package com.zy.core.model.protocol;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.core.enums.*;
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import lombok.Data;
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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 CrnProtocol {
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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 CrnModeType modeType;
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/**
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* 1 = 急停
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*/
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public Short eStop;
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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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* 任务号
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*/
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public Short taskNo = 0;
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/**
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* 堆垛机当前状态
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* 0：空闲，无任务
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* 1：取货定位中
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* 2：取货中
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* 3：取货完成，放货定位中
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* 4：放货中
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* 5：回原点中
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* 6：反原点
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* 7：库位移位
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* 90：任务完成等待WCS确认
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* 99：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 CrnStatusType statusType;
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/**
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* 堆垛机当前列号
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*/
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public Short bay;
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/**
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* 堆垛机当前层号
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*/
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public Short level;
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/**
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* 当前货叉位置
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* 0 = 货叉原位
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* 1 = 货叉在左侧
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* 2 = 货叉在右侧
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*/
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public Short forkPos;
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public CrnForkPosType forkPosType;
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/**
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* 当前载货台位置
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* 0 = 下定位
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* 1 = 上定位
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*/
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public Short liftPos;
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public CrnLiftPosType liftPosType;
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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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* 拨指位置
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* 0 = 不在定位
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* 1 = 上定位
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* 2 = 下定位
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*/
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public Short fingerPos;
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public CrnFingerPosType fingerPosType;
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/**
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* 堆垛机任务完成
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*/
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public Short taskFinish;
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/**
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* 载货台有物
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*/
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public Short loaded;
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/**
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* 异常码（数值显示）
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*/
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private Short alarm1;
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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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/**
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* 异常1
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*/
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private boolean[] error1;
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private CrnError1 crnError1;
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/**
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* 异常2
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*/
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private boolean[] error2;
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private CrnError2 crnError2;
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/**
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* 异常3
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*/
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private boolean[] error3;
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private CrnError3 crnError3;
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/**
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* 异常4
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*/
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private boolean[] error4;
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private CrnError4 crnError4;
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/**
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* 异常5
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*/
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private boolean[] error5;
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private CrnError5 crnError5;
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/**
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* 异常6
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*/
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private boolean[] error6;
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private CrnError6 crnError6;
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/**
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* X行走线速度m/min
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*/
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private Float xSpeed;
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/**
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* Y行走线速度m/min
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*/
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private Float ySpeed;
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/**
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* Z行走线速度m/min
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*/
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private Float zSpeed;
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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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* 堆垛机累计升降距离km
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*/
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public Float yDistance;
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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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/**
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* 堆垛机累计升降时长h
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*/
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public Float yDuration;
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public void setMode(Short mode) {
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this.mode = mode;
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this.modeType = CrnModeType.get(mode);
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}
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public void setMode(CrnModeType type) {
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this.modeType = type;
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this.mode = CrnModeType.get(type).id.shortValue();
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}
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public void setForkPos(Short forkPos) {
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this.forkPos = forkPos;
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this.forkPosType = CrnForkPosType.get(forkPos);
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}
