From 0836f55508cc79dfa3554a67058955ebf4830f62 Mon Sep 17 00:00:00 2001
From: DELL <DELL@qq.com>
Date: 星期四, 27 十一月 2025 15:11:20 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/network/fake/ZyRgvFakeConnect.java | 169 ++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 157 insertions(+), 12 deletions(-)
diff --git a/src/main/java/com/zy/core/network/fake/ZyRgvFakeConnect.java b/src/main/java/com/zy/core/network/fake/ZyRgvFakeConnect.java
index b42a65c..5f959b0 100644
--- a/src/main/java/com/zy/core/network/fake/ZyRgvFakeConnect.java
+++ b/src/main/java/com/zy/core/network/fake/ZyRgvFakeConnect.java
@@ -1,15 +1,25 @@
package com.zy.core.network.fake;
import com.alibaba.fastjson.JSON;
+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.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 java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
public class ZyRgvFakeConnect implements ZyRgvConnectApi {
+
private ZyRgvStatusEntity status;
private final DeviceConfig deviceConfig;
private final ExecutorService executor = Executors.newSingleThreadExecutor();
@@ -38,18 +48,153 @@
@Override
public CommandResponse sendCommand(RgvCommand command) {
CommandResponse response = new CommandResponse(true);
- executor.submit(() -> {
- if (command.getTaskMode() != null && command.getTaskMode() == 1) {
- status.setTaskNo((int) command.getTaskNo());
- status.setStatus(1);
- try { Thread.sleep(300); } catch (InterruptedException ignored) {}
- status.setRgvPos((int) command.getTargetPos());
- status.setStatus(0);
- } else if (command.getTaskMode() != null && command.getTaskMode() == 0) {
- status.setTaskNo(0);
- status.setStatus(0);
- }
- });
+ if (command.getTaskMode() == RgvTaskModeType.FETCH_PUT.id) {
+ //鍙栨斁璐�
+ executor.submit(() -> commandTake(command));
+ } else if (command.getTaskMode() == RgvTaskModeType.X_MOVE.id) {
+ //绉诲姩
+ executor.submit(() -> commandMove(command));
+ }else if (command.getTaskMode() == RgvTaskModeType.NONE.id) {
+ //澶嶄綅
+ executor.submit(() -> commandTaskComplete(command));
+ }
return response;
}
+
+ private void commandTake(RgvCommand command) {
+ int taskNo = command.getTaskNo();
+ int taskMode = command.getTaskMode();
+ int sourcePos = command.getSourcePos();
+ int targetPos = command.getTargetPos();
+
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return;
+ }
+
+ BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
+ if (basMapService == null) {
+ return;
+ }
+
+ List<Integer> levList = basMapService.getLevList();
+
+ List<NavigateNode> navigateNodes = null;
+ try {
+ for (Integer lev : levList) {
+ navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), sourcePos);
+ if (navigateNodes != null) {
+ break;
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ if (navigateNodes == null) {
+ return;
+ }
+
+ List<NavigateNode> targetNavigateNodes = null;
+ try {
+ for (Integer lev : levList) {
+ targetNavigateNodes = navigateUtils.calcByTrackSiteNo(lev, sourcePos, targetPos);
+ if (targetNavigateNodes != null) {
+ break;
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ if (targetNavigateNodes == null) {
+ return;
+ }
+
+ status.setTaskNo(taskNo);
+ status.setStatus(RgvStatusType.FETCHING.id);
+ for (int i = 0; i < navigateNodes.size(); i++) {
+ NavigateNode navigateNode = navigateNodes.get(i);
+ JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
+ Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
+
+ status.setRgvPos(currentTrackSiteNo);
+ sleep(1000);
+ }
+
+ status.setStatus(RgvStatusType.PUTTING.id);
+ status.setLoaded(1);
+ sleep(1000);
+
+ for (int i = 0; i < targetNavigateNodes.size(); i++) {
+ NavigateNode navigateNode = targetNavigateNodes.get(i);
+ JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
+ Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
+
+ status.setRgvPos(currentTrackSiteNo);
+ sleep(1000);
+ }
+
+ sleep(1000);
+ status.setStatus(RgvStatusType.WAITING.id);
+ }
+
+ private void commandMove(RgvCommand command) {
+ int taskNo = command.getTaskNo();
+ int taskMode = command.getTaskMode();
+ int targetPos = command.getTargetPos();
+
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return;
+ }
+
+ BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
+ if (basMapService == null) {
+ return;
+ }
+
+ List<Integer> levList = basMapService.getLevList();
+
+ List<NavigateNode> navigateNodes = null;
+ try {
+ for (Integer lev : levList) {
+ navigateNodes = navigateUtils.calcByTrackSiteNo(lev, status.getRgvPos(), targetPos);
+ if (navigateNodes != null) {
+ break;
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ if (navigateNodes == null) {
+ return;
+ }
+
+ status.setTaskNo(taskNo);
+ status.setStatus(RgvStatusType.WORKING.id);
+ for (int i = 0; i < navigateNodes.size(); i++) {
+ NavigateNode navigateNode = navigateNodes.get(i);
+ JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
+ Integer currentTrackSiteNo = valueObject.getInteger("trackSiteNo");
+
+ status.setRgvPos(currentTrackSiteNo);
+ sleep(1000);
+ }
+ status.setStatus(RgvStatusType.WAITING.id);
+ }
+
+ private void commandTaskComplete(RgvCommand command) {
+ status.setTaskNo(0);
+ status.setStatus(RgvStatusType.IDLE.id);
+ }
+
+ private void sleep(long ms) {
+ try {
+ Thread.sleep(ms);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ }
}
\ No newline at end of file
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