From 559c77882acf51920ec1e3acd2848df7cf75f71c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 11 八月 2020 11:03:53 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/enums/CrnStatusType.java        |   15 +++--
 src/main/java/com/zy/core/enums/CrnLiftPosType.java       |    6 +-
 src/main/java/com/zy/core/enums/CrnForkPosType.java       |    6 +-
 src/main/java/com/zy/core/model/protocol/CrnProtocol.java |  100 +++++++++++++++++++++------------
 src/main/java/com/zy/core/enums/CrnModeType.java          |    6 +-
 5 files changed, 81 insertions(+), 52 deletions(-)

diff --git a/src/main/java/com/zy/core/enums/CrnForkPosType.java b/src/main/java/com/zy/core/enums/CrnForkPosType.java
index 6f2de39..97ce560 100644
--- a/src/main/java/com/zy/core/enums/CrnForkPosType.java
+++ b/src/main/java/com/zy/core/enums/CrnForkPosType.java
@@ -2,9 +2,9 @@
 
 public enum CrnForkPosType {
 
-    HOME(0),   // 璐у弶鍘熶綅
-    LEFT(1),  // 璐у弶鍦ㄥ乏渚�
-    RIGHT(2),   // 璐у弶鍦ㄥ彸渚�
+    HOME(1),   // 璐у弶鍘熶綅
+    LEFT(2),  // 璐у弶鍦ㄥ乏渚�
+    RIGHT(0),   // 璐у弶鍦ㄥ彸渚�
     ;
 
     public Integer id;
diff --git a/src/main/java/com/zy/core/enums/CrnLiftPosType.java b/src/main/java/com/zy/core/enums/CrnLiftPosType.java
index 403ba89..0dc910a 100644
--- a/src/main/java/com/zy/core/enums/CrnLiftPosType.java
+++ b/src/main/java/com/zy/core/enums/CrnLiftPosType.java
@@ -2,9 +2,9 @@
 
 public enum CrnLiftPosType {
 
-    UP(0),   // 璐у弶鍘熶綅
-    DOWN(1),  // 璐у弶鍦ㄥ乏渚�
-    NONE(2),   // 璐у弶鍦ㄥ彸渚�
+    DOWN(1),  // 涓嬪畾浣�
+    UP(2),   // 涓婂畾浣�
+    NONE(0),   // 涓嶅湪瀹氫綅
     ;
 
     public Integer id;
diff --git a/src/main/java/com/zy/core/enums/CrnModeType.java b/src/main/java/com/zy/core/enums/CrnModeType.java
index b908ed7..c903c88 100644
--- a/src/main/java/com/zy/core/enums/CrnModeType.java
+++ b/src/main/java/com/zy/core/enums/CrnModeType.java
@@ -2,9 +2,9 @@
 
 public enum CrnModeType {
 
-    HAND(1),   // 绌洪棽
-    AUTO(2),  // 鍙栬揣瀹氫綅涓�
-    COMPUTER(3),   // 鍙栬揣璇锋眰
+    HAND(1),   // 鎵嬪姩妯″紡涓�
+    AUTO(2),  // 鍗婅嚜鍔ㄦā寮忎腑
+    COMPUTER(3),   // 鐢佃剳妯″紡涓�
     ;
 
     public Integer id;
diff --git a/src/main/java/com/zy/core/enums/CrnStatusType.java b/src/main/java/com/zy/core/enums/CrnStatusType.java
index 04771af..c8c8010 100644
--- a/src/main/java/com/zy/core/enums/CrnStatusType.java
+++ b/src/main/java/com/zy/core/enums/CrnStatusType.java
@@ -4,13 +4,16 @@
 
     IDLE(0),   // 绌洪棽
     FETCH_POSITION(1),  // 鍙栬揣瀹氫綅涓�
-    FETCH_REQUEST(2),   // 鍙栬揣璇锋眰
-    FETCHING(3),     // 鍙栬揣涓�
-    PUT_POSITION(4),   // 鏀捐揣瀹氫綅涓�
-    PUT_REQUEST(5),    // 鏀捐揣璇锋眰
-    PUTTING(6),     //鏀捐揣涓�
+//    FETCH_REQUEST(2),   // 鍙栬揣璇锋眰
+    FETCHING(2),     // 鍙栬揣涓�
+    PUT_POSITION(3),   // 鏀捐揣瀹氫綅涓�
+//    PUT_REQUEST(5),    // 鏀捐揣璇锋眰
+    PUTTING(4),     //鏀捐揣涓�
+    TO_ORIGIN(5),      // 鍥炲師鐐逛腑
+    ORIGIN(6),        // 鍙嶅師鐐�
+    LOC_MOVE(7),      // 搴撲綅绉讳綅
     WAITING(90),    // 浠诲姟瀹屾垚绛夊緟WCS纭
-    REPAIR(98),     // 缁翠慨
+//    REPAIR(98),     // 缁翠慨
     SOS(99),    // 鎶ヨ
     ;
 
diff --git a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
index 1baf7b3..00d6b1c 100644
--- a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
@@ -16,49 +16,40 @@
      * 1 = 鎵嬪姩妯″紡
      * 2 = 鑷姩妯″紡
      * 3 = 鐢佃剳妯″紡
-     * 4 = 鎵嬪姩妯″紡鍚姩涓�
-     * 5 = 鑷姩妯″紡鍚姩涓�
-     * 6 = 鐢佃剳妯″紡鍚姩涓�
      */
-    public short mode;
+    public Short mode;
 
     public CrnModeType modeType;
 
