From 3df03c486fde77ab36b9298a94bdbb0aa065a7e2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 08 四月 2025 09:07:40 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java | 170 ++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 152 insertions(+), 18 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
index 7c55f48..6eb80b9 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
@@ -12,11 +12,14 @@
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.LiftDispatcher;
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;
@@ -40,6 +43,8 @@
private TaskService taskService;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
public Boolean accept(Motion motion) {
Integer deviceNo = Integer.parseInt(motion.getDevice());
@@ -61,7 +66,7 @@
}
//妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
- boolean liftResult = Utils.checkLiftHasBinding(deviceNo, String.valueOf(motion.getTaskNo()));
+ boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(motion.getTaskNo()));
if (liftResult) {
//瀛樺湪浠诲姟锛岀姝㈡墽琛�
return false;
@@ -82,6 +87,7 @@
LiftAssignCommand assignCommand = new LiftAssignCommand();
assignCommand.setLiftNo(liftProtocol.getLiftNo());
assignCommand.setTaskNo(motion.getTaskNo());
+ assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
assignCommand.setCommands(list);
List<LiftCommand> command = new ArrayList<>();
@@ -98,7 +104,7 @@
break;
}
- command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
+ command = liftThread.getMoveCommand(assignCommand.getDeviceTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
list.addAll(command);
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
case LIFT_WITH_GOODS:
@@ -110,8 +116,63 @@
// return false;
// }
- command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
+// //*************鏍囧噯绯荤粺浠ｇ爜********************
+// StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
+// if (staProtocol == null) {
+// return false;
+// }
+// if (!staProtocol.isAutoing()) {
+// return false;
+// }
+// if (staProtocol.isLoading()) {
+// return false;
+// }
+// if (staProtocol.getWorkNo().intValue() != 0) {
+// return false;
+// }
+// //*************************************************
+
+ command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
list.addAll(command);
+
+ motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
+ return liftAction.assignWork(liftThread.getDevice(), assignCommand);
+ case LIFT_WITH_GOODS_IN:
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+ if (liftProtocol.getHasTray()) {
+ return false;
+ }
+
+ command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
+ list.addAll(command);
+
+ motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
+ return liftAction.assignWork(liftThread.getDevice(), assignCommand);
+ case LIFT_WITH_GOODS_OUT:
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
+ command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
+ list.addAll(command);
+
+ motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
case LIFT_WITH_SHUTTLE:
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
@@ -123,7 +184,7 @@
return false;
}
- command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
+ command = liftThread.getMoveWithShuttleCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
list.addAll(command);
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
case LIFT_WITH_GOODS_AND_SHUTTLE:
@@ -142,7 +203,7 @@
return false;
}
- command = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
+ command = liftThread.getLockCommand(assignCommand.getDeviceTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
list.addAll(command);
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
case LIFT_UNLOCK:
@@ -152,7 +213,7 @@
return false;
}
- command = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В瀹氬懡浠�
+ command = liftThread.getLockCommand(assignCommand.getDeviceTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В瀹氬懡浠�
list.addAll(command);
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
case LIFT_SHUTTLE_ARRIVAL:
@@ -162,7 +223,7 @@
return false;
}
- command = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
+ command = liftThread.getShuttleSignalCommand(assignCommand.getDeviceTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
list.addAll(command);
return liftAction.assignWork(liftThread.getDevice(), assignCommand);
default:
@@ -199,12 +260,12 @@
return false;
}
- if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
+ if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
return false;
}
if (motion.getReleaseLift() == 1) {//閲婃斁鎻愬崌鏈�
- task.setLiftNo(null);
+ task.setLiftNo(0);
task.setUpdateTime(new Date());
if (!taskService.updateById(task)) {
return false;
@@ -218,22 +279,95 @@
return false;
}
- if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
+ Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget()));
+ if (!liftProtocol.getLev().equals(target)) {
return false;
}
- if (task.getTaskSts() < 100) {//鍏ュ簱鍒ゆ柇鎵樼洏鏄惁杩涘叆鎻愬崌鏈�
- if (!liftProtocol.getHasTray()) {
- return false;
- }
- } else if (task.getTaskSts() >= 100 && task.getTaskSts() < 200) {//鍑哄簱鍒ゆ柇鎵樼洏鏄惁绂诲紑鎻愬崌鏈�
- if (liftProtocol.getHasTray()) {
+// //鍒ゆ柇鎻愬崌鏈烘墭鐩樻槸鍚﹀瓨鍦�
+// if (!liftProtocol.getHasTray()) {
+// return false;
+// }
+
+// //鍒ゆ柇鐩爣绔欐槸鍚︽湁鎵樼洏
+// Integer conveyorDeviceId = Integer.parseInt(motion.getDockNo());
+// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, conveyorDeviceId);
+// if (devpThread == null) {
+// return false;
+// }
+
+// //*************姝や唬鐮佷负鏍囧噯鐗堟湰浠ｇ爜********************
+// StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
+// if(staProtocol == null) {
+// return false;
+// }
+// if (!staProtocol.isAutoing()) {
+// return false;
+// }
+// if (!staProtocol.isLoading()) {
+// return false;
+// }
+// if (!motion.getTaskNo().equals(staProtocol.getWorkNo().intValue())) {
+// if (motion.getTemp() == null) {
+// return false;
+// }
+//
+// if (Integer.parseInt(motion.getTemp()) != staProtocol.getWorkNo().intValue()) {
+// return false;
+// }
+// }
+// //*************************************************
+
+ if (motion.getReleaseLift() == 1) {//閲婃斁鎻愬崌鏈�
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
return false;
}
}
+ break;
+ case LIFT_WITH_GOODS_IN:
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
+ if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘墭鐩樻槸鍚﹀瓨鍦�
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
if (motion.getReleaseLift() == 1) {//閲婃斁鎻愬崌鏈�
- task.setLiftNo(null);
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+
+ break;
+ case LIFT_WITH_GOODS_OUT:
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
+ if (!liftProtocol.getLev().equals(liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget())))) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘墭鐩樻槸鍚﹀瓨鍦�
+ if (liftProtocol.getHasTray()) {
+ return false;
+ }
+
+ if (motion.getReleaseLift() == 1) {//閲婃斁鎻愬崌鏈�
+ task.setLiftNo(0);
task.setUpdateTime(new Date());
if (!taskService.updateById(task)) {
return false;
@@ -289,7 +423,7 @@
}
if (motion.getReleaseLift() == 1) {//閲婃斁鎻愬崌鏈�
- task.setLiftNo(null);
+ task.setLiftNo(0);
task.setUpdateTime(new Date());
if (!taskService.updateById(task)) {
return false;
--
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