zy-asrs-master.git

			@@ -21,6 +21,7 @@
			import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
			import com.zy.asrs.wcs.core.utils.RedisUtil;
			import com.zy.asrs.wcs.rcs.entity.Device;
			import lombok.Data;
			import lombok.extern.slf4j.Slf4j;

			import java.text.MessageFormat;
			@@ -87,6 +88,9 @@
			shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			shuttleProtocol.setDevice(device);

			InnerSuhttleExtend extend = new InnerSuhttleExtend();
			shuttleProtocol.setExtend(extend);
			}

			//----------读取四向穿梭车状态-----------
			@@ -108,13 +112,19 @@
			//是否为充电状态
			shuttleProtocol.setHasCharge((deviceStatus == 5 \|\| deviceStatus == 13) ? true : false);

			//*******读取扩展字段********
			InnerSuhttleExtend extend = JSON.parseObject(JSON.toJSONString(shuttleProtocol.getExtend()), InnerSuhttleExtend.class);
			extend.setMapVersion(data.getString("version"));//地图版本
			extend.setStatusDescription(data.getString("statusDescription"));//状态描述
			shuttleProtocol.setExtend(extend);//扩展字段

			///读取四向穿梭车状态-end

			// //小车处于忙碌状态，将标记置为true
			// if (shuttleProtocol.getDeviceStatusType() == ShuttleDeviceStatusType.BUSY) {
			// shuttleProtocol.setPakMk(true);
			// }
			//
			//小车处于忙碌状态，将标记置为true
			if (!shuttleProtocol.getIdle()) {
			shuttleProtocol.setPakMk(true);
			}

			// if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) {
			// //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
			// shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
			@@ -325,6 +335,24 @@
			}

			@Override
			public boolean isIdle() {
			if (this.shuttleProtocol.getIdle() == null
			\|\| this.shuttleProtocol.getPakMk() == null
			\|\| this.shuttleProtocol.getErrorCode() == null
			\|\| this.shuttleProtocol.getProtocolStatus() == null
			) {
			return false;
			}

			boolean res = this.shuttleProtocol.getIdle()
			&& this.shuttleProtocol.getPakMk()
			&& this.shuttleProtocol.getErrorCode().equals("0")
			&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
			;
			return res;
			}

			@Override
			public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
			HashMap<String, Object> body = new HashMap<>();
			body.put("messageName", "runOrder");
			@@ -351,6 +379,37 @@
			return command;
			}

			@Override
			public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
			HashMap<String, Object> body = new HashMap<>();
			body.put("messageName", "actionOrder");
			body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
			body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
			body.put("taskId", taskNo);
			body.put("action", lift ? 1 : 2);

			ShuttleCommand command = new ShuttleCommand();
			command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
			command.setBody(JSON.toJSONString(body));
			command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
			return command;
			}

			@Override
			public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
			HashMap<String, Object> body = new HashMap<>();
			body.put("messageName", "runOrder");
			body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
			body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
			body.put("taskId", taskNo);
			body.put("action", charge ? 3 : 4);

			ShuttleCommand command = new ShuttleCommand();
			command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
			command.setBody(JSON.toJSONString(body));
			command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
			return command;
			}

			//*************设备层通讯-不同厂商设备通讯方案不一致*************

			@@ -410,4 +469,20 @@
			}
			return null;
			}

			@Data
			private class InnerSuhttleExtend {

			/**
			* 地图版本
			*/
			private String mapVersion;

			/**
			* 状态描述
			*/
			private String statusDescription;

			}

			}