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.DualCrnTaskModeType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.DualCrnCommand;
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import com.zy.core.network.api.ZyDualCrnConnectApi;
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import com.zy.core.network.entity.ZyDualCrnStatusEntity;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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public class ZyDualCrnFakeConnect implements ZyDualCrnConnectApi {
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private ZyDualCrnStatusEntity crnStatus;
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private DeviceConfig deviceConfig;
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private final ExecutorService executor = Executors.newSingleThreadExecutor();
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public ZyDualCrnFakeConnect(DeviceConfig deviceConfig) {
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this.deviceConfig = deviceConfig;
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this.crnStatus = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyDualCrnStatusEntity.class);
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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 ZyDualCrnStatusEntity getStatus() {
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return this.crnStatus;
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}
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@Override
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public CommandResponse sendCommand(DualCrnCommand command) {
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CommandResponse response = new CommandResponse(false);
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if (command.getTaskMode().intValue() == DualCrnTaskModeType.TRANSFER.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() == DualCrnTaskModeType.PICK.id) {
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//取货
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executor.submit(() -> commandPick(command));
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} else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
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//放货
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executor.submit(() -> commandPut(command));
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} else if (command.getTaskMode().intValue() == DualCrnTaskModeType.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() == DualCrnTaskModeType.CONFIRM.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(DualCrnCommand command) {
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if(command.getStation() == 1) {
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this.crnStatus.setTaskNo(0);
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this.crnStatus.setTaskReceive(0);
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this.crnStatus.setStatus(CrnStatusType.IDLE.id);
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}else {
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this.crnStatus.setTaskNoTwo(0);
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this.crnStatus.setTaskReceiveTwo(0);
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this.crnStatus.setStatusTwo(CrnStatusType.IDLE.id);
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}
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}
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private void commandMove(DualCrnCommand 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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if(command.getStation() == 1) {
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setStatus(CrnStatusType.MOVING.id);
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this.crnStatus.setTaskReceive(1);
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moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatus(CrnStatusType.WAITING.id);
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}else {
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this.crnStatus.setTaskNoTwo(taskNo);
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this.crnStatus.setStatusTwo(CrnStatusType.MOVING.id);
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this.crnStatus.setTaskReceive(1);
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moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
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}
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}
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private void commandTake(DualCrnCommand 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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if(command.getStation() == 1) {
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
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this.crnStatus.setTaskReceive(1);
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moveY(this.crnStatus.getBay(), sourcePosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevel(), sourcePosZ, command.getStation().intValue());
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this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
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sleep(2000);
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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, command.getStation().intValue());
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moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
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sleep(2000);
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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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}else {
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this.crnStatus.setTaskNoTwo(taskNo);
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this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);
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this.crnStatus.setTaskReceiveTwo(1);
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moveY(this.crnStatus.getBayTwo(), sourcePosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevelTwo(), sourcePosZ, command.getStation().intValue());
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this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
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sleep(2000);
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoadedTwo(1);
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this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);
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moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
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sleep(2000);
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoadedTwo(0);
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this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
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}
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}
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private void commandPick(DualCrnCommand 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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if(command.getStation() == 1) {
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
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this.crnStatus.setTaskReceive(1);
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moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
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sleep(2000);
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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.WAITING.id);
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}else {
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this.crnStatus.setTaskNoTwo(taskNo);
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this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);
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this.crnStatus.setTaskReceiveTwo(1);
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moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
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sleep(2000);
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoadedTwo(1);
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this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
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}
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}
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private void commandPut(DualCrnCommand 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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if(command.getStation() == 1) {
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this.crnStatus.setTaskNo(taskNo);
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this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
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this.crnStatus.setTaskReceive(1);
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moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
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sleep(2000);
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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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}else {
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this.crnStatus.setTaskNoTwo(taskNo);
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this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);
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this.crnStatus.setTaskReceiveTwo(1);
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moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
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moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
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this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
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sleep(2000);
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if (Thread.currentThread().isInterrupted()) {
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return;
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}
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this.crnStatus.setLoadedTwo(0);
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this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
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}
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}
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private void moveZ(int sourcePosZ, int destinationPosZ, int station) {
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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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if(station == 1) {
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this.crnStatus.setLevel(initSourcePosZ);
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}else {
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this.crnStatus.setLevelTwo(initSourcePosZ);
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}
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sleep(1000);
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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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if(station == 1) {
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this.crnStatus.setLevel(initSourcePosZ);
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}else {
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this.crnStatus.setLevelTwo(initSourcePosZ);
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}
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this.crnStatus.setLevel(initSourcePosZ);
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sleep(1000);
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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, int station) {
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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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if(station == 1) {
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this.crnStatus.setBay(initSourcePosY);
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}else {
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this.crnStatus.setBayTwo(initSourcePosY);
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}
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sleep(1000);
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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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if(station == 1) {
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this.crnStatus.setBay(initSourcePosY);
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}else {
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this.crnStatus.setBayTwo(initSourcePosY);
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}
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sleep(1000);
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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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