#

whycq

2024-07-15 b058b8c8be2267c2a0ba4e3916871ede64f53c47

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

@@ -12,10 +12,13 @@
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;
@@ -59,6 +62,14 @@
            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;
@@ -194,6 +205,14 @@
                    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:
                // 判断提升机是否空闲
@@ -205,16 +224,32 @@
                    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;
                }
                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
                if(staProtocol == null) {
                    return false;
                }
                if (!staProtocol.isLoading()) {
                    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:
@@ -263,6 +298,14 @@
                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: