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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* 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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* 校验结果 1表示检验成功
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*/
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public Short valid;
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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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* 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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public Short alarm = 0;
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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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* 堆垛机当前排
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*/
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public Short row;
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/**
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* 堆垛机当前巷道号
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*/
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public Short lane;
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/**
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* 堆垛机通讯状态
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*/
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public Boolean connStatus;
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/**
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* 申请入库修正
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*/
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public Boolean correction;
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/**
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* 托盘号错
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*/
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public Boolean tuError;
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/**
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* 取货无箱
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*/
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public Boolean noneError;
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/**
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* 双重入库
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*/
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public Boolean stockError;
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/**
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* 作业数据无效
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*/
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public Boolean jobInvalid;
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/**
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* 空闲状态
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*/
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public Boolean idle;
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/**
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* 控制柜使能
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*/
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public Boolean control;
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/**
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* 停准
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*/
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public Boolean stopQuasi;
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/**
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* 运行
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*/
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public Boolean running;
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/**
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* 故障
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*/
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public Boolean fault;
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/**
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* 货叉中位
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*/
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public Boolean forkHome;
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/**
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* 单伸位货叉左位
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*/
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public Boolean forkSingleLeft;
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/**
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* 单伸位货叉右位
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*/
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public Boolean forkSingleRight;
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/**
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* 双伸位货叉左位
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*/
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public Boolean forkDoubleLeft;
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/**
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* 双伸位货叉右位
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*/
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public Boolean forkDoubleRight;
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/**
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* 单伸位高位
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*/
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public Boolean singleHigh;
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/**
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* 单伸位低位
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*/
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public Boolean singleLow;
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/**
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* 双伸位高位
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*/
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public Boolean doubleHigh;
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/**
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* 双伸位低位
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*/
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public Boolean doubleLow;
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/**
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* 站台高位
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*/
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public Boolean platformHigh;
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/**
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* 站台低位
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*/
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public Boolean platformLow;
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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 = -1;
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public CrnForkPosType forkPosType = CrnForkPosType.NONE;
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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 = -1;
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public CrnLiftPosType liftPosType = CrnLiftPosType.ERROR;
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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 = 0;
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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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* 载货台有物
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*/
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public Short loaded;
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/**
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* 堆垛机垂直故障代码（数值显示）
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*/
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private Integer alarm1 = 0;
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/**
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* 堆垛机水平故障代码（数值显示）
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*/
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private Integer alarm2 = 0;;
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/**
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* 堆垛机货叉故障代码（数值显示）
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*/
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private Integer alarm3 = 0;;
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/**
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* 堆垛机状态故障代码（数值显示）
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*/
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private Integer alarm4 = 0;;
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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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* X行走线速度m/min
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*/
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private Float xSpeed = 0F;
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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 = 0F;
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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 = 0F;
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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 = 0F;
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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 = 0F;
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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 = 0F;
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/**w
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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 = 0F;
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//指令ID
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private Integer commandId;
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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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/**
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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(alarm.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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