#

zjj

2024-06-20 5a2ec88cf71194456a371efda15f3cab5f6225ae

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

@@ -61,6 +61,8 @@
    private ShuttleAction shuttleAction;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;

    // 计算
    public Boolean accept(Motion motion) {
@@ -141,11 +143,11 @@
                }

                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
                    return false;
                }

                if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
                if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//判断提升机是否达到目标层
                    return false;
                }

@@ -156,24 +158,13 @@
                        return true;
                    }
                })) {
                    //锁定提升机
                    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.addAll(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;
                }

//                //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;
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -189,11 +180,11 @@
                    return false;
                }
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
                    return false;
                }

                if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
                if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//判断提升机是否达到目标层
                    return false;
                }

@@ -204,27 +195,13 @@
                        return true;
                    }
                })) {
                    //锁定提升机
                    List<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.addAll(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;
                }

//                //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;
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -246,6 +223,10 @@
            case SHUTTLE_PALLET_DOWN://托盘下降
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
                break;
            case SHUTTLE_UPDATE_LOCATION://小车坐标更新
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
                shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
@@ -363,6 +344,7 @@
                            list.addAll(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), true, 120);
                            return false;
                        }
                    }
@@ -483,6 +465,8 @@
                    liftThread.setSyncTaskNo(0);
                }
                break;
            case SHUTTLE_UPDATE_LOCATION://小车坐标更新
                break;
            default:
                break;
        }