From 16bb4a6e5bf59c308ff351c5060875629f93291c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 十月 2023 15:20:49 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java |   90 +++++++++++++++++++++++++++++++++++++++++---
 1 files changed, 83 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
index c6d3533..ac78e39 100644
--- a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
@@ -3,18 +3,17 @@
 import com.alibaba.fastjson.JSON;
 import com.core.common.SpringUtils;
 import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.BasShuttleErr;
+import com.zy.asrs.service.BasShuttleErrService;
 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;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
-
-import java.util.List;
 
 /**
  * 鐗涚溂鍥涘悜绌挎杞�
@@ -186,7 +185,7 @@
     /**
      * 鏁呴殰鐮�
      */
-    private List<Integer> errCode;
+    private Integer errCode;
 
     /**
      * mileage鎬婚噷绋嬫暟(绫�)锛宭iftNumber椤跺崌鎬绘暟dropNumber涓嬮檷鎬绘暟reversingX鎹鎬绘暟reversingY鎹鎬绘暟
@@ -204,6 +203,46 @@
      * 琚换鍔″崰鎹紝灏嗕换鍔″彿璧嬪�肩粰浠ょ墝
      */
     private Integer token = 0;
+
+    /**
+     * 璺戝簱鐘舵��
+     */
+    private Boolean moveLoc = false;
+
+    /**
+     * 璺戝簱绫诲瀷锛�0:璺戣建閬擄紝1锛氳窇搴撲綅
+     */
+    private Integer moveType = 0;
+
+    /**
+     * 璺戝簱X璧风偣
+     */
+    private Integer xStart = 0;
+
+    /**
+     * 璺戝簱X缁堢偣
+     */
+    private Integer xTarget = 0;
+
+    /**
+     * 璺戝簱X褰撳墠鐐逛綅
+     */
+    private Integer xCurrent = 0;
+
+    /**
+     * 璺戝簱Y璧风偣
+     */
+    private Integer yStart = 0;
+
+    /**
+     * 璺戝簱Y缁堢偣
+     */
+    private Integer yTarget = 0;
+
+    /**
+     * 璺戝簱Y褰撳墠鐐逛綅
+     */
+    private Integer yCurrent = 0;
 
     //鎬婚噷绋嬫暟
     @Data
@@ -235,7 +274,14 @@
         if (this.getFree() == null) {
             return "";
         }
-        return this.getFree() == 1 ? "绌洪棽" : "杩愯涓�";
+        return this.getFree() == 0 ? "杩愯涓�" : "绌洪棽";
+    }
+
+    public String getWorkingMode$() {
+        if (this.getWorkingMode() == null) {
+            return "";
+        }
+        return this.getWorkingMode() == 0 ? "鎵嬪姩" : "鑷姩";
     }
 
     public String getLoadState$() {
@@ -264,7 +310,7 @@
             return "";
         }
 
-        switch (this.getRunDir()) {
+        switch (this.getLiftPosition()) {
             case 0:
                 return "鏈煡";
             case 1:
@@ -393,11 +439,30 @@
         return NavigatePositionConvert.nyXyzToLocNo(this.getPoint().getX(), this.getPoint().getY(), this.getPoint().getZ());
     }
 
+    public String getPoint$$() {
+        if (this.getPoint() == null) {
+            return "";
+        }
+        return JSON.toJSONString(this.getPoint());
+    }
+
     public String getCoord$() {
         if (this.getCoord() == null) {
             return "";
         }
         return JSON.toJSONString(this.getCoord());
+    }
+
+    public String getErrCode$() {
+        if (this.getErrCode() == null) {
+            return "";
+        }
+        BasShuttleErrService basShuttleErrService = SpringUtils.getBean(BasShuttleErrService.class);
+        BasShuttleErr basShuttleErr = basShuttleErrService.selectById(this.getErrCode());
+        if (basShuttleErr == null) {
+            return this.getErrCode().toString();
+        }
+        return basShuttleErr.getErrName();
     }
 
     public void setPoint(NyShuttlePointClass point) {
@@ -469,6 +534,17 @@
         return res;
     }
 
+    // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+    public Boolean isIdleNoCharge(int taskNo) {
+        boolean res = this.free == ShuttleStatusType.IDLE.id
+                && !this.pakMk
+                && this.errState == 0
+                && (this.taskNo == 0 || this.taskNo == taskNo)
+                && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
+                ;
+        return res;
+    }
+
     // 鏄惁婊¤冻鍏呯數鐘舵��
     public Boolean isRequireCharge() {
         if (this.free == null || this.pakMk == null || this.errState == null || this.taskNo == null) {
@@ -499,7 +575,7 @@
                 if (chargeLine == null) {
                     return false;
                 }
-                return this.getPowerPercent() < chargeLine || this.minCellVoltage < 2900;
+                return this.getPowerPercent() < chargeLine;
             } catch (Exception e) {
                 News.error("fail", e);
                 return false;

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