package com.zy.core.network.fake;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.common.model.NavigateNode;
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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.enums.RedisKeyType;
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import com.zy.core.enums.StationCommandType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.network.api.ZyStationConnectApi;
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import com.zy.core.network.entity.ZyStationStatusEntity;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Random;
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import java.util.concurrent.CopyOnWriteArrayList;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.BlockingQueue;
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import java.util.concurrent.LinkedBlockingQueue;
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import java.util.concurrent.ConcurrentHashMap;
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import java.util.concurrent.TimeUnit;
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import java.util.Map;
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import java.util.function.Supplier;
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public class ZyStationFakeSegConnect implements ZyStationConnectApi {
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private static int LOCK_STATION = 0;
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private HashMap<Integer, List<ZyStationStatusEntity>> deviceStatusMap = new HashMap<>();
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private HashMap<Integer, DeviceConfig> deviceConfigMap = new HashMap<>();
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private RedisUtil redisUtil;
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private final Map<Integer, BlockingQueue<StationCommand>> taskQueues = new ConcurrentHashMap<>();
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private final Map<Integer, Long> taskLastUpdateTime = new ConcurrentHashMap<>();
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private final Map<Integer, Boolean> taskRunning = new ConcurrentHashMap<>();
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private final ExecutorService executor = Executors.newCachedThreadPool();
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public void addFakeConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.redisUtil = redisUtil;
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if (deviceConfigMap.containsKey(deviceConfig.getDeviceNo())) {
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return;
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}
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deviceConfigMap.put(deviceConfig.getDeviceNo(), deviceConfig);
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deviceStatusMap.put(deviceConfig.getDeviceNo(), new CopyOnWriteArrayList<>());
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}
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@Override
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public boolean connect() {
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return true;
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}
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@Override
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public boolean disconnect() {
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executor.shutdownNow();
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return true;
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}
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@Override
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public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
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if (statusList == null) {
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return new ArrayList<>();
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}
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DeviceConfig deviceConfig = deviceConfigMap.get(deviceNo);
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if (statusList.isEmpty()) {
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List<ZyStationStatusEntity> init = JSON.parseArray(deviceConfig.getFakeInitStatus(), ZyStationStatusEntity.class);
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if (init != null) {
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statusList.addAll(init);
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for (ZyStationStatusEntity status : statusList) {
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status.setAutoing(true);
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status.setLoading(false);
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status.setInEnable(true);
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status.setOutEnable(true);
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status.setEmptyMk(false);
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status.setFullPlt(false);
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status.setRunBlock(false);
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status.setPalletHeight(0);
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status.setError(0);
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status.setBarcode("");
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}
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}
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}
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return statusList;
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}
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@Override
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public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
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Integer taskNo = command.getTaskNo();
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if (taskNo == null) {
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return new CommandResponse(false, "任务号为空");
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}
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taskQueues.computeIfAbsent(taskNo, k -> new LinkedBlockingQueue<>()).offer(command);
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taskLastUpdateTime.put(taskNo, System.currentTimeMillis());
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if (taskRunning.putIfAbsent(taskNo, true) == null) {
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executor.submit(() -> runTaskLoop(deviceNo, taskNo));
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}
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return new CommandResponse(true, "命令已受理（异步执行）");
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}
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private void runTaskLoop(Integer deviceNo, Integer taskNo) {
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try {
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// 用于存储当前任务待执行的完整路径队列
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BlockingQueue<Integer> pathQueue = new LinkedBlockingQueue<>();
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// 当前是否正在执行移动
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boolean isMoving = false;
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// 当前移动到的路径索引
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int currentPathIndex = 0;
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// 完整路径记录
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List<Integer> fullPath = new ArrayList<>();
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StationCommand initialCommand = null;
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Integer finalTargetStationId = null;
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boolean generateBarcode = false;
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while (true) {
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BlockingQueue<StationCommand> commandQueue = taskQueues.get(taskNo);
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if (commandQueue == null) {
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break;
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}
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// 尝试获取新命令，如果没有新命令则继续执行现有路径
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StationCommand command = commandQueue.poll(100, TimeUnit.MILLISECONDS);
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if (command != null) {
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taskLastUpdateTime.put(taskNo, System.currentTimeMillis());
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if (initialCommand == null) {
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initialCommand = command;
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finalTargetStationId = command.getTargetStaNo();
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if (checkTaskNoInArea(taskNo)) {
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generateBarcode = true;
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}
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}
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List<Integer> newPath = command.getNavigatePath();
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if (newPath != null && !newPath.isEmpty()) {
