#执行优化

Junjie

8 小时以前 41aeff86351d1dd94fe2408175f96475f227c1b9

 src/main/java/com/zy/core/plugin/FakeProcess.java

@@ -1,16 +1,15 @@
package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.param.CreateInTaskParam;
import com.zy.asrs.domain.param.CreateOutTaskParam;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
@@ -29,14 +28,14 @@
import com.zy.core.plugin.store.StoreInTaskContext;
import com.zy.core.plugin.store.StoreInTaskGenerationService;
import com.zy.core.plugin.store.StoreInTaskPolicy;
import com.zy.core.properties.SystemProperties;
import com.zy.core.task.MainProcessLane;
import com.zy.core.task.MainProcessTaskSubmitter;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.DualCrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import com.zy.core.utils.WmsOperateUtils;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -45,26 +44,18 @@

import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.Future;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.TimeoutException;

@Slf4j
@Component
public class FakeProcess implements MainProcessPluginApi, StoreInTaskPolicy {
    private static final long MAIN_DISPATCH_INTERVAL_MS = 200L;
    private static final long ASYNC_DISPATCH_INTERVAL_MS = 50L;

    private static final long METHOD_TIMEOUT_MS = 15000; // 15秒超时
    private static final ExecutorService timeoutExecutor = Executors.newCachedThreadPool();

    private static Map<Integer, Long> stationStayTimeMap = new ConcurrentHashMap<>();
    private static final Map<Integer, Long> stationStayTimeMap = new ConcurrentHashMap<>();
    private static volatile String enableFake = "N";
    private static volatile String fakeRealTaskRequestWms = "N";
    private static volatile String fakeGenerateInTask = "Y";
    private static volatile String fakeGenerateOutTask = "Y";

    private Thread asyncFakeRunThread = null;

    @Autowired
    private WrkMastService wrkMastService;
@@ -87,8 +78,6 @@
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private WrkAnalysisService wrkAnalysisService;
    @Autowired
    private DualCrnOperateProcessUtils dualCrnOperateProcessUtils;
@@ -96,126 +85,132 @@
    private StoreInTaskGenerationService storeInTaskGenerationService;
    @Autowired
    private StationCommandDispatcher stationCommandDispatcher;

    /**
     * 带超时保护执行方法
     * 
     * @param taskName 任务名称（用于日志）
     * @param task     要执行的任务
     */
    private void executeWithTimeout(String taskName, Runnable task) {
        Future<?> future = timeoutExecutor.submit(task);
        try {
            future.get(METHOD_TIMEOUT_MS, TimeUnit.MILLISECONDS);
        } catch (TimeoutException e) {
            // 使用 cancel(false) 不发送中断信号，避免 RedisCommandInterruptedException
            // 任务会在后台继续执行直到完成，但主循环不会等待
            future.cancel(false);
            News.error("[WCS Warning] 方法执行超时，主循环已跳过: {}, 超时时间: {}ms (任务仍在后台运行)", taskName, METHOD_TIMEOUT_MS);
        } catch (Exception e) {
            News.error("[WCS Error] 方法执行异常: {}, 异常: {}", taskName, e.getMessage());
        }
    }
    @Autowired
    private MainProcessTaskSubmitter mainProcessTaskSubmitter;

    @Override
    public void run() {
        long startTime = System.currentTimeMillis();
        asyncFakeRun();
        refreshFakeConfig();

        // 仿真异步任务
        submitAsyncTasks(ASYNC_DISPATCH_INTERVAL_MS);
        // 仿真输送线堵塞检测
        stationOperateProcessUtils.submitCheckStationRunBlockTasks(MainProcessLane.FAKE_STATION_RUN_BLOCK, ASYNC_DISPATCH_INTERVAL_MS);

        // 请求生成入库任务
        this.generateStoreWrkFile();
        generateStoreWrkFile();

