package com.zy.asrs.task;
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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.entity.BasCrnp;
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import com.zy.asrs.entity.BasStation;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.BasStationService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.entity.FindCrnNoResult;
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import com.zy.common.service.CommonService;
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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.enums.SlaveType;
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import com.zy.core.enums.WrkIoType;
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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.protocol.StationProtocol;
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import com.zy.core.move.StationMoveCoordinator;
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import com.zy.core.move.StationMoveSession;
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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 org.springframework.scheduling.annotation.Scheduled;
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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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import java.util.Objects;
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@Component
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public class InboundCrnMoveDispatchScheduler {
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private final WrkMastService wrkMastService;
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private final BasStationService basStationService;
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private final CommonService commonService;
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private final BasCrnpService basCrnpService;
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private final CrnOperateProcessUtils crnOperateProcessUtils;
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private final StationMoveCoordinator stationMoveCoordinator;
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public InboundCrnMoveDispatchScheduler(WrkMastService wrkMastService,
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BasStationService basStationService,
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CommonService commonService,
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BasCrnpService basCrnpService,
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CrnOperateProcessUtils crnOperateProcessUtils,
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StationMoveCoordinator stationMoveCoordinator) {
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this.wrkMastService = wrkMastService;
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this.basStationService = basStationService;
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this.commonService = commonService;
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this.basCrnpService = basCrnpService;
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this.crnOperateProcessUtils = crnOperateProcessUtils;
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this.stationMoveCoordinator = stationMoveCoordinator;
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}
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@Scheduled(fixedDelay = 1000L)
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public void dispatchInboundCrnMove() {
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List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
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.eq("io_type", WrkIoType.IN.id)
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.eq("wrk_sts", WrkStsType.INBOUND_STATION_RUN.sts)
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.isNotNull("sta_no"));
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for (WrkMast wrkMast : wrkMasts) {
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if (wrkMast == null || wrkMast.getWrkNo() == null || wrkMast.getStaNo() == null || Cools.isEmpty(wrkMast.getLocNo())) {
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continue;
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}
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BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>()
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.eq("station_id", wrkMast.getStaNo())
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.last("limit 1"));
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if (basStation == null || basStation.getDeviceNo() == null) {
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continue;
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}
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(basStation.getStationId());
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tryDispatchInboundCrnMove(wrkMast, stationProtocol);
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}
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}
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private void tryDispatchInboundCrnMove(WrkMast wrkMast, StationProtocol targetStationProtocol) {
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if (targetStationProtocol != null
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&& targetStationProtocol.isLoading()
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&& targetStationProtocol.getTaskNo() > 0
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&& targetStationProtocol.isInEnable()) {
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return;
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}
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FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(wrkMast.getLocNo());
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if (findCrnNoResult == null || !Objects.equals(findCrnNoResult.getCrnType(), SlaveType.Crn) || findCrnNoResult.getCrnNo() == null) {
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return;
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}
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Integer crnNo = findCrnNoResult.getCrnNo();
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BasCrnp basCrnp = basCrnpService.getOne(new QueryWrapper<BasCrnp>()
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.eq("crn_no", crnNo)
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.last("limit 1"));
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if (basCrnp == null) {
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return;
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}
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String inboundPickupLocNo = resolveInboundPickupLocNo(basCrnp, wrkMast.getStaNo());
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if (Cools.isEmpty(inboundPickupLocNo)) {
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return;
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}
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// 同堆垛机没有未完成出库任务时，优先直接到当前入库任务取货位等待。
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if (!hasPendingOutboundTask(crnNo)) {
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boolean dispatched = crnOperateProcessUtils.dispatchCrnMove(crnNo, inboundPickupLocNo);
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if (dispatched) {
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News.info("检测到仅有入库任务，已触发堆垛机直接移动到入库任务取货位等待，工作号={}，堆垛机号={}，取货位={}",
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wrkMast.getWrkNo(), crnNo, inboundPickupLocNo);
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}
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return;
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}
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StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(wrkMast.getWrkNo());
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if (!isInboundCrnMoveDispatchWindow(wrkMast, session)) {
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return;
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}
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boolean dispatched = crnOperateProcessUtils.dispatchCrnMove(crnNo, inboundPickupLocNo);
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if (dispatched) {
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News.info("入库任务即将到达取货位，已触发堆垛机预移车，工作号={}，堆垛机号={}，取货位={}",
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wrkMast.getWrkNo(), crnNo, inboundPickupLocNo);
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}
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}
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private String resolveInboundPickupLocNo(BasCrnp basCrnp, Integer targetStationId) {
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if (basCrnp == null || targetStationId == null) {
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return null;
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}
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for (StationObjModel stationObjModel : basCrnp.getInStationList$()) {
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if (stationObjModel == null || !Objects.equals(stationObjModel.getStationId(), targetStationId)) {
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continue;
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}
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if (stationObjModel.getDeviceRow() == null || stationObjModel.getDeviceBay() == null || stationObjModel.getDeviceLev() == null) {
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continue;
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}
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return Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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}
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return null;
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}
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private boolean hasPendingOutboundTask(Integer crnNo) {
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if (crnNo == null) {
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return false;
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}
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return wrkMastService.count(new QueryWrapper<WrkMast>()
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.eq("crn_no", crnNo)
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.eq("io_type", WrkIoType.OUT.id)
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.in("wrk_sts",
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WrkStsType.NEW_OUTBOUND.sts,
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WrkStsType.OUTBOUND_RUN.sts,
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WrkStsType.OUTBOUND_RUN_COMPLETE.sts,
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WrkStsType.STATION_RUN.sts,
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WrkStsType.STATION_RUN_COMPLETE.sts,
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WrkStsType.OUTBOUND_MANUAL.sts)) > 0;
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}
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private boolean isInboundCrnMoveDispatchWindow(WrkMast wrkMast, StationMoveSession session) {
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if (wrkMast == null || session == null || !session.isActive() || wrkMast.getStaNo() == null) {
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return false;
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}
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List<Integer> fullPathStationIds = session.getFullPathStationIds();
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Integer currentStationId = session.getCurrentStationId();
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if (fullPathStationIds == null || fullPathStationIds.isEmpty() || currentStationId == null) {
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return false;
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}
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int currentIndex = fullPathStationIds.lastIndexOf(currentStationId);
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if (currentIndex < 0 || currentIndex >= fullPathStationIds.size() - 1) {
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return false;
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}
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int remainingStationCount = fullPathStationIds.size() - currentIndex - 1;
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if (remainingStationCount != 1) {
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return false;
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}
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Integer nextStationId = fullPathStationIds.get(currentIndex + 1);
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return Objects.equals(nextStationId, wrkMast.getStaNo());
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}
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}
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