zy-asrs-master.git

parent: 2db722e2 | 补丁 | 提交 | ignore whitespace

Junjie

2024-04-23 1f0e9565866c18d7169acd4a0f82ef05b0de6dd8

5个文件已修改

	zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java	162 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCommandModeType.java	1 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/LiftThread.java	7 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java	14 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java	9 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

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

@@ -6,6 +6,7 @@
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;
@@ -74,25 +75,23 @@
                    break;
                }

                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), null);
                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
                return false;
//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                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);

                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                if (!liftProtocol.getHasCar()) {
                    return false;
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), null);
                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
@@ -107,88 +106,6 @@
//                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);
            default:
                break;

@@ -269,69 +186,6 @@

                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;
            default:

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/LiftCommandModeType.java

@@ -8,6 +8,7 @@
    LOCK(3, "锁定提升机"),
    UNLOCK(4, "解锁提升机"),
    RESET(5, "复位"),
    MOVE_CAR(6, "提升机升降小车"),
    ;

    public Integer id;

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

@@ -2,6 +2,7 @@

import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -33,11 +34,11 @@
    boolean isLock(ExecuteSupport support);

    //***************获取命令*****************
    LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode);//提升机移动
    LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//提升机移动

    LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode);//载车移动
    LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//载车移动

    LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode);//托盘出入
    LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode);//托盘出入

    LiftCommand getLockCommand(Integer taskNo, Boolean lock);//锁定/解锁提升机


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

@@ -320,15 +320,15 @@
    }

    @Override
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        /**
         * 任务类型
         * 1=移托盘；升降机将源站台托盘移到目标站台
         * 2=移小车，升降机移到目标层，等待
         */
        short taskMode = 2;
        if (mode == null) {
            taskMode = mode.shortValue();
        if (mode.equals(LiftCommandModeType.PALLET_INOUT)) {
            taskMode = 1;
        }

        // 开始任务
@@ -352,13 +352,13 @@
    }

    @Override
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, 2);
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, mode);
    }

    @Override
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, 1);
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
        return getMoveCommand(taskNo, sourceLev, targetLev, mode);
    }

    @Override

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

@@ -409,11 +409,8 @@

    //空载移动
    @Override
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
        int taskMode = 3;//空载移动
        if (mode == null) {
            taskMode = mode.shortValue();
        }

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
@@ -435,7 +432,7 @@

    //载车移动
    @Override
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
    public 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()));
@@ -456,7 +453,7 @@

    //托盘出入
    @Override
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode) {
    public 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()));

			@@ -6,6 +6,7 @@
			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;
			@@ -74,25 +75,23 @@
			break;
			}

			command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), null);
			command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
			list.add(command);
			return liftAction.assignWork(liftThread.getDevice(), assignCommand);
			case LIFT_WITH_GOODS:
			return false;
			// if (!liftProtocol.getLineFrontHasStock() \|\| !liftProtocol.getLineEndHasStock()) {
			// 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);

			command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
			list.add(command);
			return liftAction.assignWork(liftThread.getDevice(), assignCommand);
			case LIFT_WITH_SHUTTLE:
			if (!liftProtocol.getHasCar()) {
			return false;
			}

			command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), null);
			command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
			list.add(command);
			return liftAction.assignWork(liftThread.getDevice(), assignCommand);
			case LIFT_WITH_GOODS_AND_SHUTTLE:
			@@ -107,88 +106,6 @@
			// 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);
			default:
			break;

			@@ -269,69 +186,6 @@

			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;
			default:

			@@ -8,6 +8,7 @@
			LOCK(3, "锁定提升机"),
			UNLOCK(4, "解锁提升机"),
			RESET(5, "复位"),
			MOVE_CAR(6, "提升机升降小车"),
			;

			public Integer id;

			@@ -2,6 +2,7 @@

			import com.zy.asrs.wcs.common.ExecuteSupport;
			import com.zy.asrs.wcs.core.model.command.LiftCommand;
			import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
			import com.zy.asrs.wcs.rcs.entity.Device;
			import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
			import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
			@@ -33,11 +34,11 @@
			boolean isLock(ExecuteSupport support);

			//*************获取命令***************
			LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode);//提升机移动
			LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//提升机移动

			LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode);//载车移动
			LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//载车移动

			LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode);//托盘出入
			LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode);//托盘出入

			LiftCommand getLockCommand(Integer taskNo, Boolean lock);//锁定/解锁提升机

			@@ -320,15 +320,15 @@
			}

			@Override
			public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
			public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
			/**
			* 任务类型
			* 1=移托盘；升降机将源站台托盘移到目标站台
			* 2=移小车，升降机移到目标层，等待
			*/
			short taskMode = 2;
			if (mode == null) {
			taskMode = mode.shortValue();
			if (mode.equals(LiftCommandModeType.PALLET_INOUT)) {
			taskMode = 1;
			}

			// 开始任务
			@@ -352,13 +352,13 @@
			}

			@Override
			public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
			return getMoveCommand(taskNo, sourceLev, targetLev, 2);
			public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
			return getMoveCommand(taskNo, sourceLev, targetLev, mode);
			}

			@Override
			public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode) {
			return getMoveCommand(taskNo, sourceLev, targetLev, 1);
			public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
			return getMoveCommand(taskNo, sourceLev, targetLev, mode);
			}

			@Override

			@@ -409,11 +409,8 @@

			//空载移动
			@Override
			public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
			public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
			int taskMode = 3;//空载移动
			if (mode == null) {
			taskMode = mode.shortValue();
			}

			HashMap<String, Object> body = new HashMap<>();
			body.put("messageName", "lifterTask");
			@@ -435,7 +432,7 @@

			//载车移动
			@Override
			public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
			public 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()));
			@@ -456,7 +453,7 @@

			//托盘出入
			@Override
			public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode) {
			public 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()));