#堆垛机任务执行优先级修改

Junjie

8 天以前 fc67e7de548d5fc4ba84a2c09d3e99aad2fc11d7

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

@@ -1,20 +1,13 @@
package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
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.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatch.StationCommandDispatchResult;
import com.zy.core.dispatch.StationCommandDispatcher;
import com.zy.core.enums.*;
import com.zy.core.model.StationObjModel;
@@ -22,16 +15,16 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.network.fake.FakeConfigKeys;
import com.zy.core.network.fake.FakeConfigSupport;
import com.zy.core.plugin.api.MainProcessPluginApi;
import com.zy.core.plugin.station.FakeStationMonitor;
import com.zy.core.plugin.station.FakeTaskGenerator;
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.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;
@@ -43,34 +36,116 @@
import org.springframework.stereotype.Component;

import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

@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 long getMainDispatchIntervalMs() {
        return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_STATION_IDLE_LOOP_DELAY_MS, 200L);
    }

    private static final Map<Integer, Long> stationStayTimeMap = new ConcurrentHashMap<>();
    private long getAsyncDispatchIntervalMs() {
        return Math.max(50L, FakeConfigSupport.getLong(FakeConfigKeys.FAKE_STATION_INITIALIZE_DELAY_MS, 50L));
    }

    private long getOutStationStayTimeoutMs() {
        return FakeConfigSupport.getLong(FakeConfigKeys.FAKE_OUT_STATION_STAY_TIMEOUT_MS, 3000L);
    }

    private static volatile String enableFake = "N";

    private static volatile String fakeRealTaskRequestWms = "N";
    private static volatile String fakeGenerateInTask = "Y";
    private static volatile String fakeGenerateOutTask = "Y";

    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpService basDevpService;
    private static final Map<Integer, Long> OUT_STATION_STAY_MARKER = new HashMap<Integer, Long>();

    private final Object outStationStayLock = new Object();

    private boolean shouldDispatchOutStationWriteInfo(Integer wrkNo) {
        long now = System.currentTimeMillis();
        long timeoutMs = getOutStationStayTimeoutMs();
        synchronized (outStationStayLock) {
            Long lastTime = OUT_STATION_STAY_MARKER.get(wrkNo);
            if (lastTime == null || now - lastTime >= timeoutMs) {
                OUT_STATION_STAY_MARKER.put(wrkNo, now);
                return true;
            }
            return false;
        }
    }

    private void clearOutStationStayMarker(Integer wrkNo) {
        synchronized (outStationStayLock) {
            OUT_STATION_STAY_MARKER.remove(wrkNo);
        }
    }

