#

cpT

7 天以前 4a1aabe58c417352b62504255603f790b0a6228b

 src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java

@@ -15,7 +15,6 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
@@ -27,6 +26,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.param.SendDualCrnCommandParam;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.DualCrnThread;
@@ -101,43 +101,175 @@
            return;
        }

        List<WrkMast> allTaskList = new ArrayList<>();
        List<WrkMast> inTaskList = getInTaskList(basDualCrnp);
        List<WrkMast> outTaskList = getOutTaskList(basDualCrnp);
        List<WrkMast> locMoveTaskList = getLocMoveTaskList(basDualCrnp);

        if (!locMoveTaskList.isEmpty()) {
            allTaskList.addAll(locMoveTaskList);
        if (!(dualCrnProtocol.getStatusType().equals(DualCrnStatusType.IDLE) && dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.IDLE))) {
            return;
        }

        // 如果最近一次是出库模式
        if (dualCrnProtocol.getLastIo().equals("O")) {
            allTaskList.addAll(inTaskList);
            allTaskList.addAll(outTaskList);
            processLoveMove(basDualCrnp, dualCrnThread);
            processIn(basDualCrnp, dualCrnThread);
            processOut(basDualCrnp, dualCrnThread);
        }
        // 如果最近一次是入库模式
        else if (dualCrnProtocol.getLastIo().equals("I")) {
            allTaskList.addAll(outTaskList);
            allTaskList.addAll(inTaskList);
            processLoveMove(basDualCrnp, dualCrnThread);
            processOut(basDualCrnp, dualCrnThread);
            processIn(basDualCrnp, dualCrnThread);
        }
    }

    private void processIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> inTaskList = getInTaskList(basDualCrnp);
        if (inTaskList.isEmpty()) {
            return;
        }

        for (WrkMast wrkMast : allTaskList) {
            if (wrkMast.getIoType() == WrkIoType.IN.id) {
                boolean result = this.crnExecuteIn(basDualCrnp, dualCrnThread, wrkMast);
                if (result) {
                    break;
                }
            } else if (wrkMast.getIoType() == WrkIoType.OUT.id) {
                boolean result = this.crnExecuteOut(basDualCrnp, dualCrnThread, wrkMast);
                if (result) {
                    break;
                }
            } else if (wrkMast.getIoType() == WrkIoType.LOC_MOVE.id) {
                boolean result = this.crnExecuteLocMove(basDualCrnp, dualCrnThread, wrkMast);
                if (result) {
                    break;
        WrkMast stationOneWrkMast = inTaskList.get(0);
        WrkMast stationTwoWrkMast = null;

        if (inTaskList.size() >= 2) {
            stationTwoWrkMast = inTaskList.get(1);
        }

        SendDualCrnCommandParam oneResult = null;
        SendDualCrnCommandParam twoResult = null;

        if(stationOneWrkMast != null){
            oneResult = crnExecuteIn(basDualCrnp, dualCrnThread, stationOneWrkMast);
        }

        if(stationTwoWrkMast != null){
            twoResult = crnExecuteIn(basDualCrnp, dualCrnThread, stationTwoWrkMast);
        }

        List<SendDualCrnCommandParam> list = new ArrayList<>();
        if (oneResult != null) {
            list.add(oneResult);
        }

        if (twoResult != null) {
            list.add(twoResult);
        }

        if (!list.isEmpty()) {
            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            Integer crnNo = basDualCrnp.getCrnNo();
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("I");
        }
    }

    private void processOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> outTaskList = getOutTaskList(basDualCrnp);
        if (outTaskList.isEmpty()) {
            return;
        }

        WrkMast stationOneWrkMast = null;
        WrkMast stationTwoWrkMast = null;

        List<Integer> disableList = basDualCrnp.getDisableStationOneBays$();

        for (WrkMast wrkMast : outTaskList) {
            if (stationOneWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationOneWrkMast = wrkMast;
                    continue;
                }
            }

            if (stationTwoWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationTwoWrkMast = wrkMast;
                    continue;
                }
            }
        }

