package com.zy.core.network.fake;
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import com.alibaba.fastjson.JSON;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.core.enums.CrnStatusType;
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import com.zy.core.enums.CrnTaskModeType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.network.api.ZyCrnConnectApi;
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import com.zy.core.network.entity.ZyCrnStatusEntity;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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public class ZyCrnFakeConnect implements ZyCrnConnectApi {
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private ZyCrnStatusEntity crnStatus;
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private DeviceConfig deviceConfig;
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private final ExecutorService executor = Executors.newSingleThreadExecutor();
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private long fetchPutDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_FETCH_PUT_DURATION_MS); }
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private long levelStepDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_LEVEL_STEP_DURATION_MS); }
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private long bayStepDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_BAY_STEP_DURATION_MS); }
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private long resetDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_RESET_DURATION_MS); }
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private long bayMin() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_BAY_MIN); }
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private long bayMax() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_BAY_MAX); }
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private long laserMin() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_LASER_MIN); }
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private long laserMax() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_CRN_LASER_MAX); }
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public ZyCrnFakeConnect(DeviceConfig deviceConfig) {
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this.deviceConfig = deviceConfig;
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this.crnStatus = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyCrnStatusEntity.class);
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if (this.crnStatus != null && this.crnStatus.getBay() != null) {
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updateLaserByBay(this.crnStatus.getBay());
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}
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}
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private void updateLaserByBay(int bay) {
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long bayMin = bayMin();
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long bayMax = bayMax();
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long laserMin = laserMin();
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long laserMax = laserMax();
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if (bayMax <= bayMin || laserMax <= laserMin) {
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this.crnStatus.setLaserValue((int) laserMin);
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return;
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}
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long normalizedBay = Math.max(bayMin, Math.min(bayMax, bay));
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double ratio = (double) (normalizedBay - bayMin) / (double) (bayMax - bayMin);
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long computed = Math.round(laserMin + ratio * (laserMax - laserMin));
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long clamped = Math.max(laserMin, Math.min(laserMax, computed));
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this.crnStatus.setLaserValue((int) clamped);
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}
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@Override
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public boolean connect() {
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return true;
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}
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@Override
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public boolean disconnect() {
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try { executor.shutdownNow(); } catch (Exception ignore) {}
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return true;
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}
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@Override
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public ZyCrnStatusEntity getStatus() {
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return this.crnStatus;
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}
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@Override
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public CommandResponse sendCommand(CrnCommand command) {
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CommandResponse response = new CommandResponse(false);
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if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
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//取放货
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executor.submit(() -> commandTake(command));
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} else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
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//移动
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executor.submit(() -> commandMove(command));
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} else if (command.getTaskMode().intValue() == CrnTaskModeType.RESET.id) {
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//复位
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executor.submit(() -> commandTaskComplete(command));
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}
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response.setResult(true);
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return response;
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}
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private void commandTaskComplete(CrnCommand command) {
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sleep(resetDurationMs());
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this.crnStatus.setLoaded(0);
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this.crnStatus.setTaskNo(0);
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this.crnStatus.setStatus(CrnStatusType.IDLE.id);
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}
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private void commandMove(CrnCommand command) {
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int destinationPosX = command.getDestinationPosX().intValue();
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int destinationPosY = command.getDestinationPosY().intValue();
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int destinationPosZ = command.getDestinationPosZ().intValue();
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int taskMode = command.getTaskMode().intValue();
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int taskNo = command.getTaskNo().intValue();
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setStatus(CrnStatusType.MOVING.id);
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moveY(this.crnStatus.getBay(), destinationPosY);
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moveZ(this.crnStatus.getLevel(), destinationPosZ);
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this.crnStatus.setStatus(CrnStatusType.WAITING.id);
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}
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private void commandTake(CrnCommand command) {
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int sourcePosX = command.getSourcePosX().intValue();
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int sourcePosY = command.getSourcePosY().intValue();
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int sourcePosZ = command.getSourcePosZ().intValue();
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int destinationPosX = command.getDestinationPosX().intValue();
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int destinationPosY = command.getDestinationPosY().intValue();
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int destinationPosZ = command.getDestinationPosZ().intValue();
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int taskMode = command.getTaskMode().intValue();
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int taskNo = command.getTaskNo().intValue();
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setMode(taskMode);
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this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
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moveY(this.crnStatus.getBay(), sourcePosY);
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moveZ(this.crnStatus.getLevel(), sourcePosZ);
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this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
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sleep(fetchPutDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoaded(1);
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this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
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moveY(this.crnStatus.getBay(), destinationPosY);
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moveZ(this.crnStatus.getLevel(), destinationPosZ);
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this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
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sleep(fetchPutDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoaded(0);
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this.crnStatus.setStatus(CrnStatusType.WAITING.id);
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}
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private void moveZ(int sourcePosZ, int destinationPosZ) {
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if(destinationPosZ - sourcePosZ > 0) {
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int moveLength = destinationPosZ - sourcePosZ;
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int initSourcePosZ = sourcePosZ;
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for(int i = 0; i < moveLength; i++) {
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initSourcePosZ++;
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this.crnStatus.setLevel(initSourcePosZ);
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sleep(levelStepDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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}
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}else {
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int moveLength = sourcePosZ - destinationPosZ;
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int initSourcePosZ = sourcePosZ;
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for(int i = 0; i < moveLength; i++) {
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initSourcePosZ--;
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this.crnStatus.setLevel(initSourcePosZ);
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sleep(levelStepDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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}
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}
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}
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private void moveY(int sourcePosY, int destinationPosY) {
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if(destinationPosY - sourcePosY > 0) {
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int moveLength = destinationPosY - sourcePosY;
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int initSourcePosY = sourcePosY;
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for(int i = 0; i < moveLength; i++) {
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initSourcePosY++;
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this.crnStatus.setBay(initSourcePosY);
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updateLaserByBay(initSourcePosY);
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sleep(bayStepDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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}
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}else {
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int moveLength = sourcePosY - destinationPosY;
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int initSourcePosY = sourcePosY;
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for(int i = 0; i < moveLength; i++) {
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initSourcePosY--;
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this.crnStatus.setBay(initSourcePosY);
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updateLaserByBay(initSourcePosY);
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sleep(bayStepDurationMs());
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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}
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}
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}
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private void sleep(long ms) {
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try {
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Thread.sleep(ms);
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} catch (InterruptedException e) {
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Thread.currentThread().interrupt();
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}
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}
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}
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