     /**
      * 1 = 鎬ュ仠
      */
-    public short eStop;
+    public Short eStop;
 
     /**
      * 寮傚父鐮�
      */
-    public short alarm;
+    public Short alarm;
 
     /**
      * 浠诲姟鍙�
      */
-    public short taskNo = 0;
+    public Short taskNo = 0;
 
     /**
      * 鍫嗗灈鏈哄綋鍓嶇姸鎬�
-     * 0 = 鏈煡
-     * 1 = 绌洪棽
-     * 2 = 妫�鏌ヤ换鍔℃暟鎹�
-     * 3 = 瀹氫綅鍒板彇璐т綅
-     * 7 = 鍙栬揣瀹屾垚
-     * 8 = 绛夊緟璋冨害鏌滃厑璁�
-     * 9 = 绉诲姩鍒版斁璐т綅缃�
-     * 10 = 鏀捐揣涓�
-     * 13 = 鎼繍瀹屾垚
-     * 14 = 绌鸿浇閬胯
-     * 15 = 妫�鏌ヤ换鍔℃暟鎹�
-     * 20 = 妫�鏌ユ簮浣嶇疆
-     * 21 = 妫�鏌ョ洰鏍囦綅缃�
-     * 50 = 绉诲姩浠诲姟
-     * 98 = 浠诲姟瀹屾垚锛寃cs鏈‘璁�
-     * 99 = 鎶ヨ
+     * 0锛氱┖闂诧紝鏃犱换鍔�
+     * 1锛氬彇璐у畾浣嶄腑
+     * 2锛氬彇璐т腑
+     * 3锛氬彇璐у畬鎴愶紝鏀捐揣瀹氫綅涓�
+     * 4锛氭斁璐т腑
+     * 5锛氬洖鍘熺偣涓�
+     * 6锛氬弽鍘熺偣
+     * 7锛氬簱浣嶇Щ浣�
+     * 90锛氫换鍔″畬鎴愮瓑寰匴CS纭
+     * 99锛氭姤璀�
      */
-    public short status;
+    public Short status;
 
     /**
      * 鐘舵�佹灇涓�
@@ -68,12 +59,12 @@
     /**
      * 鍫嗗灈鏈哄綋鍓嶅垪鍙�
      */
-    public short bay;
+    public Short bay;
 
     /**
      * 鍫嗗灈鏈哄綋鍓嶅眰鍙�
      */
-    public short level;
+    public Short level;
 
     /**
      * 褰撳墠璐у弶浣嶇疆
@@ -81,7 +72,7 @@
      * 1 = 璐у弶鍦ㄥ乏渚�
      * 2 = 璐у弶鍦ㄥ彸渚�
      */
-    public short forkPos;
+    public Short forkPos;
 
     private CrnForkPosType forkPosType;
 
@@ -90,7 +81,7 @@
      * 0 = 涓嬪畾浣�
      * 1 = 涓婂畾浣�
      */
-    public short liftPos;
+    public Short liftPos;
 
     public CrnLiftPosType liftPosType;
 
@@ -99,32 +90,67 @@
      * 0 = 鍦ㄥ畾浣�
      * 1 = 涓嶅湪瀹氫綅
      */
-    public short walkPos;
+    public Short walkPos;
 
     /**
      * 鍫嗗灈鏈轰换鍔″畬鎴�
      */
-    public short taskFinish;
+    public Short taskFinish;
 
     /**
      * 杞借揣鍙版湁鐗�
      */
-    public short loaded;
+    public Short loaded;
 
     /**
-     * 鍫嗗灈鏈虹疮璁¤蛋琛岃窛绂�
+     * 寮傚父鐮侊紙鏁板�兼樉绀猴級
      */
-    public int xDistance;
+    private Short alarm1;
 
     /**
-     * 鍫嗗灈鏈虹疮璁″崌闄嶈窛绂�
+     * 寮傚父1
      */
-    public int yDistance;
+    private Short error1;
 
     /**
-     * 鍫嗗灈鏈虹疮璁¤繍琛屾椂闀�
+     * 寮傚父2
      */
-    public int duration;
+    private Short error2;
+
+    /**
+     * 淇濈暀
+     */
+    private Short temp1;
+
+    /**
+     * X琛岃蛋绾块�熷害m/min
+     */
+    private Short xSpeed;
+
+    /**
+     * Y琛岃蛋绾块�熷害m/min
+     */
+    private Short ySpeed;
+
+    /**
+     * Z琛岃蛋绾块�熷害m/min
+     */
+    private Short zSpeed;
+
+    /**
+     * 鍫嗗灈鏈虹疮璁¤蛋琛岃窛绂籯m
+     */
+    public Integer xDistance;
+
+    /**
+     * 鍫嗗灈鏈虹疮璁″崌闄嶈窛绂籯m
+     */
+    public Integer yDistance;
+
+    /**
+     * 鍫嗗灈鏈虹疮璁¤繍琛屾椂闀縣
+     */
+    public Integer duration;
 
     public void setMode(Short mode) {
         this.mode = mode;

--
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