        SendDualCrnCommandParam oneResult = null;
        SendDualCrnCommandParam twoResult = null;

        if(stationOneWrkMast != null){
            oneResult = crnExecuteOut(basDualCrnp, dualCrnThread, stationOneWrkMast, 1);
        }

        if(stationTwoWrkMast != null){
            twoResult = crnExecuteOut(basDualCrnp, dualCrnThread, stationTwoWrkMast, 2);
        }

        List<SendDualCrnCommandParam> list = new ArrayList<>();
        if (oneResult != null) {
            list.add(oneResult);
        }

        if (twoResult != null) {
            list.add(twoResult);
        }

        if (!list.isEmpty()) {
            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            Integer crnNo = basDualCrnp.getCrnNo();
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("O");
        }
    }

    private void processLoveMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> locMoveTaskList = getLocMoveTaskList(basDualCrnp);
        if (locMoveTaskList.isEmpty()) {
            return;
        }

        WrkMast stationOneWrkMast = null;
        WrkMast stationTwoWrkMast = null;

        List<Integer> disableList = basDualCrnp.getDisableStationOneBays$();

        for (WrkMast wrkMast : locMoveTaskList) {
            if (stationOneWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationOneWrkMast = wrkMast;
                    continue;
                }
            }

            if (stationTwoWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationTwoWrkMast = wrkMast;
                    continue;
                }
            }
        }

        SendDualCrnCommandParam oneResult = null;
        SendDualCrnCommandParam twoResult = null;

        if(stationOneWrkMast != null){
            oneResult = crnExecuteLocMove(basDualCrnp, dualCrnThread, stationOneWrkMast, 1);
        }

        if(stationTwoWrkMast != null){
            twoResult = crnExecuteLocMove(basDualCrnp, dualCrnThread, stationTwoWrkMast, 2);
        }

        List<SendDualCrnCommandParam> list = new ArrayList<>();
        if (oneResult != null) {
            list.add(oneResult);
        }

        if (twoResult != null) {
            list.add(twoResult);
        }

        if (!list.isEmpty()) {
            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            Integer crnNo = basDualCrnp.getCrnNo();
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("O");
        }
    }

@@ -148,55 +280,39 @@
            return list;
        }

        List<Integer> taskList = new ArrayList<>();
        List<StationObjModel> inStationList = basDualCrnp.getInStationList$();
        if(inStationList.isEmpty()){
            News.info("双工位堆垛机:{} 入库站点未设置", basDualCrnp.getCrnNo());
            return list;
        }

        for (StationObjModel stationObjModel : inStationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
            StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
            Map<Integer, StationProtocol> map = stationThread.getStatusMap();
            StationProtocol stationProtocol = map.get(stationObjModel.getStationId());
            if (stationProtocol == null) {
                continue;
            }

            if (!stationProtocol.isAutoing()) {
                continue;
            if (stationProtocol.isAutoing()
                    && stationProtocol.isLoading()
                    && stationProtocol.getTaskNo() > 0
            ) {
                taskList.add(stationProtocol.getTaskNo());
            }
        }

            if (!stationProtocol.isLoading()) {
                continue;
            }

            if (stationProtocol.getTaskNo() <= 0) {
                continue;
            }

            if (!stationProtocol.isInEnable()) {
                News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
                continue;
            }

            // 获取任务
            WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
            if (null == wrkMast) {
                News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
                continue;
            }

        // 获取任务
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .eq("dual_crn_no", basDualCrnp.getCrnNo())
                .in("wrk_no", taskList)
        );
        for (WrkMast wrkMast : wrkMasts) {
            if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
                continue;
            }

            list.add(wrkMast);
        }

        return list;
    }

@@ -231,46 +347,46 @@
        return list;
    }

    private synchronized boolean crnExecuteIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
    private synchronized SendDualCrnCommandParam crnExecuteIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return false;
            return null;
        }

        if (!basDualCrnp.getInEnable().equals("Y")) {
            News.info("双工位堆垛机:{} 可入信号不满足", basDualCrnp.getCrnNo());
            return false;
            return null;
        }

