package com.zy.core.plugin;
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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.core.common.Cools;
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import com.zy.asrs.utils.Utils;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.common.service.CommonService;
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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.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.StationCommandType;
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import com.zy.core.enums.WrkIoType;
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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.plugin.api.MainProcessPluginApi;
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import com.zy.core.plugin.store.StoreInTaskGenerationService;
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import com.zy.core.plugin.store.StoreInTaskPolicy;
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import com.zy.core.thread.StationThread;
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import com.zy.core.utils.CrnOperateProcessUtils;
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import com.zy.core.utils.DualCrnOperateProcessUtils;
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import com.zy.core.utils.StationOperateProcessUtils;
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import lombok.extern.slf4j.Slf4j;
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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.List;
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import java.util.Map;
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@Slf4j
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@Component
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public class XiaosongProcess implements MainProcessPluginApi, StoreInTaskPolicy {
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private static final long DISPATCH_INTERVAL_MS = 200L;
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@Autowired
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private CrnOperateProcessUtils crnOperateUtils;
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@Autowired
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private StationOperateProcessUtils stationOperateProcessUtils;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private DualCrnOperateProcessUtils dualCrnOperateProcessUtils;
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@Autowired
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private StoreInTaskGenerationService storeInTaskGenerationService;
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@Autowired
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private StationCommandDispatcher stationCommandDispatcher;
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@Override
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public void run() {
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//检测入库站是否有任务生成，并启动入库
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checkInStationHasTask();
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//请求生成入库任务
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generateStoreWrkFile();
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//执行堆垛机任务，按 lane 串行提交
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crnOperateUtils.submitCrnIoTasks(DISPATCH_INTERVAL_MS);
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//堆垛机任务执行完成，按 lane 串行提交
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crnOperateUtils.submitCrnIoExecuteFinishTasks(DISPATCH_INTERVAL_MS);
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//执行输送站点入库任务，按 lane 串行提交
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stationOperateProcessUtils.submitStationInTasks(DISPATCH_INTERVAL_MS);
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//执行堆垛机输送站点出库任务，按 lane 串行提交
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stationOperateProcessUtils.submitCrnStationOutTasks(DISPATCH_INTERVAL_MS);
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//执行双工位堆垛机输送站点出库任务，按 lane 串行提交
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stationOperateProcessUtils.submitDualCrnStationOutTasks(DISPATCH_INTERVAL_MS);
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//检测输送站点是否运行堵塞，按 lane 串行提交
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stationOperateProcessUtils.submitCheckStationRunBlockTasks(DISPATCH_INTERVAL_MS);
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//检测输送站点任务停留超时后重新计算路径，按 lane 串行提交
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stationOperateProcessUtils.submitCheckStationIdleRecoverTasks(DISPATCH_INTERVAL_MS);
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// 执行双工位堆垛机任务，按 lane 串行提交
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dualCrnOperateProcessUtils.submitDualCrnIoTasks(DISPATCH_INTERVAL_MS);
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// 双工位堆垛机任务执行完成，按 lane 串行提交
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dualCrnOperateProcessUtils.submitDualCrnIoExecuteFinishTasks(DISPATCH_INTERVAL_MS);
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}
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/**
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* 请求生成入库任务
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* 入库站，根据条码扫描生成入库工作档
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*/
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public synchronized void generateStoreWrkFile() {
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submitGenerateStoreTasks();
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}
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private void submitGenerateStoreTasks() {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
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for (BasDevp basDevp : basDevps) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
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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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if (stationMap == null || stationMap.isEmpty()) {
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continue;
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}
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List<StationObjModel> barcodeStations = getBarcodeStations(basDevp);
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for (StationObjModel stationObjModel : barcodeStations) {
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Integer stationId = stationObjModel == null ? null : stationObjModel.getStationId();
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if (stationId == null || !stationMap.containsKey(stationId)) {
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continue;
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}
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StationProtocol stationProtocol = stationMap.get(stationId);
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if (!canSubmitGenerateStoreTask(basDevp, stationThread, stationObjModel, stationProtocol)) {
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continue;
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}
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storeInTaskGenerationService.submitGenerateStoreTask(this, basDevp, stationObjModel, 0L,
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() -> storeInTaskGenerationService.generate(this, basDevp, stationObjModel));
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}
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}
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}
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//检测入库站是否有任务生成，并启动入库
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private synchronized void checkInStationHasTask() {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
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for (BasDevp basDevp : basDevps) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
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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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List<StationObjModel> list = basDevp.getInStationList$();
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for (StationObjModel entity : list) {
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Integer stationId = entity.getStationId();
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if(!stationMap.containsKey(stationId)){
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continue;
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}
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StationProtocol stationProtocol = stationMap.get(stationId);
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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.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId);
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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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&& stationProtocol.isEnableIn()
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) {
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.ENABLE_IN.id), stationId, entity.getBarcodeStation().getStationId(), 0);
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stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "xiaosong-process", "enable-in");
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if (entity.getBarcodeStation() != null && entity.getBarcodeStation().getStationId() != null) {
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Utils.precomputeInTaskEnableRow(entity.getBarcodeStation().getStationId());
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}
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redisUtil.set(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 15);
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News.info("{}站点启动入库成功，数据包:{}", stationId, JSON.toJSONString(command));
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}
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}
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}
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}
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private boolean canSubmitGenerateStoreTask(BasDevp basDevp,
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StationThread stationThread,
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StationObjModel stationObjModel,
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StationProtocol stationProtocol) {
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if (!handleErrorStationBack(basDevp, stationThread, stationObjModel, stationProtocol)) {
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return false;
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}
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return canRequestStoreIn(stationProtocol);
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}
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private boolean canRequestStoreIn(StationProtocol stationProtocol) {
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return stationProtocol != null
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&& stationProtocol.getError() <= 0
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&& stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.isInEnable()
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&& stationProtocol.getTaskNo() > 0
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&& !Cools.isEmpty(stationProtocol.getBarcode());
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}
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private boolean handleErrorStationBack(BasDevp basDevp,
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StationThread stationThread,
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StationObjModel stationObjModel,
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StationProtocol stationProtocol) {
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if (stationProtocol.getError() <= 0) {
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return true;
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}
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Object lock = redisUtil.get(RedisKeyType.GENERATE_STATION_BACK_LIMIT.key + stationProtocol.getTaskNo());
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if (lock != null) {
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return false;
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}
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StationObjModel backStation = stationObjModel.getBackStation();
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE,
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commonService.getWorkNo(WrkIoType.STATION_BACK.id),
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stationObjModel.getStationId(),
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backStation.getStationId(), 0);
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if (command == null) {
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News.taskInfo(stationProtocol.getTaskNo(), "{}工作,获取输送线命令失败", stationProtocol.getTaskNo());
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return false;
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}
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stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "xiaosong-process", "station-back");
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News.taskInfo(stationProtocol.getTaskNo(), "{}扫码异常，已退回至{}", backStation.getStationId());
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redisUtil.set(RedisKeyType.GENERATE_STATION_BACK_LIMIT.key + stationProtocol.getTaskNo(), "lock", 10);
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return false;
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}
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}
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