#

Junjie

2024-03-28 89be34f4bb526af84d66432e7e330d39b273a83e

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

New file
@@ -0,0 +1,362 @@
package com.zy.asrs.wcs.core.kernel.command;

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.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.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.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

/**
 * Created by vincent on 2023/10/23
 */
@Slf4j
@Service
public class LiftCommandService {

    @Autowired
    private MotionService motionService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private LiftAction liftAction;

    public Boolean accept(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
        if (liftThread == null) {
            return false;
        }

        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null) {
            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())
                .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
            return false;
        }

        ArrayList<LiftCommand> list = new ArrayList<>();
        LiftAssignCommand assignCommand = new LiftAssignCommand();
        assignCommand.setLiftNo(liftProtocol.getLiftNo());
        assignCommand.setTaskNo(motion.getWrkNo());
        assignCommand.setCommands(list);

        LiftCommand command = new LiftCommand();
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 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());
                    break;
                }

                command = liftThread.getEmptyMoveCommand(motion.getWrkNo(), Integer.parseInt(motion.getTarget()));
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
                return false;
//                if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
//                    return false;
//                }
//
//                command = liftThread.getLiftUpDownCommand(Integer.parseInt(motion.getTarget()));
//                command.setLiftNo(deviceNo.shortValue());
//                command.setTaskNo(motion.getWrkNo().shortValue());
//                return liftThread.assignWork(command);
            case LIFT_WITH_SHUTTLE:
                if (!liftProtocol.getHasCar()) {
                    return false;
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getWrkNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()));
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                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);
            default:
                break;

        }

        return Boolean.TRUE;
    }

    public Boolean finish(Motion motion) {
        Integer deviceNo = Integer.parseInt(motion.getDevice());
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, deviceNo);
        if (liftThread == null) {
            return false;
        }
        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null) {
            return false;
        }

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

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

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

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

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

                //检测是否有小车
                if (!liftProtocol.getHasCar()) {
                    return false;
                }
                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()
                ) {
                    return false;
                }

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

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

                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:
                return false;
        }

        liftProtocol.setTaskNo(0);//清零工作号
        return true;
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java

@@ -4,6 +4,7 @@
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.command.AgvCommandService;
import com.zy.asrs.wcs.core.kernel.command.CraneCommandService;
import com.zy.asrs.wcs.core.kernel.command.LiftCommandService;
import com.zy.asrs.wcs.core.kernel.command.ShuttleCommandService;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
@@ -38,8 +39,8 @@
//    private ConveyorCommandService conveyorCommandService;
    @Autowired
    private CraneCommandService craneCommandService;
//    @Autowired
//    private LiftCommandService liftCommandService;
    @Autowired
    private LiftCommandService liftCommandService;
    @Autowired
    private ShuttleCommandService shuttleCommandService;

@@ -191,7 +192,7 @@
                executeRes = shuttleCommandService.accept(motion);
                break;
            case LIFT:
//                executeRes = liftCommandService.accept(motion);
                executeRes = liftCommandService.accept(motion);
                break;
            case AGV:
                executeRes = agvCommandService.accept(motion);
@@ -223,7 +224,7 @@
            case CRANE:
                break;
            case LIFT:
//                executeRes = liftCommandService.finish(motion);
                executeRes = liftCommandService.finish(motion);
                break;
            case SHUTTLE:
                executeRes = shuttleCommandService.finish(motion);

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/LiftProtocol.java

@@ -150,7 +150,7 @@
        this.protocolStatusType = status;
    }

    public void setTaskNo(Integer taskNo) {
    public synchronized void setTaskNo(Integer taskNo) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        if (null != redisUtil) {
            redisUtil.set(DeviceRedisConstant.LIFT_FLAG + this.liftNo, taskNo);

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

@@ -20,4 +20,16 @@

    boolean reset(LiftCommand command);//复位


    //***************获取命令*****************
    LiftCommand getEmptyMoveCommand(Integer taskNo, Integer targetLev);//空载移动

    LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer originLev, Integer targetLev);//载车移动

    LiftCommand getPalletInOutCommand(Integer taskNo, Integer originLev, Integer targetLev, Integer originSta, Integer targetSta);//托盘出入

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

    LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal);//小车已到位/已驶离信号

}

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

@@ -343,6 +343,7 @@
    }

    //空载移动
    @Override
    public LiftCommand getEmptyMoveCommand(Integer taskNo, Integer targetLev) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
@@ -363,6 +364,7 @@
    }

    //载车移动
    @Override
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer originLev, Integer targetLev) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
@@ -383,6 +385,7 @@
    }

    //托盘出入
    @Override
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer originLev, Integer targetLev, Integer originSta, Integer targetSta) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
@@ -407,6 +410,7 @@
    }

    //锁定/解锁提升机
    @Override
    public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterOperation");
@@ -424,6 +428,7 @@
    }

    //小车已到位/已驶离信号
    @Override
    public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterOperation");