package com.zy.core.model.protocol;
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import com.core.common.Cools;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasSte;
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import com.zy.asrs.service.BasSteService;
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import com.zy.core.News;
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import com.zy.core.enums.SteHisTaskStatusType;
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import com.zy.core.enums.SteLocaType;
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import com.zy.core.enums.SteStatusType;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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/**
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* Created by vincent on 2020/8/7
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*/
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@Slf4j
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@Data
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public class SteProtocol {
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/**
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* 设备号
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*/
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private Short steNo;
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/**
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* 1 = 联机模式
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* 0 = 脱机模式
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*/
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public Short mode;
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/**
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IDLE(0, "空闲"),
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MOVING(1, "作业中"),
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SOS(2, "报警"),
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WAITING(3, "任务完成等待WCS确认"),
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*/
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public Short status;
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public SteStatusType statusType;
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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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* 正在执行任务
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*/
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public Boolean execute;
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/**
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* 任务完成，等待WCS确认
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*/
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public Boolean waiting;
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/**
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* 异常码1
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*/
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public Short alarm;
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/**
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* 异常码2
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*/
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public Short alarm0;
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/**
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* 电池电量
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*/
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public Float charge = 0.0F;
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public void setCharge(Float charge) {
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if (charge >= 0) {
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this.charge = charge;
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}
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}
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/**
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* 满电
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*/
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public Boolean fullCharge;
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/**
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* 低电量
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*/
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public Boolean lowCharge;
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/**
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* 电池馈电 0，欠电，1低电 2满电
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*/
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public Short feed;
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/**
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* 当前位置 1，近点，2远点，3A点，4B点
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*/
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public Short loca;
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public SteLocaType locaType;
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/**
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* 近点距离
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*/
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public Double closer;
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/**
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* 当前速度
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*/
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public Double speed = 0.0D;
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/**
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* 高低位 0，低位，1高位
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*/
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public Short pos;
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/**
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* 有货 0，没货，1有货
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*/
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public Short load;
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/**
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* 在轨道上 0不在，1在
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*/
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public Short track;
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/**
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* 任务类型
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*/
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public Short taskType;
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/**
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* 排
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*/
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public Short row;
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/**
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* 列
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*/
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public Short bay;
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/**
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* 层
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*/
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public Short lev;
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/**
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* 过账指令任务号
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*/
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public Integer hisTaskNo;
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/**
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* 过账指令状态
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* 0初始 1执行完成 2删除
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*/
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public Short hisTaskStatus;
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public SteHisTaskStatusType hisTaskStatusType;
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/**
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* 盘点数量
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*/
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public Short checkQty;
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/**
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* 就绪状态 0未就绪 1就绪
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*/
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public Short ready;
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/**
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* 打开充电桩号
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*/
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public Short chargeNo;
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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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/**
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* 堆垛机禁止运行 1运行，0禁止
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*/
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public Short crnStopRun;
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/**
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* 堆垛机禁止伸叉 1运行，0禁止
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*/
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public Short crnStopFork;
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/**
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* 堆垛机搬移允许 0不允许 1允许
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*/
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public Short crnAllowRun;
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/**
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* 充电状态 1：在充电；0：不在充电
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*/
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private Short chargeStatus;
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// 入库取空
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private Boolean inEmpty;
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// 出库取空
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private Boolean outEmpty;
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// 穿梭车异常 ------------------------------------------------------------------------
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/**
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* 1.升降超时报警
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*/
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private boolean liftErr;
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/**
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* 3.入库取空报警
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*/
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private boolean inFetchErr;
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/**
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* 4.出库取空报警
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*/
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private boolean outFetchErr;
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/**
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* 5.防撞保护
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*/
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private boolean antiErr;
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/**
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* 6.升降接近开关故障
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*/
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private boolean liftSwitchErr;
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/**
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* 7.轨道检测报警
