#

Junjie

2024-04-18 ebb63d5ac2fb6c822e9d0541d4b86c7d71f21bdb

#

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/BasLift.java

@@ -136,9 +136,15 @@
    @ApiModelProperty(value= "列")
    private Integer bay;

    /**
     * 站点列表
     */
    @ApiModelProperty(value= "站点列表")
    private String sta;

    public BasLift() {}

    public BasLift(Long deviceId,Integer liftNo,Integer status,Integer taskNo,Long updateBy,Long createBy,Date createTime,Date updateTime,String memo,Integer pakMk,Integer deleted,Long hostId,String protocol,Integer transfer) {
    public BasLift(Long deviceId, Integer liftNo, Integer status, Integer taskNo, Long updateBy, Long createBy, Date createTime, Date updateTime, String memo, Integer pakMk, Integer deleted, Long hostId, String protocol, Integer transfer, Integer row, Integer bay, String sta) {
        this.deviceId = deviceId;
        this.liftNo = liftNo;
        this.status = status;
@@ -153,9 +159,13 @@
        this.hostId = hostId;
        this.protocol = protocol;
        this.transfer = transfer;
        this.row = row;
        this.bay = bay;
        this.sta = sta;
    }

//    BasLift basLift = new BasLift(

    //    BasLift basLift = new BasLift(
//            null,    // 设备id
//            null,    // 提升机号[非空]
//            null,    // 当前任务状态

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

@@ -19,7 +19,6 @@
import org.springframework.stereotype.Service;

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

/**
@@ -75,7 +74,7 @@
                    break;
                }

                command = liftThread.getEmptyMoveCommand(motion.getTaskNo(), Integer.parseInt(motion.getTarget()));
                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), null);
                list.add(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
@@ -93,7 +92,7 @@
                    return false;
                }

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

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

@@ -125,6 +125,11 @@
    private Boolean pakMk = false;

    /**
     * 指令下发时间
     */
    private Long sendTime = 0L;

    /**
     * 日志采集时间
     */
    private Long deviceDataLog = System.currentTimeMillis();

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

@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.rcs.thread;

import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -22,13 +23,14 @@

    boolean isIdle();//是否空闲

    boolean isIdle(ExecuteSupport support);//是否空闲

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

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

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

New file
@@ -0,0 +1,501 @@
package com.zy.asrs.wcs.rcs.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
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.service.BasLiftService;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
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.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

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

@Slf4j
@SuppressWarnings("all")
public class NyLiftThread implements LiftThread {

    private Device device;
    private RedisUtil redisUtil;
    private LiftProtocol liftProtocol;
    private SiemensS7Net siemensS7Net;
    private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
    private List<Sta> staList = new ArrayList<>();

    public NyLiftThread(Device device, RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;

        //初始化站点
        BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
        BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
                .eq(BasLift::getDeviceId, device.getId()));
        List<Sta> staList = JSON.parseArray(basLift.getSta(), Sta.class);
        this.staList = staList;
        for (Sta sta : staList) {
            LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
            liftStaProtocol.setStaNo(sta.getStaNo());//站点号
            liftStaProtocol.setLev(sta.getLev());//站点楼层
            String locNo = Utils.getLocNo(sta.getRow(), sta.getBay(), sta.getLev());
            liftStaProtocol.setLocNo(locNo);//站点库位号
            liftStaProtocol.setLiftNo(basLift.getLiftNo());//提升机号
            liftStaProtocols.add(liftStaProtocol);
        }
    }

    @Override
    public void run() {
        News.info("{}号提升机线程启动", device.getDeviceNo());
        this.connect();
        while (true) {
            try {
                read();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void read() {
        try {
            readStatus();

            //提升机处于运行状态，将标记置为false
            if (liftProtocol.getRun()) {
                liftProtocol.setPakMk(false);
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
        }
    }

    private void readStatus() {
        try {
            //获取提升机数据
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
            if (result1.IsSuccess) {
                if (null == liftProtocol) {
                    liftProtocol = new LiftProtocol();
                    liftProtocol.setLiftNo(Integer.valueOf(device.getDeviceNo()));
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                    liftProtocol.setDevice(device);

