#

Junjie

2024-10-17 cab87dcfaa7b1e2bc1298572b775026bb17ef38b

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java

@@ -12,6 +12,7 @@
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
@@ -27,8 +28,7 @@

import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.HashMap;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
@@ -92,18 +92,25 @@
                //----------读取提升机状态-----------
                //模式
                liftProtocol.setModel(true);

                boolean runningState = data.getInteger("runningState") == 1;
                if (!data.getInteger("completeTaskNo").equals(data.getInteger("taskNo"))) {
                    runningState = true;//工作号不一致，认为处于运行中
                }
                //运行状态
                liftProtocol.setRun(data.getInteger("runningState") == 1);
                liftProtocol.setRun(runningState);
                //就绪状态
                liftProtocol.setReady(data.getInteger("readyState") == 1);
                //有托盘
                liftProtocol.setHasTray(data.getString("haveCargo").equals("Y"));
                //有小车
                liftProtocol.setHasCar(data.getString("haveCar").equals("Y"));
                liftProtocol.setHasCar(data.getInteger("haveCar") == 1);
                //故障码
                liftProtocol.setErrorCode("0");
                //层
                liftProtocol.setLev(data.getInteger("curFloor"));
                //已完成的任务号
                liftProtocol.setCompleteTaskNo(data.getString("completeTaskNo"));


                //************补充扩展字段*************
@@ -327,6 +334,30 @@

    @Override
    public synchronized boolean reset(LiftCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/lifterOperation")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

@@ -336,22 +367,68 @@
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
    public boolean isIdle(MotionCtgType flag) {
        if (flag == null) {
            InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段
            // 判断提升机是否自动、就绪、空闲、未锁定
            if (this.liftProtocol.getModel()
                    && !this.liftProtocol.getRun()
                    && this.liftProtocol.getPakMk()
                    && this.liftProtocol.getReady()
                    && this.liftProtocol.getErrorCode().equals("0")
                    && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
                    || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
                    && !extend.getLock()
            ) {
                return true;
            }
            return false;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(flag)))){
            case SHUTTLE_MOVE_FROM_LIFT://穿梭车出提升机
            case SHUTTLE_MOVE_TO_LIFT://穿梭车进提升机
            case LIFT_SHUTTLE_ARRIVAL://提升机解锁
                return isIdleShuttleMoveToLift();
            case LIFT_LOCK://提升机锁定
            case LIFT_UNLOCK://提升机解锁
                return isIdleLiftLock();
        }

        return false;
    }

    //穿梭车进提升机时-提升机状态判断
    private boolean isIdleShuttleMoveToLift() {
        InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段
        // 判断提升机是否自动、就绪、空闲、未锁定
        // 判断提升机是否自动、就绪、空闲
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getPakMk()
                && this.liftProtocol.getReady()
                && this.liftProtocol.getErrorCode().equals("0")
                && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
                || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
                && !extend.getLock()
        ) {
            if (!extend.getLock()) {
                //提升机未锁定，需要判断是否就绪
                if (!this.liftProtocol.getReady()) {
                    return false;
                }
            }
            return true;
        }
        return false;
    }

    //提升机锁定-提升机状态判断
    private boolean isIdleLiftLock() {
        // 判断提升机是否自动、就绪、空闲
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getPakMk()
                && this.liftProtocol.getErrorCode().equals("0")
                && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
                || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
        ) {
            return true;
        }
@@ -407,33 +484,8 @@
    }

    @Override
    public boolean commandFinished(Integer taskNo) {
        try {
            LiftCommand command = getTaskClearCommand();
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/lifterOperation")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
        return taskNo;
    }

    //***************设备层通讯-不同厂商设备通讯方案不一致***************
@@ -500,7 +552,7 @@

    //空载移动
    @Override
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
    public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        int taskMode = 3;//空载移动

        HashMap<String, Object> body = new HashMap<>();
@@ -520,12 +572,16 @@
        command.setMode(LiftCommandModeType.MOVE.id);
        command.setOriginLev(0);
        command.setTargetLev(targetLev);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        list.addAll(getTaskClearCommand());
        return list;
    }

    //载车移动
    @Override
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
    public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -543,12 +599,16 @@
        command.setMode(LiftCommandModeType.MOVE.id);
        command.setOriginLev(sourceLev);
        command.setTargetLev(targetLev);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        list.addAll(getTaskClearCommand());
        return list;
    }

    //托盘出入
    @Override
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
    public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -568,12 +628,16 @@
        command.setTargetLev(targetLev);
        command.setOriginSta(originSta);
        command.setTargetSta(targetSta);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        list.addAll(getTaskClearCommand());
        return list;
    }

    //锁定/解锁提升机
    @Override
    public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
    public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterOperation");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -586,12 +650,15 @@
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(lock ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        return list;
    }

    //小车已到位/已驶离信号
    @Override
    public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
    public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterOperation");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -603,11 +670,14 @@
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(signal ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        return list;
    }

    //获取提升机任务清除命令
    private LiftCommand getTaskClearCommand() {
    private List<LiftCommand> getTaskClearCommand() {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterOperation");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -618,7 +688,10 @@
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(LiftCommandModeType.RESET.id);
        return command;

        ArrayList<LiftCommand> list = new ArrayList<>();
        list.add(command);
        return list;
    }

    /**