package com.zy.core.model.protocol;
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import com.alibaba.fastjson.JSON;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasShuttle;
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import com.zy.asrs.entity.BasShuttleErr;
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import com.zy.asrs.service.BasShuttleErrService;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.utils.NavigatePositionConvert;
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import com.zy.core.News;
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import com.zy.core.enums.ShuttleProtocolStatusType;
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import com.zy.core.enums.ShuttleStatusType;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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/**
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* 牛眼四向穿梭车
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*/
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@Slf4j
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@Data
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public class NyShuttleProtocol {
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/**
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* 四向穿梭车号
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*/
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private Short shuttleNo;
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/**
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* 任务号
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*/
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private Integer taskNo = 0;
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/**
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* 任务指令
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*/
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private ShuttleAssignCommand assignCommand;
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/**
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* 当前小车状态（内部自我维护）
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*/
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private Integer protocolStatus;
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/**
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* 当前小车状态枚举
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*/
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private ShuttleProtocolStatusType protocolStatusType;
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/**
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* 源库位
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*/
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private String sourceLocNo;
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/**
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* 目标库位
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*/
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private String locNo;
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/**
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* 小车当前库位号
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*/
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private String currentLocNo;
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/**
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* 作业标记
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*/
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private Boolean pakMk = false;
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/**
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* 手动状态/自动状态
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* 0/1
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*/
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private Integer workingMode;
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/**
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* 0:运行中1：空闲。（车自动模式下，在
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* 静止状态下，且没有其他任务且满足发送
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* 新任务的状态）
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*/
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private Integer free;
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/**
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* 当前速度，单位mm/s
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*/
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private Integer speed;
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/**
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* 负载状态无/有负载
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* 0/1
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*/
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private Integer loadState;
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/**
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* 管制状态不在管制下/被管制中
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* 0/1
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*/
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private Integer suspendState;
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/**
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* 顶升位置0-未知1-下降位置2-托举位置
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*/
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private Integer liftPosition;
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/**
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* 运行方向0-未知1-X向2-Y向
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*/
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private Integer runDir;
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/**
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* 运行方向0-未知（静止）1-X+向2-X向3-Y+向4-Y-向
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*/
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private Integer runDir2;
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/**
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* 充电状态0不在充电状态1充电中
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*/
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private Integer chargState;
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/**
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* 电池电量0%-100%
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*/
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private Integer powerPercent;
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/**
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* 最高电芯电压(mV)
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*/
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private Integer maxCellVoltage;
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/**
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* 最低电芯电压(mV)，低于2900mv需要立即充电
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*/
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private Integer minCellVoltage;
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/**
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* 电池电压（mV）
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*/
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private Integer voltage;
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/**
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* 充放电循环次数
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*/
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private Integer chargeCycleTimes;
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/**
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* 剩余电量/10(A)
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*/
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private Integer surplusQuantity;
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/**
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* 总电量/10(A)
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*/
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private Integer countQuantity;
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/**
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* 实际库位xyz
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*/
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private NyShuttlePointClass point;
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/**
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* 实际坐标xyz单位mm
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*/
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private NyShuttlePointClass coord;
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/**
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* WCS库位xyz
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*/
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private NyShuttlePointClass wcsPoint;
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/**
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* 任务目的库位xyztaskId(正在动作的任务ID)lastTaskId(最后一个完成的任务ID)recentTaskId(收到的最后一个任务ID)
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*/
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private TaskClass task;
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/**
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* 任务状态0无任务1有任务
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*/
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private Integer taskState;
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/**
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* 故障状态0无故障1故障中
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*/
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private Integer errState;
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/**
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* 故障码
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*/
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private Integer errCode;
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/**
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* mileage总里程数(米)，liftNumber顶升总数dropNumber下降总数reversingX换X总数reversingY换Y总数
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*/
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private StatusSumClass statusSum;
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/**
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* 非自动状态时间计时(S)
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*/
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private Integer errTime;
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/**
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* 独占令牌
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* 未被任务占据，令牌为0
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* 被任务占据，将任务号赋值给令牌
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*/
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private Integer token = 0;
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/**
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* 跑库状态
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*/
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private Boolean moveLoc = false;
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/**
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* 跑库类型，0:跑轨道，1：跑库位
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*/
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private Integer moveType = 0;
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/**