    private void dispatchOutStationWriteInfoIfReady(WrkMast wrkMast, BasCrnp basCrnp) {
        Integer wrkNo = wrkMast == null ? null : wrkMast.getWrkNo();
        if (wrkNo == null) {
            News.error("仿真出库站点写入跳过，WCS任务号为空。sourceStaNo={}，crnNo={}",
                    wrkMast == null ? null : wrkMast.getSourceStaNo(),
                    basCrnp == null ? null : basCrnp.getCrnNo());
            return;
        }
        if (!shouldDispatchOutStationWriteInfo(wrkNo)) {
            News.error("仿真出库站点写入跳过，命中节流限制。wrkNo={}，sourceStaNo={}，crnNo={}",
                    wrkNo,
                    wrkMast == null ? null : wrkMast.getSourceStaNo(),
                    basCrnp == null ? null : basCrnp.getCrnNo());
            return;
        }
        String taskNo = String.valueOf(wrkNo);
        List<StationObjModel> outStationList = basCrnp.getOutStationList$();
        if (outStationList.isEmpty()) {
            News.error("仿真出库站点写入失败，堆垛机未配置出库站点。crnNo={}，wrkNo={}，taskNo={}",
                    basCrnp.getCrnNo(), wrkMast == null ? null : wrkMast.getWrkNo(), taskNo);
            return;
        }
        boolean matched = false;
        for (StationObjModel stationObjModel : outStationList) {
            if (!stationObjModel.getStationId().equals(wrkMast.getSourceStaNo())) {
                continue;
            }
            matched = true;
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
            if (stationThread == null) {
                News.error("仿真出库站点写入失败，站点线程不存在。taskNo={}，wrkNo={}，stationId={}，deviceNo={}",
                        taskNo, wrkMast.getWrkNo(), stationObjModel.getStationId(), stationObjModel.getDeviceNo());
                continue;
            }
            StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, 9998,
                    wrkMast.getSourceStaNo(), 0, 0);
            StationCommandDispatchResult dispatchResult = stationCommandDispatcher.dispatch(
                    stationObjModel.getDeviceNo(), command, "fake-process", "crn-out-complete-write-info");
            News.info("仿真出库站点写入命令分发结果。taskNo={}，wrkNo={}，crnNo={}，stationId={}，deviceNo={}，accepted={}，reason={}，queueDepth={}",
                    taskNo,
                    wrkMast.getWrkNo(),
                    basCrnp.getCrnNo(),
                    stationObjModel.getStationId(),
                    stationObjModel.getDeviceNo(),
                    dispatchResult != null && dispatchResult.isAccepted(),
                    dispatchResult == null ? null : dispatchResult.getReason(),
                    dispatchResult == null ? null : dispatchResult.getQueueDepth());
        }
        if (!matched) {
            News.error("仿真出库站点写入失败，未匹配到sourceStaNo对应出库站点。taskNo={}，wrkNo={}，sourceStaNo={}，crnNo={}",
                    taskNo,
                    wrkMast == null ? null : wrkMast.getWrkNo(),
                    wrkMast == null ? null : wrkMast.getSourceStaNo(),
                    basCrnp == null ? null : basCrnp.getCrnNo());
        }
    }

    @Autowired
    private ConfigService configService;
    @Autowired
    private LocMastService locMastService;
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;
    private WrkAnalysisService wrkAnalysisService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasDualCrnpService basDualCrnpService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
@@ -78,51 +153,52 @@
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private WrkAnalysisService wrkAnalysisService;
    @Autowired
    private DualCrnOperateProcessUtils dualCrnOperateProcessUtils;
    @Autowired
    private StoreInTaskGenerationService storeInTaskGenerationService;
    @Autowired
    private StationCommandDispatcher stationCommandDispatcher;
    @Autowired
    private MainProcessTaskSubmitter mainProcessTaskSubmitter;
    @Autowired
    private FakeStationMonitor fakeStationMonitor;
    @Autowired
    private FakeTaskGenerator fakeTaskGenerator;

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

        long asyncDispatchIntervalMs = getAsyncDispatchIntervalMs();
        long mainDispatchIntervalMs = getMainDispatchIntervalMs();
        // 仿真异步任务
        submitAsyncTasks(ASYNC_DISPATCH_INTERVAL_MS);
        fakeStationMonitor.submitMonitorTasks(asyncDispatchIntervalMs);
        // 仿真输送线堵塞检测
        stationOperateProcessUtils.submitCheckStationRunBlockTasks(MainProcessLane.FAKE_STATION_RUN_BLOCK, ASYNC_DISPATCH_INTERVAL_MS);
        stationOperateProcessUtils.submitCheckStationRunBlockTasks(MainProcessLane.FAKE_STATION_RUN_BLOCK, asyncDispatchIntervalMs);

