package com.zy.asrs.wcs.core.kernel.command;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.wcs.core.action.LiftAction;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
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import com.zy.asrs.wcs.core.model.command.LiftCommand;
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import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
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import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
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import com.zy.asrs.wcs.core.model.enums.MotionStsType;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Objects;
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/**
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* Created by vincent on 2023/10/23
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*/
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@Slf4j
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@Service
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public class LiftCommandService {
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@Autowired
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private MotionService motionService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private LiftAction liftAction;
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public Boolean accept(Motion motion) {
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Integer deviceNo = Integer.parseInt(motion.getDevice());
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
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if (liftThread == null) {
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return false;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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return false;
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}
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if (motionService.count(new LambdaQueryWrapper<Motion>()
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.eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
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.eq(Motion::getDevice, motion.getDevice())
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.eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
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return false;
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}
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//检测提升机是否有任务绑定
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boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
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if (liftResult) {
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//存在任务，禁止执行
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return false;
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}
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//每次执行提升机指令都绑定提升机
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
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if (task == null) {
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return false;
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}
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task.setLiftNo(liftProtocol.getLiftNo());
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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return false;
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}
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ArrayList<LiftCommand> list = new ArrayList<>();
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LiftAssignCommand assignCommand = new LiftAssignCommand();
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assignCommand.setLiftNo(liftProtocol.getLiftNo());
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assignCommand.setTaskNo(motion.getTaskNo());
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assignCommand.setCommands(list);
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List<LiftCommand> command = new ArrayList<>();
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
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case LIFT_MOVE:
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//判断提升机是否自动
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if (!liftThread.isIdle()) {
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return false;
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}
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// 如果已经在目标层，那边层过滤
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if (liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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liftThread.setSyncTaskNo(motion.getTaskNo());
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break;
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}
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command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_WITH_GOODS:
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//判断提升机是否自动
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if (!liftThread.isIdle()) {
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return false;
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}
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// if (liftProtocol.getHasTray()) {
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// return false;
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// }
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command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_WITH_SHUTTLE:
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//判断提升机是否自动
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if (!liftThread.isIdle()) {
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return false;
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}
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if (!liftProtocol.getHasCar()) {
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return false;
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}
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command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_WITH_GOODS_AND_SHUTTLE:
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//判断提升机是否自动
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if (!liftThread.isIdle()) {
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return false;
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}
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return false;
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case LIFT_TRANSPORT_TO_CONVEYOR:
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return false;
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case LIFT_LOCK:
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//锁定提升机
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//判断提升机是否自动
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if (!liftThread.isIdle(MotionCtgType.LIFT_LOCK)) {
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return false;
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}
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command = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_UNLOCK:
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//解锁提升机
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//判断提升机是否自动
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if (!liftThread.isIdle(MotionCtgType.LIFT_UNLOCK)) {
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return false;
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}
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command = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解定命令
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_SHUTTLE_ARRIVAL:
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//提升机-小车已到位
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//判断提升机是否自动
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if (!liftThread.isIdle(MotionCtgType.LIFT_SHUTTLE_ARRIVAL)) {
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return false;
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}
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command = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
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list.addAll(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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default:
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break;
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}
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return Boolean.TRUE;
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}
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public Boolean finish(Motion motion) {
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Integer deviceNo = Integer.parseInt(motion.getDevice());
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
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if (liftThread == null) {
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return false;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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return false;
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}
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if (liftProtocol.getRun() || liftProtocol.getTaskNo() != motion.getTaskNo().shortValue()) {
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return false;
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}
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Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
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if (task == null) {
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return false;
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}
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
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case LIFT_MOVE:
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// 判断提升机是否空闲
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if (!liftThread.isIdle()) {
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return false;
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}
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if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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return false;
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}
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if (motion.getReleaseLift() == 1) {//释放提升机
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task.setLiftNo(0);
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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return false;
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}
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}
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break;
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case LIFT_WITH_GOODS:
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// 判断提升机是否空闲
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if (!liftThread.isIdle()) {
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return false;
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}
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if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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return false;
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}
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if (task.getTaskSts() < 100) {//入库判断托盘是否进入提升机
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if (!liftProtocol.getHasTray()) {
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return false;
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}
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} else if (task.getTaskSts() >= 100 && task.getTaskSts() < 200) {//出库判断托盘是否离开提升机
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if (liftProtocol.getHasTray()) {
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return false;
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}
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}
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if (motion.getReleaseLift() == 1) {//释放提升机
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task.setLiftNo(0);
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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return false;
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}
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}
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break;
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case LIFT_WITH_SHUTTLE:
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// 判断提升机是否空闲
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if (!liftThread.isIdle()) {
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return false;
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}
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if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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return false;
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}
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//检测是否有小车
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if (!liftProtocol.getHasCar()) {
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return false;
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}
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break;
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case LIFT_WITH_GOODS_AND_SHUTTLE:
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// 判断提升机是否空闲
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if (!liftThread.isIdle()) {
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return false;
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}
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if (!liftProtocol.getHasCar()) {
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return false;
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}
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if (!liftProtocol.getHasTray()) {
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return false;
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}
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if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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return false;
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}
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break;
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case LIFT_TRANSPORT_TO_CONVEYOR:
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break;
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case LIFT_LOCK:
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if (!liftThread.isLock(null)) {
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return false;
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}
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break;
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case LIFT_UNLOCK:
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if (liftThread.isLock(null)) {
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return false;
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}
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if (motion.getReleaseLift() == 1) {//释放提升机
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task.setLiftNo(0);
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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return false;
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}
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}
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break;
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case LIFT_SHUTTLE_ARRIVAL:
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break;
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default:
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return false;
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}
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liftThread.setSyncTaskNo(0);//清零工作号
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liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
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return true;
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}
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}
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