        List<StationObjModel> inStationList = basDualCrnp.getInStationList$();
        if(inStationList.isEmpty()){
            News.info("双工位堆垛机:{} 入库站点未设置", basDualCrnp.getCrnNo());
            return false;
            return null;
        }

        Integer crnNo = basDualCrnp.getCrnNo();

        if (wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
            return false;
            return null;
        }

        // 获取库位信息
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
            return false;
            return null;
        }

        if (!locMast.getLocSts().equals("S")) {
            News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
            return false;
            return null;
        }

        //检测浅库位状态
        boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
        if (!checkStatus) {
            News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
            return false;
            return null;
        }

        StationObjModel inStationObjModel = null;
@@ -307,38 +423,11 @@
                inStationObjModel = stationObjModel;
                break;
            }

            StationObjModel dualCrnSlaveStationObjModel = stationObjModel.getDualCrnSlaveStation();
            if (dualCrnSlaveStationObjModel == null) {
                continue;
            }

            StationProtocol slaveStationProtocol = stationProtocolMap.get(dualCrnSlaveStationObjModel.getStationId());
            if (slaveStationProtocol == null) {
                continue;
            }

            if (!slaveStationProtocol.isAutoing()) {
                continue;
            }

            if (!slaveStationProtocol.isLoading()) {
                continue;
            }

            if (slaveStationProtocol.getTaskNo() <= 0) {
                continue;
            }

            if (slaveStationProtocol.getTaskNo().equals(wrkMast.getWrkNo())) {
                inStationObjModel = dualCrnSlaveStationObjModel;
                break;
            }
        }

        if (inStationObjModel == null) {
            News.taskInfo(wrkMast.getWrkNo(), "未搜索到取货站点");
            return false;
            return null;
        }

        Integer station = inStationObjModel.getDualCrnExecuteStation();
@@ -347,14 +436,14 @@
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
                reassignTaskLocNo(wrkMast, inStationObjModel);
                return false;
                return null;
            }
        }else {
            List<Integer> basList = basDualCrnp.getDisableStationTwoBays$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
                reassignTaskLocNo(wrkMast, inStationObjModel);
                return false;
                return null;
            }
        }

@@ -371,42 +460,44 @@
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
            SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
            sendDualCrnCommandParam.setCrnNo(crnNo);
            sendDualCrnCommandParam.setStation(station);
            sendDualCrnCommandParam.setCommands(commandList);
            sendDualCrnCommandParam.setCommandIdx(0);

            notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_IN_TASK_RUN, null);
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
            dualCrnProtocol.setLastIo("I");
            return true;
            return sendDualCrnCommandParam;
        }
        return false;
        return null;
    }

    private synchronized boolean crnExecuteOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
    private synchronized SendDualCrnCommandParam crnExecuteOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return false;
            return null;
        }

        if (!basDualCrnp.getOutEnable().equals("Y")) {
            News.info("双工位堆垛机:{} 可出信号不满足", basDualCrnp.getCrnNo());
            return false;
            return null;
        }

        List<StationObjModel> outStationList = basDualCrnp.getOutStationList$();
        if (outStationList.isEmpty()) {
            News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
            return false;
            return null;
        }

        Integer crnNo = basDualCrnp.getCrnNo();
        int station = calcStation(dualCrnProtocol, "out");
        if (station == 0) {
            News.info("双工位堆垛机:{} 无可用工位", basDualCrnp.getCrnNo());
            return false;
        }

        for (StationObjModel stationObjModel : outStationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            if (stationObjModel.getDualCrnExecuteStation() != station) {
                continue;
            }

@@ -465,65 +556,58 @@
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_OUT_TASK_RUN, null);
                News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
                dualCrnProtocol.setLastIo("O");

                redisUtil.set(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo(), JSON.toJSONString(stationObjModel, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                return true;

                SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
                sendDualCrnCommandParam.setCrnNo(crnNo);
                sendDualCrnCommandParam.setStation(station);
                sendDualCrnCommandParam.setCommands(commandList);
                sendDualCrnCommandParam.setCommandIdx(0);

                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_OUT_TASK_RUN, null);
                return sendDualCrnCommandParam;
            }
        }
        return false;
        return null;
    }

    private synchronized boolean crnExecuteLocMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
    private synchronized SendDualCrnCommandParam crnExecuteLocMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return false;
            return null;
        }

        Integer crnNo = basDualCrnp.getCrnNo();
        int station = calcStation(dualCrnProtocol, "locMove");
        if (station == 0) {
            News.info("双工位堆垛机:{} 无可用工位", basDualCrnp.getCrnNo());
            return false;
        }

        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .eq("crn_no", crnNo)
                .eq("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts)
        );

        // 获取源库位信息
        LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
        if (sourceLocMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
            return false;
            return null;
        }

        if(!sourceLocMast.getLocSts().equals("R")){
        if (!sourceLocMast.getLocSts().equals("R")) {
            News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常，不属于出库预约状态", wrkMast.getSourceLocNo());
            return false;
            return null;
        }

        // 获取库位信息
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "库位:{} 信息不存在", wrkMast.getLocNo());
            return false;
            return null;
        }

        if (!locMast.getLocSts().equals("S")) {
            News.taskInfo(wrkMast.getWrkNo(), "库位:{} 状态异常，不属于入库预约状态", wrkMast.getLocNo());
            return false;
            return null;
        }

        //检测浅库位状态
        boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
        if (!checkStatus) {
            News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
            return false;
            return null;
        }

        List<DualCrnCommand> commandList = new ArrayList<>();
@@ -537,13 +621,16 @@
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
            SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
            sendDualCrnCommandParam.setCrnNo(crnNo);
            sendDualCrnCommandParam.setStation(station);
            sendDualCrnCommandParam.setCommands(commandList);
            sendDualCrnCommandParam.setCommandIdx(0);

            notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_TRANSFER_TASK_RUN, null);
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
            dualCrnProtocol.setLastIo("I");
            return true;
            return sendDualCrnCommandParam;
        }
        return false;
        return null;
    }

    //双工位堆垛机任务执行完成
@@ -591,15 +678,27 @@
            return;
        }

        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + wrkMast.getWrkNo());
        if (commandObj == null) {
        Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + basDualCrnp.getCrnNo());
        if (commandListObj == null) {
            News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到命令。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
            return;
        }
        List<SendDualCrnCommandParam> dualCrnCommandParamList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);
        SendDualCrnCommandParam taskCommand = null;
        for (SendDualCrnCommandParam sendDualCrnCommandParam : dualCrnCommandParamList) {
            DualCrnCommand dualCrnCommand = sendDualCrnCommandParam.getCommands().get(0);
            if(dualCrnCommand.getTaskNo() == taskNo){
                taskCommand = sendDualCrnCommandParam;
                break;
            }
        }
        if (taskCommand == null) {
            News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到命令。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
            return;
        }

        JSONObject commandMap = JSON.parseObject(commandObj.toString());
        Integer idx = commandMap.getInteger("idx");
        List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
        Integer idx = taskCommand.getCommandIdx();
        List<DualCrnCommand> commandList = taskCommand.getCommands();
        if (idx >= commandList.size()) {
            Long updateWrkSts = null;
            if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
@@ -608,15 +707,15 @@
            } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts) {
                updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), basDualCrnp.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_OUT_TASK_COMPLETE, null);
                

