From 8c7b4949dfcf875cc537304d34a7f6960cbb0c10 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:57:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 427 ++++++++++++++++++++++++++++++++--------------------
1 files changed, 260 insertions(+), 167 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index b82f97b..126af7d 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -1,123 +1,68 @@
package com.zy.core.model.protocol;
-import com.zy.core.enums.ShuttleStatusType;
+import com.core.common.Cools;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttleErr;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasShuttleErrService;
+import com.zy.asrs.service.LocMastService;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.ShuttleProtocolStatusType;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+
+import java.util.HashMap;
+import java.util.List;
/**
* 鍥涘悜绌挎杞�
*/
@Slf4j
@Data
-public class ShuttleProtocol {
+public class ShuttleProtocol implements Cloneable {
+ //**********************蹇呴』瀛樺湪灞炴��**********************
/**
* 鍥涘悜绌挎杞﹀彿
*/
- private Short shuttleNo;
+ private Integer shuttleNo;
/**
* 浠诲姟鍙�
*/
- public Short taskNo = 0;
+ private Integer taskNo;
/**
- * 鎺�
+ * 褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
*/
- public Short row;
+ private Integer protocolStatus;
/**
- * 鍒�
+ * 褰撳墠灏忚溅浣滀笟鐘舵�佹灇涓�
*/
- public Short bay;
+ private ShuttleProtocolStatusType protocolStatusType;
/**
- * 灞�
+ * 婧愬簱浣�
*/
- public Short lev;
+ private String sourceLocNo;
/**
- * 鎺у埗鎸囦护瀛�
+ * 鐩爣搴撲綅
*/
- private Integer commandWord;
+ private String locNo;
/**
- * 鍚浜岀淮缂栧彿
+ * 灏忚溅璁惧鐘舵��0:蹇欑 1:绌洪棽
*/
- private Integer startCodeNum;
+ private Integer deviceStatus;
/**
- * 涓棿浜岀淮缂栧彿
+ * 灏忚溅妯″紡锛�0锛氭墜鍔� 1锛氳嚜鍔�
*/
- private Integer middleCodeNum;
-
- /**
- * 鐩爣浜岀淮缂栧彿
- */
- private Integer distCodeNum;
-
- /**
- * 璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴�
- */
- private Integer startToDistDistance;
-
- /**
- * 涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害
- */
- private Integer middleToDistDistance;
-
- /**
- * 灏忚溅杩愯鏂瑰悜
- */
- private Integer runDirection;
-
- /**
- * 鎵樼洏椤跺崌
- */
- private Integer palletLift;
-
- /**
- * 灏忚溅寮哄埗绉诲姩璺濈
- */
- private Integer forceMoveDistance;
-
- /**
- * 鍏呯數寮�鍏�
- */
- private Integer chargeSwitch;
-
- /**
- * 灏忚溅IO鎺у埗
- */
- private Integer IOControl;
-
- /**
- * 灏忚溅杩愯閫熷害
- */
- private Integer runSpeed;
-
- /**
- * 灏忚溅闆疯揪澶囩敤
- */
- private Integer radarTmp;
-
- /**
- * 鎸囦护缁撴潫浣�
- */
- private Integer commandEnd;
-
-
- /**
- * 灏忚溅蹇欑姸鎬佷綅
- * true: 蹇�
- * false: 绌洪棽
- */
- private Boolean busyStatus;
-
- /**
- * 灏忚溅蹇欑姸鎬佷綅鏋氫妇
- */
- private ShuttleStatusType busyStatusType;
+ private Integer mode;
/**
* 褰撳墠浜岀淮鐮�
@@ -126,169 +71,317 @@
private String currentCode;
/**
- * 鐢垫睜鐢甸噺鐧惧垎姣�
+ * 鐢垫睜鐢甸噺
*/
- private Double batteryPower;
-
- /**
- * 鐢垫睜娓╁害
- */
- private Double batteryTemp;
+ private String batteryPower;
/**
* 閿欒缂栧彿
*/
- private Integer errorCode;
+ private String errorCode;
+
+
+ //**********************闈炲繀椤诲睘鎬э紝瀹為檯浣跨敤涓彲鑳藉瓨鍦ㄧ┖鍊�**********************
/**
- * Plc杈撳嚭鐘舵�両O
+ * 鐢垫睜娓╁害
*/
- private byte plcOutputStatusIO;
+ private String batteryTemp;
/**
- * 閿欒淇℃伅鐮�
+ * 鏄惁椤跺崌
*/
- private Integer statusErrorCode;
+ private Boolean hasLift;
/**
- * PLC杈撳叆鐘舵��
+ * 鏄惁鏈夋墭鐩�
*/
- private byte plcInputStatus;
+ private Boolean hasPallet;
/**
- * 褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+ * 琛岄┒鏂瑰悜
*/