                    InnerLiftExtend innerLiftExtend = new InnerLiftExtend();
                    liftProtocol.setExtend(innerLiftExtend);
                }

                //----------读取提升机状态-----------
                //读取4.0-4.7数据
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
                //读取5.0-5.7数据
                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
                //模式
                liftProtocol.setModel(status1[0]);
                //忙闲
                liftProtocol.setRun(!status1[1]);
                //前超限
                liftProtocol.setFrontOverrun(status1[4]);
                //后超限
                liftProtocol.setBackOverrun(status1[5]);
                //左超限
                liftProtocol.setLeftOverrun(status1[6]);
                //右超限
                liftProtocol.setRightOverrun(status1[7]);
                //超高
                liftProtocol.setOverHeight(status2[0]);
                //超重
                liftProtocol.setOverWeight(status2[1]);
                //有托盘
                liftProtocol.setHasTray(status2[5]);
                //有小车
                liftProtocol.setHasCar(status2[6]);
                //设备故障
                liftProtocol.setErrorCode(String.valueOf(status2[7]));
                //目的地址
                liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //已完成任务号
                liftProtocol.setCompleteTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6)));
                //当前楼层
                short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
                liftProtocol.setLev((int) lev);

                //************补充扩展字段*************
                InnerLiftExtend liftExtend = JSON.parseObject(JSON.toJSONString(liftProtocol.getExtend()), InnerLiftExtend.class);
                //任务号
                liftExtend.setLiftTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2)));
                liftProtocol.setExtend(liftExtend);


            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}读取提升机状态信息失败", DateUtils.convert(new Date()), device.getId()));
                throw new CoolException(MessageFormat.format( "读取提升机状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getId(), device.getIp(), device.getPort()));
            }
            Thread.sleep(200);

            //获取提升机站点数据
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
            if (result1.IsSuccess) {
                for (int i = 0; i < this.staList.size(); i++) {
                    LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
                    int i1 = 0 + (i * 10);
                    int i2 = 1 + (i * 10);
                    //读取x4.0-x4.7数据
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
                    //读取x5.0-x5.7数据
                    boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
                    //模式
                    liftStaProtocol.setModel(status1[0]);
                    //忙闲
                    liftStaProtocol.setBusy(!status1[1]);
                    //有托盘
                    liftStaProtocol.setHasTray(status1[2]);
                    //前超限
                    liftStaProtocol.setFrontOverrun(status1[4]);
                    //后超限
                    liftStaProtocol.setBackOverrun(status1[5]);
                    //左超限
                    liftStaProtocol.setLeftOverrun(status1[6]);
                    //右超限
                    liftStaProtocol.setRightOverrun(status1[7]);
                    //超高
                    liftStaProtocol.setOverHeight(status2[0]);
                    //超重
                    liftStaProtocol.setOverWeight(status2[1]);
                    //有小车
                    liftStaProtocol.setHasCar(status2[6]);
                    //设备故障
                    liftStaProtocol.setDeviceError(status2[7]);
                    //任务号
                    liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
                    //已完成任务号
                    liftStaProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 6));
                }
            }

            if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
                deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
                deviceDataLog.setType("lift");
                deviceDataLog.setDeviceNo(String.valueOf(liftProtocol.getLiftNo()));
                deviceDataLog.setCreateTime(new Date());
                deviceDataLog.setHostId(device.getHostId());
                deviceDataLogService.save(deviceDataLog);

                //更新采集时间
                liftProtocol.setDeviceDataLog(System.currentTimeMillis());
            }

        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
        }
    }

    @Override
    public LiftProtocol getStatus() {
        return this.liftProtocol.clone();
    }

    @Override
    public Device getDevice() {
        return this.device;
    }

    @Override
    public boolean move(LiftCommand command) {
        return write(command);
    }

