#path similarity

Junjie

2024-12-11 8ef2bb5e46d84594e6ed632c07ea0b47a1bf6c4d

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

@@ -3,16 +3,22 @@
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;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
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.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;
@@ -20,6 +26,7 @@

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

/**
@@ -48,14 +55,6 @@
            return false;
        }

        //自动、就绪、空闲
        if (!(liftProtocol.getModel()
                && liftProtocol.getReady()
                && !liftProtocol.getRun())
        ) {
            return false;
        }

        if (motionService.count(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                .eq(Motion::getDevice, motion.getDevice())
@@ -63,139 +62,163 @@
            return false;
        }

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
        if (liftResult) {
            //存在任务，禁止执行
            return false;
        }

        //每次执行提升机指令都绑定提升机
        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;
        }

        ArrayList<LiftCommand> list = new ArrayList<>();
        LiftAssignCommand assignCommand = new LiftAssignCommand();
        assignCommand.setLiftNo(liftProtocol.getLiftNo());
        assignCommand.setTaskNo(motion.getWrkNo());
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
        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()))) {
                    liftProtocol.setTaskNo(motion.getWrkNo());
                    liftThread.setSyncTaskNo(motion.getTaskNo());
                    break;
                }

                command = liftThread.getEmptyMoveCommand(motion.getWrkNo(), Integer.parseInt(motion.getTarget()));
                list.add(command);
                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:
                return false;
//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
                //判断提升机是否自动
                if (!liftThread.isIdle()) {
                    return false;
                }
//                if (liftProtocol.getHasTray()) {
//                    return false;
//                }
//
//                command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
//                command.setLiftNo(deviceNo.shortValue());
//                command.setTaskNo(motion.getWrkNo().shortValue());
//                return liftThread.assignWork(command);

                //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) {
//                    return false;
//                }
//                if (!staProtocol.isAutoing()) {
//                    return false;
//                }
//                if (staProtocol.isLoading()) {
//                    return false;
//                }
//                if (staProtocol.getWorkNo().intValue() != 0) {
//                    return false;
//                }
//                //*************************************************


                //*************此代码为光泰定制代码********************
                Integer tarDrt = motion.getTarDrt();
                if (tarDrt == 31001) {
                    tarDrt = 31004;
                }

                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(), LiftCommandModeType.PALLET_INOUT);
                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
                if (!liftThread.isIdle()) {
                    return false;
                }

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

                command = liftThread.getMoveWithShuttleCommand(motion.getWrkNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()));
                list.add(command);
                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:
                //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;
//                // 判断输送线状态
//                int staNo = Integer.parseInt(motion.getTarget());
//                WorkZoneType zoneType = WorkZoneType.query(staNo);
//
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
//
//                StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                if (staProtocol == null) {
//                    return false;
//                }
//
//                if (!staProtocol.isAutoing()
//                    || staProtocol.isLoading()
////                    || !staProtocol.isOutEnable()
//                    || staProtocol.getWorkNo() != 0) {
//                    return false;
//                }
//
//                // 判断提升机状态
//                if (!liftProtocol.getLev().equals(Short.parseShort(motion.getOrigin()))) {  // 是否处于任务层
//                    return false;
//                }
//
//                // 下发命令 ---------------------------------------------------
//
//                // 1.驱动输送线电机
//                StaMotorType staMotorType = null;
//                StaMotorType reqStaMotorType = null;
//                LiftInteractiveModeType liftInteractiveModeType = null;
//                LiftNeighborType neighborType = LiftNeighborType.query(staNo);
//                StaProtocol staProtocol1 = staProtocol.clone();
//                staProtocol1.setWorkNo(motion.getWrkNo().shortValue());
//                staProtocol1.setStaNo(neighborType.finalStaNo.shortValue());
//                switch (neighborType) {
//                    case LIFT_2_NEIGHBOR_OUTBOUND_LEV_1:
//                        staMotorType = StaMotorType.FORWARD;
//                        reqStaMotorType = StaMotorType.REQ_FORWARD;
//                        liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
//                        break;
//                    case LIFT_1_NEIGHBOR_INBOUND_LEV_2:
//                    case LIFT_1_NEIGHBOR_INBOUND_LEV_3:
//                    case LIFT_1_NEIGHBOR_INBOUND_LEV_4:
//                        staMotorType = StaMotorType.FORWARD;
//                        reqStaMotorType = StaMotorType.REQ_FORWARD;
//                        liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
//                        break;
//                    case LIFT_1_NEIGHBOR_OUTBOUND_LEV_1_FINAL_8:
//                        staMotorType = StaMotorType.FORWARD;
//                        reqStaMotorType = StaMotorType.REQ_FORWARD;
//                        liftInteractiveModeType = LiftInteractiveModeType.ENGINE_LOADING_TURN_REVERSE;
//                        break;
//                    default:
//                        break;
//                }
//
//                MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol1));
//                try {
//                    Thread.sleep(1000);
//                } catch (InterruptedException ignore) {}
////                int times = 0;boolean staProtocolMotorRes = false;
////                while (times < 5) {
////                    if (staProtocol.getStaMotorType().equals(staMotorType)) {
////                        staProtocolMotorRes = true;
////                        break;
////                    }
////                    if (!devpThread.controlMotor(staNo, reqStaMotorType)) {
////                        continue;
////                    }
////                    try {
////                        Thread.sleep(500);
////                    } catch (InterruptedException ignore) {}
////                    times++;
////                }
////                if (!staProtocolMotorRes) {
////                    return false;
////                }
//
//                // 2.驱动提升机电机
//                command = liftThread.getLiftTurnCommand(liftInteractiveModeType.id);
//                command.setLiftNo(deviceNo.shortValue());
//                command.setTaskNo(motion.getWrkNo().shortValue());
//                return liftThread.assignWork(command);
            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(assignCommand.getDeviceTaskNo(), 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(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:
                //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(assignCommand.getDeviceTaskNo(), true);//获取小车已到位命令
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            default:
                break;

