#

Junjie

2025-11-25 1ba343ab3a7cd5cbabfef6a27a5344051f526793

#

 src/main/java/com/zy/asrs/controller/BasDevpController.java

@@ -15,6 +15,7 @@
import com.core.common.Cools;
import com.core.common.R;
import com.zy.common.web.BaseController;
import com.zy.core.model.StationObjModel;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

@@ -144,12 +145,12 @@
            return R.error("请输入初始化长度");
        }

        List<HashMap<String, Object>> list = new ArrayList<>();
        List<StationObjModel> list = new ArrayList<>();
        for (int i = param.getStationNo(); i < param.getStationNo() + param.getInitLength(); i++) {
            HashMap<String, Object> map = new HashMap<>();
            map.put("devpNo", param.getDevpNo());
            map.put("stationId", i);
            list.add(map);
            StationObjModel stationObjModel = new StationObjModel();
            stationObjModel.setDeviceNo(param.getDevpNo());
            stationObjModel.setStationId(i);
            list.add(stationObjModel);
        }

        basDevp.setStationList(JSON.toJSONString(list));

 src/main/java/com/zy/asrs/controller/LocMastController.java

@@ -18,9 +18,12 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.RedisUtil;
import com.zy.common.web.BaseController;
import com.zy.core.enums.LocStsType;
import com.zy.core.enums.MapNodeType;

import com.zy.core.enums.RedisKeyType;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
@@ -36,6 +39,8 @@
    private LocMastService locMastService;
    @Autowired
    private BasMapService basMapService;
    @Autowired
    private RedisUtil redisUtil;

    @RequestMapping(value = "/locMast/{id}/auth")
    @ManagerAuth
@@ -191,6 +196,7 @@
                int mapX = (int) map.get("mapX");
                int mapY = (int) map.get("mapY");
                locMast.setLocNo(Utils.getLocNo(row, bay, finalLev));
                locMast.setLocSts(String.valueOf(LocStsType.O));
                locMast.setRow1(row);
                locMast.setBay1(bay);
                locMast.setLev1(finalLev);
@@ -201,6 +207,7 @@
            });
        }

        redisUtil.del(RedisKeyType.LOC_MAP_BASE.key);
        return R.ok();
    }


 src/main/java/com/zy/asrs/controller/StationController.java

@@ -5,6 +5,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.core.model.StationObjModel;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
@@ -40,12 +41,12 @@
        Integer taskNo = param.getTaskNo();
        Integer targetStationId = param.getTargetStationId();

        JSONObject finalStation = null;
        StationObjModel finalStation = null;
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            List<JSONObject> list = JSON.parseArray(basDevp.getStationList(), JSONObject.class);
            for (JSONObject entity : list) {
                if(entity.getInteger("stationId").equals(stationId)){
            List<StationObjModel> list = basDevp.getStationList$();
            for (StationObjModel entity : list) {
                if(entity.getStationId().equals(stationId)){
                    finalStation = entity;
                    break;
                }
@@ -60,7 +61,7 @@
            return R.error("站点不存在");
        }

        Integer devpNo = finalStation.getInteger("devpNo");
        Integer devpNo = finalStation.getDeviceNo();

        StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, devpNo);
        if (stationThread == null) {

 src/main/java/com/zy/asrs/domain/param/CreateInTaskParam.java

@@ -17,6 +17,9 @@
    //目标库位
    private String locNo;

    //条码
    private String barcode;

    //任务优先级
    private Integer taskPri;


 src/main/java/com/zy/asrs/domain/param/CreateOutTaskParam.java

@@ -8,12 +8,18 @@
    //wms任务号
    private String taskNo;

    //源站
    private Integer sourceStaNo;

    //目标站
    private Integer staNo;

    //源库位
    private String sourceLocNo;

    //条码
    private String barcode;

