#

Junjie

3 天以前 a3d44470b704e81d4f66399bed2f37529ddb31be

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

@@ -3,7 +3,7 @@
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.enums.DualCrnTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.network.api.ZyDualCrnConnectApi;
@@ -42,13 +42,19 @@
    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
        if (command.getTaskMode().intValue() == DualCrnTaskModeType.TRANSFER.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
            //取货
            executor.submit(() -> commandPick(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
            //放货
            executor.submit(() -> commandPut(command));
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
        } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.CONFIRM.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
@@ -148,6 +154,80 @@
        }
    }

    private void commandPick(DualCrnCommand 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.setMode(taskMode);
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoaded(1);
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);

            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(1);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void commandPut(DualCrnCommand 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.setMode(taskMode);
        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);

            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoaded(0);
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);

            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }
    }

    private void moveZ(int sourcePosZ, int destinationPosZ, int station) {
        if(destinationPosZ - sourcePosZ > 0) {
            int moveLength = destinationPosZ - sourcePosZ;