#

zjj

2024-06-22 8a830f3e5f9ff3bca3161b5bf800abeb1a64e866

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

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
@@ -21,6 +22,8 @@
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Objects;

/**
@@ -49,15 +52,20 @@
            return false;
        }

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

        if (motionService.count(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                .eq(Motion::getDevice, motion.getDevice())
                .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
            return false;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }
        task.setLiftNo(liftProtocol.getLiftNo());
        task.setUpdateTime(new Date());
        if (!taskService.updateById(task)) {
            return false;
        }

@@ -67,9 +75,14 @@
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setCommands(list);

        LiftCommand command = new LiftCommand();
        List<LiftCommand> command = new ArrayList<>();
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

                // 如果已经在目标层，那边层过滤
                if (liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    liftThread.setSyncTaskNo(motion.getTaskNo());
@@ -77,39 +90,74 @@
                }

                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }
//                if (liftProtocol.getHasTray()) {
//                    return false;
//                }

                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getHasCar()) {
                    return false;
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }

                return false;
//                if (!liftProtocol.getPlatShuttleCheck()) {
//                    return false;
//                }
//
//                command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
//                command.setLiftNo(deviceNo.shortValue());
//                command.setTaskNo(motion.getWrkNo().shortValue());
//                return liftThread.assignWork(command);
            case LIFT_TRANSPORT_TO_CONVEYOR:
                return false;
            case LIFT_LOCK:
                //锁定提升机
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_LOCK)) {
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_UNLOCK:
                //解锁提升机
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_UNLOCK)) {
                    return false;
                }

                command = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解定命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_SHUTTLE_ARRIVAL:
                //提升机-小车已到位
                //判断提升机是否自动
                if (!liftThread.isIdle(MotionCtgType.LIFT_SHUTTLE_ARRIVAL)) {
                    return false;
                }

                command = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            default:
                break;

        }

        return Boolean.TRUE;
@@ -148,10 +196,6 @@
                    return false;
                }

//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                    return false;
//                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }
@@ -182,6 +226,10 @@
                    return false;
                }

                if (!liftProtocol.getHasTray()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    return false;
                }
@@ -190,6 +238,19 @@
            case LIFT_TRANSPORT_TO_CONVEYOR:

                break;
            case LIFT_LOCK:
                if (!liftThread.isLock(null)) {
                    return false;
                }
                break;
            case LIFT_UNLOCK:
                if (liftThread.isLock(null)) {
                    return false;
                }
                break;
            case LIFT_SHUTTLE_ARRIVAL:

                break;
            default:
                return false;
        }