zy-asrs-master.git

			@@ -135,7 +135,7 @@
			///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.getIdle()) {
			if (deviceStatus == 1 \|\| deviceStatus == 2 \|\| deviceStatus == 5) {
			shuttleProtocol.setPakMk(true);
			}

			@@ -228,25 +228,37 @@
			ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
			for (ArrayList<NavigateNode> sectionNodes : data) {
			for (int idx = 0; idx < data.size(); idx++) {
			ArrayList<NavigateNode> sectionNodes = data.get(idx);
			boolean isRemoveFooterNode = false;//是否剔除尾节点
			if (idx != data.size() - 1) {
			isRemoveFooterNode = true;//剔除尾节点
			}

			boolean flag = true;
			int oper;
			//开始路径
			NavigateNode startPath = nodes.get(0);
			NavigateNode startPath = sectionNodes.get(0);
			//结束路径
			NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
			if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
			\|\| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
			//母轨方向
			oper = 5;
			}else {
			} else {
			//子轨方向
			oper = 6;
			}

			for (NavigateNode node : sectionNodes) {
			for (int i = 0; i < sectionNodes.size(); i++) {
			if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
			continue;
			}
			NavigateNode node = sectionNodes.get(i);
			HashMap<String, Object> map = new HashMap<>();
			map.put("nodexX", node.getX());
			map.put("nodexY", node.getY());
			map.put("nodexZ", node.getZ());
			map.put("nodeX", node.getX());
			map.put("nodeY", node.getY());
			map.put("nodeZ", node.getZ());
			if (flag) {
			map.put("oper", oper);
			flag = false;
			@@ -260,7 +272,7 @@
			param.put("messageName", "runRoute");
			param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
			param.put("deviceNo", device.getDeviceNo());
			param.put("taskId", taskNo);
			param.put("taskId", generateDeviceTaskNo(taskNo));
			param.put("nodeNum", nodes.size());
			param.put("modes", modes);
			String response = new HttpHandler.Builder()
			@@ -389,7 +401,7 @@
			return false;
			}
			}
			if (this.shuttleProtocol.getIdle() == null
			if (this.shuttleProtocol.getDeviceStatus() == null
			\|\| this.shuttleProtocol.getPakMk() == null
			\|\| this.shuttleProtocol.getErrorCode() == null
			\|\| this.shuttleProtocol.getProtocolStatus() == null
			@@ -397,7 +409,7 @@
			return false;
			}

			boolean res = this.shuttleProtocol.getIdle()
			boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 \|\| this.shuttleProtocol.getDeviceStatus() == 11)
			&& this.shuttleProtocol.getPakMk()
			&& this.shuttleProtocol.getErrorCode().equals("0")
			&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
			@@ -407,7 +419,7 @@

			@Override
			public boolean isRequireCharge() {
			if (this.shuttleProtocol.getIdle() == null
			if (this.shuttleProtocol.getDeviceStatus() == null
			\|\| this.shuttleProtocol.getPakMk() == null
			\|\| this.shuttleProtocol.getErrorCode() == null
			\|\| this.shuttleProtocol.getProtocolStatus() == null
			@@ -415,7 +427,7 @@
			return false;
			}

			boolean res = this.shuttleProtocol.getIdle()
			boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
			&& this.shuttleProtocol.getPakMk()
			&& this.shuttleProtocol.getErrorCode().equals("0")
			&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
			@@ -475,7 +487,7 @@
			ArrayList<NavigateNode> path = new ArrayList<>();
			if (shuttleProtocol.getTaskNo() != 0) {
			//存在任务，获取指令
			Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_FLAG + shuttleProtocol.getTaskNo());
			Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
			if (object != null) {
			ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
			List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
			@@ -488,12 +500,21 @@
			}

			@Override
			public int generateDeviceTaskNo(int taskNo) {
			int no = taskNo % 255;
			if (no <= 1) {
			no = 2;
			}
			return no;
			}

			@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);
			body.put("taskId", generateDeviceTaskNo(taskNo));

			LocService locService = SpringUtils.getBean(LocService.class);
			Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()