From 8b5b1811556bf9a9c95574276b2a93cb5099cec4 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期日, 07 四月 2024 08:36:00 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/Four-Way-Rack' into Four-Way-Rack

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java |   68 +++++++++++++++++++++++++++++++++-
 1 files changed, 66 insertions(+), 2 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 5fb8600..852ca7c 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
@@ -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 @@
                 //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
                 //灏忚溅璁惧鐘舵��
                 Integer deviceStatus = data.getInteger("deviceStatus");
+                if (deviceStatus == 255) {
+                    //绂荤嚎
+                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+                }
                 shuttleProtocol.setDeviceStatus(deviceStatus);
                 //褰撳墠浜岀淮鐮�
                 shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
@@ -109,14 +115,14 @@
                 //鏄惁椤跺崌
                 shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
                 //鏄惁鏈夋墭鐩�
-                shuttleProtocol.setHasPallet(data.getInteger("hasPallet") != 2 ? true : false);
+                shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
                 //琛岄┒鏂瑰悜
                 shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
                 //鏄惁涓哄厖鐢电姸鎬�
                 shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);
 
                 //*********璇诲彇鎵╁睍瀛楁**********
-                InnerSuhttleExtend extend = JSON.parseObject(JSON.toJSONString(shuttleProtocol.getExtend()), InnerSuhttleExtend.class);
+                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
                 extend.setMapVersion(data.getString("version"));//鍦板浘鐗堟湰
                 extend.setStatusDescription(data.getString("statusDescription"));//鐘舵�佹弿杩�
                 shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
@@ -357,6 +363,64 @@
     }
 
     @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 {
+            // 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
+            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) {
+            //鍏呯數涓拰鐢垫睜鍧囪　 =銆� 鍏呯數
+            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");

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