blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
zjj
2024-06-19 37733cc39c04b863a0b997c7fa3d9ac6a24e08be 
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java


@@ -73,9 +73,19 @@


        if (null == shuttleProtocol) {


            return false;


        }


        if (!shuttleThread.isIdle()) {//设备不空闲




        if (!shuttleThread.isIdle(new ExecuteSupport() {


            @Override


            public Boolean judgement() {


                if (Objects.equals(MotionCtgType.get(motion.getMotionCtgEl()), MotionCtgType.SHUTTLE_CHARGE_OFF)) {//非关闭充电motion，需要判断设备状态


                    return false;//不需要判断状态


                }


                return true;//需要判断状态


            }


        })) {//设备不空闲


            return false;


        }




        if (motionService.count(new LambdaQueryWrapper<Motion>()


                .eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())


                .eq(Motion::getDevice, motion.getDevice())


@@ -147,13 +157,13 @@


                    }


                })) {


                    //锁定提升机


                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令


                    List<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);


                    list.addAll(lockCommand);


                    liftAssignCommand.setCommands(list);




                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


@@ -195,7 +205,7 @@


                    }


                })) {


                    //锁定提升机


                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令


                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令


                    if (lockCommand == null) {


                        return false;


                    }


@@ -204,7 +214,7 @@


                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());


                    liftAssignCommand.setTaskNo(motion.getTaskNo());


                    ArrayList<LiftCommand> list = new ArrayList<>();


                    list.add(lockCommand);


                    list.addAll(lockCommand);


                    liftAssignCommand.setCommands(list);




                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


@@ -275,11 +285,13 @@




        //充电任务


        if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {


            // 复位穿梭车


            shuttleThread.setSyncTaskNo(0);


            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);


            shuttleThread.setPakMk(true);


            return true;


            if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {


                // 复位穿梭车


                shuttleThread.setSyncTaskNo(0);


                shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);


                shuttleThread.setPakMk(true);


                return true;


            }


        }




        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)


@@ -325,13 +337,13 @@


                    }


                })) {


                    //解锁提升机


                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令


                    List<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);


                    list.addAll(lockCommand);


                    liftAssignCommand.setCommands(list);




                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


@@ -340,7 +352,7 @@




                //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


                    List<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) {


@@ -348,7 +360,7 @@


                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());


                            liftAssignCommand.setTaskNo(motion.getTaskNo());


                            ArrayList<LiftCommand> list = new ArrayList<>();


                            list.add(signalCommand);


                            list.addAll(signalCommand);


                            liftAssignCommand.setCommands(list);


                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


                            return false;


@@ -385,13 +397,13 @@


                    }


                })) {


                    //解锁提升机


                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令


                    List<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);


                    list.addAll(lockCommand);


                    liftAssignCommand.setCommands(list);




                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


@@ -400,7 +412,7 @@




                //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


                    List<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) {


@@ -409,7 +421,7 @@


                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());


                            liftAssignCommand.setTaskNo(motion.getTaskNo());


                            ArrayList<LiftCommand> list = new ArrayList<>();


                            list.add(signalCommand);


                            list.addAll(signalCommand);


                            liftAssignCommand.setCommands(list);


                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);


                            return false;


@@ -448,13 +460,13 @@


                    }


                })) {


                    //解锁提升机


                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令


                    List<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);


                    list.addAll(lockCommand);


                    liftAssignCommand.setCommands(list);




                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);