#console

Junjie

2023-08-22 8abca3f5413d977f5b11ed74b12ee39cc8570851

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

@@ -2,9 +2,12 @@

import com.alibaba.fastjson.JSON;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.News;
import com.zy.core.enums.ShuttleErrorCodeType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -161,6 +164,11 @@
    private NyShuttlePointClass coord;

    /**
     * WCS库位xyz
     */
    private NyShuttlePointClass wcsPoint;

    /**
     * 任务目的库位xyztaskId(正在动作的任务ID)lastTaskId(最后一个完成的任务ID)recentTaskId(收到的最后一个任务ID)
     */
    private TaskClass task;
@@ -189,6 +197,13 @@
     * 非自动状态时间计时(S)
     */
    private Integer errTime;

    /**
     * 独占令牌
     * 未被任务占据，令牌为0
     * 被任务占据，将任务号赋值给令牌
     */
    private Integer token = 0;

    //总里程数
    @Data
@@ -389,12 +404,17 @@
        String locNo = NavigatePositionConvert.nyXyzToLocNo(point.getX(), point.getY(), point.getZ());
        this.point = point;
        this.currentLocNo = locNo;
        NyShuttlePointClass wcsPoint = new NyShuttlePointClass();
        wcsPoint.setX(Utils.getRow(locNo));
        wcsPoint.setY(Utils.getBay(locNo));
        wcsPoint.setZ(Utils.getLev(locNo));
        this.wcsPoint = wcsPoint;
    }

    // 是否处于空闲待命状态
    public Boolean isIdle() {
        boolean res = this.free == ShuttleStatusType.IDLE.id
                && this.pakMk.equals(true)
                && !this.pakMk
                && this.errState == 0
                && this.taskNo == 0
                && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
@@ -419,7 +439,7 @@
    // 是否处于空闲待命状态，传入的taskNo和当前taskNo相同时允许放行
    public Boolean isIdle(int taskNo) {
        boolean res = this.free == ShuttleStatusType.IDLE.id
                && this.pakMk.equals(true)
                && !this.pakMk
                && this.errState == 0
                && (this.taskNo == 0 || this.taskNo == taskNo)
                && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
@@ -441,11 +461,49 @@
    // 是否处于空闲待命状态
    public Boolean isIdleNoCharge() {
        boolean res = this.free == ShuttleStatusType.IDLE.id
                && this.pakMk.equals(true)
                && !this.pakMk
                && this.errState == 0
                && this.taskNo == 0
                && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
                ;
        return res;
    }

    // 是否满足充电状态
    public Boolean isRequireCharge() {
        if (this.free == null || this.pakMk == null || this.errState == null || this.taskNo == null) {
            return false;
        }

        boolean res = this.free == ShuttleStatusType.IDLE.id
                && !this.pakMk
                && this.errState == 0
                && this.taskNo == 0
                && this.protocolStatusType.id == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值或最低电芯电压小于2900mv，需要进行充电
            try {
                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.getPowerPercent() < chargeLine || this.minCellVoltage < 2900;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
    }
}