package com.zy.core.model.protocol;
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import com.zy.asrs.entity.BasCrnErrorLog;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.core.enums.CrnForkPosType;
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import com.zy.core.enums.CrnLiftPosType;
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import com.zy.core.enums.CrnModeType;
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import com.zy.core.enums.CrnStatusType;
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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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private Integer crnNo;
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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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* 载货台有物
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*/
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public Short loaded;
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private Short temp1;
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private CrnTemp1 crnTemp1;
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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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//堆垛机配置信号--------------------------------------------------------------
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public java.util.List<java.util.Map<String, Object>> getExceptions() {
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java.util.List<java.util.Map<String, Object>> list = new java.util.ArrayList<>();
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if (ibDriveFault) list.add(createException(0, "行走变频器故障"));
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if (ibSupplyFault) list.add(createException(1, "提供变频器故障"));
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if (ibForkDriveFault) list.add(createException(2, "货叉变频器故障"));
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if (ibDriveCircuitFault) list.add(createException(3, "行走断路器故障"));
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if (ibLiftCircuitFault) list.add(createException(4, "提升断路器故障"));
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if (ibForkCircuitFault) list.add(createException(5, "货叉断路器故障"));
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if (ibForwardLimit) list.add(createException(6, "前进限位"));
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if (ibReverseLimit) list.add(createException(7, "后退限位"));
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if (ibDriveStart) list.add(createException(8, "行走原点"));
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if (ibForwardBrakeSpeed) list.add(createException(9, "前进强制低速"));
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if (ibReverseBrakeSpeed) list.add(createException(10, "后退强制低速"));
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if (ibUpLimit) list.add(createException(11, "上升限位"));
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if (ibDownLimit) list.add(createException(12, "下限限位"));
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if (ibUpOrigin) list.add(createException(13, "提升原点"));
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if (ibUpBrakeSpeed) list.add(createException(14, "上升强制低速"));
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if (ibDownBrakeSpeed) list.add(createException(15, "下降强制低速"));
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if (ibPlatformSignal) list.add(createException(16, "载货台探货"));
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if (ibForkMidSignal) list.add(createException(17, "货叉中位信号"));
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if (ibForkLeftLimit) list.add(createException(18, "货叉左极限"));
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if (ibForkRightLimit) list.add(createException(19, "货叉右极限"));
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if (ibFrontOverLimit) list.add(createException(20, "前超限"));
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if (ibRearOverLimit) list.add(createException(21, "后超限"));
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if (ibLeftOverLimit) list.add(createException(22, "左超限"));
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if (ibRightOverLimit) list.add(createException(23, "右超限"));
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if (ibHighOverLimit1) list.add(createException(24, "高超限1"));
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if (ibHighOverLimit2) list.add(createException(25, "高超限2"));
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if (ibHighOverLimit3) list.add(createException(26, "高超限3"));
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if (ibOneExtendLeftLoad1) list.add(createException(27, "一伸左侧探货1"));
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if (ibOneExtendLeftLoad2) list.add(createException(28, "一伸左侧探货2"));
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if (ibOneExtendRightLoad1) list.add(createException(29, "一伸右侧探货1"));
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if (ibOneExtendRightLoad2) list.add(createException(30, "一伸右侧探货2"));
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if (ibTwoExtendLeftLoad1) list.add(createException(31, "二伸左侧探货1"));
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if (ibTwoExtendLeftLoad2) list.add(createException(32, "二伸左侧探货2"));
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if (ibTwoExtendRightLoad1) list.add(createException(33, "二伸右侧探货1"));
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if (ibTwoExtendRightLoad2) list.add(createException(34, "二伸右侧探货2"));
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if (ibSpeedSignal1) list.add(createException(35, "超速信号1"));
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if (ibSpeedSignal2) list.add(createException(36, "超速信号2"));
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if (ibOverweightSignal1) list.add(createException(37, "超重信号1"));
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if (ibOverweightSignal2) list.add(createException(38, "超重信号2"));
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if (ibRopeReleaseSignal1) list.add(createException(39, "松绳信号1"));
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if (ibRopeReleaseSignal2) list.add(createException(40, "松绳信号2"));
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if (ibSafetyClamp) list.add(createException(41, "安全钳"));
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if (ibTightener) list.add(createException(42, "张紧器"));
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if (ibSpeedLimiter) list.add(createException(43, "限速器"));
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if (ibSafetyDoorOpen) list.add(createException(44, "安全门打开"));
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return list;
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}
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private java.util.Map<String, Object> createException(int code, String msg) {
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java.util.Map<String, Object> map = new java.util.HashMap<>();
