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.zy.asrs.domain.param.CreateInTaskParam;
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import com.zy.asrs.domain.param.CreateOutTaskParam;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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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.*;
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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.CrnCommand;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.CrnThread;
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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.system.entity.Config;
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import com.zy.system.service.ConfigService;
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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.*;
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@Slf4j
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@Component
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public class FakeProcess implements MainProcessPluginApi {
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private static Map<Integer,Long> stationStayTimeMap = new HashMap<>();
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private static String enableFake = "N";
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private static String fakeRealTaskRequestWms = "N";
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private RedisUtil redisUtil;
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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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@Override
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public void run() {
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Config enableFakeConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
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if (enableFakeConfig != null) {
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enableFake = enableFakeConfig.getValue();
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}
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Config fakeRealTaskRequestWmsConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "fakeRealTaskRequestWms"));
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if (fakeRealTaskRequestWmsConfig != null) {
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fakeRealTaskRequestWms = fakeRealTaskRequestWmsConfig.getValue();
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}
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//检测入库站是否有任务生成，并仿真生成模拟入库站点数据
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checkInStationHasTask();
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//生成仿真模拟入库任务
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generateFakeInTask();
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//生成仿真模拟出库任务
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generateFakeOutTask();
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//计算所有站点停留时间
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calcAllStationStayTime();
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//检测出库站点停留是否超时
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checkOutStationStayTimeOut();
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//检测入库站点堆垛机是否取走货物
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checkInStationCrnTake();
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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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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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}
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//检测入库站是否有任务生成，并仿真生成模拟入库站点数据
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private synchronized void checkInStationHasTask() {
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if (!enableFake.equals("Y")) {
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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.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 object = redisUtil.get(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId);
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if (object != 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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) {
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StationCommand command = stationThread.getMoveCommand(9999, stationId, 0, 0);
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MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
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redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 10);
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}
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}
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}
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}
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//生成仿真模拟入库任务
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private synchronized void generateFakeInTask() {
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if (!enableFake.equals("Y")) {
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return;
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}
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if (fakeRealTaskRequestWms.equals("Y")) {
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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.getInStationList$();
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for (StationObjModel model : list) {
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Integer stationId = model.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 object = redisUtil.get(RedisKeyType.GENERATE_FAKE_IN_TASK_LIMIT.key + stationId);
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if (object != null) {
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return;
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}
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//满足自动、有物、工作号9999，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() == 9999
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) {
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//检测任务是否生成
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List<WrkMast> wrkMasts = wrkMastService.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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List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", String.valueOf(LocStsType.O)));
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if (locMastList.isEmpty()) {
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continue;
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}
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int nextInt = new Random().nextInt(locMastList.size());
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LocMast locMast = locMastList.get(nextInt);
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Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
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if (crnNo == null) {
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continue;
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}
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Integer targetStationId = commonService.findInStationId(crnNo, stationId);
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if (targetStationId == null) {
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continue;
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}
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CreateInTaskParam taskParam = new CreateInTaskParam();
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taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.IN.id)));
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taskParam.setSourceStaNo(stationId);
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taskParam.setStaNo(targetStationId);
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taskParam.setLocNo(locMast.getLocNo());
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taskParam.setBarcode(stationProtocol.getBarcode());
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boolean result = commonService.createInTask(taskParam);
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redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_TASK_LIMIT.key + stationId, "lock", 5);
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}
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}
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}
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}
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//生成仿真模拟出库任务
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private synchronized void generateFakeOutTask() {
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if (!enableFake.equals("Y")) {
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return;
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}
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if (fakeRealTaskRequestWms.equals("Y")) {
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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.getOutStationList$();
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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 object = redisUtil.get(RedisKeyType.GENERATE_FAKE_OUT_TASK_LIMIT.key + stationId);
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if(object != null){
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return;
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}
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//满足自动、无物、工作号0，生成出库数据
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if (stationProtocol.isAutoing()
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&& !stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() == 0
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) {
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List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", String.valueOf(LocStsType.F)));
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if (locMastList.isEmpty()) {
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continue;
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}
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LocMast locMast = locMastList.get(0);
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Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
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if (crnNo == null) {
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continue;
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}
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CreateOutTaskParam taskParam = new CreateOutTaskParam();
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taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.OUT.id)));
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taskParam.setStaNo(stationId);
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taskParam.setLocNo(locMast.getLocNo());
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boolean result = commonService.createOutTask(taskParam);
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redisUtil.set(RedisKeyType.GENERATE_FAKE_OUT_TASK_LIMIT.key + stationId, "lock", 15);
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}
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}
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}
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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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if (fakeRealTaskRequestWms.equals("N")) {
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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.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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//满足自动、有物、工作号9999，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() == 9999
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) {
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//检测任务是否生成
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List<WrkMast> wrkMasts = wrkMastService.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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String wmsUrl = null;
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Config wmsSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "wmsSystemUri"));
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if (wmsSystemUriConfig != null) {
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wmsUrl = wmsSystemUriConfig.getValue();
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}
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if(wmsUrl == null){
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News.error("未配置WMS系统URI，配置文件Code编码：wmsSystemUri");
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return;
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}
