From bfbb0cbe87bbacbaf3fdfb5fb3caa935ec91da1f Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期六, 10 一月 2026 16:23:36 +0800
Subject: [PATCH] #1
---
src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java | 248 ++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 193 insertions(+), 55 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 11fa99e..d529843 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;
@@ -16,7 +16,10 @@
private ZyDualCrnStatusEntity crnStatus;
private DeviceConfig deviceConfig;
- private final ExecutorService executor = Executors.newSingleThreadExecutor();
+ // 鍏佽骞惰鎵ц澶氫釜鍛戒护浠诲姟锛堝浐瀹氱嚎绋嬫睜锛夈�傚闇�鏇撮珮骞跺彂鍙皟鏁村ぇ灏忋��
+ 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) {
//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));
}
@@ -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);
--
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