- private String currentOrBeforeCode;
+ private String runDirection;
/**
- * 璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+ * 鏄惁涓哄厖鐢电姸鎬�
*/
- private Integer codeOffsetX;
+ private Boolean hasCharge;
/**
- * 璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+ * 鐢垫睜鐢靛帇
*/
- private Integer codeOffsetY;
+ private Integer batteryVoltage;
/**
- * 褰撳墠鐨勭數鍘嬪��
+ * 杩愯閫熷害
*/
- private Double currentVoltage;
+ private Integer speed;
+
+
+ //**********************绯荤粺鑷韩鎵�闇�灞炴��**********************
+ /**
+ * 浣滀笟鏍囪 false琛ㄧず姝ｅ湪浣滀笟
+ */
+ private Boolean pakMk = true;
/**
- * 褰撳墠鐨勬ā鎷熼噺鍊�
+ * 璺戝簱鐘舵��
*/
- private Integer currentAnalogValue;
+ private Boolean moveLoc = false;
/**
- * 褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+ * 璺戝簱绫诲瀷锛�0:璺戣建閬擄紝1锛氳窇搴撲綅
*/
- private Double currentLiftServoSpeed;
+ private Integer moveType = 0;
/**
- * 褰撳墠鐨勮璧颁己鏈嶉�熷害
+ * 璺戝簱X璧风偣
*/
- private Double currentMoveServoSpeed;
+ private Integer xStart = 0;
/**
- * 褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ * 璺戝簱X缁堢偣
*/
- private Double currentLiftServoLoad;
+ private Integer xTarget = 0;
/**
- * 褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+ * 璺戝簱X褰撳墠鐐逛綅
*/
- private Double currentMoveServoLoad;
+ private Integer xCurrent = 0;
/**
- * 浣滀笟鏍囪
+ * 璺戝簱Y璧风偣
*/
- private String pakMk = "-";
-
- // 浠诲姟淇℃伅 ---------------------------------------------------------
- /**
- * 96.鍏ュ簱浠诲姟涓�
- */
- private boolean pakInTask;
+ private Integer yStart = 0;
/**
- * 97. 鍑哄簱浠诲姟涓�
+ * 璺戝簱Y缁堢偣
*/
- private boolean pakOutTask;
+ private Integer yTarget = 0;
/**
- * 98. 绉诲簱浠诲姟涓�
+ * 璺戝簱Y褰撳墠鐐逛綅
*/
- private boolean pakMoveTask;
+ private Integer yCurrent = 0;
/**
- * 99. 鍥炲師鐐逛换鍔′腑
+ * 婕旂ず妯″紡
*/
- private boolean goHpTask;
+ private Boolean demo = false;
/**
- * 100. 鍘诲弽鍘熺偣浠诲姟涓�
+ * 鏃ュ織閲囬泦鏃堕棿
*/
- private boolean goOHpTask;
+ private Long deviceDataLog = System.currentTimeMillis();
/**
- * 101. 鍘诲師鐐归伩璁╀綅
+ * 鎸囦护涓嬪彂鏃堕棿
*/
- private boolean goHpAvoid;
+ private Long sendTime = 0L;
/**
- * 102. 鍘诲弽鍘熺偣閬胯浣�
+ * 鏈�杩戜竴娆″湪绾挎椂闂�
*/
- private boolean goOHpAvoid;
+ private Long lastOnlineTime = System.currentTimeMillis();
/**
- * 104. 鍏ュ簱鍙栫┖缁撴潫
+ * 灏忚溅绌洪棽鏃堕棿
*/
- private boolean pakInEmpty;
+ private Long idleTime = System.currentTimeMillis();
/**
- * 105. 鍏ュ簱姝ｅ父缁撴潫
+ * 鎵╁睍瀛楁
*/
- private boolean pakInFinish;
+ private Object extend;
/**
- * 106. 鍑哄簱鍙栫┖缁撴潫
+ * 绯荤粺娑堟伅
*/
- private boolean pakOutEmpty;
+ private String systemMsg;
/**
- * 107. 鍑哄簱姝ｅ父缁撴潫
+ * 浜ら�氱鍒�
*/
- private boolean pakOutFinish;
+ private Boolean trafficControl = false;
/**
- * 108. 鍘诲師鐐归伩璁╁畬鎴�
+ * 浜ら�氱鍒禢odes
*/
- private boolean goHpAvoidFinish;
+ private List<NavigateNode> trafficControlNodes = null;
- /**
- * 109. 鍘诲弽鍘熺偣閬胯瀹屾垚
- */
- private boolean goOHpAvoidFinish;
-
- /**
- * 110. 鍘诲師鐐归伩璁╁畬鎴�
- */
- private boolean goHpAvoidErr;
-
- /**
- * 111. 鍘诲弽鍘熺偣閬胯瀹屾垚
- */
- private boolean goOHpAvoidErr;
-
- public void setBusyStatus(Boolean status) {
- this.busyStatus = status;
- this.busyStatusType = ShuttleStatusType.get(status);
+ public String getProtocolStatus$() {
+ if (this.protocolStatusType == null) {
+ return "";
+ }
+ return this.protocolStatusType.desc;
}
- public void setBusyStatus(ShuttleStatusType type) {
- this.busyStatus = type.id.booleanValue();
- this.busyStatusType = type;
+ /**
+ * 璁剧疆灏忚溅鐘舵��
+ */
+ public void setProtocolStatus(Integer status) {
+ this.protocolStatus = status;
+ this.protocolStatusType = ShuttleProtocolStatusType.get(status);