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

        // 执行堆垛机任务
        crnOperateUtils.submitCrnIoTasks(MainProcessLane.FAKE_CRN_IO, MAIN_DISPATCH_INTERVAL_MS);
        crnOperateUtils.submitCrnIoTasks(MainProcessLane.FAKE_CRN_IO, mainDispatchIntervalMs);
        // 堆垛机任务执行完成
        submitCrnIoExecuteFinishTasks(MAIN_DISPATCH_INTERVAL_MS);
        submitCrnIoExecuteFinishTasks(mainDispatchIntervalMs);
        // 执行输送站点入库任务
        stationOperateProcessUtils.submitStationInTasks(MainProcessLane.FAKE_STATION_IN, MAIN_DISPATCH_INTERVAL_MS);
        stationOperateProcessUtils.submitStationInTasks(MainProcessLane.FAKE_STATION_IN, mainDispatchIntervalMs);
        // 检测入库任务是否已经到达目标站台
        stationOperateProcessUtils.submitInboundStationArrivalTasks(MAIN_DISPATCH_INTERVAL_MS);
        stationOperateProcessUtils.submitInboundStationArrivalTasks(mainDispatchIntervalMs);
        // 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);
        stationOperateProcessUtils.submitCrnStationOutTasks(MainProcessLane.FAKE_STATION_OUT, mainDispatchIntervalMs);
        // 检测出库任务是否已经到达目标站台
        stationOperateProcessUtils.submitStationOutExecuteFinishTasks(MAIN_DISPATCH_INTERVAL_MS);
        stationOperateProcessUtils.submitStationOutExecuteFinishTasks(mainDispatchIntervalMs);
        // 检测站台运行完成后的任务转完成
        stationOperateProcessUtils.submitCheckTaskToCompleteTasks(MAIN_DISPATCH_INTERVAL_MS);
        stationOperateProcessUtils.submitCheckTaskToCompleteTasks(mainDispatchIntervalMs);
        // 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);
        stationOperateProcessUtils.submitCheckStationOutOrderTasks(MainProcessLane.FAKE_STATION_OUT_ORDER, mainDispatchIntervalMs);
        // 执行双工位堆垛机任务
        dualCrnOperateProcessUtils.submitDualCrnIoTasks(MainProcessLane.FAKE_DUAL_CRN_IO, MAIN_DISPATCH_INTERVAL_MS);
        dualCrnOperateProcessUtils.submitDualCrnIoTasks(MainProcessLane.FAKE_DUAL_CRN_IO, mainDispatchIntervalMs);
        // 双工位堆垛机任务执行完成
        dualCrnOperateProcessUtils.submitDualCrnIoExecuteFinishTasks(MainProcessLane.FAKE_DUAL_CRN_IO_FINISH, MAIN_DISPATCH_INTERVAL_MS);
        dualCrnOperateProcessUtils.submitDualCrnIoExecuteFinishTasks(MainProcessLane.FAKE_DUAL_CRN_IO_FINISH, mainDispatchIntervalMs);

        News.info("[WCS Debug] 主线程Run执行完成,耗时:{}ms", System.currentTimeMillis() - startTime);
    }
@@ -152,23 +228,12 @@
        }
    }

    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);
    }

    private void submitAsyncTask(String taskName, long minIntervalMs, Runnable task) {
        mainProcessTaskSubmitter.submitKeyedSerialTask(
                MainProcessLane.FAKE_ASYNC,
                taskName,
                taskName,
                minIntervalMs,
                task
        );
    private void syncConfigToComponents() {
        fakeStationMonitor.setEnableFake(enableFake);
        fakeStationMonitor.setFakeGenerateInTask(fakeGenerateInTask);
        fakeTaskGenerator.setFakeRealTaskRequestWms(fakeRealTaskRequestWms);
        fakeTaskGenerator.setFakeGenerateInTask(fakeGenerateInTask);
        fakeTaskGenerator.setFakeGenerateOutTask(fakeGenerateOutTask);
    }

    private void submitCrnIoExecuteFinishTasks(long minIntervalMs) {
@@ -188,461 +253,19 @@
        }
    }

    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 void checkInStationHasTask() {
        if (!enableFake.equals("Y")) {
            return;
        }

        if (!fakeGenerateInTask.equals("Y")) {
            return;
        }

        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();