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// 如果是第一段路径
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if (fullPath.isEmpty()) {
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fullPath.addAll(newPath);
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for (Integer stationId : newPath) {
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pathQueue.offer(stationId);
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}
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} else {
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// 追加路径，需要去重衔接点
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Integer lastStationId = fullPath.get(fullPath.size() - 1);
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int startIndex = 0;
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if (!newPath.isEmpty() && newPath.get(0).equals(lastStationId)) {
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startIndex = 1;
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}
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for (int i = startIndex; i < newPath.size(); i++) {
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Integer stationId = newPath.get(i);
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fullPath.add(stationId);
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pathQueue.offer(stationId);
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}
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}
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}
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// 处理非移动命令
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if (command.getCommandType() != StationCommandType.MOVE) {
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handleCommand(deviceNo, command);
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}
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}
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// 执行移动逻辑
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if (!pathQueue.isEmpty()) {
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// 如果刚开始，先初始化当前位置
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if (currentPathIndex == 0 && !fullPath.isEmpty()) {
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Integer startStationId = fullPath.get(0);
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Integer deviceId = getDeviceNoByStationId(startStationId);
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if (deviceId != null) {
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initStationMove(taskNo, startStationId, deviceId, taskNo, finalTargetStationId, true, null);
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}
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}
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// 取出下一个目标点
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Integer nextStationId = pathQueue.peek(); // 这里的逻辑需要改为逐个行走
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// 实际行走逻辑应该是在这里消费 pathQueue
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// 为了简化，我们将 pathQueue 转为 stationMoveByPathIds 的逻辑，但这里需要改造成步进式
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// 重新设计：runTaskLoop 负责不断消费 pathQueue 并执行单步移动
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if (nextStationId != null) {
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Integer currentStationId = fullPath.get(currentPathIndex);
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if (currentStationId.equals(nextStationId)) {
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pathQueue.poll(); // 移除已到达的点
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continue;
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}
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// 执行从 currentStationId 到 nextStationId 的移动
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Integer currentDeviceNo = getDeviceNoByStationId(currentStationId);
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Integer nextDeviceNo = getDeviceNoByStationId(nextStationId);
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if (currentDeviceNo != null && nextDeviceNo != null) {
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boolean moveSuccess = stationMoveToNext(taskNo, currentStationId, currentDeviceNo, nextStationId, nextDeviceNo, taskNo, finalTargetStationId);
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if (moveSuccess) {
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currentPathIndex++;
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pathQueue.poll();
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sleep(1000); // 模拟耗时
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} else {
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sleep(1000); // 失败重试等待
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}
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} else {
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pathQueue.poll(); // 无法执行，跳过
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}
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}
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} else {
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// 队列为空，检查是否超时
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Long lastTime = taskLastUpdateTime.get(taskNo);
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if (lastTime != null && System.currentTimeMillis() - lastTime > 30000) {
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// 完成任务后清理
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if (fullPath.size() > 0 && generateBarcode) {
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Integer lastStation = fullPath.get(fullPath.size()-1);
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Integer lastDevice = getDeviceNoByStationId(lastStation);
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if (lastDevice != null) {
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generateStationBarcode(taskNo, finalTargetStationId, lastDevice);
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}
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}
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break;
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}
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}
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}
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} catch (InterruptedException e) {
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Thread.currentThread().interrupt();
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} finally {
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taskQueues.remove(taskNo);
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taskLastUpdateTime.remove(taskNo);
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taskRunning.remove(taskNo);
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}
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}
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@Override
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public CommandResponse sendOriginCommand(String address, short[] data) {
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return new CommandResponse(true, "原始命令已受理（异步执行）");
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}
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@Override
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public byte[] readOriginCommand(String address, int length) {
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return new byte[0];
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}
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private void handleCommand(Integer deviceNo, StationCommand command) {
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News.info("[WCS Debug] 站点仿真模拟(V3)已启动，命令数据={}", JSON.toJSONString(command));
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Integer taskNo = command.getTaskNo();
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Integer stationId = command.getStationId();
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Integer targetStationId = command.getTargetStaNo();
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boolean generateBarcode = false;
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if (command.getCommandType() == StationCommandType.RESET) {
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resetStation(deviceNo, stationId);
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return;
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}
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if (checkTaskNoInArea(taskNo)) {
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generateBarcode = true;
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}
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if (command.getCommandType() == StationCommandType.WRITE_INFO) {
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if (taskNo == 9998 && targetStationId == 0) {
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//生成出库站点仿真数据
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generateFakeOutStationData(deviceNo, stationId);
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return;
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}
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}