    //任务优先级
    private Integer taskPri;


 src/main/java/com/zy/asrs/entity/BasCrnp.java

@@ -1,13 +1,18 @@
package com.zy.asrs.entity;

import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.core.common.Cools;
import com.zy.core.model.StationObjModel;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;

import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
@@ -70,6 +75,24 @@
    @ApiModelProperty(value= "")
    private String memo;

    @ApiModelProperty(value= "")
    @TableField("control_rows")
    private String controlRows;

    /**
     * 入站列表
     */
    @ApiModelProperty(value= "入站列表")
    @TableField("in_station_list")
    private String inStationList;

    /**
     * 出站列表
     */
    @ApiModelProperty(value= "出站列表")
    @TableField("out_station_list")
    private String outStationList;

    public BasCrnp() {}

    public BasCrnp(Integer status,Integer wrkNo,String inEnable,String outEnable,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo) {
@@ -117,5 +140,30 @@
        return this.status == 1 ? "正常" : "禁用";
    }

    public List<StationObjModel> getInStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.inStationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.inStationList,StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

    public List<StationObjModel> getOutStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.outStationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.outStationList,StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

}

 src/main/java/com/zy/asrs/entity/BasDevp.java

@@ -1,15 +1,20 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.JSON;
import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Date;

import com.zy.core.model.StationObjModel;
import org.springframework.format.annotation.DateTimeFormat;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.baomidou.mybatisplus.annotations.TableName;
import java.io.Serializable;
import java.util.List;

@Data
@TableName("asr_bas_devp")
@@ -152,5 +157,56 @@
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }

    public List<StationObjModel> getStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.stationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.stationList, StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

    public List<StationObjModel> getBarcodeStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.barcodeStationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.barcodeStationList, StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

    public List<StationObjModel> getInStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.inStationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.inStationList, StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

    public List<StationObjModel> getOutStationList$(){
        List<StationObjModel> list = new ArrayList<>();
        if (Cools.isEmpty(this.outStationList)){
            return list;
        }

        List<StationObjModel> jsonList = JSON.parseArray(this.outStationList, StationObjModel.class);
        for (StationObjModel json : jsonList){
            list.add(json);
        }
        return list;
    }

}

 src/main/java/com/zy/asrs/entity/LocMast.java

@@ -116,6 +116,10 @@
    @TableField("status")
    private Integer status;

    @ApiModelProperty(value= "")
    @TableField("barcode")
    private String barcode;

    public String getLocSts$(){
        BasLocStsService service = SpringUtils.getBean(BasLocStsService.class);
        BasLocSts basLocSts = service.selectById(this.locSts);

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -141,18 +141,18 @@
    private String barcode;

    /**
     * 四向穿梭车号
     * 堆垛机号
     */
    @ApiModelProperty(value= "四向穿梭车号")
    @TableField(value = "shuttle_no",strategy = FieldStrategy.IGNORED)
    private Integer shuttleNo;
    @ApiModelProperty(value= "堆垛机号")
    @TableField(value = "crn_no",strategy = FieldStrategy.IGNORED)
    private Integer crnNo;

    /**
     * 提升机号
     * RGV号
     */
    @ApiModelProperty(value= "提升机号")
    @TableField(value = "lift_no",strategy = FieldStrategy.IGNORED)
    private Integer liftNo;
    @ApiModelProperty(value= "RGV号")
    @TableField(value = "rgv_no",strategy = FieldStrategy.IGNORED)
    private Integer rgvNo;

    /**
     * WMS任务号

 src/main/java/com/zy/asrs/entity/WrkMastLog.java

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.FieldStrategy;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import com.core.common.SpringUtils;
@@ -146,18 +147,18 @@
    private String barcode;

    /**
     * 四向穿梭车号
     * 堆垛机号
     */
    @ApiModelProperty(value= "四向穿梭车号")
    @TableField(value = "shuttle_no")
    private Integer shuttleNo;
    @ApiModelProperty(value= "堆垛机号")
    @TableField(value = "crn_no")
    private Integer crnNo;

