添加重量信息

dubin

3 天以前 52cbfeb0c93770530965955ca861f3d0a2bedd66

 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;
@@ -16,7 +16,10 @@

    private ZyDualCrnStatusEntity crnStatus;
    private DeviceConfig deviceConfig;
    private final ExecutorService executor = Executors.newSingleThreadExecutor();
    // 允许并行执行多个命令任务（固定线程池）。如需更高并发可调整大小。
    private final ExecutorService executor = Executors
            .newFixedThreadPool(9999);
    private int taskExecuteStation = 0;

    public ZyDualCrnFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
@@ -42,13 +45,19 @@
    @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));
        }
@@ -57,49 +66,87 @@
    }

    private void commandTaskComplete(DualCrnCommand command) {
        this.crnStatus.setTaskNo(0);
        this.crnStatus.setStatus(CrnStatusType.IDLE.id);
        if(command.getStation() == 1) {
            if (crnStatus.getLoaded() == 0) {
                this.crnStatus.setTaskNo(0);
            }
            this.crnStatus.setTaskReceive(0);
            this.crnStatus.setStatus(CrnStatusType.IDLE.id);
        }else {
            if (crnStatus.getLoadedTwo() == 0) {
                this.crnStatus.setTaskNoTwo(0);
            }
            this.crnStatus.setTaskReceiveTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.IDLE.id);
        }
    }

    private void commandMove(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();
        int destinationPosX = command.getDestinationPosX();
        int destinationPosY = command.getDestinationPosY();
        int destinationPosZ = command.getDestinationPosZ();
        int taskMode = command.getTaskMode();
        int taskNo = command.getTaskNo();
        int station = command.getStation();

        while (true) {
            if (taskExecuteStation == 0) {
                taskExecuteStation = station;
            }

            if (taskExecuteStation == station) {
                break;
            }

            sleep(200);
        }

        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.MOVING.id);
            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setTaskReceive(1);
            moveYZ(this.crnStatus.getBay(), destinationPosY, this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(CrnStatusType.WAITING.id);
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.MOVING.id);
            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            this.crnStatus.setTaskReceive(1);
            moveYZ(this.crnStatus.getBay(), destinationPosY, this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }

        taskExecuteStation = 0;
    }

    private void commandTake(DualCrnCommand 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();
        int sourcePosX = command.getSourcePosX();
        int sourcePosY = command.getSourcePosY();
        int sourcePosZ = command.getSourcePosZ();
        int destinationPosX = command.getDestinationPosX();
        int destinationPosY = command.getDestinationPosY();
        int destinationPosZ = command.getDestinationPosZ();
        int taskMode = command.getTaskMode();
        int taskNo = command.getTaskNo();
        int station = command.getStation();

        this.crnStatus.setMode(taskMode);
        while (true) {
            if (taskExecuteStation == 0) {
                taskExecuteStation = station;
            }

            if (taskExecuteStation == station) {
                break;
            }

            sleep(200);
        }

        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
            this.crnStatus.setTaskReceive(1);

            moveY(this.crnStatus.getBay(), sourcePosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), sourcePosZ, command.getStation().intValue());
            moveYZ(this.crnStatus.getBay(), sourcePosY,this.crnStatus.getLevel(), sourcePosZ,command.getStation());
            this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
@@ -108,8 +155,7 @@

            this.crnStatus.setLoaded(1);
            this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
            moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
@@ -120,9 +166,9 @@
        }else {
            this.crnStatus.setTaskNoTwo(taskNo);
            this.crnStatus.setStatusTwo(CrnStatusType.FETCH_MOVING.id);
            this.crnStatus.setTaskReceiveTwo(1);

            moveY(this.crnStatus.getBayTwo(), sourcePosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), sourcePosZ, command.getStation().intValue());
            moveYZ(this.crnStatus.getBay(), sourcePosY,this.crnStatus.getLevel(), sourcePosZ, command.getStation());
            this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
@@ -131,8 +177,7 @@