        // 执行堆垛机任务
        crnOperateUtils.crnIoExecute();
        // 堆垛机任务执行完成-具备仿真能力
        this.crnIoExecuteFinish();
        crnOperateUtils.submitCrnIoTasks(MainProcessLane.FAKE_CRN_IO, MAIN_DISPATCH_INTERVAL_MS);
        // 堆垛机任务执行完成
        submitCrnIoExecuteFinishTasks(MAIN_DISPATCH_INTERVAL_MS);
        // 执行输送站点入库任务
        stationOperateProcessUtils.stationInExecute();
        // 执行输送站点出库任务
        stationOperateProcessUtils.crnStationOutExecute();
        // 检测出库排序
        stationOperateProcessUtils.checkStationOutOrder();
        // 监控绕圈站点
        stationOperateProcessUtils.watchCircleStation();

        stationOperateProcessUtils.submitStationInTasks(MainProcessLane.FAKE_STATION_IN, MAIN_DISPATCH_INTERVAL_MS);
        // 检测入库任务是否已经到达目标站台
        stationOperateProcessUtils.submitInboundStationArrivalTasks(MAIN_DISPATCH_INTERVAL_MS);
        // 输送线执行堆垛机出库后的站台流转
        stationOperateProcessUtils.submitCrnStationOutTasks(MainProcessLane.FAKE_STATION_OUT, MAIN_DISPATCH_INTERVAL_MS);
        // 检测出库任务是否已经到达目标站台
        stationOperateProcessUtils.submitStationOutExecuteFinishTasks(MAIN_DISPATCH_INTERVAL_MS);
        // 检测站台运行完成后的任务转完成
        stationOperateProcessUtils.submitCheckTaskToCompleteTasks(MAIN_DISPATCH_INTERVAL_MS);
        // 检测并处理出库排序
        stationOperateProcessUtils.submitCheckStationOutOrderTasks(MainProcessLane.FAKE_STATION_OUT_ORDER, MAIN_DISPATCH_INTERVAL_MS);
        // 监控输送线绕圈站点
        stationOperateProcessUtils.submitWatchCircleStationTasks(MainProcessLane.FAKE_STATION_WATCH_CIRCLE, MAIN_DISPATCH_INTERVAL_MS);
        // 执行双工位堆垛机任务
        dualCrnOperateProcessUtils.dualCrnIoExecute();
        dualCrnOperateProcessUtils.submitDualCrnIoTasks(MainProcessLane.FAKE_DUAL_CRN_IO, MAIN_DISPATCH_INTERVAL_MS);
        // 双工位堆垛机任务执行完成
        dualCrnOperateProcessUtils.dualCrnIoExecuteFinish();
        dualCrnOperateProcessUtils.submitDualCrnIoExecuteFinishTasks(MainProcessLane.FAKE_DUAL_CRN_IO_FINISH, MAIN_DISPATCH_INTERVAL_MS);

        News.info("[WCS Debug] 主线程Run执行完成,耗时:{}ms", System.currentTimeMillis() - startTime);
    }

    public void asyncFakeRun() {
        if (asyncFakeRunThread != null) {
            return;
    private void refreshFakeConfig() {
        Config enableFakeConfig = configService.getOne(new QueryWrapper<Config>().eq("code", "enableFake"));
        if (enableFakeConfig != null) {
            enableFake = enableFakeConfig.getValue();
        }

        asyncFakeRunThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Config enableFakeConfig = configService
                            .getOne(new QueryWrapper<Config>().eq("code", "enableFake"));
                    if (enableFakeConfig != null) {
                        enableFake = enableFakeConfig.getValue();
                    }
        Config fakeRealTaskRequestWmsConfig = configService
                .getOne(new QueryWrapper<Config>().eq("code", "fakeRealTaskRequestWms"));
        if (fakeRealTaskRequestWmsConfig != null) {
            fakeRealTaskRequestWms = fakeRealTaskRequestWmsConfig.getValue();
        }

                    Config fakeRealTaskRequestWmsConfig = configService
                            .getOne(new QueryWrapper<Config>().eq("code", "fakeRealTaskRequestWms"));
                    if (fakeRealTaskRequestWmsConfig != null) {
                        fakeRealTaskRequestWms = fakeRealTaskRequestWmsConfig.getValue();
                    }
        Config fakeGenerateInTaskConfig = configService
                .getOne(new QueryWrapper<Config>().eq("code", "fakeGenerateInTask"));
        if (fakeGenerateInTaskConfig != null) {
            fakeGenerateInTask = fakeGenerateInTaskConfig.getValue();
        }

                    Config fakeGenerateInTaskConfig = configService
                            .getOne(new QueryWrapper<Config>().eq("code", "fakeGenerateInTask"));
                    if (fakeGenerateInTaskConfig != null) {
                        fakeGenerateInTask = fakeGenerateInTaskConfig.getValue();
                    }
        Config fakeGenerateOutTaskConfig = configService
                .getOne(new QueryWrapper<Config>().eq("code", "fakeGenerateOutTask"));
        if (fakeGenerateOutTaskConfig != null) {
            fakeGenerateOutTask = fakeGenerateOutTaskConfig.getValue();
        }
    }

