From 7c40749de31e83a3cda7691375160a61ebd81241 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 30 十一月 2023 14:46:27 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java | 170 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 136 insertions(+), 34 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 6162da1..a181ee3 100644
--- a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
@@ -3,17 +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�
@@ -163,6 +163,11 @@
private NyShuttlePointClass coord;
/**
+ * WCS搴撲綅xyz
+ */
+ private NyShuttlePointClass wcsPoint;
+
+ /**
* 浠诲姟鐩殑搴撲綅xyztaskId(姝ｅ湪鍔ㄤ綔鐨勪换鍔D)lastTaskId(鏈�鍚庝竴涓畬鎴愮殑浠诲姟ID)recentTaskId(鏀跺埌鐨勬渶鍚庝竴涓换鍔D)
*/
private TaskClass task;
@@ -180,7 +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
@@ -191,6 +196,53 @@
* 闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�(S)
*/
private Integer errTime;
+
+ /**
+ * 鐙崰浠ょ墝
+ * 鏈浠诲姟鍗犳嵁锛屼护鐗屼负0
+ * 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
@@ -222,7 +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$() {
+ if (this.getWorkingMode() == null) {
+ return "";
+ }
+ return this.getWorkingMode() == 0 ? "鎵嬪姩" : "鑷姩";
}
public String getLoadState$() {
@@ -251,7 +310,7 @@
return "";
}
- switch (this.getRunDir()) {
+ switch (this.getLiftPosition()) {
case 0:
return "鏈煡";
case 1:
@@ -380,6 +439,13 @@
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$() {
if (this.getCoord() == null) {
return "";
@@ -387,10 +453,27 @@
return JSON.toJSONString(this.getCoord());
}
+ public String getErrCode$() {
+ 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) {
String locNo = NavigatePositionConvert.nyXyzToLocNo(point.getX(), point.getY(), point.getZ());
this.point = point;
this.currentLocNo = locNo;
+ NyShuttlePointClass wcsPoint = new NyShuttlePointClass();
+ wcsPoint.setX(Utils.getRow(locNo));
+ wcsPoint.setY(Utils.getBay(locNo));
+ wcsPoint.setZ(Utils.getLev(locNo));
+ this.wcsPoint = wcsPoint;
}
// 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
@@ -401,21 +484,22 @@
&& this.taskNo == 0
&& this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
;
- if (!res) {
- return res;
- } else {
- // 鐢甸噺
- try {
- Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
- if (chargeLine == null) {
- return false;
- }
- return this.getPowerPercent() >= chargeLine;
- } catch (Exception e) {
- News.error("fail", e);
- return false;
- }
- }
+ return res;
+// if (!res) {
+// return res;
+// } else {
+// // 鐢甸噺
+// try {
+// Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
+// if (chargeLine == null) {
+// return false;
+// }
+// return this.getPowerPercent() >= chargeLine;
+// } catch (Exception e) {
+// News.error("fail", e);
+// return false;
+// }
+// }
}
// 鏄惁澶勪簬绌洪棽寰呭懡鐘舵�侊紝浼犲叆鐨則askNo鍜屽綋鍓峵askNo鐩稿悓鏃跺厑璁告斁琛�
@@ -426,18 +510,19 @@
&& (this.taskNo == 0 || this.taskNo == taskNo)
&& this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
;
- if (!res) {
- return res;
- } else {
- // 鐢甸噺
- try {
- Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
- return this.getPowerPercent() > chargeLine;
- } catch (Exception e) {
- News.error("fail", e);
- return false;
- }
- }
+ return res;
+// if (!res) {
+// return res;
+// } else {
+// // 鐢甸噺
+// try {
+// Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
+// return this.getPowerPercent() > chargeLine;
+// } catch (Exception e) {
+// News.error("fail", e);
+// return false;
+// }
+// }
}
// 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
@@ -446,6 +531,17 @@
&& !this.pakMk
&& this.errState == 0
&& this.taskNo == 0
+ && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
+ ;
+ 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;
@@ -481,11 +577,17 @@
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;
}
}
}
+
+ public void setShuttleNo(Short shuttleNo) {
+ if (shuttleNo != 0) {
+ this.shuttleNo = shuttleNo;
+ }
+ }
}
--
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