            this.crnStatus.setLoadedTwo(1);
            this.crnStatus.setStatusTwo(CrnStatusType.PUT_MOVING.id);
            moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
            moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
            sleep(2000);
            if (Thread.currentThread().isInterrupted()) {
@@ -141,6 +186,110 @@
            this.crnStatus.setLoadedTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }

        taskExecuteStation = 0;
    }

    private void commandPick(DualCrnCommand command) {
        int destinationPosX = command.getDestinationPosX();
        int destinationPosY = command.getDestinationPosY();
        int destinationPosZ = command.getDestinationPosZ();
        int taskMode = command.getTaskMode();
        int taskNo = command.getTaskNo();
        int station = command.getStation();

        while (true) {
            if (taskExecuteStation == 0) {
                taskExecuteStation = station;
            }

            if (taskExecuteStation == station) {
                break;
            }

            sleep(200);
        }

        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
            this.crnStatus.setTaskReceive(1);

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(CrnStatusType.FETCHING.id);
            sleep(3000);
            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);
            this.crnStatus.setTaskReceiveTwo(1);

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
            sleep(3000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(1);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }

        taskExecuteStation = 0;
    }

    private void commandPut(DualCrnCommand command) {
        int destinationPosX = command.getDestinationPosX();
        int destinationPosY = command.getDestinationPosY();
        int destinationPosZ = command.getDestinationPosZ();
        int taskMode = command.getTaskMode();
        int taskNo = command.getTaskNo();
        int station = command.getStation();

        while (true) {
            if (taskExecuteStation == 0) {
                taskExecuteStation = station;
            }

            if (taskExecuteStation == station) {
                break;
            }

            sleep(200);
        }

        if(command.getStation() == 1) {
            this.crnStatus.setTaskNo(taskNo);
            this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
            this.crnStatus.setTaskReceive(1);

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatus(CrnStatusType.PUTTING.id);
            sleep(3000);
            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);
            this.crnStatus.setTaskReceiveTwo(1);

            moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
            this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
            sleep(3000);
            if (Thread.currentThread().isInterrupted()) {
                return;
            }
            this.crnStatus.setLoadedTwo(0);
            this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
        }

        taskExecuteStation = 0;
    }

    private void moveZ(int sourcePosZ, int destinationPosZ, int station) {
@@ -149,11 +298,7 @@
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ++;
                if(station == 1) {
                    this.crnStatus.setLevel(initSourcePosZ);
                }else {
                    this.crnStatus.setLevelTwo(initSourcePosZ);
                }
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
                    return;
@@ -164,11 +309,7 @@
            int initSourcePosZ = sourcePosZ;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosZ--;
                if(station == 1) {
                    this.crnStatus.setLevel(initSourcePosZ);
                }else {
                    this.crnStatus.setLevelTwo(initSourcePosZ);
                }
                this.crnStatus.setLevel(initSourcePosZ);
                this.crnStatus.setLevel(initSourcePosZ);
                sleep(1000);
                if (Thread.currentThread().isInterrupted()) {
@@ -184,12 +325,8 @@
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY++;
                if(station == 1) {
                    this.crnStatus.setBay(initSourcePosY);
                }else {
                    this.crnStatus.setBayTwo(initSourcePosY);
                }
                sleep(1000);
                this.crnStatus.setBay(initSourcePosY);
                sleep(500);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
@@ -199,12 +336,8 @@
            int initSourcePosY = sourcePosY;
            for(int i = 0; i < moveLength; i++) {
                initSourcePosY--;
                if(station == 1) {
                    this.crnStatus.setBay(initSourcePosY);
                }else {
                    this.crnStatus.setBayTwo(initSourcePosY);
                }
                sleep(1000);
                this.crnStatus.setBay(initSourcePosY);
                sleep(500);
                if (Thread.currentThread().isInterrupted()) {
                    return;
                }
@@ -212,6 +345,11 @@
        }
    }

    private void moveYZ(int sourcePosY, int destinationPosY, int sourcePosZ, int destinationPosZ, int station) {
        moveY(sourcePosY, destinationPosY, station);
        moveZ(sourcePosZ, destinationPosZ, station);
    }

    private void sleep(long ms) {
        try {
            Thread.sleep(ms);