Merge branch 'master' of http://47.97.1.152:5880/r/zy-wcs-master

lsh

2026-04-21 720e0926fa1c94b952c26e111206c5d6e1ed5ba2

 src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java

@@ -23,6 +23,14 @@
    private DualCrnCommand station1LastCommand = null;
    private DualCrnCommand station2LastCommand = null;

    private long commandWaitMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_COMMAND_WAIT_MS); }
    private long transferDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_TRANSFER_DURATION_MS); }
    private long pickDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_PICK_DURATION_MS); }
    private long putDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_PUT_DURATION_MS); }
    private long levelStepDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_LEVEL_STEP_DURATION_MS); }
    private long bayStepDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_BAY_STEP_DURATION_MS); }
    private long resetDurationMs() { return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_DUAL_CRN_RESET_DURATION_MS); }

    public ZyDualCrnFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
        this.crnStatus = JSON.parseObject(deviceConfig.getFakeInitStatus(), ZyDualCrnStatusEntity.class);
@@ -68,6 +76,7 @@
    }

    private void commandTaskComplete(DualCrnCommand command) {
        sleep(resetDurationMs());
        if(command.getStation() == 1) {
            if (crnStatus.getLoaded() == 0) {
                this.crnStatus.setTaskNo(0);
@@ -90,7 +99,7 @@
            if (station2LastCommand == null) {
                this.crnStatus.setStatusTwo(DualCrnStatusType.IDLE.id);
            }else {
                if (station1LastCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                if (station2LastCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                    this.crnStatus.setStatusTwo(DualCrnStatusType.FETCH_COMPLETE.id);
                }else {
                    this.crnStatus.setStatusTwo(DualCrnStatusType.IDLE.id);
@@ -116,7 +125,7 @@
                break;
            }

            sleep(200);
            sleep(commandWaitMs());
        }

        if(command.getStation() == 1) {
@@ -128,7 +137,7 @@
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(DualCrnStatusType.PUT_MOVING.id);
            this.crnStatus.setTaskReceive(1);
            this.crnStatus.setTaskReceiveTwo(1);
            moveYZ(this.crnStatus.getBay(), destinationPosY, this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(DualCrnStatusType.WAITING.id);
        }
@@ -156,7 +165,7 @@
                break;
            }

            sleep(200);
            sleep(commandWaitMs());
        }

        if(command.getStation() == 1) {
@@ -166,7 +175,7 @@

            moveYZ(this.crnStatus.getBay(), sourcePosY,this.crnStatus.getLevel(), sourcePosZ,command.getStation());
            this.crnStatus.setStatus(DualCrnStatusType.FETCHING.id);
            sleep(2000);
            sleep(transferDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -175,7 +184,7 @@
            this.crnStatus.setStatus(DualCrnStatusType.PUT_MOVING.id);
            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(DualCrnStatusType.PUTTING.id);
            sleep(2000);
            sleep(transferDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -190,7 +199,7 @@

            moveYZ(this.crnStatus.getBay(), sourcePosY,this.crnStatus.getLevel(), sourcePosZ, command.getStation());
            this.crnStatus.setStatusTwo(DualCrnStatusType.FETCHING.id);
            sleep(2000);
            sleep(transferDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -199,7 +208,7 @@
            this.crnStatus.setStatusTwo(DualCrnStatusType.PUT_MOVING.id);
            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(DualCrnStatusType.PUTTING.id);
            sleep(2000);
            sleep(transferDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -229,7 +238,7 @@
                break;
            }

            sleep(200);
            sleep(commandWaitMs());
        }

        if(command.getStation() == 1) {
@@ -239,7 +248,7 @@

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(DualCrnStatusType.FETCHING.id);
            sleep(3000);
            sleep(pickDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -254,7 +263,7 @@

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(DualCrnStatusType.FETCHING.id);
            sleep(3000);
            sleep(pickDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -284,7 +293,7 @@
                break;
            }

            sleep(200);
            sleep(commandWaitMs());
        }

        if(command.getStation() == 1) {
@@ -294,7 +303,7 @@

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(DualCrnStatusType.PUTTING.id);
            sleep(3000);
            sleep(putDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -309,7 +318,7 @@

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(DualCrnStatusType.PUTTING.id);
            sleep(3000);
            sleep(putDurationMs());
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
@@ -329,7 +338,7 @@
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ++;
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                sleep(levelStepDurationMs());
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
@@ -341,7 +350,7 @@
                initSourcePosZ--;
                this.crnStatus.setLevel(initSourcePosZ);
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                sleep(levelStepDurationMs());
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
@@ -356,7 +365,7 @@
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY++;
                this.crnStatus.setBay(initSourcePosY);
                sleep(500);
                sleep(bayStepDurationMs());
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
@@ -367,7 +376,7 @@
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                this.crnStatus.setBay(initSourcePosY);
                sleep(500);
                sleep(bayStepDurationMs());
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }