package com.zy.core.model.protocol;
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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 Short 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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* 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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* 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
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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 Short 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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// 任务信息 ---------------------------------------------------------
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/**
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* 96.入库任务中
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*/
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private boolean pakInTask;
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/**
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* 97. 出库任务中
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*/
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private boolean pakOutTask;
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/**
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* 98. 移库任务中
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*/
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private boolean pakMoveTask;
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/**
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* 99. 回原点任务中
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*/
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private boolean goHpTask;
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/**
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* 100. 去反原点任务中
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*/
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private boolean goOHpTask;
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/**
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* 101. 去原点避让位
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*/
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private boolean goHpAvoid;
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/**
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* 102. 去反原点避让位
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*/
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private boolean goOHpAvoid;
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/**
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* 104. 入库取空结束
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*/
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private boolean pakInEmpty;
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/**
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* 105. 入库正常结束
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*/
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private boolean pakInFinish;
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/**
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* 106. 出库取空结束
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*/
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private boolean pakOutEmpty;
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/**
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* 107. 出库正常结束
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*/
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private boolean pakOutFinish;
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/**
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* 108. 去原点避让完成
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*/
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private boolean goHpAvoidFinish;
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/**
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* 109. 去反原点避让完成
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*/
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private boolean goOHpAvoidFinish;
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/**
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* 110. 去原点避让完成
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*/
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private boolean goHpAvoidErr;
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/**
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* 111. 去反原点避让完成
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*/
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private boolean goOHpAvoidErr;
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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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/**
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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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