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* 跑库X起点
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*/
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private Integer xStart = 0;
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/**
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* 跑库X终点
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*/
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private Integer xTarget = 0;
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/**
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* 跑库X当前点位
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*/
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private Integer xCurrent = 0;
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/**
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* 跑库Y起点
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*/
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private Integer yStart = 0;
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/**
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* 跑库Y终点
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*/
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private Integer yTarget = 0;
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/**
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* 跑库Y当前点位
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*/
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private Integer yCurrent = 0;
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//总里程数
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@Data
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public static class StatusSumClass {
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private Integer mileage;//总里程数(米)
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private Integer liftNumber;//顶升总数
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private Integer dropNumber;//下降总数
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private Integer reversingX;//换X总数
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private Integer reversingY;//换Y总数
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}
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@Data
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public static class NyShuttlePointClass{
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private Integer x;
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private Integer y;
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private Integer z;
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}
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//任务目的库位
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@Data
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public static class TaskClass extends NyShuttlePointClass{
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private Integer taskState;
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private Integer taskId;//当前任务ID
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private Integer lastTaskId;//上一次完成的任务ID
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private Integer recentTaskId;//最后一次接收到的任务ID
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}
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public String getFree$() {
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if (this.getFree() == null) {
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return "";
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}
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return this.getFree() == 0 ? "运行中" : "空闲";
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}
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public String getWorkingMode$() {
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if (this.getWorkingMode() == null) {
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return "";
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}
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return this.getWorkingMode() == 0 ? "手动" : "自动";
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}
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public String getLoadState$() {
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if (this.getLoadState() == null) {
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return "";
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}
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return this.getLoadState() == 1 ? "有" : "无";
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}
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public String getSuspendState$() {
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if (this.getSuspendState() == null) {
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return "";
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}
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return this.getSuspendState() == 1 ? "是" : "否";
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}
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public String getPowerPercent$() {
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if (this.getPowerPercent() == null) {
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return "";
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}
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return this.getPowerPercent() + "%";
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}
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public String getLiftPosition$() {
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if (this.getLiftPosition() == null) {
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return "";
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}
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switch (this.getLiftPosition()) {
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case 0:
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return "未知";
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case 1:
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return "下降位置";
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case 2:
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return "托举位置";
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default:
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return this.getLiftPosition().toString();
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}
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}
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public String getChargState$() {
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if (this.getChargState() == null) {
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return "";
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}
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return this.getChargState() == 1 ? "充电中" : "未充电";
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}
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public String getMaxCellVoltage$() {
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if (this.getMaxCellVoltage() == null) {
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return "";
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}
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return this.getMaxCellVoltage() + "mV";
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}
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public String getMinCellVoltage$() {
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if (this.getMinCellVoltage() == null) {
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return "";
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}
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return this.getMinCellVoltage() + "mV";
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}
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public String getVoltage$() {
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if (this.getVoltage() == null) {
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return "";
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}
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return this.getVoltage() + "mV";
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}
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public String getTaskState$() {
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if (this.getTaskState() == null) {
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return "";
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}
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return this.getTaskState() == 1 ? "有任务" : "无任务";
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}
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public String getErrState$() {
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if (this.getErrState() == null) {
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return "";
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}
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return this.getErrState() == 1 ? "故障中" : "无故障";
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}
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public String getRunDir$() {
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if (this.getRunDir() == null) {
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return "";
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}
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switch (this.getRunDir()) {
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case 0:
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return "未知";
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case 1:
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return "X向";
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case 2:
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return "Y向";
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default:
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return "未知";
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}
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}
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public String getRunDir2$() {
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if (this.getRunDir2() == null) {
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return "";
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}
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switch (this.getRunDir2()) {
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case 0:
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return "未知";
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case 1:
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return "X+向";
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case 2:
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return "X-向";
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case 3:
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return "Y+向";
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case 4:
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return "Y-向";
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default:
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return "未知";
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}
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}
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/**