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if (taskNo > 0 && taskNo != 9999 && taskNo != 9998 && stationId == targetStationId) {
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generateStationData(deviceNo, taskNo, stationId, targetStationId);
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}
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List<Integer> navigatePath = command.getNavigatePath();
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if (navigatePath != null && !navigatePath.isEmpty()) {
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segmentedPathCommand(command, generateBarcode);
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return;
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}
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}
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private void generateFakeOutStationData(Integer deviceNo, Integer stationId) {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
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ZyStationStatusEntity status = statusList.stream()
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.filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
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if (status == null) {
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return;
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}
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synchronized (status) {
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status.setLoading(true);
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}
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}
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private void generateStationData(Integer deviceNo, Integer taskNo, Integer stationId, Integer targetStationId) {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
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ZyStationStatusEntity status = statusList.stream()
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.filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
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if (status == null) {
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return;
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}
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synchronized (status) {
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status.setTaskNo(taskNo);
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status.setTargetStaNo(targetStationId);
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}
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}
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private void resetStation(Integer deviceNo, Integer stationId) {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
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ZyStationStatusEntity status = statusList.stream()
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.filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
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if (status == null) {
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return;
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}
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synchronized (status) {
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status.setTaskNo(0);
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status.setLoading(false);
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status.setBarcode("");
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}
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}
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private void segmentedPathCommand(StationCommand command, boolean generateBarcode) {
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Integer taskNo = command.getTaskNo();
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Integer finalTargetStationId = command.getTargetStaNo();
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List<Integer> path = command.getNavigatePath();
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if (path == null || path.isEmpty()) {
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return;
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}
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Integer currentStationId = findCurrentStationIdByTask(taskNo);
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int startIdx = 0;
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if (currentStationId != null) {
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int idx = path.indexOf(currentStationId);
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if (idx >= 0) {
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startIdx = idx;
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}
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}
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Integer segmentTargetStationId = path.get(path.size() - 1);
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int endIdx = path.size() - 1;
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boolean isFinalSegment = segmentTargetStationId.equals(finalTargetStationId);
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boolean appendMode = currentStationId != null && path.indexOf(currentStationId) >= 0;
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boolean generateBarcodeFinal = generateBarcode && isFinalSegment;
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stationMoveByPathIds(path, taskNo, finalTargetStationId, false, generateBarcodeFinal, startIdx, endIdx, appendMode);
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}
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private Integer getDeviceNoByStationId(Integer stationId) {
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for (Integer devNo : deviceStatusMap.keySet()) {
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List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
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if (list == null) {
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continue;
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}
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for (ZyStationStatusEntity e : list) {
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if (e.getStationId() != null && e.getStationId().equals(stationId)) {
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return devNo;
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}
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}
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}
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return null;
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}
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private Integer findCurrentStationIdByTask(Integer taskNo) {
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for (Integer devNo : deviceStatusMap.keySet()) {
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List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
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if (list == null) {
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continue;
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}
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for (ZyStationStatusEntity e : list) {
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if (e.getTaskNo() != null && e.getTaskNo().equals(taskNo) && e.isLoading()) {
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return e.getStationId();
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}
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}
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}
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return null;
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}
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private boolean stationMoveByPathIds(List<Integer> stationPath, Integer taskNo, Integer targetStationId, boolean clearData, boolean generateBarcode, int startIdx, int endIdx, boolean appendMode) {
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Integer lastStationId = null;
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Integer targetStationDeviceNo = getDeviceNoByStationId(targetStationId);
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long executeTime = System.currentTimeMillis();
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int i = Math.max(0, startIdx);
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while (i < stationPath.size() && i <= endIdx) {
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if (Thread.currentThread().isInterrupted()) {
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return false;
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}
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Integer currentStationId = stationPath.get(i);
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Integer currentStationDeviceNo = getDeviceNoByStationId(currentStationId);
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if (currentStationDeviceNo == null) {
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return false;
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}
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Integer nextStationId = null;
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Integer nextStationDeviceNo = null;