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String wmsSystemInUrl = null;
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Config wmsSystemInUrlConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "wmsSystemInUrl"));
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if (wmsSystemInUrlConfig != null) {
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wmsSystemInUrl = wmsSystemInUrlConfig.getValue();
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}
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if(wmsSystemInUrlConfig == null){
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News.error("未配置WMS入库接口地址，配置文件Code编码：wmsSystemInUrl");
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return;
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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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try {
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HashMap<String, Object> param = new HashMap<>();
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param.put("barcode", stationProtocol.getBarcode());
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param.put("sourceStaNo", stationProtocol.getStationId());
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param.put("locType1", stationProtocol.getPalletHeight());
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param.put("row", Utils.getInTaskEnableRow());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath(wmsSystemInUrl)
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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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(String.valueOf(dto.getTaskNo()));
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taskParam.setLocNo(dto.getLocNo());
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taskParam.setTaskPri(dto.getTaskPri());
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taskParam.setBarcode(stationProtocol.getBarcode());
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boolean result = commonService.createInTask(taskParam);
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} else {
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News.error("请求WMS接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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}
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redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 10);
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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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}
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}
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}
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//计算所有站点停留时间
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public synchronized void calcAllStationStayTime() {
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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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List<StationProtocol> list = stationThread.getStatus();
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for (StationProtocol stationProtocol : list) {
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if (stationProtocol.getTaskNo() > 0 && !stationStayTimeMap.containsKey(stationProtocol.getStationId())) {
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stationStayTimeMap.put(stationProtocol.getStationId(), System.currentTimeMillis());
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}
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if(stationProtocol.getTaskNo() <= 0 && stationStayTimeMap.containsKey(stationProtocol.getStationId())) {
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stationStayTimeMap.remove(stationProtocol.getStationId());
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}
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}
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}
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}
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//检测出库站点停留是否超时
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public synchronized void checkOutStationStayTimeOut() {
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
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for (BasDevp basDevp : basDevps) {
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List<StationObjModel> outStationList = basDevp.getOutStationList$();
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if(outStationList.isEmpty()){
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News.info("输送线:{} 出库站点未设置", basDevp.getDevpNo());
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continue;
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}
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for (StationObjModel stationObjModel : outStationList) {
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Object lock = redisUtil.get(RedisKeyType.CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId());
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if(lock != null){
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continue;
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}
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Long stayTime = stationStayTimeMap.get(stationObjModel.getStationId());
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if (stayTime == null) {
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continue;
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}
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if(System.currentTimeMillis() - stayTime > 1000 * 15) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if(stationThread == null){
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continue;
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}
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StationCommand command = stationThread.getMoveCommand(0, stationObjModel.getStationId(), 0, 0);
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if(command == null){
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continue;
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}
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MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
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redisUtil.set(RedisKeyType.CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(), "lock",10);
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News.info("输送站点重置命令下发成功，站点号={}，命令数据={}", stationObjModel.getStationId(), JSON.toJSONString(command));
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}
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}
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}
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}
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//检测入库站点堆垛机是否取走货物
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public synchronized void checkInStationCrnTake() {
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
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for (BasCrnp basCrnp : basCrnps) {
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List<StationObjModel> inStationList = basCrnp.getInStationList$();
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if(inStationList.isEmpty()){
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News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
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continue;
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}
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for (StationObjModel stationObjModel : inStationList) {
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Object lock = redisUtil.get(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId());
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if(lock != null){
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continue;
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}
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if(stationThread == null){
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continue;
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}
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StationCommand command = stationThread.getMoveCommand(0, stationObjModel.getStationId(), 0, 0);
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if(command == 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(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if(stationProtocol.getTaskNo() > 0) {
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WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
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if (wrkMast == null) {
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MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
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redisUtil.set(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(), "lock",10);
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News.info("输送站点重置命令下发成功，站点号={}，命令数据={}", stationObjModel.getStationId(), JSON.toJSONString(command));
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}else {
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if (wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts && wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
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Integer crnNo = wrkMast.getCrnNo();
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
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if (crnThread == null) {
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if (crnProtocol.getStatusType().equals(CrnStatusType.FETCH_MOVING) || crnProtocol.getStatusType().equals(CrnStatusType.FETCHING)) {
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continue;
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}
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MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
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redisUtil.set(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(), "lock",10);
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News.info("输送站点重置命令下发成功，站点号={}，命令数据={}", stationObjModel.getStationId(), 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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}
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//堆垛机任务执行完成
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public synchronized void crnIoExecuteFinish() {
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
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for (BasCrnp basCrnp : basCrnps) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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if(crnThread == null){
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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continue;
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}
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if (crnProtocol.getMode() == CrnModeType.AUTO.id
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&& crnProtocol.getTaskNo() > 0
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&& crnProtocol.getStatus() == CrnStatusType.WAITING.id
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) {
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// 获取待确认工作档
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WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
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if (wrkMast == null) {
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News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
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continue;
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}
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Long updateWrkSts = null;
|
if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
|
updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
|
}else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
|
updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
|
|
//生成仿真站点数据
|
List<StationObjModel> outStationList = basCrnp.getOutStationList$();
|
if(outStationList.isEmpty()){
|
News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
|
continue;
|
}
|
|
for (StationObjModel stationObjModel : outStationList) {
|
if (!stationObjModel.getStationId().equals(wrkMast.getSourceStaNo())) {
|
continue;
|
}
|
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
|
if (stationThread == null) {
|
continue;
|
}
|
//生成仿真站点数据
|
StationCommand command = stationThread.getMoveCommand(9998, wrkMast.getSourceStaNo(), 0, 0);
|
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
|
}
|
}else{
|
News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
|
continue;
|
}
|
|
wrkMast.setWrkSts(updateWrkSts);
|
wrkMast.setSystemMsg("");
|
wrkMast.setIoTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
|
MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
|
News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
|
}
|
}
|
}
|
}
|
|
}
|
