package com.zy.core.model.protocol;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasDevp;
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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.entity.LocMast;
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import com.zy.asrs.service.BasDevpService;
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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.service.LocMastService;
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import com.zy.core.News;
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import com.zy.core.enums.ShuttleErrorCodeType;
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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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* 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 ShuttleProtocol {
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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 Short 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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* 小车忙状态位
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* 1: 忙
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* 0: 空闲
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*/
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private Short busyStatus;
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/**
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* 小车忙状态位枚举
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*/
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private ShuttleStatusType busyStatusType;
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/**
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* 当前二维码
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* 0为空
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*/
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private Short currentCode;
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/**
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* 电池电量百分比
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*/
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private Short batteryPower;
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/**
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* 电池温度
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*/
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private Integer batteryTemp;
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/**
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* 错误编号
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*/
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private Short errorCode;
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/**
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* 错误编号枚举
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*/
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private ShuttleErrorCodeType errorCodeType;
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/**
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* Plc输出状态IO
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*/
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private Short plcOutputStatusIO;
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/**
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* Plc输出状态IO-顶升位
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*/
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private Boolean plcOutputLift;
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/**
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* Plc输出状态IO-换向位
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*/
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private Boolean plcOutputTransfer;
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/**
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* Plc输出状态IO-抱闸位
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*/
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private Boolean plcOutputBrake;
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/**
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* Plc输出状态IO-充电位
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*/
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private Boolean plcOutputCharge;
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/**
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* 错误信息码
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*/
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private Short statusErrorCode;
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/**
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* PLC输入状态，目前只有一个状态有效果，托盘雷达1有货，0无货
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*/
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private Short plcInputStatus;
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/**
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* 当前或者之前读到的二维码值
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*/
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private Short currentOrBeforeCode;
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/**
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* 读到的二维码X方向偏移量
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*/
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private Short codeOffsetX;
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/**
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* 读到的二维码Y方向偏移量
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*/
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private Short codeOffsetY;
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/**
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* 当前的电压值
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*/
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private Integer currentVoltage;
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/**
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* 当前的模拟量值
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*/
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private Short currentAnalogValue;
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/**
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* 当前的升降伺服速度
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*/
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private Short currentLiftServoSpeed;
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/**
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* 当前的行走伺服速度
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*/
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private Short currentMoveServoSpeed;
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/**
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* 当前的升降伺服负载率
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*/
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private Short currentLiftServoLoad;
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/**
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* 当前的行走伺服负载率
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*/
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private Short currentMoveServoLoad;
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/**
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* 作业标记
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*/
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private Boolean pakMk = true;
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public void setBusyStatus(Short status) {
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this.busyStatus = status;
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this.busyStatusType = ShuttleStatusType.get(status);
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}
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public void setBusyStatus(ShuttleStatusType type) {
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this.busyStatus = type.id.shortValue();
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this.busyStatusType = type;
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}
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//获取电池电量
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public Short getBatteryPower$() {
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return (short) (this.batteryPower * 0.1);
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}
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//获取电池温度
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public Short getBatteryTemp$() {
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return (short) (this.batteryTemp * 0.1);
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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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/**
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* 设置错误编号
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*/
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public void setErrorCode(Short errorCode) {
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this.errorCode = errorCode;
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this.errorCodeType = ShuttleErrorCodeType.get(errorCode.intValue());
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}
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/**
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* 设置错误编号
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*/
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public void setErrorCode(ShuttleErrorCodeType type) {
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this.errorCode = type.id.shortValue();
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this.errorCodeType = type;
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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.busyStatusType.equals(ShuttleStatusType.IDLE)
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&& this.pakMk.equals(true)
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&& this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
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&& this.taskNo == 0
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&& this.protocolStatus.intValue() == 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
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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.getBatteryPower$() > chargeLine;
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} catch (Exception e) {
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News.error("fail", e);
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return false;
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}
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}
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}
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// 是否处于空闲待命状态，传入的taskNo和当前taskNo相同时允许放行
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public Boolean isIdle(Short taskNo) {
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boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
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&& this.pakMk.equals(true)
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&& this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
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&& (this.taskNo == 0 || this.taskNo == taskNo)
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;
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if (!res) {
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return res;
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} else {
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// 电量
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try {
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Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
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return this.getBatteryPower$() > 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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// 是否满足充电状态
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public Boolean isRequireCharge() {
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if (this.busyStatusType == null || this.pakMk == null || this.errorCodeType == null || this.taskNo == null) {
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return false;
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}
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boolean res = this.busyStatusType.id.intValue() == ShuttleStatusType.IDLE.id.intValue()
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&& this.pakMk
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&& this.errorCodeType.id.intValue() == ShuttleErrorCodeType.NORMAL.id.intValue()
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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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// 电量小于阈值或电压小于48V，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.getBatteryPower$() < chargeLine || this.currentVoltage < 48000;
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} catch (Exception e) {
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News.error("fail", e);
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return false;
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}
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}
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}
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//通过当前二维码获取当前库位号
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public String getCurrentLocNo() {
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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if (locMastService == null) {
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return null;
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}
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//源库位(小车当前位置)
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LocMast currentLocMast = locMastService.queryByQrCode(this.currentCode.toString());
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if (currentLocMast == null) {
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return null;
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}
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return currentLocMast.getLocNo();
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}
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public String getStatusErrorCode$() {
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BasShuttleErrService basShuttleErrService = SpringUtils.getBean(BasShuttleErrService.class);
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BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(this.statusErrorCode.intValue());
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if (basShuttleErr == null) {
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return null;
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}
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return basShuttleErr.getErrName();
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}
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public void setCurrentCode(Short currentCode) {
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this.currentCode = currentCode;
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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if (locMastService != null) {
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LocMast locMast = locMastService.queryByQrCode(currentCode.toString());
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if (locMast == null) {
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//查不到库位号，查询是否为站点
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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if (basDevpService != null) {
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BasDevp basDevp = basDevpService.queryByLocNo(currentCode.toString());
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if (basDevp != null) {
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this.locNo = basDevp.getLocNo();
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}
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}
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}else{
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this.locNo = locMast.getLocNo();
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}
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}
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}
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}
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