    @Override
    public boolean palletInOut(LiftCommand command) {
        return write(command);
    }

    private boolean write(LiftCommand command) {
        if (null == command) {
            News.error("提升机写入命令为空");
            return false;
        }

        List<Short> shorts = JSON.parseArray(command.getBody(), Short.class);
        short[] array = new short[shorts.size()];//获取命令报文
        for (int i = 0; i < shorts.size(); i++) {
            array[i] = shorts.get(i);
        }

        OperateResult result = siemensS7Net.Write("DB83.0", array);
        if (result != null && result.IsSuccess) {
            liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            News.info("提升机命令下发[id:{}] >>>>> {}", device.getId(), JSON.toJSON(command));
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", device.getId(), device.getIp(), device.getPort());
            return false;
        }
    }

    @Override
    public boolean lock(LiftCommand command) {
        return true;
    }

    @Override
    public boolean unlock(LiftCommand command) {
        return true;
    }

    @Override
    public boolean reset(LiftCommand command) {
        return false;
    }

    @Override
    public boolean isIdle() {
        return isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            }
        }
        // 判断提升机是否自动、就绪、空闲
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getReady()
                && this.liftProtocol.getPakMk()
                && this.liftProtocol.getErrorCode().equals("0")
                && this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)
        ) {
            return true;
        }
        return false;
    }

    @Override
    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer 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();
        }

        // 开始任务
        short[] array = new short[4];
        //任务类型
        array[0] = taskMode;
        //源站台编号
        array[1] = sourceLev.shortValue();
        //目标站台编号
        array[2] = targetLev.shortValue();
        //任务号
        array[3] = taskNo.shortValue();

        LiftCommand command = new LiftCommand();
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(array));
        command.setMode(LiftCommandModeType.MOVE.id);
        command.setOriginLev(sourceLev);
        command.setTargetLev(targetLev);
        return command;
    }

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

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

    @Override
    public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
        LiftCommand command = new LiftCommand();
        return command;
    }

    @Override
    public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
        LiftCommand command = new LiftCommand();
        return command;
    }

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------提升机连接方法------------------------//
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, device.getIp());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.LIFT.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
        }
        siemensS7Net.ConnectClose();
        //-------------------------提升机连接方法------------------------//
        return result;
    }

    @Override
    public void close() {
        siemensS7Net.ConnectClose();
    }

    /**
     * 扩展字段
     */
    @Data
    private class InnerLiftExtend {

        /**
         * 提升机内部工作号
         */
        private String liftTaskNo;

    }

    @Data
    public class LiftStaProtocol {

        /**
         * 站点号
         */
        private Integer staNo;

        /**
         * 模式
         */
        private Boolean model;

        /**
         * 忙闲
         */
        private Boolean busy;

        /**
         * 前超限
         */
        private Boolean frontOverrun;

        /**
         * 后超限
         */
        private Boolean backOverrun;

        /**
         * 左超限
         */
        private Boolean leftOverrun;

        /**
         * 右超限
         */
        private Boolean rightOverrun;

        /**
         * 超高
         */
        private Boolean overHeight;

        /**
         * 超重
         */
        private Boolean overWeight;

        /**
         * 有托盘
         */
        private Boolean hasTray;

        /**
         * 有小车
         */
        private Boolean hasCar;

        /**
         * 设备故障
         */
        private Boolean deviceError;

        /**
         * 当前执行任务号
         */
        private Short taskNo;
        /**
         * 已完成的任务号
         */
        private Short completeTaskNo;

        /**
         * 层
         */
        private Integer lev;

        /**
         * 站点库位号
         */
        private String locNo;

        /**
         * 提升机号
         */
        private Integer liftNo;

    }

    @Data
    public static class Sta {

        // 提升机站点号
        private Integer staNo;

        //输送站点排
        private Integer row;

        //输送站点列
        private Integer bay;

        // 层
        private Integer lev;

