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zwl

2026-02-09 ad79ba405b2d1ac96423f88f4e8a76c584b9d38a

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package com.zy.core.network.fake;
 
import com.alibaba.fastjson.JSON;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.network.api.ZyCrnConnectApi;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
 
public class ZyCrnFakeConnect implements ZyCrnConnectApi {
 
    private ZyCrnStatusEntity crnStatus;
    private DeviceConfig deviceConfig;
    private final ExecutorService executor = Executors.newSingleThreadExecutor();
 
    public ZyCrnFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
        this.crnStatus = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyCrnStatusEntity.class);
    }
 
    @Override
    public boolean connect() {
        return true;
    }
 
    @Override
    public boolean disconnect() {
        try { executor.shutdownNow(); } catch (Exception ignore) {}
        return true;
    }
 
    @Override
    public ZyCrnStatusEntity getStatus() {
        return this.crnStatus;
    }
 
    @Override
    public CommandResponse sendCommand(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
        response.setResult(true);
        return response;
    }
 
    @Override
    public CommandResponse sendCommand1(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
        response.setResult(true);
        return response;
    }
 
    @Override
    public CommandResponse sendCommand2(CrnCommand command) {
        return null;
    }
 
    @Override
    public CommandResponse sendCommand3(CrnCommand command) {
        return null;
    }
 
    private void commandTaskComplete(CrnCommand command) {
        this.crnStatus.setTaskNo(0);
        this.crnStatus.setStatus(CrnStatusType.IDLE.id);
    }
 
    private void commandMove(CrnCommand command) {
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();
 
        this.crnStatus.setTaskNo(taskNo);
        this.crnStatus.setStatus(CrnStatusType.MOVING.id);
        moveY(this.crnStatus.getBay(), destinationPosY);
        moveZ(this.crnStatus.getLevel(), destinationPosZ);
        this.crnStatus.setStatus(CrnStatusType.WAITING.id);
    }
 
    private void commandTake(CrnCommand command) {
        int sourcePosX = command.getSourcePosX().intValue();
        int sourcePosY = command.getSourcePosY().intValue();
        int sourcePosZ = command.getSourcePosZ().intValue();
        int destinationPosX = command.getDestinationPosX().intValue();
        int destinationPosY = command.getDestinationPosY().intValue();
        int destinationPosZ = command.getDestinationPosZ().intValue();
        int taskMode = command.getTaskMode().intValue();
        int taskNo = command.getTaskNo().intValue();
 
        this.crnStatus.setTaskNo(taskNo);
        this.crnStatus.setMode(taskMode);
        this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
        moveY(this.crnStatus.getBay(), sourcePosY);
        moveZ(this.crnStatus.getLevel(), sourcePosZ);
        this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
        sleep(2000);
        if (Thread.currentThread().isInterrupted()) {
            return;
        }
 
        this.crnStatus.setLoaded(1);
        this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
        moveY(this.crnStatus.getBay(), destinationPosY);
        moveZ(this.crnStatus.getLevel(), destinationPosZ);
        this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
        sleep(2000);
        if (Thread.currentThread().isInterrupted()) {
            return;
        }
        this.crnStatus.setLoaded(0);
        this.crnStatus.setStatus(CrnStatusType.WAITING.id);
    }
 
    private void moveZ(int sourcePosZ, int destinationPosZ) {
        if(destinationPosZ - sourcePosZ > 0) {
            int moveLength = destinationPosZ - sourcePosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ++;
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }else {
            int moveLength = sourcePosZ - destinationPosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ--;
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }
    }
 
    private void moveY(int sourcePosY, int destinationPosY) {
        if(destinationPosY - sourcePosY > 0) {
            int moveLength = destinationPosY - sourcePosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY++;
                this.crnStatus.setBay(initSourcePosY);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }else {
            int moveLength = sourcePosY - destinationPosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                this.crnStatus.setBay(initSourcePosY);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
            }
        }
    }
 
    private void sleep(long ms) {
        try {
            Thread.sleep(ms);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }
    }
}