#

Junjie

2024-04-08 79603e53c78e535dba4bfbc69b8c3b5c184012c5

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

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -18,8 +19,10 @@
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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.ShuttleProtocol;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -53,6 +56,8 @@
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private ShuttleAction shuttleAction;
    @Autowired
    private LiftAction liftAction;

    // 计算
    public Boolean accept(Motion motion) {
@@ -76,16 +81,16 @@
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
        assignCommand.setShuttleNo(deviceNo.shortValue());
        assignCommand.setTaskNo(motion.getWrkNo().shortValue());
        assignCommand.setShuttleNo(deviceNo);
        assignCommand.setTaskNo(motion.getWrkNo());
        assignCommand.setSourceLocNo(motion.getOrigin());
        assignCommand.setLocNo(motion.getTarget());

        List<ShuttleCommand> shuttleCommands = new ArrayList<>();
        ShuttleTaskModeType shuttleTaskModeType = null;

//        SiemensLiftThread liftThread = null;
//        LiftProtocol liftProtocol = null;
        LiftThread liftThread = null;
        LiftProtocol liftProtocol = null;

        //判断小车状态
        if (shuttleProtocol.getIdle()
@@ -106,38 +111,80 @@
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
//            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                break;
//            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_MOVE_FROM_LIFT://出提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getWrkNo(), true));
                break;
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getWrkNo(), false));
                break;
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
                // 判断提升机状态
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }

                liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    return false;
                }

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

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

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getWrkNo(), true);//获取提升机锁定命令
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
//                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
//                    liftAssignCommand.setTaskNo(motion.getWrkNo());
//                    ArrayList<LiftCommand> list = new ArrayList<>();
//                    list.add(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.getWrkNo()) {
                    return false;
                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
            case SHUTTLE_MOVE_TO_LIFT://进提升机
                // 判断提升机状态
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    return false;
                }
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

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

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
@@ -147,213 +194,33 @@
//                    liftThread.assignWork(lockCommand);
//                    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.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_TO_LIFT://进提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    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.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_FROM_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_TO_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://穿梭车出提升机去输送线
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    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.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_TRANSPORT:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_FROM_LIFT://穿梭车载货出提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    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.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
////                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_TO_LIFT://穿梭车载货进提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    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.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
////                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_TO_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_CHARGE_ON:
//                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
//                shuttleCommands.add(shuttleThread.getChargeSwitchCommand((short) 1));
//                assignCommand.setCharge(Boolean.TRUE);
//                break;

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                    return false;
                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
            case SHUTTLE_CHARGE_ON://充电开
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_CHARGE_OFF://充电关
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_PALLET_LIFT://托盘顶升
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true));
                break;
            case SHUTTLE_PALLET_DOWN://托盘下降
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false));
                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
        }
@@ -363,7 +230,7 @@
        }

        assert null != shuttleTaskModeType;
        assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());//入出库模式
        assignCommand.setTaskMode(shuttleTaskModeType.id);//入出库模式
        assignCommand.setCommands(shuttleCommands);

        if (motion.getOrigin() != null && motion.getTarget() != null) {
@@ -405,12 +272,13 @@
            return false;
        }

        if (!shuttleProtocol.getIdle()) {
        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {
            return false;
        }

//        SiemensLiftThread liftThread = null;
//        LiftProtocol liftProtocol = null;
        LiftThread liftThread = null;
        LiftProtocol liftProtocol = null;

        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case SHUTTLE_MOVE:
@@ -422,21 +290,21 @@
                    return false;
                }
                break;
//            case SHUTTLE_MOVE_TO_LIFT:
//            case SHUTTLE_MOVE_FROM_LIFT:
//            case SHUTTLE_TRANSPORT_FROM_LIFT:
//            case SHUTTLE_TRANSPORT_TO_LIFT:
//            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//
//                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
//                    return false;
//                }
//
            case SHUTTLE_MOVE_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT:
            case SHUTTLE_TRANSPORT_FROM_LIFT:
            case SHUTTLE_TRANSPORT_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

//                //判断提升机是否被锁定
//                if (liftProtocol.getLiftLock()) {
//                    //解锁提升机
@@ -446,18 +314,18 @@
//                    liftThread.assignWork(lockCommand);
//                    return false;
//                }
//
//                //判断提升机工作号是否和当前任务相同
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                if (liftProtocol.getTaskNo().intValue() != 0) {

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                    return false;
                }

//                if (liftProtocol.getTaskNo() != 0) {
//                    //清空提升机号
//                    liftThread.setTaskNo(0);
//                }
//
//                break;

                break;
            default:
                break;
        }