#

zjj

2025-04-08 3df03c486fde77ab36b9298a94bdbb0aa065a7e2

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/LiftAction.java

@@ -1,20 +1,28 @@
package com.zy.asrs.wcs.core.action;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.BasLiftOpt;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.CommandResponse;
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.service.BasLiftOptService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.List;

@Component
@@ -22,6 +30,12 @@

    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private TaskService taskService;
    @Autowired
    private BasLiftOptService basLiftOptService;
    @Autowired
    private LiftDispatcher liftDispatcher;

    public synchronized boolean assignWork(Device device, LiftAssignCommand assignCommand) {
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
@@ -50,6 +64,11 @@
    public synchronized boolean executeWork(Device device, Integer taskNo) {
        Object obj = redisUtil.get(DeviceRedisConstant.LIFT_WORK_FLAG + taskNo);
        if (obj == null) {
            return false;
        }

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

@@ -85,7 +104,8 @@
            LiftCommand command = commands.get(commandStep - 1);
            if (command.getMode() == LiftCommandModeType.MOVE.id) {
                //提升机升降
                if (liftProtocol.getLev() == command.getTargetLev()) {
                Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), command.getTargetLev());
                if (liftProtocol.getLev() == target) {
                    command.setComplete(true);
                }
            } else if (command.getMode() == LiftCommandModeType.MOVE_CAR.id) {
@@ -93,11 +113,38 @@
                if (liftProtocol.getLev() == command.getTargetLev()) {
                    command.setComplete(true);
                }
            } else if (command.getMode() == LiftCommandModeType.PALLET_INOUT.id) {
                //托盘出入
                if (liftProtocol.getLev() == command.getTargetLev()) {
            } else if (command.getMode() == LiftCommandModeType.PALLET_IN.id) {
                //托盘入
                Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), command.getTargetLev());
                if (liftProtocol.getLev() == target) {
                    command.setComplete(true);
                }

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

            } else if (command.getMode() == LiftCommandModeType.PALLET_OUT.id) {
                //托盘出
                Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), command.getTargetLev());
                if (liftProtocol.getLev() == target) {
                    command.setComplete(true);
                }

                //判断提升机托盘是否存在
                if (liftProtocol.getHasTray()) {
                    return false;
                }
            } else if (command.getMode() == LiftCommandModeType.RESET.id) {
                //复位
                command.setComplete(true);
            } else if (command.getMode() == LiftCommandModeType.LOCK.id) {
                //锁定
                command.setComplete(true);
            } else if (command.getMode() == LiftCommandModeType.UNLOCK.id) {
                //解锁
                command.setComplete(true);
            }

            // 更新redis数据
@@ -114,7 +161,6 @@

                //对主线程抛出等待确认状态waiting
                liftThread.setProtocolStatus(LiftProtocolStatusType.WAITING);
                liftThread.commandFinished(taskNo);//调用完成后续指令(部分提升机有后续指令，实际情况看是否有真正实现方法)
                redisUtil.del(DeviceRedisConstant.LIFT_WORK_FLAG + taskNo);
                return false;//禁止再下发命令
            }
@@ -123,8 +169,26 @@
        //取出命令
        LiftCommand command = commands.get(commandStep);

        boolean result = write(command, device);
        if (!result) {
        // 下发命令
        CommandResponse response = write(command, device);

        //保存命令日志
        BasLiftOpt basLiftOpt = new BasLiftOpt();
        basLiftOpt.setTaskNo(taskNo);
        basLiftOpt.setLiftNo(liftProtocol.getLiftNo());
        basLiftOpt.setMode(LiftCommandModeType.get(command.getMode()).desc);
        basLiftOpt.setCommand(JSON.toJSONString(command));
        basLiftOpt.setSystemStatus(JSON.toJSONString(liftProtocol));
        basLiftOpt.setDeviceId(device.getId());
        basLiftOpt.setDeviceWrk(String.valueOf(command.getTaskNo()));
        basLiftOpt.setResponse(response.getMessage());//获取响应
        basLiftOpt.setSendTime(new Date());//指令下发时间
        basLiftOpt.setSend(response.getResult() ? 1 : 0);
        basLiftOpt.setHostId(device.getHostId());
        //保存命令流水
        basLiftOptService.save(basLiftOpt);

        if (!response.getResult()) {
            News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            return false;
        } else {
@@ -140,30 +204,31 @@
        return true;
    }

    private synchronized boolean write(LiftCommand command, Device device) {
    private synchronized CommandResponse write(LiftCommand command, Device device) {
        CommandResponse response = new CommandResponse(false);
        if (null == command) {
            News.error("提升机写入命令为空");
            return false;
            response.setMessage("提升机写入命令为空");
            return response;
        }

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
        if (liftThread == null) {
            return false;
            return response;
        }

        boolean result = false;
        if (command.getMode() == LiftCommandModeType.MOVE.id) {
            result = liftThread.move(command);
        } else if (command.getMode() == LiftCommandModeType.PALLET_INOUT.id) {
            result = liftThread.palletInOut(command);
            response = liftThread.move(command);
        } else if (command.getMode() == LiftCommandModeType.PALLET_IN.id || command.getMode() == LiftCommandModeType.PALLET_OUT.id) {
            response = liftThread.palletInOut(command);
        } else if (command.getMode() == LiftCommandModeType.LOCK.id) {
            result = liftThread.lock(command);
            response = liftThread.lock(command);
        } else if (command.getMode() == LiftCommandModeType.UNLOCK.id) {
            result = liftThread.unlock(command);
            response = liftThread.unlock(command);
        } else if (command.getMode() == LiftCommandModeType.RESET.id) {
            result = liftThread.reset(command);
            response = liftThread.reset(command);
        }
        return result;
        return response;
    }

}