#

Junjie

2024-10-17 236d970338b4a5cb1bd33b5cc042fac89b61df66

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java

@@ -12,10 +12,13 @@
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
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.StaProtocol;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -59,6 +62,14 @@
            return false;
        }

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
        if (liftResult) {
            //存在任务，禁止执行
            return false;
        }

        //每次执行提升机指令都绑定提升机
        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
@@ -73,6 +84,7 @@
        LiftAssignCommand assignCommand = new LiftAssignCommand();
        assignCommand.setLiftNo(liftProtocol.getLiftNo());
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
        assignCommand.setCommands(list);

        List<LiftCommand> command = new ArrayList<>();
@@ -89,7 +101,7 @@
                    break;
                }

                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                command = liftThread.getMoveCommand(assignCommand.getDeviceTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
@@ -101,8 +113,13 @@
//                    return false;
//                }

                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                list.addAll(command);

                motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                //判断提升机是否自动
@@ -114,7 +131,7 @@
                    return false;
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                command = liftThread.getMoveWithShuttleCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
@@ -133,7 +150,7 @@
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                command = liftThread.getLockCommand(assignCommand.getDeviceTaskNo(), true);//获取提升机锁定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_UNLOCK:
@@ -143,7 +160,7 @@
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解定命令
                command = liftThread.getLockCommand(assignCommand.getDeviceTaskNo(), false);//获取提升机解定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_SHUTTLE_ARRIVAL:
@@ -153,7 +170,7 @@
                    return false;
                }

                command = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                command = liftThread.getShuttleSignalCommand(assignCommand.getDeviceTaskNo(), true);//获取小车已到位命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            default:
@@ -178,6 +195,11 @@
            return false;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 判断提升机是否空闲
@@ -189,6 +211,14 @@
                    return false;
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                break;
            case LIFT_WITH_GOODS:
                // 判断提升机是否空闲
@@ -196,12 +226,47 @@
                    return false;
                }

//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                    return false;
//                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }

                //判断提升机托盘是否存在
                if (liftProtocol.getHasTray()) {
                    return false;
                }

                //判断目标站是否有托盘
                Integer conveyorDeviceId = Integer.parseInt(motion.getDockNo());
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, conveyorDeviceId);
                if (devpThread == null) {
                    return false;
                }
                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
                if(staProtocol == null) {
                    return false;
                }
                if (!staProtocol.isAutoing()) {
                    return false;
                }
                if (!staProtocol.isLoading()) {
                    return false;
                }
                if (!motion.getTaskNo().equals(staProtocol.getWorkNo().intValue())) {
                    if (motion.getTemp() == null) {
                        return false;
                    }

                    if (Integer.parseInt(motion.getTemp()) != staProtocol.getWorkNo().intValue()) {
                        return false;
                    }
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                break;
@@ -230,6 +295,10 @@
                    return false;
                }

                if (!liftProtocol.getHasTray()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }
@@ -247,6 +316,14 @@
                if (liftThread.isLock(null)) {
                    return false;
                }

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }
                break;
            case LIFT_SHUTTLE_ARRIVAL: