From d9cea3d7757a8d580bb0574d419ba6dd9c2478e7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 13 十二月 2024 15:11:50 +0800
Subject: [PATCH] #search shuttle
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java | 428 +++++++++++++++++++++++++++++++----------------------
1 files changed, 250 insertions(+), 178 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 9f876c1..c8680e1 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
@@ -3,22 +3,30 @@
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;
+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;
import com.zy.asrs.wcs.core.service.TaskService;
+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;
/**
@@ -47,11 +55,6 @@
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())
@@ -59,139 +62,163 @@
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()))) {
- liftProtocol.setTaskNo(motion.getTaskNo());
+ liftThread.setSyncTaskNo(motion.getTaskNo());
break;
}
- command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), null);
- 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:
- return false;
-// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔�
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+// 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);
+
+ //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;
+ }
+// //*************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;
+// }
+// //*************************************************
+
+
+ //*************姝や唬鐮佷负鍏夋嘲瀹氬埗浠ｇ爜********************
+ Integer tarDrt = motion.getTarDrt();
+ if (tarDrt == 31001) {
+ tarDrt = 31004;
+ }
+
+ StaProtocol staProtocol = devpThread.getStation().get(tarDrt);
+ 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(), LiftCommandModeType.PALLET_INOUT);
+ 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()), null);
- 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;
-// // 鍒ゆ柇杈撻�佺嚎鐘舵��
-// 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;
-// }
-//
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// if (!liftProtocol.getLev().equals(Short.parseShort(motion.getOrigin()))) { // 鏄惁澶勪簬浠诲姟灞�
-// return false;
-// }
-//
-// // 涓嬪彂鍛戒护 ---------------------------------------------------
-//
-// // 1.椹卞姩杈撻�佺嚎鐢垫満
-// 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.椹卞姩鎻愬崌鏈虹數鏈�
-// command = liftThread.getLiftTurnCommand(liftInteractiveModeType.id);
-// command.setLiftNo(deviceNo.shortValue());
-// command.setTaskNo(motion.getWrkNo().shortValue());
-// return liftThread.assignWork(command);
+ 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;
@@ -212,6 +239,11 @@
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�
@@ -222,6 +254,15 @@
if (!liftProtocol.getLev().equals(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;
case LIFT_WITH_GOODS:
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
@@ -229,12 +270,81 @@
return false;
}
-// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
-// return false;
-// }
-
if (!liftProtocol.getLev().equals(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;
+ }
+
+ //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;
+// }
+// }
+// //*************************************************
+
+ //*************姝や唬鐮佷负鍏夋嘲瀹氬埗浠ｇ爜********************
+ ArrayList<Integer> staList = new ArrayList<>();
+ staList.add(motion.getTarDrt());
+ staList.add(31003);
+ staList.add(31002);
+ staList.add(31001);
+
+ boolean check = false;
+ for (Integer sta : staList) {
+ StaProtocol staProtocol = devpThread.getStation().get(sta);
+ if (staProtocol == null) {
+ continue;
+ }
+ if (!staProtocol.isAutoing()) {
+ continue;
+ }
+ if (!staProtocol.isLoading()) {
+ continue;
+ }
+ if (Integer.parseInt(motion.getTemp()) == staProtocol.getWorkNo().intValue()) {
+ check = true;
+ break;
+ }
+ }
+
+ if (!check) {
+ 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;
@@ -263,84 +373,46 @@
return false;
}
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
return false;
}
break;
case LIFT_TRANSPORT_TO_CONVEYOR:
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�佸墠鍏夌數鏃犺揣銆侀摼鏉℃病鏈夎浆鍔�
-// 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;
-// }
-//
-// // 鍒ゆ柇杈撻�佺嚎鐘舵��
-// 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;
-// }
-//
-//// // 鍒ゆ柇杈撻�佺嚎鐘舵��
-//// 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;
-//// }
-//
-//// // 灏嗕换鍔″彿鍏堜繚瀛樺埌杈撻�佺嚎绔欑偣涓婏紝鐩爣绔欎负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;
-//// }
-////
-//// // 鍋滄鎻愬崌鏈虹數鏈鸿浆鍔紝骞跺浣�
-//// command = liftThread.getLiftTurnCommand(LiftInteractiveModeType.ENGINE_STOP.id);
-//// command.setLiftNo(deviceNo.shortValue());
-//// command.setTaskNo(motion.getWrkNo().shortValue());
-//// return liftThread.assignWork(command);
+
+ 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;
}
- liftProtocol.setTaskNo(0);//娓呴浂宸ヤ綔鍙�
+ liftThread.setSyncTaskNo(0);//娓呴浂宸ヤ綔鍙�
+ liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
return true;
}
-
}
--
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