package com.zy.core.model.protocol;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.RgvStatusType;
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import lombok.Data;
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import javax.swing.*;
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import java.util.HashMap;
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import java.util.Map;
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/**
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* Created by vincent on 2020/8/7
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*/
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@Data
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public class RgvProtocol implements Cloneable{
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private short RgvNo;
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/**
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* 1 = 手动模式
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* 2 = 自动模式
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* 3 = 电脑模式
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*/
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public Short mode;
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public RgvModeType modeType;
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private transient Long loadingStartTime;
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/**
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* 执行优先级
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* 0:不判断
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* 1：工位1先执行
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* 2：工位2先执行
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*/
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public Short wrkTaskPri;
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public Short wrkTaskMove1;
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public Short wrkTaskMove2;
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/**
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* RGV当前状态工位1
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* 0：空闲，无任务
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* 1：作业中
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* 2：报警
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*/
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public Short status;
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/**
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* 状态枚举
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*/
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public RgvStatusType statusType;
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/**
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* 工位1任务号
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*/
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public Integer taskNo1 = 0;
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/**
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* RGV工位1当前状态
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* 0：空闲，无任务
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* 11：取货中
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* 12：放货中
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* 10：任务完成等待WCS确认
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*/
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public Short status1;
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/**
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* 状态枚举
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*/
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public RgvStatusType statusType1;
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/**
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* 工位1有物
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*/
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public Boolean loaded1;
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/**
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* RGV当前位置
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*/
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public Integer RgvPos;
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/**
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* RGV当前目的位置
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*/
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public Integer RgvPosDestination;
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/**
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* 走行在定位
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* 0 = 在定位
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* 1 = 不在定位
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*/
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public Short walkPos;
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/**
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* 急停
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*/
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public Boolean err1;
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/**
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* 有物无资料
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*/
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public Boolean err2;
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/**
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* 有资料无物
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*/
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public Boolean err3;
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/**
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* 命令错误走行联调冲突
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*/
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public Boolean err4;
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/**
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* 目标为超过行走极限
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*/
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public Boolean err5;
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/**
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* 变频器异常
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*/
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public Boolean err6;
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/**
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* 光电异常
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*/
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public Boolean err7;
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////////////////////// 工位2定义 //////////////////////////////////////////////////
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/**
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* 工位2任务号
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*/
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public Integer taskNo2 = 0;
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/**
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* RGV工位2当前状态
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* 0：空闲，无任务
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* 11：取货中
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* 12：放货中
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* 10：任务完成等待WCS确认
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*/
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public Short status2;
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/**
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* 状态枚举
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*/
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public RgvStatusType statusType2;
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/**
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* 工位2有物
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*/
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public Boolean loaded2;
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// /**
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// * 急停
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// */
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// public Boolean err21;
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//
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// /**
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// * 有物无资料
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// */
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// public Boolean err22;
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//
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// /**
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// * 有资料无物
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// */
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// public Boolean err23;
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//
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// /**
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// * 命令错误走行联调冲突
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// */
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// public Boolean err24;
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//
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// /**
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// * 目标为超过行走极限
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// */
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// public Boolean err25;
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//
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// /**
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// * 变频器异常
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// */
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// public Boolean err26;
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//
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// /**
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// * 光电异常
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// */
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// public Boolean err27;
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///////////////////////////////////////////////////////////////////////////////////////
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/**
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* 异常码
