package com.zy.core.model.protocol;
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import com.zy.core.enums.CrnForkPosType;
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import com.zy.core.enums.CrnLiftPosType;
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import com.zy.core.enums.CrnModeType;
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import com.zy.core.enums.CrnStatusType;
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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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* 1 = 急停
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*/
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public Short eStop;
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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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* 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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/**
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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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* 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;
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public CrnForkPosType forkPosType;
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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;
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public CrnLiftPosType liftPosType;
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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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* 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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* 载货台有物
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*/
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public Short loaded;
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/**
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* 异常码（数值显示）
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*/
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private Short alarm1;
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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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* 保留
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*/
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private Short temp1;
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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;
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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;
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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;
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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;
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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;
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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;
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/**
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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;
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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 setError1(boolean[] error1){
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this.error1 = error1;
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this.crnError1 = new CrnError1();
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this.crnError1.stop = error1[0];
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this.crnError1.xCoverErr = error1[1];
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this.crnError1.yCoverErr = error1[2];
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this.crnError1.zCoverErr = error1[3];
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this.crnError1.rangeErr = error1[4];
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this.crnError1.barcodeErr = error1[5];
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this.crnError1.xFrontLimitErr = error1[6];
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this.crnError1.xBackLimitErr = error1[7];
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this.crnError1.yUpLimitErr = error1[8];
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this.crnError1.yDownLimitErr = error1[9];
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this.crnError1.zLeftLimitErr = error1[10];
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this.crnError1.zRightLimitErr = error1[11];
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this.crnError1.xLocationUpErr = error1[12];
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this.crnError1.xLocationDownErr = error1[13];
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this.crnError1.yLocationUpErr = error1[14];
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this.crnError1.yLocationDownErr = 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.zLocationUpErr = error2[0];
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this.crnError2.zLocationDownErr = error2[1];
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this.crnError2.wcsCommandErr = error2[2];
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this.crnError2.leftWidthLimitErr = error2[3];
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this.crnError2.rightWidthLimitErr = error2[4];
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this.crnError2.leftLengthLimitErr = error2[5];
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this.crnError2.rightLengthLimitErr = error2[6];
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this.crnError2.highLimitErr = error2[7];
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this.crnError2.leftTakeNoneErr = error2[8];
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this.crnError2.rightTakeNoneErr = error2[9];
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this.crnError2.leftPutLoadErr = error2[10];
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this.crnError2.rightPutLoadErr = error2[11];
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this.crnError2.startErr = error2[12];
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this.crnError2.looseRopeErr = error2[13];
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this.crnError2.safeDoorSwitchErr = error2[14];
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this.crnError2.none = error2[15];
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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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}
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