    /**
     * 提升机号
     * RGV号
     */
    @ApiModelProperty(value= "提升机号")
    @TableField(value = "lift_no")
    private Integer liftNo;
    @ApiModelProperty(value= "RGV号")
    @TableField(value = "rgv_no")
    private Integer rgvNo;

    /**
     * WMS任务号

 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java

@@ -11,45 +11,6 @@
@Repository
public interface WrkMastMapper extends BaseMapper<WrkMast> {

    // wcs ---------------------------------------------
    // 入库第一步，扫码仪获取条码信息时查询
//    @Select("select top 1 * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=2 and barcode=#{barcode} and (io_type=1 or io_type=10) order by io_pri desc,io_time,wrk_no ASC")
    WrkMast selectPakInStep1(@Param("sourceStaNo")Integer sourceStaNo, @Param("barcode")String barcode);

    WrkMast selectPakInStep11(@Param("sourceStaNo")Integer sourceStaNo);

    List<WrkMast> selectInStep4();

    WrkMast selectByWorkNo(Integer workNo);

    List<WrkMast> selectLiftStep223103();

    WrkMast selectByWorkNo324104(Integer workNo);

    List<WrkMast> selectBy2125();

    List<WrkMast> selectShuttleWrkByLev(String lev);

    List<WrkMast> selectShuttleOutWrkByLev(String lev);

    List<WrkMast> selectLiftWrkMast(Integer liftNo);

    List<WrkMast> selectLocToLocWrkMast();//查询库位移转工作档

    WrkMast selectPickStepByBarcode(String barcode);

    WrkMast selectShuttleHasMoveWorking(@Param("shuttleNo") Integer shuttleNo);

    List<WrkMast> selectShuttleMoveWrk();

    WrkMast selectShuttleWorking(@Param("shuttleNo") Integer shuttleNo);//是否有穿梭车任务(移库任务除外)

    WrkMast selectByBarcode(String barcode);

    List<WrkMast> selectInWrkMastByLiftNo(Integer liftNo);//搜索指定提升机的入库任务

    WrkMast selectChargeWorking(Integer shuttleNo);

    WrkMast selectChargeWorkingByChargeSta(Integer chargeSta);

}

 src/main/java/com/zy/asrs/service/WrkMastService.java

@@ -9,29 +9,4 @@

    WrkMast selectByWorkNo(Integer workNo);

    Boolean judgeInbound(WrkMast wrkMast);

    //查询指定楼层任务
    List<WrkMast> selectWrkByLev(Integer lev);

    //查询指定楼层已分配车辆的任务
    List<WrkMast> selectShuttleWrkByLev(Integer lev);

    //查询指定楼层已分配车辆的出库任务
    List<WrkMast> selectShuttleOutWrkByLev(Integer lev);

    WrkMast selectChargeWorking(Integer shuttleNo);

    WrkMast selectChargeWorkingByChargeSta(Integer chargeSta);

    Boolean hasBusyByShuttle(Integer shuttleNo);

    WrkMast selectShuttleHasMoveWorking(Integer shuttleNo);

    WrkMast selectShuttleWorking(Integer shuttleNo);//是否有穿梭车任务(移库任务除外)

    List<WrkMast> selectShuttleMoveWrk();

    List<WrkMast> selectLiftWrkMast(Integer liftNo);

}

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

File was deleted

 src/main/java/com/zy/asrs/service/impl/WrkMastServiceImpl.java

@@ -1,19 +1,10 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;

@Service("wrkMastService")
public class WrkMastServiceImpl extends ServiceImpl<WrkMastMapper, WrkMast> implements WrkMastService {
@@ -23,133 +14,4 @@
        return this.baseMapper.selectByWorkNo(workNo);
    }

