From b74b172daac9b2b21af1149bfcfb935bc879e5ef Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期四, 25 十二月 2025 15:28:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java | 97 ++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 92 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java b/src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java
index 133d910..c19df2a 100644
--- a/src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java
+++ b/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) {
//鍙栨斁璐�
executor.submit(() -> commandTake(command));
- } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
+ } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
+ //鍙栬揣
+ executor.submit(() -> commandPick(command));
+ } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
+ //鏀捐揣
+ executor.submit(() -> commandPut(command));
+ } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.MOVE.id) {
//绉诲姩
executor.submit(() -> commandMove(command));
- } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
+ } else if (command.getTaskMode().intValue() == DualCrnTaskModeType.CONFIRM.id) {
//澶嶄綅
executor.submit(() -> commandTaskComplete(command));
}
@@ -59,9 +65,11 @@
private void commandTaskComplete(DualCrnCommand command) {
if(command.getStation() == 1) {
this.crnStatus.setTaskNo(0);
+ this.crnStatus.setTaskReceive(0);
this.crnStatus.setStatus(CrnStatusType.IDLE.id);
}else {
this.crnStatus.setTaskNoTwo(0);
+ this.crnStatus.setTaskReceiveTwo(0);
this.crnStatus.setStatusTwo(CrnStatusType.IDLE.id);
}
}
@@ -76,12 +84,14 @@
if(command.getStation() == 1) {
this.crnStatus.setTaskNo(taskNo);
this.crnStatus.setStatus(CrnStatusType.MOVING.id);
+ this.crnStatus.setTaskReceive(1);
moveY(this.crnStatus.getBay(), destinationPosY, command.getStation().intValue());
moveZ(this.crnStatus.getLevel(), destinationPosZ, command.getStation().intValue());
this.crnStatus.setStatus(CrnStatusType.WAITING.id);
}else {
this.crnStatus.setTaskNoTwo(taskNo);
this.crnStatus.setStatusTwo(CrnStatusType.MOVING.id);
+ this.crnStatus.setTaskReceive(1);
moveY(this.crnStatus.getBayTwo(), destinationPosY, command.getStation().intValue());
moveZ(this.crnStatus.getLevelTwo(), destinationPosZ, command.getStation().intValue());
this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
@@ -98,10 +108,10 @@
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);
+ this.crnStatus.setTaskReceive(1);
moveY(this.crnStatus.getBay(), sourcePosY, command.getStation().intValue());
moveZ(this.crnStatus.getLevel(), sourcePosZ, command.getStation().intValue());
@@ -125,6 +135,7 @@
}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());
@@ -148,6 +159,82 @@
}
}
+ 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();
+
+ if(command.getStation() == 1) {
+ this.crnStatus.setTaskNo(taskNo);
+ this.crnStatus.setStatus(CrnStatusType.FETCH_MOVING.id);
+ this.crnStatus.setTaskReceive(1);
+
+ 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);
+ this.crnStatus.setTaskReceiveTwo(1);
+
+ 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();
+
+ if(command.getStation() == 1) {
+ this.crnStatus.setTaskNo(taskNo);
+ this.crnStatus.setStatus(CrnStatusType.PUT_MOVING.id);
+ this.crnStatus.setTaskReceive(1);
+
+ 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);
+ this.crnStatus.setTaskReceiveTwo(1);
+
+ 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;
--
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