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try {
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nextStationId = stationPath.get(i + 1);
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nextStationDeviceNo = getDeviceNoByStationId(nextStationId);
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} catch (Exception ignore) {}
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if (!checkTaskNoInArea(taskNo)) {
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boolean fakeAllowCheckBlock = true;
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Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
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if (systemConfigMapObj != null) {
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HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
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if (!systemConfigMap.get("fakeAllowCheckBlock").equals("Y")) {
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fakeAllowCheckBlock = false;
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}
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}
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if (fakeAllowCheckBlock && System.currentTimeMillis() - executeTime > 1000 * 10) {
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boolean result = runBlockStation(taskNo, currentStationId, currentStationDeviceNo, taskNo, currentStationId);
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if(!result) {
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continue;
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}
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return false;
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}
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}
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if (i == startIdx && !appendMode) {
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boolean result = initStationMove(taskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, true, null);
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if (!result) {
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continue;
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}
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sleep(1000);
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if (Thread.currentThread().isInterrupted()) {
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return false;
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}
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}
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if (nextStationId != null && nextStationDeviceNo != null) {
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boolean result = stationMoveToNext(taskNo, currentStationId, currentStationDeviceNo, nextStationId, nextStationDeviceNo, taskNo, targetStationId);
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if (!result) {
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continue;
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}
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lastStationId = currentStationId;
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}
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if (currentStationId.equals(targetStationId)) {
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break;
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}
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i++;
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executeTime = System.currentTimeMillis();
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sleep(1000);
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if (Thread.currentThread().isInterrupted()) {
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return false;
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}
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}
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if (generateBarcode) {
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if (lastStationId != null && targetStationDeviceNo != null) {
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while (true) {
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if (Thread.currentThread().isInterrupted()) {
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break;
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}
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boolean result = generateStationBarcode(taskNo, targetStationId, targetStationDeviceNo);
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sleep(1000);
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if (!result) {
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continue;
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}
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break;
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}
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}
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}
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if (clearData) {
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sleep(10000);
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if (Thread.currentThread().isInterrupted()) {
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return true;
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}
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if (lastStationId != null && targetStationDeviceNo != null) {
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while (true) {
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if (Thread.currentThread().isInterrupted()) {
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break;
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}
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boolean result = clearStation(targetStationDeviceNo, taskNo, targetStationId);
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sleep(1000);
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if (!result) {
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continue;
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}
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break;
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}
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}
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}
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return true;
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}
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private void sleep(long ms) {
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try {
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Thread.sleep(ms);
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} catch (InterruptedException e) {
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Thread.currentThread().interrupt();
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}
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}
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public synchronized boolean setLockStation(Integer uuid) {
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if (LOCK_STATION == 0) {
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LOCK_STATION = uuid;
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return true;
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}else {
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if(LOCK_STATION == uuid) {
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return true;
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}
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}
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return false;
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}
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public synchronized boolean releaseLockStation(Integer uuid) {
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if (LOCK_STATION != uuid) {
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return false;
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}
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LOCK_STATION = 0;
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return true;
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}
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public synchronized boolean updateStationData(Integer lockTaskNo, Integer stationId, Integer deviceNo, Integer taskNo, Integer targetStaNo, Boolean isLoading, String barcode, Boolean runBlock) {
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if (LOCK_STATION != lockTaskNo) {
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return false;
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}
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
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if (statusList == null) {
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return false;
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}
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ZyStationStatusEntity currentStatus = statusList.stream()
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.filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
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if (currentStatus == null) {
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return false;
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}
