From de27c6f2d428632ed21a015dc6bfb73cc07f31a3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 30 三月 2023 10:43:55 +0800
Subject: [PATCH] 四向穿梭车入库模式完善
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 177 ++++++++++++++++++++++++++++------------------------------
1 files changed, 85 insertions(+), 92 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 5412f9c..8e407ec 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 +1,12 @@
package com.zy.core.model.protocol;
+import com.core.common.SpringUtils;
+import com.zy.asrs.service.BasShuttleService;
+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;
@@ -22,6 +28,21 @@
private Short taskNo = 0;
/**
+ * 浠诲姟鎸囦护
+ */
+ private ShuttleAssignCommand assignCommand;
+
+ /**
+ * 褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
+ */
+ private Integer protocolStatus;
+
+ /**
+ * 褰撳墠灏忚溅鐘舵�佹灇涓�
+ */
+ private ShuttleProtocolStatusType protocolStatusType;
+
+ /**
* 婧愬簱浣�
*/
private String sourceLocNo;
@@ -30,21 +51,6 @@
* 鐩爣搴撲綅
*/
private String locNo;
-
- /**
- * 鎺�
- */
- private Short row;
-
- /**
- * 鍒�
- */
- private Short bay;
-
- /**
- * 灞�
- */
- private Short lev;
/**
* 灏忚溅蹇欑姸鎬佷綅
@@ -78,6 +84,11 @@
* 閿欒缂栧彿
*/
private Short errorCode;
+
+ /**
+ * 閿欒缂栧彿鏋氫妇
+ */
+ private ShuttleErrorCodeType errorCodeType;
/**
* Plc杈撳嚭鐘舵�両O
@@ -144,82 +155,6 @@
*/
private Boolean pakMk = true;
- // 浠诲姟淇℃伅 ---------------------------------------------------------
- /**
- * 96.鍏ュ簱浠诲姟涓�
- */
- private boolean pakInTask;
-
- /**
- * 97. 鍑哄簱浠诲姟涓�
- */
- private boolean pakOutTask;
-
- /**
- * 98. 绉诲簱浠诲姟涓�
- */
- private boolean pakMoveTask;
-
- /**
- * 99. 鍥炲師鐐逛换鍔′腑
- */
- private boolean goHpTask;
-
- /**
- * 100. 鍘诲弽鍘熺偣浠诲姟涓�
- */
- private boolean goOHpTask;
-
- /**
- * 101. 鍘诲師鐐归伩璁╀綅
- */
- private boolean goHpAvoid;
-
- /**
- * 102. 鍘诲弽鍘熺偣閬胯浣�
- */
- private boolean goOHpAvoid;
-
- /**
- * 104. 鍏ュ簱鍙栫┖缁撴潫
- */
- private boolean pakInEmpty;
-
- /**
- * 105. 鍏ュ簱姝ｅ父缁撴潫
- */
- private boolean pakInFinish;
-
- /**
- * 106. 鍑哄簱鍙栫┖缁撴潫
- */
- private boolean pakOutEmpty;
-
- /**
- * 107. 鍑哄簱姝ｅ父缁撴潫
- */
- private boolean pakOutFinish;
-
- /**
- * 108. 鍘诲師鐐归伩璁╁畬鎴�
- */
- private boolean goHpAvoidFinish;
-
- /**
- * 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(Short status) {
this.busyStatus = status;
this.busyStatusType = ShuttleStatusType.get(status);
@@ -231,8 +166,66 @@
}
//鑾峰彇鐢垫睜鐢甸噺
- public Short getBatteryPower() {
+ 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;
+ }
+
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+ public Boolean isIdle() {
+ boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
+ && this.pakMk.equals(true)
+ && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
+ && this.taskNo == 0
+ ;
+ if (!res) {
+ return res;
+ } else {
+ // 鐢甸噺
+ try {
+ Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
+ return this.getBatteryPower$() > chargeLine;
+ } catch (Exception e) {
+ News.error("fail", e);
+ return false;
+ }
+ }
+ }
+
}
--
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