From 0e7e7a9317894a0bac09e1cb83c9be628e8b4ca5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 21 七月 2023 16:53:13 +0800
Subject: [PATCH] 计算中间点到目标点行走距离
---
src/main/java/com/zy/core/model/protocol/LiftProtocol.java | 49 +++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 47 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
index 419beee..a080395 100644
--- a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
@@ -22,7 +22,7 @@
/**
* 鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
*/
- private Short barcode = 1699;
+ private Short barcode = 1661;
/**
* 浠诲姟鍙�
@@ -246,6 +246,29 @@
}
// 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+ public Boolean isIdle(Short taskNo) {
+ if(this.taskNo == null
+ || this.liftLock == null
+ || this.ready == null
+ || this.running == null
+ || this.mode == null
+ || this.pakMk == null
+ ){
+ return false;
+ }
+
+ boolean res = (this.taskNo == 0 || this.taskNo.intValue() == taskNo.intValue())
+ && !this.liftLock
+// && this.ready
+ && !this.running
+ && this.mode
+ && this.pakMk.equals(true)
+ && !this.securityMk
+ ;
+ return res;
+ }
+
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
public Boolean isIdle() {
if(this.taskNo == null
|| this.liftLock == null
@@ -268,8 +291,30 @@
return res;
}
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵�侊紝涓嶅垽鏂换鍔″彿
+ public Boolean isIdleNoTask() {
+ if(this.taskNo == null
+ || this.liftLock == null
+ || this.ready == null
+ || this.running == null
+ || this.mode == null
+ || this.pakMk == null
+ ){
+ return false;
+ }
+
+ boolean res = !this.liftLock
+// && this.ready
+ && !this.running
+ && this.mode
+ && this.pakMk
+ && !this.securityMk
+ ;
+ return res;
+ }
+
public void setPositionArrivalFeedback(Short position) {
- Short lev = 1;
+ Short lev = null;
switch (position) {
case 1:
lev = 1;
--
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