zy-asrs-master.git

			@@ -2,9 +2,15 @@

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.asrs.common.utils.HttpHandler;
			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.Loc;
			import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
			import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
			import com.zy.asrs.wcs.core.service.LocService;
			import com.zy.asrs.wcs.rcs.News;
			import com.zy.asrs.wcs.rcs.cache.OutputQueue;
			import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
			@@ -76,24 +82,29 @@
			if (data != null) {
			if (null == shuttleProtocol) {
			shuttleProtocol = new ShuttleProtocol();
			shuttleProtocol.setShuttleNo(device.getDeviceNo());
			shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			shuttleProtocol.setDevice(device);
			}

			//----------读取四向穿梭车状态-----------
			//小车忙状态位
			shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
			//小车设备状态
			Integer deviceStatus = data.getInteger("deviceStatus");
			shuttleProtocol.setDeviceStatus(deviceStatus);
			//当前二维码
			shuttleProtocol.setCurrentCode(data.getString("deviceLocation") == null ? "0" : data.getString("deviceLocation"));
			shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
			//电池电量
			shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));


			//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);
			//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);

			///读取四向穿梭车状态-end

			@@ -148,6 +159,11 @@
			}

			@Override
			public Device getDevice() {
			return this.device;
			}

			@Override
			public synchronized boolean movePath() {
			return false;
			}
			@@ -162,6 +178,34 @@
			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");
			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);

			LocService locService = SpringUtils.getBean(LocService.class);
			Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
			.eq(Loc::getCode, distCodeNum)
			.eq(Loc::getHostId, this.device.getHostId()));
			if (loc == null) {
			throw new CoolException("库位信息不存在");
			}
			body.put("nodeX", loc.getRow());
			body.put("nodeY", loc.getBay());
			body.put("nodeZ", loc.getLev());

			ShuttleCommand command = new ShuttleCommand();
			command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
			command.setBody(JSON.toJSONString(body));
			command.setMode(ShuttleCommandModeType.MOVE.id);
			command.setTargetLocNo(loc.getLocNo());
			return command;
			}


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

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