From 52cbfeb0c93770530965955ca861f3d0a2bedd66 Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期一, 12 一月 2026 11:01:27 +0800
Subject: [PATCH] 添加重量信息
---
src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java | 203 ++++++++++++++++++++++++++++++++------------------
1 files changed, 128 insertions(+), 75 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 1cdd5bd..d529843 100644
--- a/src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java
+++ b/src/main/java/com/zy/core/network/fake/ZyDualCrnFakeConnect.java
@@ -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;
@@ -64,53 +67,86 @@
private void commandTaskComplete(DualCrnCommand command) {
if(command.getStation() == 1) {
- this.crnStatus.setTaskNo(0);
+ if (crnStatus.getLoaded() == 0) {
+ this.crnStatus.setTaskNo(0);
+ }
+ this.crnStatus.setTaskReceive(0);
this.crnStatus.setStatus(CrnStatusType.IDLE.id);
}else {
- this.crnStatus.setTaskNoTwo(0);
+ 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()) {
@@ -119,8 +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()) {
@@ -131,9 +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()) {
@@ -142,8 +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()) {
@@ -152,24 +186,38 @@
this.crnStatus.setLoadedTwo(0);
this.crnStatus.setStatusTwo(CrnStatusType.WAITING.id);
}
+
+ taskExecuteStation = 0;
}
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();
+ 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(), 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.FETCHING.id);
- sleep(2000);
+ sleep(3000);
if (Thread.currentThread().isInterrupted()) {
return;
}
@@ -178,35 +226,49 @@
}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());
+ moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
this.crnStatus.setStatusTwo(CrnStatusType.FETCHING.id);
- sleep(2000);
+ 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().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();
- 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.PUT_MOVING.id);
+ this.crnStatus.setTaskReceive(1);
- 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);
+ sleep(3000);
if (Thread.currentThread().isInterrupted()) {
return;
}
@@ -215,17 +277,19 @@
}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());
+ moveYZ(this.crnStatus.getBay(), destinationPosY,this.crnStatus.getLevel(), destinationPosZ, command.getStation());
this.crnStatus.setStatusTwo(CrnStatusType.PUTTING.id);
- sleep(2000);
+ 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) {
@@ -234,11 +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;
@@ -249,11 +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()) {
@@ -269,12 +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;
}
@@ -284,12 +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;
}
@@ -297,6 +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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