package com.zy.core.network.fake;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.service.BasMapService;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.utils.NavigateUtils;
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import com.zy.core.enums.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.network.api.ZyRgvConnectApi;
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import com.zy.core.network.entity.ZyRgvStatusEntity;
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import java.util.List;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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public class ZyRgvFakeConnect implements ZyRgvConnectApi {
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private ZyRgvStatusEntity status;
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private final DeviceConfig deviceConfig;
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private final ExecutorService executor = Executors.newSingleThreadExecutor();
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public ZyRgvFakeConnect(DeviceConfig deviceConfig) {
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this.deviceConfig = deviceConfig;
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ZyRgvStatusEntity init = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyRgvStatusEntity.class);
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this.status = init == null ? new ZyRgvStatusEntity() : init;
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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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return true;
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}
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@Override
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public ZyRgvStatusEntity getStatus() {
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return status;
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}
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@Override
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public CommandResponse sendCommand(RgvCommand command) {
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CommandResponse response = new CommandResponse(true);
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if (command.getTaskMode() == RgvTaskModeType.FETCH_PUT.id) {
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//取放货
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executor.submit(() -> commandTake(command));
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} else if (command.getTaskMode() == RgvTaskModeType.X_MOVE.id) {
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//移动
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executor.submit(() -> commandMove(command));
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}else if (command.getTaskMode() == RgvTaskModeType.NONE.id) {
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//复位
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executor.submit(() -> commandTaskComplete(command));
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}
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return response;
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}
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private void commandTake(RgvCommand command) {
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int taskNo = command.getTaskNo();
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int taskMode = command.getTaskMode();
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int sourcePos = command.getSourcePos();
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int targetPos = command.getTargetPos();
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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if (navigateUtils == null) {
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return;
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}
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BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
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if (basMapService == null) {
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return;
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}
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List<Integer> levList = basMapService.getLevList();
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List<NavigateNode> navigateNodes = null;
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try {
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for (Integer lev : levList) {
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navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), sourcePos);
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if (navigateNodes != null) {
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break;
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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if (navigateNodes == null) {
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return;
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}
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List<NavigateNode> targetNavigateNodes = null;
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try {
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for (Integer lev : levList) {
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targetNavigateNodes = navigateUtils.calcByTrackSiteNo(lev, sourcePos, targetPos);
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if (targetNavigateNodes != null) {
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break;
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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if (targetNavigateNodes == null) {
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return;
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}
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status.setTaskNo(taskNo);
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status.setStatus(RgvStatusType.FETCHING.id);
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for (int i = 0; i < navigateNodes.size(); i++) {
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NavigateNode navigateNode = navigateNodes.get(i);
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JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
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Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
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status.setRgvPos(currentTrackSiteNo);
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sleep(1000);
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}
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status.setStatus(RgvStatusType.PUTTING.id);
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status.setLoaded(1);
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sleep(1000);
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for (int i = 0; i < targetNavigateNodes.size(); i++) {
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NavigateNode navigateNode = targetNavigateNodes.get(i);
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JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
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Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
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status.setRgvPos(currentTrackSiteNo);
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sleep(1000);
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}
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sleep(1000);
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status.setStatus(RgvStatusType.WAITING.id);
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}
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private void commandMove(RgvCommand command) {
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int taskNo = command.getTaskNo();
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int taskMode = command.getTaskMode();
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int targetPos = command.getTargetPos();
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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if (navigateUtils == null) {
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return;
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}
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BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
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if (basMapService == null) {
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return;
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}
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List<Integer> levList = basMapService.getLevList();
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List<NavigateNode> navigateNodes = null;
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try {
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for (Integer lev : levList) {
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navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), targetPos);
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if (navigateNodes != null) {
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break;
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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if (navigateNodes == null) {
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return;
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}
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status.setTaskNo(taskNo);
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status.setStatus(RgvStatusType.WORKING.id);
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for (int i = 0; i < navigateNodes.size(); i++) {
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NavigateNode navigateNode = navigateNodes.get(i);
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JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
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Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
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status.setRgvPos(currentTrackSiteNo);
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sleep(1000);
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}
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status.setStatus(RgvStatusType.WAITING.id);
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}
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private void commandTaskComplete(RgvCommand command) {
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status.setTaskNo(0);
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status.setStatus(RgvStatusType.IDLE.id);
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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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e.printStackTrace();
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}
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}
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}
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