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* 设置小车状态
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*/
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public void setProtocolStatus(Integer status) {
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this.protocolStatus = status;
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this.protocolStatusType = ShuttleProtocolStatusType.get(status);
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}
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/**
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* 设置小车状态
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*/
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public void setProtocolStatus(ShuttleProtocolStatusType status) {
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this.protocolStatus = status.id;
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this.protocolStatusType = status;
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}
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public String getProtocolStatus$() {
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if (this.getProtocolStatus() == null) {
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return "";
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}
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return ShuttleProtocolStatusType.get(this.getProtocolStatus()).desc;
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}
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public String getPakMk$() {
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if (this.getPakMk() == null) {
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return "";
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}
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return this.getPakMk() ? "Y" : "N";
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}
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public String getPoint$() {
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if (this.getPoint() == null) {
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return "";
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}
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return NavigatePositionConvert.nyXyzToLocNo(this.getPoint().getX(), this.getPoint().getY(), this.getPoint().getZ());
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}
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public String getPoint$$() {
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if (this.getPoint() == null) {
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return "";
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}
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return JSON.toJSONString(this.getPoint());
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}
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public String getCoord$() {
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if (this.getCoord() == null) {
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return "";
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}
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return JSON.toJSONString(this.getCoord());
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}
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public String getErrCode$() {
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if (this.getErrCode() == null) {
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return "";
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}
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BasShuttleErrService basShuttleErrService = SpringUtils.getBean(BasShuttleErrService.class);
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BasShuttleErr basShuttleErr = basShuttleErrService.selectById(this.getErrCode());
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if (basShuttleErr == null) {
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return this.getErrCode().toString();
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}
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return basShuttleErr.getErrName();
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}
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public void setPoint(NyShuttlePointClass point) {
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String locNo = NavigatePositionConvert.nyXyzToLocNo(point.getX(), point.getY(), point.getZ());
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this.point = point;
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this.currentLocNo = locNo;
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NyShuttlePointClass wcsPoint = new NyShuttlePointClass();
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wcsPoint.setX(Utils.getRow(locNo));
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wcsPoint.setY(Utils.getBay(locNo));
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wcsPoint.setZ(Utils.getLev(locNo));
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this.wcsPoint = wcsPoint;
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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.free == ShuttleStatusType.IDLE.id
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&& !this.pakMk
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&& this.errState == 0
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&& this.taskNo == 0
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&& this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
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;
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return res;
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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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// Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
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// if (chargeLine == null) {
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// return false;
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// }
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// return this.getPowerPercent() >= 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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// 是否处于空闲待命状态，传入的taskNo和当前taskNo相同时允许放行
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public Boolean isIdle(int taskNo) {
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boolean res = this.free == ShuttleStatusType.IDLE.id
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&& !this.pakMk
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&& this.errState == 0
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&& (this.taskNo == 0 || this.taskNo == taskNo)
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&& this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
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;
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return res;
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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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// Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
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// return this.getPowerPercent() > 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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// 是否处于空闲待命状态
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public Boolean isIdleNoCharge() {
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boolean res = this.free == ShuttleStatusType.IDLE.id
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&& !this.pakMk
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&& this.errState == 0
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&& this.taskNo == 0
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&& this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
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;
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return res;
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}
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// 是否处于空闲待命状态
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public Boolean isIdleNoCharge(int taskNo) {
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boolean res = this.free == ShuttleStatusType.IDLE.id
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&& !this.pakMk
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&& this.errState == 0
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&& (this.taskNo == 0 || this.taskNo == taskNo)
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&& this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
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;
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return res;
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}
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// 是否满足充电状态
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public Boolean isRequireCharge() {
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if (this.free == null || this.pakMk == null || this.errState == null || this.taskNo == null) {
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return false;
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}
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boolean res = this.free == ShuttleStatusType.IDLE.id
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&& !this.pakMk
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&& this.errState == 0
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&& this.taskNo == 0
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&& this.protocolStatusType.id == ShuttleProtocolStatusType.IDLE.id
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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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// 电量小于阈值或最低电芯电压小于2900mv，需要进行充电
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try {
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
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if (shuttleService == null) {
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return false;
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}
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BasShuttle basShuttle = shuttleService.selectById(this.shuttleNo);
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if (basShuttle == null) {
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return false;
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}
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Integer chargeLine = basShuttle.getChargeLine();
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if (chargeLine == null) {
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return false;
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}
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return this.getPowerPercent() < 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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public void setShuttleNo(Short shuttleNo) {
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if (shuttleNo != 0) {
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this.shuttleNo = shuttleNo;
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}
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}
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}
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