            List<StationObjModel> list = basDevp.getInStationList$();
            for (StationObjModel entity : list) {
                Integer stationId = entity.getStationId();
                if (!stationMap.containsKey(stationId)) {
                    continue;
                }

                StationProtocol stationProtocol = stationMap.get(stationId);
                if (stationProtocol == null) {
                    continue;
                }

                Object lock = redisUtil.get(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId);
                if (lock != null) {
                    continue;
                }

                // 满足自动、无物、工作号0，生成入库数据
                if (stationProtocol.isAutoing()
                        && !stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE,
                            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);
                }
            }
        }
    }

    // 生成仿真模拟入库任务
    private void generateFakeInTask() {
        if (!enableFake.equals("Y")) {
            return;
        }

        if (fakeRealTaskRequestWms.equals("Y")) {
            return;
        }

        if (!fakeGenerateInTask.equals("Y")) {
            return;
        }

        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();

            List<StationObjModel> list = basDevp.getBarcodeStationList$();
            for (StationObjModel model : list) {
                Integer stationId = model.getStationId();
                if (!stationMap.containsKey(stationId)) {
                    continue;
                }

                StationProtocol stationProtocol = stationMap.get(stationId);
                if (stationProtocol == null) {
                    continue;
                }

                Object object = redisUtil.get(RedisKeyType.GENERATE_FAKE_IN_TASK_LIMIT.key + stationId);
                if (object != null) {
                    continue;
                }

                // 满足自动、有物、有工作号，生成入库数据
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() > 0) {
                    if (Cools.isEmpty(stationProtocol.getBarcode())) {
                        continue;
                    }

                    // 检测任务是否生成
                    List<WrkMast> wrkMasts = wrkMastService
                            .list(new QueryWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }

                    List<LocMast> locMastList = locMastService
                            .list(new QueryWrapper<LocMast>().eq("loc_sts", String.valueOf(LocStsType.O)));
                    if (locMastList.isEmpty()) {
                        continue;
                    }

                    int nextInt = new Random().nextInt(locMastList.size());
                    LocMast locMast = locMastList.get(nextInt);

                    FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locMast.getLocNo());
                    if (findCrnNoResult == null) {
                        continue;
                    }

                    Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationId);
                    if (targetStationId == null) {
                        continue;
                    }

                    CreateInTaskParam taskParam = new CreateInTaskParam();
                    taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.IN.id)));
                    taskParam.setSourceStaNo(stationId);
                    taskParam.setStaNo(targetStationId);
                    taskParam.setLocNo(locMast.getLocNo());
                    taskParam.setBarcode(stationProtocol.getBarcode());
                    WrkMast wrkMast = commonService.createInTask(taskParam);

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(),
                            stationId, stationId, 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
                    stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "fake-process", "fake-in-task");
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_TASK_LIMIT.key + stationId, "lock", 5);
                }
            }
        }
    }

    // 生成仿真模拟出库任务
    private void generateFakeOutTask() {
        try {
            if (!enableFake.equals("Y")) {
                return;
            }

            if (fakeRealTaskRequestWms.equals("Y")) {
                return;
            }

            if (!fakeGenerateOutTask.equals("Y")) {
                return;
            }

            List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
            for (BasDevp basDevp : basDevps) {
                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
                if (stationThread == null) {
                    continue;
                }

                Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();

                List<StationObjModel> list = basDevp.getOutStationList$();
                for (StationObjModel entity : list) {
                    Integer stationId = entity.getStationId();
                    if (!stationMap.containsKey(stationId)) {
                        continue;
                    }

                    StationProtocol stationProtocol = stationMap.get(stationId);
                    if (stationProtocol == null) {
                        continue;
                    }

                    Object object = redisUtil.get(RedisKeyType.GENERATE_FAKE_OUT_TASK_LIMIT.key + stationId);
                    if (object != null) {
                        return;
                    }

