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 | 291 +++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 267 insertions(+), 24 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 0f6e51c..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
@@ -3,6 +3,7 @@
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.entity.Task;
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;
@@ -11,16 +12,22 @@
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;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
import java.util.Objects;
/**
@@ -36,6 +43,8 @@
private TaskService taskService;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
public Boolean accept(Motion motion) {
Integer deviceNo = Integer.parseInt(motion.getDevice());
@@ -49,11 +58,6 @@
return false;
}
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
- if (!liftThread.isIdle()) {
- return false;
- }
-
if (motionService.count(new LambdaQueryWrapper<Motion>()
.eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
.eq(Motion::getDevice, motion.getDevice())
@@ -61,55 +65,169 @@
return false;
}
+ //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
+ 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;
+ }
+
+ //姣忔鎵ц鎻愬崌鏈烘寚浠ら兘缁戝畾鎻愬崌鏈�
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+ task.setLiftNo(liftProtocol.getLiftNo());
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+
ArrayList<LiftCommand> list = new ArrayList<>();
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);
- LiftCommand command = new LiftCommand();
+ List<LiftCommand> command = new ArrayList<>();
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case LIFT_MOVE:
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
// 濡傛灉宸茬粡鍦ㄧ洰鏍囧眰锛岄偅杈瑰眰杩囨护
if (liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
liftThread.setSyncTaskNo(motion.getTaskNo());
break;
}
- command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
- list.add(command);
+ 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:
+ //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(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
- list.add(command);
+// //*************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�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
if (!liftProtocol.getHasCar()) {
return false;
}
- command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
- list.add(command);
+ 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:
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
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;
+ case LIFT_LOCK:
+ //閿佸畾鎻愬崌鏈�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle(MotionCtgType.LIFT_LOCK)) {
+ return false;
+ }
+
+ 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:
+ //瑙ｉ攣鎻愬崌鏈�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle(MotionCtgType.LIFT_UNLOCK)) {
+ return false;
+ }
+
+ 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:
+ //鎻愬崌鏈�-灏忚溅宸插埌浣�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle(MotionCtgType.LIFT_SHUTTLE_ARRIVAL)) {
+ return false;
+ }
+
+ 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:
break;
-
}
return Boolean.TRUE;
@@ -130,6 +248,11 @@
return false;
}
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case LIFT_MOVE:
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
@@ -137,8 +260,16 @@
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(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
}
break;
@@ -148,12 +279,99 @@
return false;
}
-// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
+ Integer target = liftDispatcher.getLiftLevLogic(liftThread.getDevice().getId().intValue(), Integer.valueOf(motion.getTarget()));
+ if (!liftProtocol.getLev().equals(target)) {
+ return false;
+ }
+
+// //鍒ゆ柇鎻愬崌鏈烘墭鐩樻槸鍚﹀瓨鍦�
+// if (!liftProtocol.getHasTray()) {
// return false;
// }
- if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
+// //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(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;
+ }
}
break;
@@ -182,6 +400,10 @@
return false;
}
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
return false;
}
@@ -190,6 +412,27 @@
case LIFT_TRANSPORT_TO_CONVEYOR:
break;
+ case LIFT_LOCK:
+ if (!liftThread.isLock(null)) {
+ return false;
+ }
+ break;
+ case LIFT_UNLOCK:
+ if (liftThread.isLock(null)) {
+ 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_SHUTTLE_ARRIVAL:
+
+ break;
default:
return false;
}
--
Gitblit v1.9.1