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public void setForkPos(CrnForkPosType type) {
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this.forkPosType = type;
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this.forkPos = CrnForkPosType.get(type).id.shortValue();
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}
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public void setLiftPos(Short liftPos) {
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this.liftPos = liftPos;
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this.liftPosType = CrnLiftPosType.get(liftPos);
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}
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public void setLiftPos(CrnLiftPosType type) {
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this.liftPosType = type;
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this.liftPos = CrnLiftPosType.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 = CrnStatusType.get(status);
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}
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public void setStatus(CrnStatusType type){
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this.statusType = type;
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this.status = CrnStatusType.get(type).id.shortValue();
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}
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public void setFingerPos(Short type) {
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this.fingerPos = type;
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this.fingerPosType = CrnFingerPosType.get(type);
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}
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public void setError1(boolean[] error1){
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this.error1 = error1;
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this.crnError1 = new CrnError1();
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this.crnError1.remoteStop = error1[0];
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this.crnError1.mainStop = error1[1];
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this.crnError1.controlStop = error1[2];
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this.crnError1.xCoverErr = error1[3];
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this.crnError1.yCoverErr = error1[4];
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this.crnError1.zCoverErr = error1[5];
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this.crnError1.laserErr = error1[6];
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this.crnError1.barcodeErr = error1[7];
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this.crnError1.xFrontLimitErr = error1[8];
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this.crnError1.xBackLimitErr = error1[9];
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this.crnError1.yUpLimitErr = error1[10];
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this.crnError1.yDownLimitErr = error1[11];
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this.crnError1.zLeftLimitErr = error1[12];
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this.crnError1.zRightLimitErr = error1[13];
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this.crnError1.leftOverWidthErr1 = error1[14];
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this.crnError1.leftOverWidthErr2 = error1[15];
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}
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public void setError2(boolean[] error2){
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this.error2 = error2;
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this.crnError2 = new CrnError2();
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this.crnError2.leftOverLenErr1 = error2[0];
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this.crnError2.leftOverLenErr2 = error2[1];
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this.crnError2.leftOverHighErr = error2[2];
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this.crnError2.rightOverWidthErr1 = error2[3];
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this.crnError2.rightOverWidthErr2 = error2[4];
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this.crnError2.rightOverLenErr1 = error2[5];
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this.crnError2.rightOverLenErr2 = error2[6];
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this.crnError2.rightOverHighErr = error2[7];
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this.crnError2.leftLooseRopeErr = error2[8];
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this.crnError2.rightLooseRopeErr = error2[9];
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this.crnError2.frontDoorErr = error2[10];
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this.crnError2.backDoorErr = error2[11];
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this.crnError2.startupErr = error2[12];
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this.crnError2.xFrontLocaUpErr = error2[13];
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this.crnError2.xFrontLocaDownErr = error2[14];
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this.crnError2.xBackLocaUpErr = error2[15];
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}
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public void setError3(boolean[] error3) {
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this.error3 = error3;
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this.crnError3 = new CrnError3();
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this.crnError3.xBackLocaDownErr = error3[0];
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this.crnError3.yUpLocaUpErr = error3[1];
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this.crnError3.yUpLocaDownErr = error3[2];
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this.crnError3.yDownLocaUpErr = error3[3];
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this.crnError3.yDownLocaDownErr = error3[4];
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this.crnError3.zLeftLocaUpErr = error3[5];
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this.crnError3.zLeftLocaDownErr = error3[6];
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this.crnError3.zRightLocaUpErr = error3[7];
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this.crnError3.zRightLocaDownErr = error3[8];
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this.crnError3.leftTakeNoneErr = error3[9];
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this.crnError3.rightTakeNoneErr = error3[10];
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this.crnError3.leftTakeThenLoadErr = error3[11];
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this.crnError3.rightTakeThenLoadErr = error3[12];
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this.crnError3.leftPutAndLoadErr = error3[13];
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this.crnError3.rightPutAndLoadErr = error3[14];
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this.crnError3.leftPutThenNoneErr = error3[15];
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}
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public void setError4(boolean[] error4) {
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this.error4 = error4;
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this.crnError4 = new CrnError4();
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this.crnError4.rightPutThenNoneErr = error4[0];
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this.crnError4.xLooseBrakeTimeout = error4[1];
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this.crnError4.yLooseBrakeTimeout = error4[2];
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this.crnError4.zLooseBrakeTimeout = error4[3];
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}
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public void setError5(boolean[] error5) {
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this.error5 = error5;
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this.crnError5 = new CrnError5();
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}
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public void setError6(boolean[] error6) {
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this.error6 = error6;
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this.crnError6 = new CrnError6();
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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 BasCrnp toSqlModel(BasCrnp basCrnp){
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basCrnp.setCrnErr(alarm1.longValue());
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basCrnp.setWrkNo(taskNo.intValue());
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return basCrnp;
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}
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}
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