                List<StationObjModel> outStationList = basDualCrnp.getOutStationList$();
                if(outStationList.isEmpty()){
                    News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
                    return;
                }

                if(mainProcessPlugin.contains("Fake")) {
                    //生成仿真站点数据
                    List<StationObjModel> outStationList = basDualCrnp.getOutStationList$();
                    if(outStationList.isEmpty()){
                        News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
                        return;
                    }

                    for (StationObjModel stationObjModel : outStationList) {
                        if (!stationObjModel.getStationId().equals(wrkMast.getSourceStaNo())) {
                            continue;
@@ -652,12 +751,6 @@
                redisUtil.set(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo, "lock", 10);
            }
        }else {
            DualCrnCommand command = commandList.get(idx - 1);
            if (command.getTaskMode() == DualCrnTaskModeType.PICK.id.shortValue()) {
                //取货后等待下一个任务时长
                redisUtil.set(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + basDualCrnp.getCrnNo(), "wait", 10);
            }

            DualCrnCommand resetCommand = dualCrnThread.getResetCommand(dualCrnProtocol.getCrnNo(), station);
            MessageQueue.offer(SlaveType.DualCrn, dualCrnProtocol.getCrnNo(), new Task(3, resetCommand));
            News.info("双工位堆垛机命令完成确认成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
@@ -681,13 +774,13 @@
        if (lock != null) {
            return false;
        }
        redisUtil.set(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo, "lock", 5);

        Integer shallowRow = Utils.getShallowRowByDeepRow(Utils.getRow(locNo));
        if (shallowRow == null) {
            return true;
        }

        redisUtil.set(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo, "lock", 5);
        String shallowLocNo = Utils.getLocNo(shallowRow, Utils.getBay(locNo), Utils.getLev(locNo));
        LocMast shallowLocMast = locMastService.queryByLoc(shallowLocNo);
        if (shallowLocMast == null) {
@@ -725,76 +818,6 @@
            }
        }
        return false;
    }

    private int calcStation(DualCrnProtocol dualCrnProtocol, String type) {
        List<Integer> idleStationList = new ArrayList<>();

        if (dualCrnProtocol.getTaskNo() == 0
                && dualCrnProtocol.getLoaded() == 0
                && dualCrnProtocol.getStatusType().equals(DualCrnStatusType.IDLE)
                && dualCrnProtocol.getTaskReceive() == 0
        ) {
            idleStationList.add(1);
        }

        if (dualCrnProtocol.getTaskNoTwo() == 0
                && dualCrnProtocol.getLoadedTwo() == 0
                && dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.IDLE)
                && dualCrnProtocol.getTaskReceiveTwo() == 0
        ) {
            idleStationList.add(2);
        }

        if (type.equals("locMove")) {
            if (idleStationList.size() != 2) {
                return 0;
            }
            return idleStationList.get(0);
        }

        if (idleStationList.size() == 2) {
            return idleStationList.get(0);
        }

        Integer idleStation = idleStationList.get(0);
        int workingStation = idleStation == 1 ? 2 : 1;

        int executeTaskNo = 0;
        if (workingStation == 1) {
            executeTaskNo = dualCrnProtocol.getTaskNo();
            //检测工位已进入放货阶段，放货阶段不接新任务
            if (dualCrnProtocol.getStatusType().equals(DualCrnStatusType.PUT_MOVING)
                    || dualCrnProtocol.getStatusType().equals(DualCrnStatusType.PUTTING)
                    || dualCrnProtocol.getStatusType().equals(DualCrnStatusType.WAITING)
            ) {
                return 0;
            }
        } else {
            executeTaskNo = dualCrnProtocol.getTaskNoTwo();
            //检测工位已进入放货阶段，放货阶段不接新任务
            if (dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.PUT_MOVING)
                    || dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.PUTTING)
                    || dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.WAITING)
            ) {
                return 0;
            }
        }

        if (executeTaskNo == 0) {
            return 0;
        }

        WrkMast wrkMast = wrkMastService.selectByWorkNo(executeTaskNo);
        if (wrkMast.getIoType().equals(WrkIoType.IN.id) && type.equals("in")) {
            return idleStation;
        }

        if (wrkMast.getIoType().equals(WrkIoType.OUT.id) && type.equals("out")) {
            return idleStation;
        }

        return 0;
    }

    private boolean reassignTaskLocNo(WrkMast wrkMast, StationObjModel stationObjModel) {