                    // 满足自动、无物、工作号0，生成出库数据
                    if (stationProtocol.isAutoing()
                            && !stationProtocol.isLoading()
                            && stationProtocol.getTaskNo() == 0) {
                        List<LocMast> locMastList = locMastService
                                .list(new QueryWrapper<LocMast>().eq("loc_sts", String.valueOf(LocStsType.F)));
                        if (locMastList.isEmpty()) {
                            continue;
                        }

                        LocMast locMast = locMastList.get(0);

                        CreateOutTaskParam taskParam = new CreateOutTaskParam();
                        taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.OUT.id)));
                        taskParam.setStaNo(stationId);
                        taskParam.setLocNo(locMast.getLocNo());
                        boolean result = commonService.createOutTask(taskParam);
                        redisUtil.set(RedisKeyType.GENERATE_FAKE_OUT_TASK_LIMIT.key + stationId, "lock", 10);
                    }
                }
            }
        } catch (Exception e) {
            log.error("generateFakeOutTask execute error", e);
        }
    }

    /**
     * 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 void generateStoreWrkFile() {
        submitGenerateStoreTasks();
    }

    @Override
    public boolean isEnabled() {
        return !"N".equals(fakeRealTaskRequestWms);
    }

    @Override
    public boolean matchCandidate(StoreInTaskContext context) {
        StationProtocol stationProtocol = context.getStationProtocol();
        return stationProtocol.isAutoing()
                && stationProtocol.isLoading()
                && stationProtocol.getTaskNo() > 0
                && !Cools.isEmpty(stationProtocol.getBarcode());
        return fakeTaskGenerator.isEnabled();
    }

    @Override
    public void onRequestPermitGranted(StoreInTaskContext context) {
        redisUtil.set(getGenerateLockKey(context), "lock", 3);
        fakeTaskGenerator.onRequestPermitGranted(context);
    }

    @Override
    public void afterTaskCreated(StoreInTaskContext context, WrkMast wrkMast) {
        Integer stationId = context.getStationObjModel().getStationId();
        StationCommand command = context.getStationThread().getCommand(StationCommandType.WRITE_INFO,
                wrkMast.getWrkNo(), stationId, stationId, 0);
        if (command == null) {
            News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
            return;
        }
        stationCommandDispatcher.dispatch(context.getBasDevp().getDevpNo(), command, "fake-process", "write-info");
    }

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

            List<StationProtocol> list = stationThread.getStatus();
            for (StationProtocol stationProtocol : list) {
                if (stationProtocol.getTaskNo() > 0
                        && !stationStayTimeMap.containsKey(stationProtocol.getStationId())) {
                    stationStayTimeMap.put(stationProtocol.getStationId(), System.currentTimeMillis());
                }

                if (stationProtocol.getTaskNo() <= 0
                        && stationStayTimeMap.containsKey(stationProtocol.getStationId())) {
                    stationStayTimeMap.remove(stationProtocol.getStationId());
                }
            }
        }
    }

    // 检测出库站点停留是否超时
    public void checkOutStationStayTimeOut() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            List<StationObjModel> outStationList = basDevp.getOutStationList$();
            if (outStationList.isEmpty()) {
                News.info("输送线:{} 出库站点未设置", basDevp.getDevpNo());
                continue;
            }

            for (StationObjModel stationObjModel : outStationList) {
                Object lock = redisUtil
                        .get(RedisKeyType.CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId());
                if (lock != null) {
                    continue;
                }

                Long stayTime = stationStayTimeMap.get(stationObjModel.getStationId());
                if (stayTime == null) {
                    continue;
                }

                if (System.currentTimeMillis() - stayTime > 1000 * 60) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp,
                            stationObjModel.getDeviceNo());
                    if (stationThread == null) {
                        continue;
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.RESET, 0,
                            stationObjModel.getStationId(), 0, 0);
                    if (command == null) {
                        continue;
                    }

                    stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "out-station-reset");
                    redisUtil.set(
                            RedisKeyType.CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(),
                            "lock", 10);
                    News.info("输送站点出库重置命令下发成功，站点号={}，命令数据={}", stationObjModel.getStationId(),
                            JSON.toJSONString(command));
                }
            }
        }
    }