    }

}

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

@@ -7,6 +7,7 @@
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
@@ -15,8 +16,10 @@
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
@@ -25,6 +28,7 @@

import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.Base64;
import java.util.Date;
import java.util.HashMap;

@@ -61,18 +65,10 @@
        try {
            readStatus();

//            //提升机处于运行状态，将标记置为false
//            if (liftProtocol.getBusy()) {
//                liftProtocol.setPakMk(false);
//            }
//
//            //提升机处于未运行、就绪、标记true、有任务号
//            if (!liftProtocol.getBusy()
//                    && !liftProtocol.getPakMk()
//                    && liftProtocol.getTaskNo() != 0) {
//                //还有未完成的命令
//                executeWork(liftProtocol.getTaskNo());
//            }
            //提升机处于运行状态，将标记置为false
            if (liftProtocol.getRun()) {
                liftProtocol.setPakMk(false);
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
        }
@@ -141,6 +137,24 @@
//                //已完成任务号
//                liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
//                liftProtocol.setLev(lev);

                if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
                    //采集时间超过5s，保存一次数据记录
                    //保存数据记录
                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                    DeviceDataLog deviceDataLog = new DeviceDataLog();
                    deviceDataLog.setOriginData(JSON.toJSONString(data));
                    deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
                    deviceDataLog.setType("lift");
                    deviceDataLog.setDeviceNo(String.valueOf(liftProtocol.getLiftNo()));
                    deviceDataLog.setCreateTime(new Date());
                    deviceDataLog.setHostId(device.getHostId());
                    deviceDataLogService.save(deviceDataLog);

                    //更新采集时间
                    liftProtocol.setDeviceDataLog(System.currentTimeMillis());
                }

            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}读取提升机状态信息失败", DateUtils.convert(new Date()), device.getId()));
                throw new CoolException(MessageFormat.format( "读取提升机状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getId(), device.getIp(), device.getPort()));
@@ -294,11 +308,24 @@

    @Override
    public boolean isIdle() {
        InnerLiftExtend extend = (InnerLiftExtend) liftProtocol.getExtend();//获取扩展字段
        return isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            }
        }
        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 (liftProtocol.getModel()
                && !liftProtocol.getRun()
                && liftProtocol.getReady()
        if (this.liftProtocol.getModel()
                && !this.liftProtocol.getRun()
                && this.liftProtocol.getReady()
                && this.liftProtocol.getPakMk()
                && this.liftProtocol.getErrorCode().equals("0")
                && this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)
                && !extend.getLock()
        ) {
            return true;
@@ -370,7 +397,12 @@

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

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "lifterTask");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -378,7 +410,7 @@
        body.put("taskId", taskNo);
        body.put("startLayer", 0);
        body.put("endLayer", targetLev);
        body.put("model", 3);//空载移动
        body.put("model", taskMode);

        LiftCommand command = new LiftCommand();
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
@@ -391,13 +423,13 @@

    //载车移动
    @Override
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer originLev, Integer targetLev) {
    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer 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()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", taskNo);
        body.put("startLayer", originLev);
        body.put("startLayer", sourceLev);
        body.put("endLayer", targetLev);
        body.put("model", 2);//载车移动

@@ -405,20 +437,20 @@
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(LiftCommandModeType.MOVE.id);
        command.setOriginLev(originLev);
        command.setOriginLev(sourceLev);
        command.setTargetLev(targetLev);
        return command;
    }

    //托盘出入
    @Override
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer originLev, Integer targetLev, Integer originSta, Integer targetSta) {
    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer 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()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", taskNo);
        body.put("startLayer", originLev);
        body.put("startLayer", sourceLev);
        body.put("endLayer", targetLev);
        body.put("startLocation", originSta);
        body.put("endLocation", targetSta);
@@ -428,7 +460,7 @@
        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(LiftCommandModeType.PALLET_INOUT.id);
        command.setOriginLev(originLev);
        command.setOriginLev(sourceLev);
        command.setTargetLev(targetLev);
        command.setOriginSta(originSta);
        command.setTargetSta(targetSta);