#

Junjie

1 天以前 98d120bd0633e4e0717d584cae5514132a18516b

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

@@ -4,16 +4,15 @@
import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasMapService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.network.api.ZyRgvConnectApi;
import com.zy.core.network.entity.ZyRgvStatusEntity;
import com.zy.core.network.entity.ZyStationStatusEntity;

import java.util.List;
import java.util.concurrent.ExecutorService;
@@ -38,6 +37,7 @@

    @Override
    public boolean disconnect() {
        try { executor.shutdownNow(); } catch (Exception ignore) {}
        return true;
    }

@@ -73,9 +73,21 @@
            return;
        }

        BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
        if (basMapService == null) {
            return;
        }

        List<Integer> levList = basMapService.getLevList();

        List<NavigateNode> navigateNodes = null;
        try {
            navigateNodes = navigateUtils.calcByTrackSiteNo(status.getRgvPos(), sourcePos);
            for (Integer lev : levList) {
                navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), sourcePos);
                if (navigateNodes != null) {
                    break;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
@@ -86,7 +98,12 @@

        List<NavigateNode> targetNavigateNodes = null;
        try {
            targetNavigateNodes = navigateUtils.calcByTrackSiteNo(sourcePos, targetPos);
            for (Integer lev : levList) {
                targetNavigateNodes = navigateUtils.calcByTrackSiteNo(lev, sourcePos, targetPos);
                if (targetNavigateNodes != null) {
                    break;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
@@ -104,11 +121,17 @@

            status.setRgvPos(currentTrackSiteNo);
            sleep(1000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
        }

        status.setStatus(RgvStatusType.PUTTING.id);
        status.setLoaded(1);
        sleep(1000);
        if (Thread.currentThread().isInterrupted()) {
            return;
        }

        for (int i = 0; i < targetNavigateNodes.size(); i++) {
            NavigateNode navigateNode = targetNavigateNodes.get(i);
@@ -117,9 +140,15 @@

            status.setRgvPos(currentTrackSiteNo);
            sleep(1000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
        }

        sleep(1000);
        if (Thread.currentThread().isInterrupted()) {
            return;
        }
        status.setStatus(RgvStatusType.WAITING.id);
    }

@@ -133,9 +162,21 @@
            return;
        }

        BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
        if (basMapService == null) {
            return;
        }

        List<Integer> levList = basMapService.getLevList();

        List<NavigateNode> navigateNodes = null;
        try {
            navigateNodes = navigateUtils.calcByTrackSiteNo(status.getRgvPos(), targetPos);
            for (Integer lev : levList) {
                navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), targetPos);
                if (navigateNodes != null) {
                    break;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
@@ -153,6 +194,9 @@

            status.setRgvPos(currentTrackSiteNo);
            sleep(1000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
        }
        status.setStatus(RgvStatusType.WAITING.id);
    }
@@ -166,7 +210,7 @@
        try {
            Thread.sleep(ms);
        } catch (InterruptedException e) {
            e.printStackTrace();
            Thread.currentThread().interrupt();
        }
    }
}
}