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*/
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private boolean trackErr;
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/**
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* 8.设备运行超时报警
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*/
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private boolean timeoutErr;
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/**
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* 9.通信错误报警
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*/
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private boolean connectErr;
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/**
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* 10.设备急停
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*/
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private boolean emergencyErr;
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/**
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* 11.任务类型缺失
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*/
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private boolean taskTypeErr;
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/**
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* 12.任务号缺失
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*/
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private boolean taskNoErr;
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/**
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* 13.运行中有新任务
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*/
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private boolean newTaskErr;
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/**
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* 14.故障中有任务
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*/
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private boolean errTaskErr;
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/**
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* 15.运行中停止
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*/
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private boolean stopErr;
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/**
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* 16.脱机模式下有任务
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*/
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private boolean offlineTaskErr;
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/**
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* 17.条件未满足启动任务
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*/
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private boolean startTaskErr;
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/**
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* 18.低电压时有任务
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*/
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private boolean voltageTaskErr;
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/**
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* 64.设备故障标志位
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*/
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private boolean devpErr;
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// 穿梭车异常 ------------------------------------------------------------------------
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// 穿梭车提示信息 ------------------------------------------------------------------------
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/**
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* 65.联机状态
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*/
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private boolean online;
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/**
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* 66.不在轨道上
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*/
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private boolean notOnTrack;
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/**
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* 67.低电量提醒
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*/
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private boolean lowVoltage;
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/**
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* 68.亏电中
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*/
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private boolean electricityLoss;
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/**
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* 69.强制行走启动
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*/
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private boolean forcedTravel;
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/**
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* 70.演示模式开启
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*/
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private boolean demoMode;
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/**
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* 71.充电刷已接通
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*/
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private boolean brushConnect;
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// /**
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// * 71.充电刷已接通
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// */
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// private boolean brushConnect;
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public void setStatus(Short status){
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this.status = status;
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this.statusType = SteStatusType.get(status);
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}
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public void setStatus(SteStatusType type){
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this.statusType = type;
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this.status = SteStatusType.get(type).id.shortValue();
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}
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public void setLoca(Short loca){
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this.loca = loca;
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this.locaType = SteLocaType.get(loca);
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}
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public void setLoca(SteLocaType type){
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this.locaType = type;
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this.loca = SteLocaType.get(type).id.shortValue();
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}
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public void setHisTaskStatus(Short hisTaskStatus){
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this.hisTaskStatus = hisTaskStatus;
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this.hisTaskStatusType = SteHisTaskStatusType.get(hisTaskStatus);
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}
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public void setHisTaskStatus(SteHisTaskStatusType type){
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this.hisTaskStatusType = type;
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this.hisTaskStatus = SteHisTaskStatusType.get(type).id.shortValue();
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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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private String pakMk = "-";
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public BasSte toSqlModel(BasSte basSte){
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if (alarm!=null) {
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basSte.setSteErr(alarm.longValue());
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}
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basSte.setWrkNo(taskNo.intValue());
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// if (basSte.getPakMk().equals("N")) {
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// if (!Cools.isEmpty(row)) {
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// basSte.setRow(row.intValue());
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// }
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// if (!Cools.isEmpty(bay)) {
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// basSte.setBay(bay.intValue());
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// }
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// if (!Cools.isEmpty(lev)) {
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// basSte.setLev(lev.intValue());
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// }
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// }
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return basSte;
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}
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// 是否处于空闲待命状态
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public Boolean isIdle() {
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boolean res = this.statusType.equals(SteStatusType.IDLE)
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&& this.mode == 1
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&& this.pakMk.equals("N")
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&& !isAlarm()
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&& this.chargeStatus == 0
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&& isEnable()
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;
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if (!res) {
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return res;
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} else {
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// 电量
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try {
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String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(this.steNo).getChargeLine();
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return charge > Float.parseFloat(chargeLine);
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} catch (Exception e) {
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News.error("fail", e);
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return false;
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}
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}
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}
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// 是否处于报警状态
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public Boolean isAlarm() {
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return this.alarm > 1;
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}
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public Boolean isEnable() {
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if (Cools.isEmpty(row, bay, lev)) {
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return false;
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}
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return row > 0 && bay > 0 && lev > 0;
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}
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}
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