command write

Junjie

2023-07-19 39f6c2794f98fce7513b5e36df6c85b946813b17

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -2,6 +2,7 @@

import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleErr;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
@@ -127,7 +128,7 @@
    private Short statusErrorCode;

    /**
     * PLC输入状态
     * PLC输入状态，目前只有一个状态有效果，托盘雷达1有货，0无货
     */
    private Short plcInputStatus;

@@ -239,6 +240,7 @@
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
                && this.taskNo == 0
                && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
@@ -249,7 +251,7 @@
                if (chargeLine == null) {
                    return false;
                }
                return this.getBatteryPower$() > chargeLine;
                return this.getBatteryPower$() >= chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
@@ -262,7 +264,8 @@
        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
                && (this.taskNo == 0 || this.taskNo == taskNo)
                && (this.taskNo == 0 || this.taskNo.intValue() == taskNo.intValue())
                && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
@@ -284,18 +287,31 @@
            return false;
        }

        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
        boolean res = this.busyStatusType.id.intValue() == ShuttleStatusType.IDLE.id.intValue()
                && this.pakMk
                && this.errorCodeType.id.intValue() == ShuttleErrorCodeType.NORMAL.id.intValue()
                && this.taskNo == 0
                && this.protocolStatusType.id == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值或电压小于48V，需要进行充电
            try {
                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
                return this.getBatteryPower$() < chargeLine || this.currentVoltage < 480;
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;

                }
                BasShuttle basShuttle = shuttleService.selectById(this.shuttleNo);
                if (basShuttle == null) {
                    return false;
                }
                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return this.getBatteryPower$() < chargeLine || this.currentVoltage < 48000;
            } catch (Exception e) {
                News.error("fail", e);
                return false;