#

zjj

2025-04-08 3df03c486fde77ab36b9298a94bdbb0aa065a7e2

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

@@ -12,6 +12,7 @@
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.LiftDispatcher;
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;
@@ -42,6 +43,8 @@
    private TaskService taskService;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;

    public Boolean accept(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
@@ -113,12 +116,6 @@
//                    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;
                }
//                //*************标准系统代码********************
//                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
//                if (staProtocol == null) {
@@ -135,29 +132,41 @@
//                }
//                //*************************************************

                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
                list.addAll(command);

                //*************此代码为光泰定制代码********************
                Integer tarDrt = motion.getTarDrt();
                if (tarDrt == 31001) {
                    tarDrt = 31004;
                motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_IN:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }
                if (liftProtocol.getHasTray()) {
                    return false;
                }

                StaProtocol staProtocol = devpThread.getStation().get(tarDrt);
                if (staProtocol == null) {
                    return false;
                }
                if (!staProtocol.isAutoing()) {
                    return false;
                }
                if (staProtocol.isLoading()) {
                    return false;
                }
                if (staProtocol.getWorkNo().intValue() != 0) {
                    return false;
                }
                //*************************************************
                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
                list.addAll(command);

                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_OUT:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }
                if (!liftProtocol.getHasTray()) {
                    return false;
                }

                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
                list.addAll(command);

                motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
@@ -251,7 +260,7 @@
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
                    return false;
                }

@@ -270,21 +279,22 @@
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget()));
                if (!liftProtocol.getLev().equals(target)) {
                    return false;
                }

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

//                //*************此代码为标准版本代码********************
//                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
@@ -308,36 +318,53 @@
//                }
//                //*************************************************

                //*************此代码为光泰定制代码********************
                ArrayList<Integer> staList = new ArrayList<>();
                staList.add(motion.getTarDrt());
                staList.add(31003);
                staList.add(31002);
                staList.add(31001);

                boolean check = false;
                for (Integer sta : staList) {
                    StaProtocol staProtocol = devpThread.getStation().get(sta);
                    if (staProtocol == null) {
                        continue;
                    }
                    if (!staProtocol.isAutoing()) {
                        continue;
                    }
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (Integer.parseInt(motion.getTemp()) == staProtocol.getWorkNo().intValue()) {
                        check = true;
                        break;
                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                if (!check) {
                break;
            case LIFT_WITH_GOODS_IN:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }
                //*************************************************

                if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
                    return false;
                }

                //判断提升机托盘是否存在
                if (!liftProtocol.getHasTray()) {
                    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_OUT:
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
                    return false;
                }

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

                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(0);