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luxiaotao1123

2022-09-15 1ac622e23ac9f633a219f842e75a4482e5653333

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 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -170,7 +170,7 @@
            }
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
//            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
            vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -818,7 +818,7 @@
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(locNo)); // 任务模式:  去近点 等待堆垛机叉取
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
            steCommand.setBay(steProtocol.getBay());

 src/main/java/com/zy/core/enums/SteTaskModeType.java

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

import com.core.exception.CoolException;
import com.zy.asrs.utils.Utils;
import com.zy.core.model.protocol.SteProtocol;

public enum SteTaskModeType {

@@ -99,4 +100,97 @@
        }
    }


    // -----------------------------------------------

    public static SteTaskModeType findOriginByLoc(SteProtocol steProtocol) {
        switch (steProtocol.getRow()) {
            case 1:
            case 2:
            case 3:
            case 8:
            case 9:
            case 10:
            case 11:
            case 15:
            case 16:
            case 17:
            case 18:
                return SteTaskModeType.GO_ORIGIN;
            case 4:
            case 5:
            case 6:
            case 7:
            case 12:
            case 13:
            case 14:
            case 19:
            case 20:
            case 21:
                return SteTaskModeType.BACK_ORIGIN;
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
    }

    public static SteTaskModeType findInByLoc(SteProtocol steProtocol) {
        switch (steProtocol.getRow()) {
            case 1:
            case 2:
            case 3:
            case 8:
            case 9:
            case 10:
            case 11:
            case 15:
            case 16:
            case 17:
            case 18:
                return SteTaskModeType.IN_RIGHT;
            case 4:
            case 5:
            case 6:
            case 7:
            case 12:
            case 13:
            case 14:
            case 19:
            case 20:
            case 21:
                return SteTaskModeType.IN_LEFT;
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
    }

    public static SteTaskModeType findOutByLoc(SteProtocol steProtocol) {
        switch (steProtocol.getRow()) {
            case 1:
            case 2:
            case 3:
            case 8:
            case 9:
            case 10:
            case 11:
            case 15:
            case 16:
            case 17:
            case 18:
                return SteTaskModeType.OUT_RIGHT;
            case 4:
            case 5:
            case 6:
            case 7:
            case 12:
            case 13:
            case 14:
            case 19:
            case 20:
            case 21:
                return SteTaskModeType.OUT_LEFT;
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
    }

}