package com.zy.core.model.protocol;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.RgvStatusType;
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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 RgvProtocol {
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private Integer RgvNo;
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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 = -1;
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public RgvModeType modeType = RgvModeType.NONE;
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/**
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* RGV当前状态
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* 0：空闲，无任务
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* 1：作业中
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* 2：报警
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*/
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public Short status = -1;
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/**
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* 状态枚举
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*/
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public RgvStatusType statusType = RgvStatusType.NONE;
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/**
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* 任务号
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*/
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public Long taskNo = 0L;
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/**
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* 有物
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*/
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public Short loaded = -1;//0 无物；1 有物
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/**
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* RGV当前位置
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*/
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public Long RgvPos = 0L;
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/**
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* RGV目的位置
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*/
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public Long RgvPosDestination = 0L;
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/**
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* 走行在定位
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* 0 = 在定位
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* 1 = 不在定位
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*/
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public Short walkPos;
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/**
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* 异常码
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*/
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public Short alarm;
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/**
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* X行走行速度m/min
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*/
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private Float xSpeed;
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/**
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* 累计走行距离km
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*/
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public Float xDistance;
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/**
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* 累计走行时长h
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*/
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public Float xDuration;
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/**
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* 车身
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*/
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public Long carBodyJiaoMing = 2000L;
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/**
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* 车身
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*/
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public Long carBodyKunPeng = 15000L;
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/**
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* 是否启用
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*/
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public boolean statusEnable;//0\1\2
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// 急停
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private boolean err1;
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// 有物无资料
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private boolean err2;
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// 命令错误走行链条冲突
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private boolean err3;
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// 目标为超过走行极限
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private boolean err4;
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// 变频器异常
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private boolean err5;
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// 光电异常
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private boolean err6;
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public void setMode(Short mode) {
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this.mode = mode;
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this.modeType = RgvModeType.get(mode);
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}
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public void setMode(RgvModeType type) {
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this.modeType = type;
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this.mode = RgvModeType.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 = RgvStatusType.get(status);
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}
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public void setStatus(RgvStatusType type){
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this.statusType = type;
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this.status = RgvStatusType.get(type).id.shortValue();
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}
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public BasRgv toSqlModel(BasRgv basRgv){
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if (alarm!=null) {
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basRgv.setRgvErr(alarm.longValue());
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}
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basRgv.setWrkNo1(taskNo.intValue());
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return basRgv;
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}
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public long getRgvPosDestinationOrPos(boolean sign){
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if (!sign){
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return RgvPosDestination>RgvPos? RgvPosDestination:RgvPos;
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} else {
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return RgvPosDestination<RgvPos? RgvPosDestination:RgvPos;
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}
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}
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public void setxSpeed(Short xSpeed) {
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this.xSpeed = Float.valueOf(xSpeed);
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}
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public void setxDistance(Short xDistance) {
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this.xDistance = Float.valueOf(xDistance);
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}
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public void setxDuration(Short xDuration) {
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this.xDuration = Float.valueOf(xDuration);
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}
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public int getAlarm$(){
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if (err1){
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return 1;
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}
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if (err2){
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return 2;
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}
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if (err3){
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return 3;
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}
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if (err4){
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return 4;
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}
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if (err5){
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return 5;
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}
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if (err6){
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return 6;
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}
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return 0;
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}
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public String getAlarmM(){
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switch (getAlarm$()){
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case 1:
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return "急停";
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case 2:
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return "有物无资料";
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case 3:
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return "命令错误走行链条冲突";
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case 4:
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return "目标为超过走行极限";
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case 5:
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return "变频器异常";
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case 6:
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return "光电异常";
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}
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return "正常";
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}
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}
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