From 57eaf07f7bbca383c85580c97bdc6d1a7f5691f3 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期五, 26 四月 2024 09:18:01 +0800
Subject: [PATCH] #

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java |   35 +++++++++++++++++++++++++++++++----
 1 files changed, 31 insertions(+), 4 deletions(-)

diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
index 2734158..e1df620 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
@@ -31,6 +31,8 @@
 import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
 import com.zy.asrs.wcs.core.utils.RedisUtil;
 import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.system.entity.Dict;
+import com.zy.asrs.wcs.system.service.DictService;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 
@@ -111,6 +113,11 @@
                     //绂荤嚎
                     shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                 }
+
+                if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
+                    shuttleProtocol.setMode(1);//鑷姩鐘舵��
+                }
+
                 shuttleProtocol.setDeviceStatus(deviceStatus);
                 //褰撳墠浜岀淮鐮�
                 shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
@@ -134,6 +141,8 @@
                 extend.setStatusDescription(data.getString("statusDescription"));//鐘舵�佹弿杩�
                 shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
 
+                //鏈�杩戜竴娆″湪绾挎椂闂�
+                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                 ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
 
                 //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
@@ -208,6 +217,9 @@
 
     @Override
     public ShuttleProtocol getStatus() {
+        if (this.shuttleProtocol == null) {
+            return null;
+        }
         return this.shuttleProtocol.clone();
     }
 
@@ -318,6 +330,7 @@
             JSONObject jsonObject = JSON.parseObject(response);
             Integer code = jsonObject.getInteger("code");
             if (code.equals(200)) {
+                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
                 return true;
             }
         } catch (Exception e) {
@@ -348,6 +361,7 @@
             JSONObject jsonObject = JSON.parseObject(response);
             Integer code = jsonObject.getInteger("code");
             if (code.equals(200)) {
+                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
                 return true;
             }
         } catch (Exception e) {
@@ -378,6 +392,7 @@
             JSONObject jsonObject = JSON.parseObject(response);
             Integer code = jsonObject.getInteger("code");
             if (code.equals(200)) {
+                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
                 return true;
             }
         } catch (Exception e) {
@@ -388,7 +403,9 @@
 
     @Override
     public synchronized boolean reset(ShuttleCommand command) {
-        return false;
+        this.shuttleProtocol.setTaskNo(0);
+        this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+        return true;
     }
 
     @Override
@@ -469,7 +486,6 @@
                 }
                 return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
             } catch (Exception e) {
-                News.error("fail", e);
                 return false;
             }
         }
@@ -490,11 +506,22 @@
 
     @Override
     public boolean isChargingCompleted() {
+        Integer maxPower = 100;
+        DictService dictService = SpringUtils.getBean(DictService.class);
+        if (dictService != null) {
+            Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
+                    .eq(Dict::getFlag, "chargeMaxValue")
+                    .eq(Dict::getStatus, 1));
+            if (chargeMaxValue != null) {
+                maxPower = Integer.parseInt(chargeMaxValue.getValue());
+            }
+        }
+
         if (this.shuttleProtocol.getBatteryPower() == null) {
             return false;
         }
 
-        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
+        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
             return true;
         }
         return false;
@@ -566,7 +593,7 @@
     }
 
     @Override
-    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
+    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
         HashMap<String, Object> body = new HashMap<>();
         body.put("messageName", "runOrder");
         body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));

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