#

Junjie

2025-11-11 bfe469c7fa604a6431d58ea5e5143c959d76bd86

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

@@ -2,15 +2,20 @@

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;
@@ -35,6 +40,127 @@
    @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;
    }

    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.setStatus(CrnStatusType.FETCH_MOVING.id);
        moveY(this.crnStatus.getBay(), sourcePosY);
        moveZ(this.crnStatus.getLevel(), sourcePosZ);
        this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
        try {
            Thread.sleep(2000);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }

        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);
        try {
            Thread.sleep(2000);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }
        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);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }else {
            int moveLength = sourcePosZ - destinationPosZ;
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ--;
                this.crnStatus.setLevel(initSourcePosZ);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }
    }

    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);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }else {
            int moveLength = sourcePosY - destinationPosY;
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                this.crnStatus.setBay(initSourcePosY);
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }
    }
}