package com.zy.core.utils.station;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.zy.asrs.entity.BasStation;
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import com.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasStationService;
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import com.zy.asrs.service.WrkAnalysisService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.NotifyUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatch.StationCommandDispatchResult;
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import com.zy.core.dispatch.StationCommandDispatcher;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.WrkStsType;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.move.StationMoveCoordinator;
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import com.zy.core.thread.StationThread;
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import com.zy.core.utils.station.model.DispatchLimitConfig;
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import com.zy.core.utils.station.model.LoadGuardState;
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import com.zy.core.utils.station.model.LoopHitResult;
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import com.zy.core.utils.station.model.OutOrderDispatchDecision;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.Date;
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import java.util.List;
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import java.util.Map;
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import java.util.Objects;
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@Component
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public class StationOutboundDispatchProcessor {
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private static final int PENDING_DISPATCH_EXPIRE_SECONDS = 60 * 10;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasStationService basStationService;
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@Autowired
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private WrkAnalysisService wrkAnalysisService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private NotifyUtils notifyUtils;
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@Autowired
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private StationMoveCoordinator stationMoveCoordinator;
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@Autowired(required = false)
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private StationCommandDispatcher stationCommandDispatcher;
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@Autowired
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private StationDispatchLoadSupport stationDispatchLoadSupport;
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@Autowired
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private StationOutboundDecisionSupport stationOutboundDecisionSupport;
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public void crnStationOutExecute() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
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.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
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.isNotNull("crn_no"));
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for (WrkMast wrkMast : wrkMasts) {
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crnStationOutExecute(wrkMast);
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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public void crnStationOutExecute(WrkMast wrkMast) {
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try {
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if (wrkMast == null || wrkMast.getWrkNo() == null) {
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return;
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}
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Object pendingObj = redisUtil.get(RedisKeyType.STATION_OUT_PENDING_DISPATCH_.key + wrkMast.getWrkNo());
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if (pendingObj != null) {
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if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.OUTBOUND_RUN_COMPLETE.sts)) {
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clearPendingDispatch(wrkMast.getWrkNo());
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return;
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}
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StationObjModel pendingStationObjModel = getOutboundSourceStation(wrkMast);
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if (pendingStationObjModel == null
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|| pendingStationObjModel.getDeviceNo() == null
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|| pendingStationObjModel.getStationId() == null) {
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clearPendingDispatch(wrkMast.getWrkNo());
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return;
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}
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StationThread pendingStationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, pendingStationObjModel.getDeviceNo());
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if (pendingStationThread != null) {
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List<Integer> taskNoList = pendingStationThread.getAllTaskNoList();
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if (taskNoList != null && taskNoList.contains(wrkMast.getWrkNo())) {
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Date now = new Date();
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wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(now);
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wrkMast.setModiTime(now);
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if (wrkMastService.updateById(wrkMast)) {
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wrkAnalysisService.markOutboundStationStart(wrkMast, now);
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notifyUtils.notify(String.valueOf(SlaveType.Devp), pendingStationObjModel.getDeviceNo(),
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String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(),
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NotifyMsgType.STATION_OUT_TASK_RUN, null);
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clearPendingDispatch(wrkMast.getWrkNo());
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News.info("输送设备已发现任务号，任务转运行中。deviceNo={}，源站={}，工作号={}",
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pendingStationObjModel.getDeviceNo(), pendingStationObjModel.getStationId(), wrkMast.getWrkNo());
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}
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return;
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}
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}
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long createdAt;
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try {
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createdAt = Long.parseLong(String.valueOf(pendingObj));
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} catch (Exception ignore) {
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createdAt = System.currentTimeMillis();
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}
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if (System.currentTimeMillis() - createdAt < 15_000L) {
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return;
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}
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clearPendingDispatch(wrkMast.getWrkNo());
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News.warn("输送站点执行超时，已释放重试资格。工作号={}", wrkMast.getWrkNo());
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}
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Object infoObj = redisUtil.get(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
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if (infoObj == null) {
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News.info("出库任务{}数据缓存不存在", wrkMast.getWrkNo());
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return;
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}
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StationObjModel stationObjModel = JSON.parseObject(infoObj.toString(), StationObjModel.class);
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if (stationObjModel == null || stationObjModel.getDeviceNo() == null || stationObjModel.getStationId() == null) {
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return;
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}
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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return;
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}
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Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationMap == null ? null : stationMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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return;
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}
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId());
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if (lock != null) {
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return;
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}
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if (!(stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() == 0)) {
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return;
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}
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Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
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List<Integer> outOrderList = stationOutboundDecisionSupport.getAllOutOrderList();
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OutOrderDispatchDecision dispatchDecision =
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stationOutboundDecisionSupport.resolveOutboundDispatchDecision(
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stationProtocol.getStationId(),
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wrkMast,
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outOrderList,
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pathLenFactor
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);
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Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
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if (moveStaNo == null) {
