#

Junjie

2024-04-23 2db722e23d7e5d1d2e719174938f354d804644af

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

@@ -4,11 +4,14 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.enums.*;
@@ -19,6 +22,7 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -135,21 +139,26 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getWrkNo(), true);//获取提升机锁定命令
//
//                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
//                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
//                    liftAssignCommand.setTaskNo(motion.getWrkNo());
//                    ArrayList<LiftCommand> list = new ArrayList<>();
//                    list.add(lockCommand);
//                    liftAssignCommand.setCommands(list);
//
//                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
//                    return false;//等待下一次轮询
//                }
                //判断提升机是否被锁定
                if (!liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return true;
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
@@ -178,15 +187,29 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;//等待下一次轮询
//                }
                //判断提升机是否被锁定
                if (!liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return true;
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    if (lockCommand == null) {
                        return false;
                    }

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
@@ -284,7 +307,126 @@
                }
                break;
            case SHUTTLE_MOVE_TO_LIFT:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断小车是否已到位
                if (liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
                            LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
                        }
                    }
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            case SHUTTLE_MOVE_FROM_LIFT:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断小车是否已离开
                if (!liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//获取小车已驾离命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
                            redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), JSON.toJSONString(signalCommand), 120);
                            LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
                        }
                    }
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            case SHUTTLE_TRANSPORT_FROM_LIFT:
            case SHUTTLE_TRANSPORT_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
@@ -298,26 +440,36 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (liftProtocol.getLiftLock()) {
//                    //解锁提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(false);//获取提升机解锁命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;
//                }
                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

//                if (liftProtocol.getTaskNo() != 0) {
//                    //清空提升机号
//                    liftThread.setTaskNo(0);
//                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            default:
                break;