package com.zy.core.plugin;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.asrs.domain.param.CreateInTaskParam;
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import com.zy.asrs.entity.BasDevp;
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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.WrkMastService;
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import com.zy.common.model.StartupDto;
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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.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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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.Task;
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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.thread.StationThread;
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import com.zy.core.utils.CrnOperateProcessUtils;
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import com.zy.core.utils.StationOperateProcessUtils;
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import com.zy.core.utils.WmsOperateUtils;
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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.HashMap;
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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 NormalProcess implements MainProcessPluginApi {
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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 WrkMastService wrkMastService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WmsOperateUtils wmsOperateUtils;
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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
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crnOperateUtils.crnIoExecute();
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//堆垛机任务执行完成-具备仿真能力
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crnOperateUtils.crnIoExecuteFinish();
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//执行输送站点入库任务
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stationOperateProcessUtils.stationInExecute();
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//执行输送站点出库任务
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stationOperateProcessUtils.stationOutExecute();
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//检测输送站点出库任务执行完成
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stationOperateProcessUtils.stationOutExecuteFinish();
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//检测输送站点是否运行堵塞
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stationOperateProcessUtils.checkStationRunBlock();
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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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try {
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Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
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if (systemConfigMapObj == null) {
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return;
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}
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HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
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int conveyorStationTaskLimit = 30;
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String conveyorStationTaskLimitStr = systemConfigMap.get("conveyorStationTaskLimit");
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if (conveyorStationTaskLimitStr != null) {
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conveyorStationTaskLimit = Integer.parseInt(conveyorStationTaskLimitStr);
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}
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int currentStationTaskCount = stationOperateProcessUtils.getCurrentStationTaskCount();
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if (currentStationTaskCount > conveyorStationTaskLimit) {
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News.error("输送站点任务已达到上限，上限值：{}，站点任务数：{}", conveyorStationTaskLimit, currentStationTaskCount);
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return;
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}
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
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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.getBarcodeStationList$();
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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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// 满足自动、有物、有工作号，生成入库数据
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() > 0) {
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if (Cools.isEmpty(stationProtocol.getBarcode())) {
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continue;
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}
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// 检测任务是否生成
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List<WrkMast> wrkMasts = wrkMastService
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.selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
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if (!wrkMasts.isEmpty()) {
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId);
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if (lock != null) {
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continue;
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}
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String barcode = stationProtocol.getBarcode();
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Integer stationIdVal = stationProtocol.getStationId();
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// 1. 首先查询是否有已完成的异步响应
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String response = wmsOperateUtils.queryAsyncInTaskResponse(barcode, stationIdVal);
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if (response != null) {
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// 2. 有响应结果，处理响应
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if (response.equals("FAILED") || response.startsWith("ERROR:")) {
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// 请求失败，重新发起异步请求
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News.error("WMS入库请求失败，重新发起请求，barcode={}，stationId={}，response={}", barcode,
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stationIdVal, response);
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wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
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stationProtocol.getPalletHeight());
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redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
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continue;
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}
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// 解析响应
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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CreateInTaskParam taskParam = new CreateInTaskParam();
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taskParam.setTaskNo(dto.getTaskNo());
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taskParam.setLocNo(dto.getLocNo());
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taskParam.setTaskPri(dto.getTaskPri());
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taskParam.setBarcode(barcode);
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WrkMast wrkMast = commonService.createInTask(taskParam);
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StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO,
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wrkMast.getWrkNo(), stationId, stationId, 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
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continue;
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}
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MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
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} else {
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// 接口返回非200，重新发起请求
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News.error("WMS入库接口返回非200，重新发起请求，barcode={}，stationId={}，response={}", barcode,
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stationIdVal, response);
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wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
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stationProtocol.getPalletHeight());
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redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
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}
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} else {
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// 3. 没有响应结果，检查是否有请求正在进行中
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if (!wmsOperateUtils.isAsyncRequestInProgress(barcode, stationIdVal)) {
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// 没有请求进行中，发起新的异步请求
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News.info("发起异步WMS入库请求，barcode={}，stationId={}", barcode, stationIdVal);
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wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
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stationProtocol.getPalletHeight());
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redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
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}
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// 如果有请求进行中，等待下次循环再检查
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}
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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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//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.selectList(new EntityWrapper<>());
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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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//满足自动、无物、工作号0，生成入库数据
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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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MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
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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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}
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