiftNo()));
motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS.val());
+ if (type != null) {
+ motion.setMotionCtg(type.val());
+ }
if (null != origin) {
- motion.setOrigin(String.valueOf(origin.getLev()));
- motion.setOriDrt(origin.getStaNo());//婧愮珯
+// motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
+// motion.setOriDrt(origin.getStaNo());//婧愮珯
+ motion.setOrigin(String.valueOf(origin.getStaNo()));
}
- motion.setTarget(String.valueOf(target.getLev()));
- motion.setTarDrt(target.getStaNo());//鐩爣绔�
+// motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
+// motion.setTarDrt(target.getStaNo());//鐩爣绔�
+ motion.setTarget(String.valueOf(target.getStaNo()));
+
+ 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());
+ }
}));
return motionList;
@@ -100,9 +135,14 @@
motion.setMotionCtg(MotionCtgType.LIFT_WITH_SHUTTLE.val());
if (null != origin) {
- motion.setOrigin(String.valueOf(origin.getLev()));
+ motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
}
- motion.setTarget(String.valueOf(target.getLev()));
+
+ if (target.getTaskNo() != null) {
+ motion.setTaskNo(target.getTaskNo());
+ }
+
+ motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
}));
return motionList;
@@ -121,9 +161,9 @@
motion.setMotionCtg(MotionCtgType.LIFT_WITH_GOODS_AND_SHUTTLE.val());
if (null != origin) {
- motion.setOrigin(String.valueOf(origin.getLev()));
+ motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), origin.getLev())));
}
- motion.setTarget(String.valueOf(target.getLev()));
+ motion.setTarget(String.valueOf(liftDispatcher.getLiftLevOffset(target.getLiftNo(), target.getLev())));
}));
return motionList;
@@ -141,7 +181,7 @@
motion.setMotionCtg(MotionCtgType.LIFT_TRANSPORT_TO_CONVEYOR.val());
- motion.setOrigin(String.valueOf(origin.getLev()));
+ motion.setOrigin(String.valueOf(liftDispatcher.getLiftLevOffset(origin.getLiftNo(), origin.getLev())));
motion.setDockNo(String.valueOf(target.getDevpNo()));
motion.setTarget(String.valueOf(target.getStaNo()));
@@ -150,8 +190,100 @@
return motionList;
}
+ /**
+ * 鎻愬崌鏈洪攣瀹�
+ */
+ public List<Motion> liftLock(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ 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;
+ }
+
+ /**
+ * 鎻愬崌鏈鸿В閿�
+ */
+ public List<Motion> liftUnlock(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ 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;
+ }
+
+ /**
+ * 鎻愬崌鏈�-灏忚溅宸插埌浣�
+ */
+ public List<Motion> liftShuttleArrival(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+ motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_ARRIVAL.val());
+ }));
+
+ return motionList;
+ }
+
+ /**
+ * 鎻愬崌鏈�-灏忚溅宸查┒绂�
+ */
+ public List<Motion> liftShuttleLeave(MotionDto origin, MotionDto target) {
+ List<Motion> motionList = new ArrayList<>();
+
+ motionList.add(Motion.build(motion -> {
+ motion.setDeviceCtg(DeviceCtgType.LIFT.val());
+ motion.setDevice(String.valueOf(target.getLiftNo()));
+ motion.setMotionCtg(MotionCtgType.LIFT_SHUTTLE_LEAVE.val());
+ }));
+
+ return motionList;
+ }
// shuttle -----------------------------------------------------------------------------
+
+ /**
+ * 灏忚溅鍧愭爣鏇存柊
+ */
+ public List<Motion> shuttleUpdateLocation(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_UPDATE_LOCATION.val());
+
+ motion.setTarget(target.getLocNo());
+ }));
+
+ return motionList;
+ }
/**
* 绌挎杞︾┖杞界Щ鍔�
@@ -185,8 +317,35 @@
motion.setTemp(String.valueOf(origin.getLiftNo()));//淇濆瓨鎻愬崌鏈哄彿
motion.setDockNo(String.valueOf(target.getStaNo()));
break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ motion.setDockNo(String.valueOf(target.getStaNo()));
+ break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ motion.setTarget(null);//绛夊緟鑷姩鎼滅储
+ motion.setTemp(target.getLocNo());//鍏ㄩ儴寰呮満浣�
+ break;
default:
break;
+ }
+
+ if (target.getSync() != null) {
+ motion.setSync(target.getSync());
+ }
+
+ if (target.getReleaseShuttle() != null) {
+ motion.setReleaseShuttle(target.getReleaseShuttle());
+ }
+
+ if (target.getReleaseLift() != null) {
+ motion.setReleaseLift(target.getReleaseLift());
+ }
+
+ if (motion.getOrigin() != null && motion.getTarget() != null) {
+ List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
+ if (nodeList == null) {
+ throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
+ }
+ motion.setMovePath(JSON.toJSONString(nodeList));
}
}));
@@ -230,14 +389,34 @@
return motionList;
}
- public List<Motion> shuttleCharge(MotionDto origin, MotionDto target) {
+ /**
+ * 绌挎杞﹀姩浣�
+ */
+ public List<Motion> shuttleAction(MotionDto origin, MotionDto target, MotionCtgType motionCtgType) {
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());
+ motion.setMotionCtg(motionCtgType.val());
+
+ switch (motionCtgType) {
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+
+ break;
+ 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;
+ }
}));
@@ -307,4 +486,40 @@
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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