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*/
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public Short alarm;
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/**
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* 心跳指令 1-2每秒切换一次
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*/
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public Short heart;
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private Short temp1;
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private Short temp2;
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private Short temp3;
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private Short temp4;
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private Short temp5;
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/**
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* X行走行速度m/min
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*/
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private Float xSpeed;
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/**
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* 堆垛机累计走行距离km
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*/
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public Float xDistance;
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/**
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* 堆垛机累计走行时长h
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*/
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public Float xDuration;
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public void setMode(Short mode) {
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this.mode = mode;
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this.modeType = RgvModeType.get(mode);
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}
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public void setMode(RgvModeType type) {
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this.modeType = type;
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this.mode = RgvModeType.get(type).id.shortValue();
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}
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public void setStatus(Short status){
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this.status = status;
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this.statusType = RgvStatusType.get(status);
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}
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public void setStatus(RgvStatusType type){
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this.statusType = type;
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this.status = RgvStatusType.get(type).id.shortValue();
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}
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public void setStatus1(Short status1){
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this.status1 = status1;
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this.statusType1 = RgvStatusType.get(status1);
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}
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public void setStatus1(RgvStatusType type1){
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this.statusType1 = type1;
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this.status1 = RgvStatusType.get(type1).id.shortValue();
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}
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public void setStatus2(Short status2){
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this.status2 = status2;
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this.statusType2 = RgvStatusType.get(status2);
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}
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public void setStatus2(RgvStatusType type2){
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this.statusType2 = type2;
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this.status2 = RgvStatusType.get(type2).id.shortValue();
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}
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public boolean isLoaded1ing() {
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return Boolean.TRUE.equals(this.loaded1);
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}
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public boolean isLoaded2ing() {
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return Boolean.TRUE.equals(this.loaded2);
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}
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/**
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* 最近一次入出库类型
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* I:入库
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* O:出库
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*/
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private String lastIo = "I";
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public BasRgv toSqlModel(BasRgv basRgv){
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if (alarm!=null) {
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basRgv.setRgvErr(alarm.longValue());
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}
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basRgv.setWrkNo1(taskNo1.intValue());
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basRgv.setWrkNo2(taskNo2.intValue());
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return basRgv;
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}
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public void setxSpeed(Short xSpeed) {
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this.xSpeed = Float.valueOf(xSpeed);
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}
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public void setxDistance(Short xDistance) {
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this.xDistance = Float.valueOf(xDistance);
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}
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public void setxDuration(Short xDuration) {
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this.xDuration = Float.valueOf(xDuration);
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}
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public Integer getRgvPosI(){
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//需要根据现场改造 根据读到的值获取对应站点位置
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Map<Short,Integer> map = new HashMap<>();
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map.put((short) 1,1004);map.put((short) 2,1007);
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map.put((short) 3,1010);map.put((short) 4,1014);
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map.put((short) 5,1018);map.put((short) 6,1021);
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map.put((short) 7,1024); map.put((short) 8,1028);
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map.put((short) 9,1031);map.put((short) 10,1035);
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map.put((short) 11,2003);map.put((short) 12,2006);
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map.put((short) 13,2009);map.put((short) 14,2012);
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map.put((short) 15,2015);map.put((short) 16,2018);
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map.put((short) 17,2021);map.put((short) 18,2024);
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map.put((short) 19,2027);map.put((short) 20,2030);
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if (RgvPos==null) return 0;
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return map.get(RgvPos);
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}
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public Integer getRgvPosI2() {
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if (RgvPos == null) return 0;
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// key: 站点号 value: 基准物理位置
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Map<Integer, Integer> posMap = new HashMap<>();
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posMap.put(1004, 6534);
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posMap.put(1007, 33634);
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posMap.put(1010, 75174);
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posMap.put(1014, 102124);
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posMap.put(1018, 138224);
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posMap.put(1021, 178034);
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posMap.put(1024, 219684);
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posMap.put(1028, 246724);
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posMap.put(1031, 288194);
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posMap.put(1035, 315204);
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int tolerance = 50; // 允许误差范围
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for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
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int site = entry.getKey();
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int basePos = entry.getValue();
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if (Math.abs(RgvPos - basePos) <= tolerance) {
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return site;
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}
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}
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return 0; // 没匹配到站点
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}
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@Override
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public RgvProtocol clone() {
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try {
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return (RgvProtocol) super.clone();
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} catch (CloneNotSupportedException e) {
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e.printStackTrace();
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}
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return null;
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}
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}
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