package com.zy.acs.manager.fake;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.domain.AgvProtocol;
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import com.zy.acs.common.domain.protocol.AGV_01_DOWN;
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import com.zy.acs.common.domain.protocol.AGV_01_UP;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.manager.entity.Action;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.enums.ActionStsType;
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import com.zy.acs.manager.manager.enums.StatusType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.TimeUnit;
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/**
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* Created by vincent on 11/9/2024
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*/
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@Slf4j
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@Component
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public class FakeProcessor {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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public static final Map<Long, Boolean> AGV_PROCESSING_MAP = new ConcurrentHashMap<>();
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private ExecutorService executorService;
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private List<Agv> agvList = new ArrayList<>();
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private Thread heartBeatThread;
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private Thread responseThread;
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private Thread simulatorTread;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private ActionService actionService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@Autowired
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private JamService jamService;
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@Autowired
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private MainService mainService;
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@PostConstruct
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public void init() {
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// heartBeat
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this.heartBeatThread = new Thread(() -> {
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while (!Thread.currentThread().isInterrupted()) {
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try {
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Thread.sleep(1000);
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if (configService.getVal("fakeSign", Boolean.class)) {
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this.processOnline();
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}
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} catch (Exception e) {
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log.error("FakeProcessor.heartBeatThread fail", e);
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}
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}
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});
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this.heartBeatThread.start();
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// response the request
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this.responseThread = new Thread(() -> {
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while (!Thread.currentThread().isInterrupted()) {
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try {
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Thread.sleep(5);
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if (configService.getVal("fakeSign", Boolean.class)) {
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this.responseTheRequest();
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}
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} catch (Exception e) {
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log.error("FakeProcessor.responseThread fail", e);
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}
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}
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});
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this.responseThread.start();
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/**
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* 1.AgvDataService.dataProcess [ agvDetail: vol, code, agvAngle, agvStatus ]
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* 2.MainService.upDataSubscribe
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* 3.AgvCmdService.executeRequest {@link com.zy.acs.manager.core.service.AgvCmdService#executeAgvActionCmd}
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* 4.AgvServiceImpl.judgeOnline
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*/
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// Simulator
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this.simulatorTread = new Thread(() -> {
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while (!Thread.currentThread().isInterrupted()) {
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try {
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Thread.sleep(30);
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if (configService.getVal("fakeSign", Boolean.class)) {
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List<Agv> agvList = this.getAgvList();
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if (null == this.executorService) {
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int count = agvList.size();
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this.executorService = Executors.newFixedThreadPool(count);
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}
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for (Agv agv : agvList) {
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if (!AGV_PROCESSING_MAP.get(agv.getId())) {
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AGV_PROCESSING_MAP.put(agv.getId(), true);
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List<Action> actionList = actionService.queryLatestGroup(agv.getId(), ActionStsType.ISSUED);
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if (!Cools.isEmpty(actionList)) {
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executorService.submit(new AgvSimulatorTask(
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agv
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, redis
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, agvDetailService
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, agvModelService
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, actionService
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, codeService
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, mapService
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, jamService
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, mainService
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, actionList
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));
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} else {
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AGV_PROCESSING_MAP.put(agv.getId(), false);
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}
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}
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}
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} else {
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this.shutdownFakeThreads();
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}
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} catch (Exception e) {
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log.error("FakeProcessor.simulatorTread fail", e);
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}
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}
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});
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this.simulatorTread.start();
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}
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private void processOnline() {
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for (Agv agv : this.getAgvList()) {
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redis.setObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid(), 1, 30);
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}
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}
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private void responseTheRequest() {
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AgvProtocol protocol = redis.pop(RedisConstant.AGV_PATH_DOWN_FLAG);
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if (null != protocol) {
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AGV_01_DOWN agv_01_down = (AGV_01_DOWN) protocol.getMessageBody();
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AGV_01_UP agv_01_up = new AGV_01_UP();
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agv_01_up.setSerialNo(agv_01_down.getSerialNo());
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redis.setObject(RedisConstant.AGV_PATH_UP_FLAG
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, protocol.getAgvNo() + "_" + agv_01_up.getSerialNo()
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, agv_01_up);
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}
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}
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public List<Agv> getAgvList() {
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if (Cools.isEmpty(this.agvList)) {
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this.agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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this.agvList.forEach(agv -> {AGV_PROCESSING_MAP.putIfAbsent(agv.getId(), false);});
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}
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return this.agvList;
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}
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public void shutdownFakeThreads() {
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if (this.executorService != null && !this.executorService.isShutdown()) {
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this.executorService.shutdown();
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try {
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if (!this.executorService.awaitTermination(60, TimeUnit.SECONDS)) {
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this.executorService.shutdownNow();
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}
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} catch (InterruptedException e) {
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this.executorService.shutdownNow();
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Thread.currentThread().interrupt();
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}
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this.executorService = null; // 释放资源
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}
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if (!Cools.isEmpty(this.agvList)) {
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agvList = new ArrayList<>();
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}
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if (!AGV_PROCESSING_MAP.isEmpty()) {
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AGV_PROCESSING_MAP.clear();
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}
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}
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@PreDestroy
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public void shutDown(){
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if (this.heartBeatThread != null) {
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this.heartBeatThread .interrupt();
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}
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if (this.responseThread != null) {
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this.responseThread .interrupt();
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}
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if (this.simulatorTread != null) {
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this.simulatorTread.interrupt();
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}
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this.shutdownFakeThreads();
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}
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}
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