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if (taskNo != null) {
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currentStatus.setTaskNo(taskNo);
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}
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if (targetStaNo != null) {
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currentStatus.setTargetStaNo(targetStaNo);
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}
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if (isLoading != null) {
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currentStatus.setLoading(isLoading);
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}
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if (barcode != null) {
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currentStatus.setBarcode(barcode);
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}
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if (runBlock != null) {
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currentStatus.setRunBlock(runBlock);
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}
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return true;
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}
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public synchronized boolean initStationMove(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer targetStationId, Boolean isLoading, String barcode) {
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boolean executeResult = lockExecute(lockTaskNo, () -> {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
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if (statusList == null) {
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return false;
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}
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ZyStationStatusEntity currentStatus = statusList.stream()
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.filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
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if (currentStatus == null) {
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return false;
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}
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if (currentStatus.getTaskNo() > 0) {
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if (!currentStatus.getTaskNo().equals(taskNo) && currentStatus.isLoading()) {
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return false;
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}
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}
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boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, isLoading, barcode, false);
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if (!result) {
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return false;
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}
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return true;
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});
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return executeResult;
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}
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public synchronized boolean stationMoveToNext(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer nextStationId, Integer nextStationDeviceNo, Integer taskNo, Integer targetStaNo) {
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boolean executeResult = lockExecute(lockTaskNo, () -> {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
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if (statusList == null) {
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return false;
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}
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List<ZyStationStatusEntity> nextStatusList = deviceStatusMap.get(nextStationDeviceNo);
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if (statusList == null) {
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return false;
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}
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ZyStationStatusEntity currentStatus = statusList.stream()
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.filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
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ZyStationStatusEntity nextStatus = nextStatusList.stream()
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.filter(item -> item.getStationId().equals(nextStationId)).findFirst().orElse(null);
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if (currentStatus == null || nextStatus == null) {
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return false;
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}
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if (nextStatus.getTaskNo() > 0 || nextStatus.isLoading()) {
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return false;
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}
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boolean result = updateStationData(lockTaskNo, nextStationId, nextStationDeviceNo, taskNo, targetStaNo, true, null, false);
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if (!result) {
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return false;
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}
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boolean result2 = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, 0, 0, false, "", false);
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if (!result2) {
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return false;
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}
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return true;
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});
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return executeResult;
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}
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public synchronized boolean generateStationBarcode(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo) {
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boolean executeResult = lockExecute(lockTaskNo, () -> {
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List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
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if (statusList == null) {
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return false;
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}
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ZyStationStatusEntity currentStatus = statusList.stream()
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.filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
|
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if (currentStatus == null) {
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return false;
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}
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|
Random random = new Random();
|
|
String barcodeTime = String.valueOf(System.currentTimeMillis());
|
String barcode = String.valueOf(random.nextInt(10)) + String.valueOf(random.nextInt(10)) + barcodeTime.substring(7);
|
|
boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, null, null, null, barcode, null);
|
if (!result) {
|
return false;
|
}
|
return true;
|
});
|
|
return executeResult;
|
}
|
|
public synchronized boolean clearStation(Integer deviceNo, Integer lockTaskNo, Integer currentStationId) {
|
boolean executeResult = lockExecute(lockTaskNo, () -> {
|
List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
|
if (statusList == null) {
|
return false;
|
}
|
|
ZyStationStatusEntity currentStatus = statusList.stream()
|
.filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
|
|
if (currentStatus == null) {
|
return false;
|
}
|
|
boolean result = updateStationData(deviceNo, lockTaskNo, currentStationId, 0, 0, false, "", false);
|
if (!result) {
|
return false;
|
}
|
return true;
|
});
|
|
return executeResult;
|
}
|
|
public synchronized boolean runBlockStation(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer blockStationId) {
|
boolean executeResult = lockExecute(lockTaskNo, () -> {
|
List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
|
if (statusList == null) {
|
return false;
|
}
|
|
ZyStationStatusEntity currentStatus = statusList.stream()
|
.filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
|
|
if (currentStatus == null) {
|
return false;
|
}
|
|
boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, blockStationId, true, "", true);
|
if (!result) {
|
return false;
|
}
|
return true;
|
});
|
|
return executeResult;
|
}
|
|
public boolean lockExecute(Integer taskNo, Supplier<Boolean> function) {
|
if (!setLockStation(taskNo)) {
|
return false;
|
}
|
|
boolean result = function.get();
|
releaseLockStation(taskNo);
|
return result;
|
}
|
|
private boolean checkTaskNoInArea(Integer taskNo) {
|
Object fakeTaskNoAreaObj = redisUtil.get(RedisKeyType.FAKE_TASK_NO_AREA.key);
|
if (fakeTaskNoAreaObj == null) {
|
return false;
|
}
|
|
JSONObject data = JSON.parseObject(String.valueOf(fakeTaskNoAreaObj));
|
Integer start = data.getInteger("start");
|
Integer end = data.getInteger("end");
|
|
if(taskNo >= start && taskNo <= end) {
|
return true;
|
}
|
|
return false;
|
}
|
}
|
