From 0d04bc5d8080b82338302fba0a59fccff2eaedfc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 06 七月 2025 11:28:29 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java | 114 +++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 95 insertions(+), 19 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 5e3a669..496ca62 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
@@ -12,6 +12,7 @@
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;
@@ -52,11 +53,6 @@
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())
@@ -64,6 +60,14 @@
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;
@@ -83,6 +87,11 @@
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());
@@ -93,6 +102,10 @@
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;
// }
@@ -101,6 +114,11 @@
list.addAll(command);
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;
}
@@ -109,30 +127,46 @@
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(motion.getTaskNo(), 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:
- //閿佸畾鎻愬崌鏈�
+ //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(motion.getTaskNo(), 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(motion.getTaskNo(), 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;
@@ -153,6 +187,11 @@
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�
@@ -164,6 +203,14 @@
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�
@@ -171,12 +218,26 @@
return false;
}
-// if (!liftProtocol.getLineFrontHasStock() || !liftProtocol.getLineEndHasStock()) {
-// return false;
-// }
-
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
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()) {
+ 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;
@@ -205,6 +266,10 @@
return false;
}
+ if (!liftProtocol.getHasTray()) {
+ return false;
+ }
+
if (!liftProtocol.getLev().equals(Integer.valueOf(motion.getTarget()))) {
return false;
}
@@ -222,6 +287,17 @@
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;
--
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