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"));
			@@ -128,10 +134,10 @@
			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);
			// }
			if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
			//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);
			}

			if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
			//采集时间超过5s，保存一次数据记录
			@@ -148,6 +154,28 @@

			//更新采集时间
			shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
			}

			//将四向穿梭车状态保存至数据库
			BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
			BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
			.eq(BasShuttle::getShuttleNo, device.getDeviceNo())
			.eq(BasShuttle::getHostId, device.getHostId()));
			if (basShuttle == null) {
			basShuttle = new BasShuttle();
			//四向穿梭车号
			basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
			basShuttle.setHostId(device.getHostId());
			shuttleService.save(basShuttle);
			}
			//任务号
			basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
			//修改时间
			basShuttle.setUpdateTime(new Date());
			//设备状态
			basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
			if (shuttleService.updateById(basShuttle)) {
			OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
			}
			} else {
			OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}读取四向穿梭车状态信息失败", DateUtils.convert(new Date()), device.getDeviceNo()));
			@@ -357,6 +385,64 @@
			}

			@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");