    @Override
    public Boolean judgeInbound(WrkMast wrkMast) {
        switch (WrkStsType.query(wrkMast.getWrkSts())) {
            case NEW_INBOUND:
            case INBOUND_DEVICE_RUN:
            case INBOUND_LIFT_RUN:
            case INBOUND_LIFT_RUN_COMPLETE:
            case INBOUND_SHUTTLE_RUN:
            case INBOUND_SHUTTLE_RUN_COMPLETE:
            case COMPLETE_INBOUND:
            case SETTLE_INBOUND:
                return Boolean.TRUE;
            case NEW_OUTBOUND:
            case OUTBOUND_SHUTTLE_RUN:
            case OUTBOUND_SHUTTLE_RUN_COMPLETE:
            case OUTBOUND_LIFT_RUN:
            case OUTBOUND_LIFT_RUN_COMPLETE:
            case COMPLETE_OUTBOUND:
            case SETTLE_OUTBOUND:
                return Boolean.FALSE;
        }
        return Boolean.TRUE;
    }

    @Override
    public List<WrkMast> selectWrkByLev(Integer lev) {
        ArrayList<WrkMast> currentLevList = new ArrayList<>();
        List<WrkMast> wrkMasts = this.baseMapper.selectList(new EntityWrapper<WrkMast>());
        for (WrkMast wrkMast : wrkMasts) {
            int wrkLev;
            if (wrkMast.getIoType() == WrkIoType.IN.id) {
                wrkLev = Utils.getLev(wrkMast.getLocNo());
            } else if (wrkMast.getIoType() == WrkIoType.OUT.id) {
                wrkLev = Utils.getLev(wrkMast.getSourceLocNo());
            } else if (wrkMast.getIoType() == WrkIoType.SHUTTLE_MOVE.id) {
                wrkLev = Utils.getLev(wrkMast.getLocNo());
            } else if (wrkMast.getIoType() == WrkIoType.LOC_MOVE.id) {
                wrkLev = Utils.getLev(wrkMast.getLocNo());
            } else if (wrkMast.getIoType() == WrkIoType.SHUTTLE_CHARGE.id) {
                continue;
            } else {
                throw new CoolException("未知任务类型");
            }

            if (wrkLev == lev) {
                currentLevList.add(wrkMast);
            }
        }
        return currentLevList;
    }

    @Override
    public List<WrkMast> selectShuttleWrkByLev(Integer lev) {
        return this.baseMapper.selectShuttleWrkByLev("%" + lev);
    }

    @Override
    public List<WrkMast> selectShuttleOutWrkByLev(Integer lev) {
        return this.baseMapper.selectShuttleOutWrkByLev("%" + lev);
    }

    @Override
    public WrkMast selectChargeWorking(Integer shuttleNo) {
        return this.baseMapper.selectChargeWorking(shuttleNo);
    }

    @Override
    public WrkMast selectChargeWorkingByChargeSta(Integer chargeSta) {
        return this.baseMapper.selectChargeWorkingByChargeSta(chargeSta);
    }

    @Override
    public Boolean hasBusyByShuttle(Integer shuttleNo) {
        List<WrkMast> wrkMasts = this.selectList(new EntityWrapper<WrkMast>().in("wrk_sts"
                , WrkStsType.NEW_INBOUND.sts
                , WrkStsType.INBOUND_DEVICE_RUN.sts
                , WrkStsType.INBOUND_LIFT_RUN.sts
                , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
                , WrkStsType.INBOUND_SHUTTLE_RUN.sts
                , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts

                , WrkStsType.NEW_OUTBOUND.sts
                , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
                , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
                , WrkStsType.OUTBOUND_LIFT_RUN.sts
                , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts

                , WrkStsType.NEW_MOVE.sts
                , WrkStsType.MOVE_NEARBY.sts
                , WrkStsType.MOVE_NEARBY_COMPLETE.sts
                , WrkStsType.MOVE_IN_LIFT.sts
                , WrkStsType.MOVE_IN_LIFT_COMPLETE.sts
                , WrkStsType.MOVE_LIFT_RUN.sts
                , WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts
                , WrkStsType.MOVE_OUT_LIFT.sts
                , WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts
                , WrkStsType.MOVE_SHUTTLE.sts