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map.put("code", code);
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map.put("msg", msg);
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return map;
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}
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// 故障读取锁定标记
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private boolean errorMk = false;
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//写入标记
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private boolean writeMk = true;
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private Boolean ibDriveFault = false; // 行走变频器故障
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private Boolean ibSupplyFault = false; // 提供变频器故障
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private Boolean ibForkDriveFault = false; // 货叉变频器故障
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private Boolean ibDriveCircuitFault = false; // 行走断路器故障
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private Boolean ibLiftCircuitFault = false; // 提升断路器故障
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private Boolean ibForkCircuitFault = false; // 货叉断路器故障
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private Boolean ibForwardLimit = false; // 前进限位
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private Boolean ibReverseLimit = false; // 后退限位
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private Boolean ibDriveStart = false; // 行走原点
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private Boolean ibForwardBrakeSpeed = false; // 前进强制低速
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private Boolean ibReverseBrakeSpeed = false; // 后退强制低速
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private Boolean ibUpLimit = false; // 上升限位
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private Boolean ibDownLimit = false; // 下限限位
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private Boolean ibUpOrigin = false; // 提升原点
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private Boolean ibUpBrakeSpeed = false; // 上升强制低速
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private Boolean ibDownBrakeSpeed = false; // 下降强制低速
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private Boolean ibPlatformSignal = false; // 载货台探货
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private Boolean ibForkMidSignal = false; // 货叉中位信号
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private Boolean ibForkLeftLimit = false; // 货叉左极限
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private Boolean ibForkRightLimit = false; // 货叉右极限
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private Boolean ibFrontOverLimit = false; // 前超限
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private Boolean ibRearOverLimit = false; // 后超限
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private Boolean ibLeftOverLimit = false; // 左超限
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private Boolean ibRightOverLimit = false; // 右超限
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private Boolean ibHighOverLimit1 = false; // 高超限1
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private Boolean ibHighOverLimit2 = false; // 高超限2
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private Boolean ibHighOverLimit3 = false; // 高超限3
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private Boolean ibOneExtendLeftLoad1 = false; // 一伸左侧探货1
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private Boolean ibOneExtendLeftLoad2 = false; // 一伸左侧探货2
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private Boolean ibOneExtendRightLoad1 = false; // 一伸右侧探货1
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private Boolean ibOneExtendRightLoad2 = false; // 一伸右侧探货2
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private Boolean ibTwoExtendLeftLoad1 = false; // 二伸左侧探货1
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private Boolean ibTwoExtendLeftLoad2 = false; // 二伸左侧探货2
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private Boolean ibTwoExtendRightLoad1 = false; // 二伸右侧探货1
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private Boolean ibTwoExtendRightLoad2 = false; // 二伸右侧探货2
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private Boolean ibSpeedSignal1 = false; // 超速信号1
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private Boolean ibSpeedSignal2 = false; // 超速信号2
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private Boolean ibOverweightSignal1 = false; // 超重信号1
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private Boolean ibOverweightSignal2 = false; // 超重信号2
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private Boolean ibRopeReleaseSignal1 = false; // 松绳信号1
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private Boolean ibRopeReleaseSignal2 = false; // 松绳信号2
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private Boolean ibSafetyClamp = false; // 安全钳
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private Boolean ibTightener = false; // 张紧器
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private Boolean ibSpeedLimiter = false; // 限速器
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private Boolean ibSafetyDoorOpen = false; // 安全门打开
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//-------------------------------------------------------------------
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public BasCrnErrorLog toSqlModelError() {
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BasCrnErrorLog basCrnErrorLog = new BasCrnErrorLog();
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// 错误字段转换
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basCrnErrorLog.setCrnNo(crnNo);
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basCrnErrorLog.setIbDriveFault(ibDriveFault ? "Y" : "N"); // 行走变频器故障
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basCrnErrorLog.setIbSupplyFault(ibSupplyFault ? "Y" : "N"); // 提供变频器故障
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basCrnErrorLog.setIbForkDriveFault(ibForkDriveFault ? "Y" : "N"); // 货叉变频器故障
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basCrnErrorLog.setIbDriveCircuitFault(ibDriveCircuitFault ? "Y" : "N"); // 行走断路器故障
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basCrnErrorLog.setIbLiftCircuitFault(ibLiftCircuitFault ? "Y" : "N"); // 提升断路器故障
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basCrnErrorLog.setIbForkCircuitFault(ibForkCircuitFault ? "Y" : "N"); // 货叉断路器故障
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basCrnErrorLog.setIbForwardLimit(ibForwardLimit ? "Y" : "N"); // 前进限位
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basCrnErrorLog.setIbReverseLimit(ibReverseLimit ? "Y" : "N"); // 后退限位
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basCrnErrorLog.setIbDriveStart(ibDriveStart ? "Y" : "N"); // 行走原点
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basCrnErrorLog.setIbForwardBrakeSpeed(ibForwardBrakeSpeed ? "Y" : "N"); // 前进强制低速
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basCrnErrorLog.setIbReverseBrakeSpeed(ibReverseBrakeSpeed ? "Y" : "N"); // 后退强制低速
