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.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.BasDevp;
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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.BasDevpService;
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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.entity.FindCrnNoResult;
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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.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.StationCommandType;
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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.model.protocol.StationTaskBufferItem;
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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 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 StationRegularDispatchProcessor {
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WrkAnalysisService wrkAnalysisService;
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@Autowired
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private BasStationService basStationService;
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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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public void stationInExecute() {
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try {
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DispatchLimitConfig baseLimitConfig = stationDispatchLoadSupport.getDispatchLimitConfig(null, null);
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int[] currentStationTaskCountRef = new int[]{stationDispatchLoadSupport.countCurrentStationTask()};
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LoadGuardState loadGuardState = stationDispatchLoadSupport.buildLoadGuardState(baseLimitConfig);
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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> stationList = basDevp.getBarcodeStationList$();
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for (StationObjModel entity : stationList) {
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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.STATION_IN_EXECUTE_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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continue;
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}
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WrkMast wrkMast = wrkMastService.getOne(new QueryWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
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if (wrkMast == null || !Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_INBOUND.sts)) {
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continue;
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}
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String locNo = wrkMast.getLocNo();
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FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
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if (findCrnNoResult == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
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continue;
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}
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Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationId);
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if (targetStationId == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationId);
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continue;
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}
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DispatchLimitConfig limitConfig = stationDispatchLoadSupport.getDispatchLimitConfig(stationProtocol.getStationId(), targetStationId);
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LoopHitResult loopHitResult = stationDispatchLoadSupport.findPathLoopHit(
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limitConfig,
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stationProtocol.getStationId(),
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targetStationId,
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loadGuardState
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);
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if (stationDispatchLoadSupport.isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
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return;
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}
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationId, targetStationId, 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
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continue;
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}
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Date now = new Date();
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wrkMast.setWrkSts(WrkStsType.INBOUND_STATION_RUN.sts);
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wrkMast.setSourceStaNo(stationProtocol.getStationId());
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wrkMast.setStaNo(targetStationId);
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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.markInboundStationStart(wrkMast, now);
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boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "stationInExecute");
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if (offered && stationMoveCoordinator != null) {
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stationMoveCoordinator.recordDispatch(
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wrkMast.getWrkNo(),
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stationProtocol.getStationId(),
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"stationInExecute",
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command,
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false
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);
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}
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News.info("输送站点入库命令下发成功，站点号={}，工作号={}，命令数据={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId, "lock", 5);
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loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
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stationDispatchLoadSupport.saveLoopLoadReserve(wrkMast.getWrkNo(), loopHitResult);
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}
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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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public void stationOutExecuteFinish() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
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for (WrkMast wrkMast : wrkMasts) {
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Integer wrkNo = wrkMast.getWrkNo();
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Integer targetStaNo = wrkMast.getStaNo();
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if (wrkNo == null || targetStaNo == null) {
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continue;
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}
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boolean complete = false;
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Integer targetDeviceNo = null;
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StationThread stationThread = null;
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BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
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if (basStation != null) {
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targetDeviceNo = basStation.getDeviceNo();
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stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
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if (stationThread != null) {
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Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
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if (stationProtocol != null && wrkNo.equals(stationProtocol.getTaskNo())) {
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complete = true;
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}
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}
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}
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if (complete) {
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attemptClearTaskPath(stationThread, wrkNo);
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completeStationRunTask(wrkMast, targetDeviceNo);
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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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public void checkTaskToComplete() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
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for (WrkMast wrkMast : wrkMasts) {
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Integer wrkNo = wrkMast.getWrkNo();
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Integer targetStaNo = wrkMast.getStaNo();
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkNo);
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if (lock != null) {
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continue;
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}
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BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
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if (basStation == 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.get(basStation.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!Objects.equals(stationProtocol.getTaskNo(), wrkNo)) {
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if (stationMoveCoordinator != null) {
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stationMoveCoordinator.finishSession(wrkNo);
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}
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wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
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wrkMast.setIoTime(new Date());
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wrkMastService.updateById(wrkMast);
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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 void attemptClearTaskPath(StationThread stationThread, Integer taskNo) {
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if (stationThread == null || taskNo == null || taskNo <= 0) {
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return;
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}
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try {
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boolean cleared = stationThread.clearPath(taskNo);
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if (cleared) {
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News.info("输送站点任务运行完成后清理残留路径，工作号={}", taskNo);
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}
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} catch (Exception e) {
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News.error("输送站点任务运行完成后清理残留路径异常，工作号={}", taskNo, e);
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}
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}
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private void completeStationRunTask(WrkMast wrkMast, Integer deviceNo) {
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if (wrkMast == null || wrkMast.getWrkNo() == null) {
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return;
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}
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if (stationMoveCoordinator != null) {
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stationMoveCoordinator.finishSession(wrkMast.getWrkNo());
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}
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Date now = new Date();
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wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
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wrkMast.setIoTime(now);
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wrkMast.setModiTime(now);
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wrkMastService.updateById(wrkMast);
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wrkAnalysisService.markOutboundStationComplete(wrkMast, now);
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if (deviceNo != null) {
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notifyUtils.notify(String.valueOf(SlaveType.Devp), deviceNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
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}
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
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}
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private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
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StationCommandDispatchResult dispatchResult = stationCommandDispatcher.dispatch(deviceNo, command, "station-operate-process", scene);
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return dispatchResult.isAccepted();
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}
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}
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