                    Config fakeGenerateOutTaskConfig = configService
                            .getOne(new QueryWrapper<Config>().eq("code", "fakeGenerateOutTask"));
                    if (fakeGenerateOutTaskConfig != null) {
                        fakeGenerateOutTask = fakeGenerateOutTaskConfig.getValue();
                    }
    private void submitAsyncTasks(long minIntervalMs) {
        submitAsyncTask("checkInStationHasTask", minIntervalMs, this::checkInStationHasTask);
        submitAsyncTask("generateFakeInTask", minIntervalMs, this::generateFakeInTask);
        submitAsyncTask("generateFakeOutTask", minIntervalMs, this::generateFakeOutTask);
        submitAsyncTask("calcAllStationStayTime", minIntervalMs, this::calcAllStationStayTime);
        submitAsyncTask("checkOutStationStayTimeOut", minIntervalMs, this::checkOutStationStayTimeOut);
        submitAsyncTask("checkInStationCrnTake", minIntervalMs, this::checkInStationCrnTake);
    }

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }
    private void submitAsyncTask(String taskName, long minIntervalMs, Runnable task) {
        mainProcessTaskSubmitter.submitKeyedSerialTask(
                MainProcessLane.FAKE_ASYNC,
                taskName,
                taskName,
                minIntervalMs,
                task
        );
    }

                    // 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
                    checkInStationHasTask();
                    // 生成仿真模拟入库任务
                    generateFakeInTask();
                    // 生成仿真模拟出库任务
                    generateFakeOutTask();
                    // 计算所有站点停留时间
                    calcAllStationStayTime();
                    // 检测出库站点停留是否超时
                    checkOutStationStayTimeOut();
                    // 检测入库站点堆垛机是否取走货物
                    checkInStationCrnTake();

                    // 检测输送站点是否运行堵塞
                    stationOperateProcessUtils.checkStationRunBlock();

                    // 间隔
                    Thread.sleep(50);
                } catch (InterruptedException ie) {
                    Thread.currentThread().interrupt();
                    break;
                } catch (Exception e) {
                    e.printStackTrace();
                }
    private void submitCrnIoExecuteFinishTasks(long minIntervalMs) {
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            Integer crnNo = basCrnp == null ? null : basCrnp.getCrnNo();
            if (crnNo == null) {
                continue;
            }
        });
        asyncFakeRunThread.setName("asyncFakeRunProcess");
        asyncFakeRunThread.setDaemon(true);
        asyncFakeRunThread.start();
            mainProcessTaskSubmitter.submitKeyedSerialTask(
                    MainProcessLane.FAKE_CRN_IO_FINISH,
                    crnNo,
                    "crnIoExecuteFinish",
                    minIntervalMs,
                    () -> crnIoExecuteFinish(basCrnp)
            );
        }
    }

    private void submitGenerateStoreTasks() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            List<StationObjModel> barcodeStations = getBarcodeStations(basDevp);
            for (StationObjModel stationObjModel : barcodeStations) {
                Integer stationId = stationObjModel == null ? null : stationObjModel.getStationId();
                if (stationId == null) {
                    continue;
                }
                storeInTaskGenerationService.submitGenerateStoreTask(
                        this,
                        basDevp,
                        stationObjModel,
                        MainProcessLane.FAKE_GENERATE_STORE,
                        MAIN_DISPATCH_INTERVAL_MS,
                        () -> storeInTaskGenerationService.generate(this, basDevp, stationObjModel)
                );
            }
        }
    }

    // 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
    private synchronized void checkInStationHasTask() {
    private void checkInStationHasTask() {
        if (!enableFake.equals("Y")) {
            return;
        }
@@ -258,6 +253,9 @@
                            commonService.getWorkNo(WrkIoType.FAKE_TASK_NO.id), stationId,
                            entity.getBarcodeStation().getStationId(), 0);
                    stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "fake-process", "fake-enable-in");
                    if (entity.getBarcodeStation() != null && entity.getBarcodeStation().getStationId() != null) {
                        Utils.precomputeInTaskEnableRow(entity.getBarcodeStation().getStationId());
                    }
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 5);
                }
            }
@@ -265,7 +263,7 @@
    }

    // 生成仿真模拟入库任务
    private synchronized void generateFakeInTask() {
    private void generateFakeInTask() {
        if (!enableFake.equals("Y")) {
            return;
        }
@@ -360,7 +358,7 @@
    }

