zy-asrs-master.git

			@@ -9,6 +9,7 @@
			import com.zy.asrs.framework.common.SpringUtils;
			import com.zy.asrs.framework.exception.CoolException;
			import com.zy.asrs.wcs.common.ExecuteSupport;
			import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
			import com.zy.asrs.wcs.core.entity.BasShuttle;
			import com.zy.asrs.wcs.core.entity.Loc;
			import com.zy.asrs.wcs.core.model.MapNode;
			@@ -209,7 +210,7 @@
			//电池电压
			shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
			//故障
			shuttleProtocol.setErrorCode(data.getString("errState"));
			shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

			//是否顶升
			shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
			@@ -275,6 +276,7 @@
			basShuttle.setStatus(1);
			basShuttle.setDeleted(0);
			basShuttle.setHostId(device.getHostId());
			basShuttle.setDeviceId(device.getId().intValue());
			shuttleService.save(basShuttle);
			}
			//任务号
			@@ -343,10 +345,15 @@

			@Override
			public ShuttleProtocol getStatus() {
			return getStatus(true);
			}

			@Override
			public ShuttleProtocol getStatus(boolean clone) {
			if (this.shuttleProtocol == null) {
			return null;
			}
			return this.shuttleProtocol.clone();
			return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
			}

			@Override
			@@ -439,6 +446,7 @@
			public boolean reset(ShuttleCommand command) {
			setSyncTaskNo(0);
			setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			enableMoveLoc(null, false);
			return true;
			}

			@@ -652,6 +660,30 @@
			}

			@Override
			public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
			if (enable) {
			shuttleProtocol.setMoveLoc(true);//开启跑库
			shuttleProtocol.setMoveType(param.getMoveType());
			shuttleProtocol.setXStart(param.getStartX());
			shuttleProtocol.setXTarget(param.getTargetX());
			shuttleProtocol.setXCurrent(param.getStartX());
			shuttleProtocol.setYStart(param.getStartY());
			shuttleProtocol.setYTarget(param.getTargetY());
			shuttleProtocol.setYCurrent(param.getStartY());
			}else {
			shuttleProtocol.setMoveLoc(false);
			shuttleProtocol.setMoveType(0);
			shuttleProtocol.setXStart(0);
			shuttleProtocol.setXTarget(0);
			shuttleProtocol.setXCurrent(0);
			shuttleProtocol.setYStart(0);
			shuttleProtocol.setYTarget(0);
			shuttleProtocol.setYCurrent(0);
			}
			return true;
			}

			@Override
			public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
			NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
			NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
			@@ -673,8 +705,8 @@
			HashMap<String, Object> data = new HashMap<>();
			String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ(), device.getHostId());
			Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum, device.getHostId()));
			int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
			int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
			int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
			int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
			int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

			List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
			@@ -684,8 +716,8 @@
			data.put("xp", xp);
			data.put("yp", yp);
			data.put("z", z);
			data.put("x", mapNode.getXBase());
			data.put("y", mapNode.getYBase());
			data.put("x", mapNode.getYBase());
			data.put("y", mapNode.getXBase());
			path.add(data);
			}

			@@ -780,8 +812,8 @@
			location.put("xp", row);
			location.put("yp", bay);
			location.put("z", lev);
			location.put("x", mapNode.getXBase());
			location.put("y", mapNode.getYBase());
			location.put("x", mapNode.getYBase());
			location.put("y", mapNode.getXBase());

			HashMap<String, Object> body = new HashMap<>();
			body.put("responseType", "init");//复位