#
zjj
2025-04-08 3df03c486fde77ab36b9298a94bdbb0aa065a7e2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
@@ -12,11 +12,14 @@
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;
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;
@@ -40,6 +43,8 @@
    private TaskService taskService;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;
    public Boolean accept(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
@@ -61,7 +66,7 @@
        }
        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(deviceNo, String.valueOf(motion.getTaskNo()));
        boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
        if (liftResult) {
            //存在任务,禁止执行
            return false;
@@ -82,6 +87,7 @@
        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<>();
@@ -98,7 +104,7 @@
                    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:
@@ -110,8 +116,63 @@
//                    return false;
//                }
                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
//                //*************标准系统代码********************
//                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
//                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);
                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;
                }
                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()));
                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()));
                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
@@ -123,7 +184,7 @@
                    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:
@@ -142,7 +203,7 @@
                    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:
@@ -152,7 +213,7 @@
                    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:
@@ -162,7 +223,7 @@
                    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:
@@ -199,12 +260,12 @@
                    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;
                }
                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(null);
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
@@ -218,22 +279,95 @@
                    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;
                }
                if (task.getTaskSts() < 100) {//入库判断托盘是否进入提升机
                    if (!liftProtocol.getHasTray()) {
                        return false;
                    }
                } else if (task.getTaskSts() >= 100 && task.getTaskSts() < 200) {//出库判断托盘是否离开提升机
                    if (liftProtocol.getHasTray()) {
//                //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;
//                }
//                //*************此代码为标准版本代码********************
//                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;
            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(null);
                    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);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
@@ -289,7 +423,7 @@
                }
                if (motion.getReleaseLift() == 1) {//释放提升机
                    task.setLiftNo(null);
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;