zy-asrs-master.git

			@@ -7,11 +7,13 @@
			import com.zy.asrs.framework.common.DateUtils;
			import com.zy.asrs.framework.common.SpringUtils;
			import com.zy.asrs.framework.exception.CoolException;
			import com.zy.asrs.wcs.core.entity.BasShuttle;
			import com.zy.asrs.wcs.core.entity.Loc;
			import com.zy.asrs.wcs.core.model.NavigateNode;
			import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
			import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
			import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
			import com.zy.asrs.wcs.core.service.BasShuttleService;
			import com.zy.asrs.wcs.core.service.LocService;
			import com.zy.asrs.wcs.core.utils.NavigateUtils;
			import com.zy.asrs.wcs.rcs.News;
			@@ -99,6 +101,10 @@
			//----------读取四向穿梭车状态-----------
			//小车设备状态
			Integer deviceStatus = data.getInteger("deviceStatus");
			if (deviceStatus == 255) {
			//离线
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
			}
			shuttleProtocol.setDeviceStatus(deviceStatus);
			//当前二维码
			shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
			@@ -109,14 +115,14 @@
			//是否顶升
			shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
			//是否有托盘
			shuttleProtocol.setHasPallet(data.getInteger("hasPallet") != 2 ? true : false);
			shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
			//行驶方向
			shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
			//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);
			InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
			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
			@@ -357,6 +363,64 @@
			}

			@Override
			public boolean isRequireCharge() {
			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
			;
			if (!res) {
			return res;
			} else {
			// 电量小于阈值需要进行充电
			try {
			BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
			if (shuttleService == null) {
			return false;
			}
			BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
			if (basShuttle == null) {
			return false;
			}
			Integer chargeLine = basShuttle.getChargeLine();
			if (chargeLine == null) {
			return false;
			}
			return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
			} catch (Exception e) {
			News.error("fail", e);
			return false;
			}
			}
			}

			@Override
			public boolean isCharging() {
			if (this.shuttleProtocol.getDeviceStatus() == null) {
			return false;
			}

			if (this.shuttleProtocol.getDeviceStatus() == 5 \|\| this.shuttleProtocol.getDeviceStatus() == 13) {
			//充电中和电池均衡 =》充电
			return true;
			}
			return false;
			}

			@Override
			public boolean isChargingCompleted() {
			return false;
			}

			@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");