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.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.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.rcs.cache.SlaveConnection;
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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.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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//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 (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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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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LiftCommand command = new LiftCommand();
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
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case LIFT_MOVE:
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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()), null);
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list.add(command);
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return liftAction.assignWork(liftThread.getDevice(), assignCommand);
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case LIFT_WITH_GOODS:
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return false;
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// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
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// return false;
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// }
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//
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// command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
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// command.setLiftNo(deviceNo.shortValue());
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// command.setTaskNo(motion.getWrkNo().shortValue());
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// return liftThread.assignWork(command);
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case LIFT_WITH_SHUTTLE:
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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()), null);
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list.add(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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return false;
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// if (!liftProtocol.getPlatShuttleCheck()) {
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// return false;
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// }
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//
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// command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
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// command.setLiftNo(deviceNo.shortValue());
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// command.setTaskNo(motion.getWrkNo().shortValue());
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// return liftThread.assignWork(command);
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case LIFT_TRANSPORT_TO_CONVEYOR:
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return false;
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// // 判断输送线状态
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// int staNo = Integer.parseInt(motion.getTarget());
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// WorkZoneType zoneType = WorkZoneType.query(staNo);
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//
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
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//
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// StaProtocol staProtocol = devpThread.getStation().get(staNo);
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// if (staProtocol == null) {
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// return false;
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// }
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//
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// if (!staProtocol.isAutoing()
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// || staProtocol.isLoading()
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//// || !staProtocol.isOutEnable()
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// || staProtocol.getWorkNo() != 0) {
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// return false;
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// }
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//
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// // 判断提升机状态
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// if (!liftProtocol.getLev().equals(Short.parseShort(motion.getOrigin()))) { // 是否处于任务层
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// return false;
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// }
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//
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// // 下发命令 ---------------------------------------------------
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//
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// // 1.驱动输送线电机
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// StaMotorType staMotorType = null;
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// StaMotorType reqStaMotorType = null;
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// LiftInteractiveModeType liftInteractiveModeType = null;
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// LiftNeighborType neighborType = LiftNeighborType.query(staNo);
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// StaProtocol staProtocol1 = staProtocol.clone();
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// staProtocol1.setWorkNo(motion.getWrkNo().shortValue());
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// staProtocol1.setStaNo(neighborType.finalStaNo.shortValue());
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// switch (neighborType) {
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// case LIFT_2_NEIGHBOR_OUTBOUND_LEV_1:
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// staMotorType = StaMotorType.FORWARD;
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// reqStaMotorType = StaMotorType.REQ_FORWARD;
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// liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
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// break;
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// case LIFT_1_NEIGHBOR_INBOUND_LEV_2:
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// case LIFT_1_NEIGHBOR_INBOUND_LEV_3:
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// case LIFT_1_NEIGHBOR_INBOUND_LEV_4:
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// staMotorType = StaMotorType.FORWARD;
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// reqStaMotorType = StaMotorType.REQ_FORWARD;
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// liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
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// break;
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// case LIFT_1_NEIGHBOR_OUTBOUND_LEV_1_FINAL_8:
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// staMotorType = StaMotorType.FORWARD;
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// reqStaMotorType = StaMotorType.REQ_FORWARD;
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// liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
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// break;
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// default:
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// break;
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// }
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//
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// MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol1));
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// try {
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// Thread.sleep(1000);
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// } catch (InterruptedException ignore) {}
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//// int times = 0;boolean staProtocolMotorRes = false;
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//// while (times < 5) {
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//// if (staProtocol.getStaMotorType().equals(staMotorType)) {
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//// staProtocolMotorRes = true;
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//// break;
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//// }
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//// if (!devpThread.controlMotor(staNo, reqStaMotorType)) {
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//// continue;
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//// }
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//// try {
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//// Thread.sleep(500);
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//// } catch (InterruptedException ignore) {}
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//// times++;
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//// }
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//// if (!staProtocolMotorRes) {
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//// return false;
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//// }
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//
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// // 2.驱动提升机电机
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// command = liftThread.getLiftTurnCommand(liftInteractiveModeType.id);
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// command.setLiftNo(deviceNo.shortValue());
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// command.setTaskNo(motion.getWrkNo().shortValue());
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// return liftThread.assignWork(command);
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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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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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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.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
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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_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.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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// // 判断提升机是否自动、空闲、准备就绪、前光电无货、链条没有转动
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// if (!liftProtocol.getModel()
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// || liftProtocol.getRun()
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// || !liftProtocol.getReady()
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// || liftProtocol.getLineFxrontHasStock()
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// || liftProtocol.getLineEndHasStock()
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// || liftProtocol.getForwardRotationFeedback()
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// || liftProtocol.getReverseFeedback()
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// ) {
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// return false;
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// }
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//
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// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
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// return false;
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// }
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//
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// // 判断输送线状态
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// int staNo = Integer.parseInt(motion.getTarget());
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// WorkZoneType zoneType = WorkZoneType.query(staNo);
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//
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
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//
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// StaProtocol staProtocol = devpThread.getStation().get(staNo);
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// if (staProtocol == null) {
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// return false;
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// }
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//
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// if (!staProtocol.getStaMotorType().equals(StaMotorType.STANDBY)) {
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// return false;
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// }
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//
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//// // 判断输送线状态
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//// int staNo = Integer.parseInt(motion.getTarget());
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//// WorkZoneType zoneType = WorkZoneType.query(staNo);
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////
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//// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
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////
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//// StaProtocol staProtocol = devpThread.getStation().get(staNo);
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//// if (staProtocol == null) {
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//// return false;
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//// }
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////
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//// if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo() != motion.getWrkNo().intValue()) {
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//// return false;
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//// }
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//
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//// if (!staProtocol.getStaMotorType().equals(StaMotorType.STANDBY)) {
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//// return false;
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//// }
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//
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//// // 将任务号先保存到输送线站点上，目标站为0
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//// StaProtocol clone = staProtocol.clone();
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//// clone.setWorkNo(motion.getWrkNo().shortValue());
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//// clone.setStaNo((short) 0);
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//// if (!MessageQueue.offer(SlaveType.Devp, zoneType.devpPlcId, new Task(2, clone))) {
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//// return false;
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//// }
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////
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//// // 停止提升机电机转动，并复位
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//// command = liftThread.getLiftTurnCommand(LiftInteractiveModeType.ENGINE_STOP.id);
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//// command.setLiftNo(deviceNo.shortValue());
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//// command.setTaskNo(motion.getWrkNo().shortValue());
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//// return liftThread.assignWork(command);
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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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return true;
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}
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}
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