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basCrnErrorLog.setIbUpLimit(ibUpLimit ? "Y" : "N"); // 上升限位
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basCrnErrorLog.setIbDownLimit(ibDownLimit ? "Y" : "N"); // 下限限位
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basCrnErrorLog.setIbUpOrigin(ibUpOrigin ? "Y" : "N"); // 提升原点
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basCrnErrorLog.setIbUpBrakeSpeed(ibUpBrakeSpeed ? "Y" : "N"); // 上升强制低速
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basCrnErrorLog.setIbDownBrakeSpeed(ibDownBrakeSpeed ? "Y" : "N"); // 下降强制低速
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basCrnErrorLog.setIbPlatformSignal(ibPlatformSignal ? "Y" : "N"); // 载货台探货
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basCrnErrorLog.setIbForkMidSignal(ibForkMidSignal ? "Y" : "N"); // 货叉中位信号
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basCrnErrorLog.setIbForkLeftLimit(ibForkLeftLimit ? "Y" : "N"); // 货叉左极限
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basCrnErrorLog.setIbForkRightLimit(ibForkRightLimit ? "Y" : "N"); // 货叉右极限
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basCrnErrorLog.setIbFrontOverLimit(ibFrontOverLimit ? "Y" : "N"); // 前超限
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basCrnErrorLog.setIbRearOverLimit(ibRearOverLimit ? "Y" : "N"); // 后超限
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basCrnErrorLog.setIbLeftOverLimit(ibLeftOverLimit ? "Y" : "N"); // 左超限
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basCrnErrorLog.setIbRightOverLimit(ibRightOverLimit ? "Y" : "N"); // 右超限
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basCrnErrorLog.setIbHighOverLimit1(ibHighOverLimit1 ? "Y" : "N"); // 高超限1
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basCrnErrorLog.setIbHighOverLimit2(ibHighOverLimit2 ? "Y" : "N"); // 高超限2
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basCrnErrorLog.setIbHighOverLimit3(ibHighOverLimit3 ? "Y" : "N"); // 高超限3
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basCrnErrorLog.setIbOneExtendLeftLoad1(ibOneExtendLeftLoad1 ? "Y" : "N"); // 一伸左侧探货1
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basCrnErrorLog.setIbOneExtendLeftLoad2(ibOneExtendLeftLoad2 ? "Y" : "N"); // 一伸左侧探货2
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basCrnErrorLog.setIbOneExtendRightLoad1(ibOneExtendRightLoad1 ? "Y" : "N"); // 一伸右侧探货1
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basCrnErrorLog.setIbOneExtendRightLoad2(ibOneExtendRightLoad2 ? "Y" : "N"); // 一伸右侧探货2
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basCrnErrorLog.setIbTwoExtendLeftLoad1(ibTwoExtendLeftLoad1 ? "Y" : "N"); // 二伸左侧探货1
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basCrnErrorLog.setIbTwoExtendLeftLoad2(ibTwoExtendLeftLoad2 ? "Y" : "N"); // 二伸左侧探货2
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basCrnErrorLog.setIbTwoExtendRightLoad1(ibTwoExtendRightLoad1 ? "Y" : "N"); // 二伸右侧探货1
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basCrnErrorLog.setIbTwoExtendRightLoad2(ibTwoExtendRightLoad2 ? "Y" : "N"); // 二伸右侧探货2
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basCrnErrorLog.setIbSpeedSignal1(ibSpeedSignal1 ? "Y" : "N"); // 超速信号1
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basCrnErrorLog.setIbSpeedSignal2(ibSpeedSignal2 ? "Y" : "N"); // 超速信号2
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basCrnErrorLog.setIbOverweightSignal1(ibOverweightSignal1 ? "Y" : "N"); // 超重信号1
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basCrnErrorLog.setIbOverweightSignal2(ibOverweightSignal2 ? "Y" : "N"); // 超重信号2
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basCrnErrorLog.setIbRopeReleaseSignal1(ibRopeReleaseSignal1 ? "Y" : "N"); // 松绳信号1
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basCrnErrorLog.setIbRopeReleaseSignal2(ibRopeReleaseSignal2 ? "Y" : "N"); // 松绳信号2
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basCrnErrorLog.setIbSafetyClamp(ibSafetyClamp ? "Y" : "N"); // 安全钳
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basCrnErrorLog.setIbTightener(ibTightener ? "Y" : "N"); // 张紧器
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basCrnErrorLog.setIbSpeedLimiter(ibSpeedLimiter ? "Y" : "N"); // 限速器
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basCrnErrorLog.setIbSafetyDoorOpen(ibSafetyDoorOpen ? "Y" : "N"); // 安全门打开
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return basCrnErrorLog;
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}
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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 Short getTemp1() {
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return temp1;
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}
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public void setTemp1(Short temp1) {
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this.temp1 = temp1;
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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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if (alarm!=null) {
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basCrnp.setCrnErr(alarm.longValue());
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}
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basCrnp.setWrkNo(taskNo.intValue());
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return basCrnp;
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}
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public void setxSpeed(float xSpeed) {
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this.xSpeed = xSpeed;
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}
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public void setySpeed(float ySpeed) {
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this.ySpeed = ySpeed;
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}
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public void setzSpeed(float zSpeed) {
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this.zSpeed = zSpeed;
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}
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public void setxDistance(float xDistance) {
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this.xDistance = xDistance;
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}
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public void setyDistance(float yDistance) {
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this.yDistance = yDistance;
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}
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public void setxDuration(float xDuration) {
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this.xDuration = xDuration;
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}
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public void setyDuration(float yDuration) {
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this.yDuration = yDuration;
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}
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}
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