    // 检测入库站点堆垛机是否取走货物
    public void checkInStationCrnTake() {
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            List<StationObjModel> inStationList = basCrnp.getInStationList$();
            if (inStationList.isEmpty()) {
                News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
                continue;
            }
            checkInStationListCrnTake(inStationList);
        }

        List<BasDualCrnp> basDualCrnps = basDualCrnpService.list(new QueryWrapper<>());
        for (BasDualCrnp basDualCrnp : basDualCrnps) {
            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());
                continue;
            }
            checkInStationListCrnTake(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());
            if (lock != null) {
                continue;
            }

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

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

            if (stationProtocol.getTaskNo() > 0) {
                StationCommand command = stationThread.getCommand(StationCommandType.RESET, 0,
                        stationObjModel.getStationId(), 0, 0);
                if (command == null) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                if (wrkMast == null) {
                    stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "in-station-reset-task-over");
                    redisUtil.set(
                            RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(),
                            "lock", 10);
                    News.info("输送站点重置命令下发成功(task_over)，站点号={}，命令数据={}", stationObjModel.getStationId(),
                            JSON.toJSONString(command));
                } else {
                    if (wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts
                            && wrkMast.getWrkSts() != WrkStsType.INBOUND_STATION_RUN.sts) {
                        Integer crnNo = wrkMast.getCrnNo();
                        if (crnNo != null) {
                            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                            if (crnThread == null) {
                                continue;
                            }
                            CrnProtocol crnProtocol = crnThread.getStatus();
                            if (!crnProtocol.getStatusType().equals(CrnStatusType.PUT_MOVING)
                                    && !crnProtocol.getStatusType().equals(CrnStatusType.PUTTING)) {
                                continue;
                            }

                            stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "in-station-reset-crn-fetch");
                            redisUtil.set(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key
                                    + stationObjModel.getStationId(), "lock", 10);
                            News.info("输送站点重置命令下发成功(crn_fetch)，站点号={}，命令数据={}", stationObjModel.getStationId(),
                                    JSON.toJSONString(command));
                        } else {
                            Integer dualCrnNo = wrkMast.getDualCrnNo();
                            DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn,
                                    dualCrnNo);
                            if (dualCrnThread == null) {
                                continue;
                            }
                            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();

                            boolean reset = false;
                            if (dualCrnProtocol.getTaskNo() > 0 && dualCrnProtocol.getLoaded() == 1) {
                                reset = true;
                            }

                            if (dualCrnProtocol.getTaskNoTwo() > 0 && dualCrnProtocol.getLoadedTwo() == 1) {
                                reset = true;
                            }

                            if (!reset) {
                                continue;
                            }

                            stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "in-station-reset-dual-crn-fetch");
                            redisUtil.set(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key
                                    + stationObjModel.getStationId(), "lock", 10);
                            News.info("输送站点重置命令下发成功(crn_fetch)，站点号={}，命令数据={}", stationObjModel.getStationId(),
                                    JSON.toJSONString(command));
                        }
                    }
                }
            }
        }
        fakeTaskGenerator.afterTaskCreated(context, wrkMast);
    }

    // 堆垛机任务执行完成
@@ -688,29 +311,7 @@
        } 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);
            }
            dispatchOutStationWriteInfoIfReady(wrkMast, basCrnp);
        } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
            updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
        } else if (wrkMast.getWrkSts() == WrkStsType.CRN_MOVE_RUN.sts) {
@@ -726,6 +327,7 @@
        wrkMast.setIoTime(now);
        wrkMast.setModiTime(now);
        if (wrkMastService.updateById(wrkMast)) {
            clearOutStationStayMarker(wrkMast.getWrkNo());
            wrkAnalysisService.markCraneComplete(wrkMast, now, updateWrkSts);
            CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getTaskNo(), crnProtocol.getCrnNo());
            MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));