+ }
+
+ /**
+ * 璁剧疆灏忚溅鐘舵��
+ */
+ public void setProtocolStatus(ShuttleProtocolStatusType status) {
+ this.protocolStatus = status.id;
+ this.protocolStatusType = status;
+ }
+
+ public Integer getTaskNo() {
+ RedisUtil redisUtil = null;
+ try {
+ redisUtil = SpringUtils.getBean(RedisUtil.class);
+ }catch (Exception e) {}
+ if (null != redisUtil) {
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo);
+ if (!Cools.isEmpty(o)) {
+ this.taskNo = Integer.parseInt(String.valueOf(o));
+ }
+ }
+ return this.taskNo == null ? 0 : this.taskNo;
+ }
+
+ @Override
+ public ShuttleProtocol clone() {
+ try {
+ return (ShuttleProtocol) super.clone();
+ } catch (CloneNotSupportedException e) {
+ e.printStackTrace();
+ }
+ return null;
+ }
+
+ //閫氳繃褰撳墠浜岀淮鐮佽幏鍙栧綋鍓嶅簱浣嶅彿
+ public String getCurrentLocNo() {
+ LocMastService locMastService = null;
+ try {
+ locMastService = SpringUtils.getBean(LocMastService.class);
+ }catch (Exception e) {}
+ if (locMastService == null) {
+ return null;
+ }
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ LocMast currentLocMast = locMastService.queryByQrCode(this.currentCode);
+ if (currentLocMast == null) {
+ return null;
+ }
+ return currentLocMast.getLocNo();
+ }
+
+ public String getStatusErrorCode$() {
+ BasShuttleErrService basShuttleErrService = null;
+ try {
+ basShuttleErrService = SpringUtils.getBean(BasShuttleErrService.class);
+ }catch (Exception e) {}
+ if (basShuttleErrService == null) {
+ return "";
+ }
+ if (this.errorCode == null) {
+ return "";
+ }
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(Integer.valueOf(this.errorCode));
+ if (basShuttleErr == null) {
+ return this.errorCode;
+ }
+ return basShuttleErr.getErrName();
+ }
+
+ public String getMode$() {
+ if (this.mode == null) {
+ return "";
+ }
+ if (this.mode == 0) {
+ return "鎵嬪姩";
+ } else if (this.mode == 1) {
+ return "鑷姩";
+ }
+
+ return "";
+ }
+
+ public String getDeviceStatus$() {
+ if (this.deviceStatus == null) {
+ return "";
+ }
+ if (this.deviceStatus == 0) {
+ return "蹇欑";
+ } else if (this.deviceStatus == 1) {
+ return "绌洪棽";
+ }
+
+ return "";
+ }
+
+ public String getHasLift$() {
+ if (this.hasLift == null) {
+ return "";
+ }
+
+ return this.hasLift ? "Y" : "N";
+ }
+
+ public String getHasCharge$() {
+ if (this.hasCharge == null) {
+ return "";
+ }
+
+ return this.hasCharge ? "Y" : "N";
+ }
+
+ public String getHasPallet$() {
+ if (this.hasPallet == null) {
+ return "";
+ }
+
+ return this.hasPallet ? "Y" : "N";
+ }
+
+ public String getPakMk$() {
+ if (this.pakMk == null) {
+ return "";
+ }
+
+ return this.pakMk ? "Y" : "N";
+ }
+
+ public String getDemo$() {
+ if (this.demo == null) {
+ return "";
+ }
+
+ return this.demo ? "Y" : "N";
+ }
+
+ public HashMap<String, Object> getPoint() {
+ HashMap<String, Object> map = new HashMap<>();
+ LocMastService locMastService = null;
+ try {
+ locMastService = SpringUtils.getBean(LocMastService.class);
+ }catch (Exception e) {}
+ if (locMastService == null) {
+ return map;
+ }
+
+ if (this.currentCode == null) {
+ return map;
+ }
+
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ LocMast currentLocMast = locMastService.queryByQrCode(this.currentCode);
+ if (currentLocMast == null) {
+ return map;
+ }
+
+ map.put("x", currentLocMast.getRow1());
+ map.put("y", currentLocMast.getBay1());
+ map.put("z", currentLocMast.getLev1());
+ return map;
}
}
--
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