        }

        return Boolean.TRUE;
@@ -212,48 +235,122 @@
            return false;
        }

        if (liftProtocol.getRun() || liftProtocol.getTaskNo() != motion.getWrkNo().shortValue()) {
        if (liftProtocol.getRun() || liftProtocol.getTaskNo() != motion.getTaskNo().shortValue()) {
            return false;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 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.getModel()
                        || liftProtocol.getRun()
                        || !liftProtocol.getReady()
                ) {
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    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:
                // 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.getModel()
                        || liftProtocol.getRun()
                        || !liftProtocol.getReady()
                ) {
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

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

                if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
                    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;
                }

//                //*************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;
//                    }
//                }
//                //*************************************************

                //*************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 (!check) {
                    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_SHUTTLE:
                // 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.getModel()
                        || liftProtocol.getRun()
                        || !liftProtocol.getReady()
                ) {
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

@@ -267,15 +364,16 @@
                }
                break;
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                // 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.getModel()
                        || liftProtocol.getRun()
                        || !liftProtocol.getReady()
                ) {
                // 判断提升机是否空闲
                if (!liftThread.isIdle()) {
                    return false;
                }

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

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

@@ -285,78 +383,36 @@

                break;
            case LIFT_TRANSPORT_TO_CONVEYOR:
//                // 判断提升机是否自动、空闲、准备就绪、前光电无货、链条没有转动
//                if (!liftProtocol.getModel()
//                        || liftProtocol.getRun()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getLineFxrontHasStock()
//                        || liftProtocol.getLineEndHasStock()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                // 判断输送线状态
//                int staNo = Integer.parseInt(motion.getTarget());
//                WorkZoneType zoneType = WorkZoneType.query(staNo);
//
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
//
//                StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                if (staProtocol == null) {
//                    return false;
//                }
//
//                if (!staProtocol.getStaMotorType().equals(StaMotorType.STANDBY)) {
//                    return false;
//                }
//
////                // 判断输送线状态
////                int staNo = Integer.parseInt(motion.getTarget());
////                WorkZoneType zoneType = WorkZoneType.query(staNo);
////
////                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, zoneType.devpPlcId);
////
////                StaProtocol staProtocol = devpThread.getStation().get(staNo);
////                if (staProtocol == null) {
////                    return false;
////                }
////
////                if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo() != motion.getWrkNo().intValue()) {
////                    return false;
////                }
//
////                if (!staProtocol.getStaMotorType().equals(StaMotorType.STANDBY)) {
////                    return false;
////                }
//
////                // 将任务号先保存到输送线站点上，目标站为0
////                StaProtocol clone = staProtocol.clone();
////                clone.setWorkNo(motion.getWrkNo().shortValue());
////                clone.setStaNo((short) 0);
////                if (!MessageQueue.offer(SlaveType.Devp, zoneType.devpPlcId, new Task(2, clone))) {
////                    return false;
////                }
////
////                // 停止提升机电机转动，并复位
////                command = liftThread.getLiftTurnCommand(LiftInteractiveModeType.ENGINE_STOP.id);
////                command.setLiftNo(deviceNo.shortValue());
////                command.setTaskNo(motion.getWrkNo().shortValue());
////                return liftThread.assignWork(command);

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

                break;
            default:
                return false;
        }

        liftProtocol.setTaskNo(0);//清零工作号
        liftThread.setSyncTaskNo(0);//清零工作号
        liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
        return true;
    }


}