From ae35f8d3521741b87835c6122053ec1af449d4ab Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 28 三月 2023 15:34:15 +0800
Subject: [PATCH] 地图数据增加上下左右移动距离
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 177 +++++++++++++++++++++++++++-------------------------------
1 files changed, 83 insertions(+), 94 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..401c763 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -1,6 +1,9 @@
package com.zy.core.model.protocol;
+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;
@@ -19,100 +22,39 @@
/**
* 浠诲姟鍙�
*/
- public Short taskNo = 0;
+ private Short taskNo = 0;
/**
- * 鎺�
+ * 浠诲姟鎸囦护
*/
- public Short row;
+ private ShuttleAssignCommand assignCommand;
/**
- * 鍒�
+ * 褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
*/
- public Short bay;
+ private Integer protocolStatus;
/**
- * 灞�
+ * 褰撳墠灏忚溅鐘舵�佹灇涓�
*/
- public Short lev;
+ private ShuttleProtocolStatusType protocolStatusType;
/**
- * 鎺у埗鎸囦护瀛�
+ * 婧愬簱浣�
*/
- private Integer commandWord;
+ private String sourceLocNo;
/**
- * 鍚浜岀淮缂栧彿
+ * 鐩爣搴撲綅
*/
- private Integer startCodeNum;
-
- /**
- * 涓棿浜岀淮缂栧彿
- */
- 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;
-
+ private String locNo;
/**
* 灏忚溅蹇欑姸鎬佷綅
- * true: 蹇�
- * false: 绌洪棽
+ * 1: 蹇�
+ * 0: 绌洪棽
*/
- private Boolean busyStatus;
+ private Short busyStatus;
/**
* 灏忚溅蹇欑姸鎬佷綅鏋氫妇
@@ -123,87 +65,92 @@
* 褰撳墠浜岀淮鐮�
* 0涓虹┖
*/
- private String currentCode;
+ private Short currentCode;
/**
* 鐢垫睜鐢甸噺鐧惧垎姣�
*/
- private Double batteryPower;
+ private Short batteryPower;
/**
* 鐢垫睜娓╁害
*/
- private Double batteryTemp;
+ private Short batteryTemp;
/**
* 閿欒缂栧彿
*/
- private Integer errorCode;
+ private Short errorCode;
+
+ /**
+ * 閿欒缂栧彿鏋氫妇
+ */
+ private ShuttleErrorCodeType errorCodeType;
/**
* Plc杈撳嚭鐘舵�両O
*/
- private byte plcOutputStatusIO;
+ private Short plcOutputStatusIO;
/**
* 閿欒淇℃伅鐮�
*/
- private Integer statusErrorCode;
+ private Short statusErrorCode;
/**
* PLC杈撳叆鐘舵��
*/
- private byte plcInputStatus;
+ private Short plcInputStatus;
/**
* 褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
*/
- private String currentOrBeforeCode;
+ private Short currentOrBeforeCode;
/**
* 璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
*/
- private Integer codeOffsetX;
+ private Short codeOffsetX;
/**
* 璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
*/
- private Integer codeOffsetY;
+ private Short codeOffsetY;
/**
* 褰撳墠鐨勭數鍘嬪��
*/
- private Double currentVoltage;
+ private Short currentVoltage;
/**
* 褰撳墠鐨勬ā鎷熼噺鍊�
*/
- private Integer currentAnalogValue;
+ private Short currentAnalogValue;
/**
* 褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
*/
- private Double currentLiftServoSpeed;
+ private Short currentLiftServoSpeed;
/**
* 褰撳墠鐨勮璧颁己鏈嶉�熷害
*/
- private Double currentMoveServoSpeed;
+ private Short currentMoveServoSpeed;
/**
* 褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
*/
- private Double currentLiftServoLoad;
+ private Short currentLiftServoLoad;
/**
* 褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
*/
- private Double currentMoveServoLoad;
+ private Short currentMoveServoLoad;
/**
* 浣滀笟鏍囪
*/
- private String pakMk = "-";
+ private Boolean pakMk = true;
// 浠诲姟淇℃伅 ---------------------------------------------------------
/**
@@ -281,14 +228,56 @@
*/
private boolean goOHpAvoidErr;
- public void setBusyStatus(Boolean status) {
+ public void setBusyStatus(Short status) {
this.busyStatus = status;
this.busyStatusType = ShuttleStatusType.get(status);
}
public void setBusyStatus(ShuttleStatusType type) {
- this.busyStatus = type.id.booleanValue();
+ this.busyStatus = type.id.shortValue();
this.busyStatusType = type;
}
+ //鑾峰彇鐢垫睜鐢甸噺
+ public Short getBatteryPower$() {
+ return (short) (this.batteryPower * 0.1);
+ }
+
+ //鑾峰彇鐢垫睜娓╁害
+ public Short getBatteryTemp$() {
+ return (short) (this.batteryTemp * 0.1);
+ }
+
+ /**
+ * 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;
+ }
+
+ /**
+ * 璁剧疆閿欒缂栧彿
+ */
+ public void setErrorCode(Short errorCode) {
+ this.errorCode = errorCode;
+ this.errorCodeType = ShuttleErrorCodeType.get(errorCode.intValue());
+ }
+
+ /**
+ * 璁剧疆閿欒缂栧彿
+ */
+ public void setErrorCode(ShuttleErrorCodeType type) {
+ this.errorCode = type.id.shortValue();
+ this.errorCodeType = type;
+ }
+
}
--
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