    // 生成仿真模拟出库任务
    private synchronized void generateFakeOutTask() {
    private void generateFakeOutTask() {
        try {
            if (!enableFake.equals("Y")) {
                return;
@@ -422,7 +420,7 @@
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
            log.error("generateFakeOutTask execute error", e);
        }
    }

@@ -430,8 +428,8 @@
     * 请求生成入库任务
     * 入库站，根据条码扫描生成入库工作档
     */
    public synchronized void generateStoreWrkFile() {
        storeInTaskGenerationService.generate(this);
    public void generateStoreWrkFile() {
        submitGenerateStoreTasks();
    }

    @Override
@@ -466,7 +464,7 @@
    }

    // 计算所有站点停留时间
    public synchronized void calcAllStationStayTime() {
    public void calcAllStationStayTime() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
@@ -490,7 +488,7 @@
    }

    // 检测出库站点停留是否超时
    public synchronized void checkOutStationStayTimeOut() {
    public void checkOutStationStayTimeOut() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            List<StationObjModel> outStationList = basDevp.getOutStationList$();
@@ -536,7 +534,7 @@
    }

    // 检测入库站点堆垛机是否取走货物
    public synchronized void checkInStationCrnTake() {
    public void checkInStationCrnTake() {
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            List<StationObjModel> inStationList = basCrnp.getInStationList$();
@@ -558,7 +556,7 @@
        }
    }

    private synchronized void checkInStationListCrnTake(List<StationObjModel> inStationList) {
    private void checkInStationListCrnTake(List<StationObjModel> inStationList) {
        for (StationObjModel stationObjModel : inStationList) {
            Object lock = redisUtil
                    .get(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId());
@@ -648,85 +646,93 @@
    }

    // 堆垛机任务执行完成
    public synchronized void crnIoExecuteFinish() {
    public void crnIoExecuteFinish() {
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }

            if (crnProtocol.getMode() == CrnModeType.AUTO.id
                    && crnProtocol.getTaskNo() > 0
                    && crnProtocol.getStatus() == CrnStatusType.WAITING.id) {
                Object lock = redisUtil.get(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo());
                if (lock != null) {
                    continue;
                }

                // 获取待确认工作档
                WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
                if (wrkMast == null) {
                    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());
                    continue;
                }

                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.getCommand(StationCommandType.WRITE_INFO, 9998,
                                wrkMast.getSourceStaNo(), 0, 0);
                        stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "crn-out-complete-write-info");
                        redisUtil.set(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo(), JSON.toJSONString(stationObjModel, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    }
                } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
                    updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
                } 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;
                }

                Date now = new Date();
                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastService.updateById(wrkMast)) {
                    wrkAnalysisService.markCraneComplete(wrkMast, now, updateWrkSts);
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getTaskNo(), 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());
                }

                redisUtil.set(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo(), "lock", 10);
            }
            crnIoExecuteFinish(basCrnp);
        }
    }

    private void crnIoExecuteFinish(BasCrnp basCrnp) {
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
        if (crnThread == null) {
            return;
        }

        CrnProtocol crnProtocol = crnThread.getStatus();
        if (crnProtocol == null) {
            return;
        }

        if (crnProtocol.getMode() != CrnModeType.AUTO.id
                || crnProtocol.getTaskNo() <= 0
                || crnProtocol.getStatus() != CrnStatusType.WAITING.id) {
            return;
        }

        Object lock = redisUtil.get(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo());
        if (lock != null) {
            return;
        }

        // 获取待确认工作档
        WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
        if (wrkMast == null) {
            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());
            return;
        }

        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());
                return;
            }

            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.getCommand(StationCommandType.WRITE_INFO, 9998,
                        wrkMast.getSourceStaNo(), 0, 0);
                stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "crn-out-complete-write-info");
                redisUtil.set(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo(), JSON.toJSONString(stationObjModel, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
            }
        } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
            updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
        } else if (wrkMast.getWrkSts() == WrkStsType.CRN_MOVE_RUN.sts) {
            updateWrkSts = WrkStsType.COMPLETE_CRN_MOVE.sts;
        } 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());
            return;
        }

        Date now = new Date();
        wrkMast.setWrkSts(updateWrkSts);
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(now);
        wrkMast.setModiTime(now);
        if (wrkMastService.updateById(wrkMast)) {
            wrkAnalysisService.markCraneComplete(wrkMast, now, updateWrkSts);
            CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getTaskNo(), 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());
        }

        redisUtil.set(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo(), "lock", 10);
    }

}