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return;
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}
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DispatchLimitConfig limitConfig =
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stationDispatchLoadSupport.getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
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int currentStationTaskCount = stationDispatchLoadSupport.countCurrentStationTask();
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LoadGuardState loadGuardState = stationDispatchLoadSupport.buildLoadGuardState(limitConfig);
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LoopHitResult loopHitResult =
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stationDispatchLoadSupport.findPathLoopHit(
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limitConfig,
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stationProtocol.getStationId(),
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moveStaNo,
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loadGuardState,
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wrkMast,
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pathLenFactor
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);
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if (stationDispatchLoadSupport.isDispatchBlocked(
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limitConfig,
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currentStationTaskCount,
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loadGuardState,
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loopHitResult.isThroughLoop())) {
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return;
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}
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StationCommand command = stationOutboundDecisionSupport.buildOutboundMoveCommand(
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stationThread,
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wrkMast,
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stationProtocol.getStationId(),
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moveStaNo,
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pathLenFactor
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);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
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return;
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}
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boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "crnStationOutExecute");
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if (!offered) {
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return;
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}
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if (stationMoveCoordinator != null) {
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stationMoveCoordinator.recordDispatch(
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wrkMast.getWrkNo(),
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stationProtocol.getStationId(),
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"crnStationOutExecute",
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command,
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false
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);
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}
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markPendingDispatch(wrkMast.getWrkNo());
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News.info("输送站点出库命令已入设备执行链路，等待源站执行。站点号={}，工作号={}，命令数据={}",
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stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
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loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
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stationDispatchLoadSupport.saveLoopLoadReserve(wrkMast.getWrkNo(), loopHitResult);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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public void dualCrnStationOutExecute() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
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.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
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.isNotNull("dual_crn_no"));
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for (WrkMast wrkMast : wrkMasts) {
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if (hasPendingDispatch(wrkMast.getWrkNo())) {
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continue;
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}
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Object infoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo());
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if (infoObj == null) {
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News.info("出库任务{}数据缓存不存在", wrkMast.getWrkNo());
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continue;
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}
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StationObjModel stationObjModel = JSON.parseObject(infoObj.toString(), StationObjModel.class);
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId());
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if (lock != null) {
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continue;
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}
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() == 0) {
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Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
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StationCommand command = stationOutboundDecisionSupport.buildOutboundMoveCommand(
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stationThread,
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wrkMast,
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stationProtocol.getStationId(),
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wrkMast.getStaNo(),
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pathLenFactor
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);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
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continue;
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}
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boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "dualCrnStationOutExecute");
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if (!offered) {
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continue;
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}
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if (stationMoveCoordinator != null) {
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stationMoveCoordinator.recordDispatch(
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wrkMast.getWrkNo(),
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stationProtocol.getStationId(),
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"dualCrnStationOutExecute",
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command,
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false
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);
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}
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markPendingDispatch(wrkMast.getWrkNo());
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News.info("输送站点出库命令已入设备执行链路，等待源站接单。站点号={}，工作号={}，命令数据={}",
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stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
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StationCommandDispatchResult dispatchResult = stationCommandDispatcher
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.dispatch(deviceNo, command, "station-operate-process", scene);
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return dispatchResult.isAccepted();
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}
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private StationObjModel getOutboundSourceStation(WrkMast wrkMast) {
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if (wrkMast == null || wrkMast.getSourceStaNo() == null) {
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return null;
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}
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BasStation basStation = basStationService.getById(wrkMast.getSourceStaNo());
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if (basStation == null || basStation.getDeviceNo() == null) {
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return null;
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}
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StationObjModel stationObjModel = new StationObjModel();
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stationObjModel.setStationId(wrkMast.getSourceStaNo());
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stationObjModel.setDeviceNo(basStation.getDeviceNo());
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return stationObjModel;
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}
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private boolean hasPendingDispatch(Integer wrkNo) {
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return wrkNo != null && redisUtil.get(RedisKeyType.STATION_OUT_PENDING_DISPATCH_.key + wrkNo) != null;
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}
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private void markPendingDispatch(Integer wrkNo) {
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if (wrkNo == null) {
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return;
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}
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redisUtil.set(RedisKeyType.STATION_OUT_PENDING_DISPATCH_.key + wrkNo, String.valueOf(System.currentTimeMillis()), PENDING_DISPATCH_EXPIRE_SECONDS);
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}
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private void clearPendingDispatch(Integer wrkNo) {
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if (wrkNo == null) {
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return;
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}
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redisUtil.del(RedisKeyType.STATION_OUT_PENDING_DISPATCH_.key + wrkNo);
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}
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}
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