                , WrkStsType.NEW_CHARGE.sts
                , WrkStsType.CHARGE_SHUTTLE_RUN.sts
                , WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts
                , WrkStsType.CHARGE_SHUTTLE_CHARGING.sts
                , WrkStsType.CHARGE_SHUTTLE_CHARGING_COMPLETE.sts
        ).eq("shuttle_no", shuttleNo));
        if (Cools.isEmpty(wrkMasts)) {
            return false;
        }
        return true;
    }

    @Override
    public WrkMast selectShuttleHasMoveWorking(Integer shuttleNo) {
        return this.baseMapper.selectShuttleHasMoveWorking(shuttleNo);
    }

    @Override
    public WrkMast selectShuttleWorking(Integer shuttleNo) {
        return this.baseMapper.selectShuttleWorking(shuttleNo);
    }

    @Override
    public List<WrkMast> selectShuttleMoveWrk() {
        return this.baseMapper.selectShuttleMoveWrk();
    }

    @Override
    public List<WrkMast> selectLiftWrkMast(Integer liftNo) {
        return this.baseMapper.selectLiftWrkMast(liftNo);
    }
}

 src/main/java/com/zy/asrs/task/WrkMastScheduler.java

@@ -62,6 +62,7 @@
            }

            locMast.setLocSts("F");
            locMast.setBarcode(wrkMast.getBarcode());
            locMast.setModiTime(new Date());
            boolean result = locMastService.updateById(locMast);
            if (!result) {
@@ -105,6 +106,7 @@
            }

            locMast.setLocSts("O");
            locMast.setBarcode("");
            locMast.setModiTime(new Date());
            boolean result = locMastService.updateById(locMast);
            if (!result) {

 src/main/java/com/zy/common/model/StartupDto.java

@@ -2,20 +2,13 @@

import lombok.Data;

/**
 * Created by vincent on 2020/6/11
 */
@Data
public class StartupDto {

    private Integer sourceStaNo;

    private Integer staNo;

    private Integer crnNo;

    private String locNo;

    private Integer workNo;

    private Integer taskPri;

}

 src/main/java/com/zy/common/service/CommonService.java

@@ -1,18 +1,25 @@
package com.zy.common.service;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.*;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.Date;
import java.util.List;

@Slf4j
@Service
@@ -24,6 +31,12 @@
    private WrkLastnoService wrkLastnoService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private CommonService commonService;

    /**
     * 生成工作号
@@ -61,35 +74,6 @@
            }
        }
        return workNo;
    }

    //检测工作号是否在指定类型工作范围内
    public synchronized boolean checkWorkNoContainMk(Integer workNo, Integer wrkMk) {
        WrkLastno wrkLastno = wrkLastnoService.selectById(wrkMk);
        if (Cools.isEmpty(wrkLastno)) {
            throw new CoolException("数据异常，请联系管理员");
        }

        int sNo = wrkLastno.getSNo();
        int eNo = wrkLastno.getENo();
        if (workNo >= sNo && workNo <= eNo) {
            return true;
        }
        return false;
    }

    public static String zerofill(String msg, Integer count) {
        if (msg.length() == count) {
            return msg;
        } else if (msg.length() > count) {
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for(int i = 0; i < count - msg.length(); ++i) {
                msgBuilder.insert(0, "0");
            }
            return msgBuilder.toString();
        }
    }

    public boolean completeTask(CompleteTaskParam param) {
@@ -203,6 +187,11 @@
            ioPri = param.getTaskPri().doubleValue();
        }

        Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
        if (crnNo == null) {
            throw new CoolException("未找到对应堆垛机");
        }

        // 获取工作号
        int workNo = getWorkNo(WrkIoType.IN.id);
        // 保存工作档
@@ -216,6 +205,8 @@
        wrkMast.setSourceStaNo(param.getSourceStaNo());//源站
        wrkMast.setStaNo(param.getStaNo());//目标站
        wrkMast.setWmsWrkNo(param.getTaskNo());
        wrkMast.setBarcode(param.getBarcode());
        wrkMast.setCrnNo(crnNo);
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        boolean res = wrkMastService.insert(wrkMast);
@@ -248,6 +239,11 @@
            ioPri = param.getTaskPri().doubleValue();
        }

        Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
        if (crnNo == null) {
            throw new CoolException("未找到对应堆垛机");
        }

        // 获取工作号
        int workNo = getWorkNo(WrkIoType.OUT.id);
        // 保存工作档
@@ -258,8 +254,11 @@
        wrkMast.setIoType(WrkIoType.OUT.id); // 入出库状态： 101.出库
        wrkMast.setIoPri(ioPri);
        wrkMast.setSourceLocNo(param.getSourceLocNo()); // 源库位
        wrkMast.setSourceStaNo(param.getSourceStaNo());//源站
        wrkMast.setStaNo(param.getStaNo());//目标站
        wrkMast.setWmsWrkNo(param.getTaskNo());
        wrkMast.setBarcode(param.getBarcode());
        wrkMast.setCrnNo(crnNo);
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        boolean res = wrkMastService.insert(wrkMast);
@@ -275,4 +274,66 @@
        return true;
    }

    public Integer findCrnNoByLocNo(String locNo) {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            String controlRows = basCrnp.getControlRows();
            if (Cools.isEmpty(controlRows)) {
                continue;
            }

            List<Integer> rowList = JSON.parseArray(controlRows, Integer.class);
            if(rowList.contains(Utils.getRow(locNo))) {
                return basCrnp.getCrnNo();
            }
        }
        return null;
    }

    public Integer findInStationId(Integer crnNo, Integer sourceStationId) {
        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", crnNo));
        if(basCrnp == null) {
            return null;
        }

        Integer targetStationId = null;
        List<StationObjModel> stationList = basCrnp.getInStationList$();
        for (StationObjModel stationObjModel : stationList) {
            try {
                String startLev = String.valueOf(sourceStationId).substring(0, 1);
                List<NavigateNode> navigateNodes = navigateUtils.calcByStationId(Integer.parseInt(startLev), sourceStationId, stationObjModel.getStationId());
                if(navigateNodes != null) {
                    targetStationId = stationObjModel.getStationId();
                    break;
                }
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
        return targetStationId;
    }

    public Integer findOutStationId(Integer crnNo, Integer targetStationId) {
        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", crnNo));
        if(basCrnp == null) {
            return null;
        }

        Integer finalSourceStationId = null;
        List<StationObjModel> stationList = basCrnp.getOutStationList$();
        for (StationObjModel stationObjModel : stationList) {
            try {
                String startLev = String.valueOf(targetStationId).substring(0, 1);
                List<NavigateNode> navigateNodes = navigateUtils.calcByStationId(Integer.parseInt(startLev), stationObjModel.getStationId(), targetStationId);
                if(navigateNodes != null) {
                    finalSourceStationId = stationObjModel.getStationId();
                    break;
                }
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
        return finalSourceStationId;
    }

}

 src/main/java/com/zy/core/MainProcess.java

@@ -1,29 +1,25 @@
package com.zy.core;

import com.zy.asrs.service.impl.MainServiceImpl;
import com.core.common.SpringUtils;
import com.zy.core.plugin.MainProcessPluginApi;
import com.zy.core.properties.SystemProperties;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;

/**
 * WCS主流程
 * Created by vincent on 2020/8/6
 */
@Data
@Slf4j
@Component
public class MainProcess {

    @Autowired
    private MainServiceImpl mainService;
    @Value("${mainProcessPlugin}")
    private String mainProcessPlugin;
    private MainProcessPluginApi mainProcessPluginApi;
    // 所属线程
    private Thread thread;
    // 频率
    private int i = 0;

    /**
     * =====>>  开始工作
@@ -32,15 +28,18 @@
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {

                    // 间隔
                    Thread.sleep(300);
                    if (mainProcessPluginApi == null) {
                        String className = mainProcessPlugin.contains(".") ? mainProcessPlugin : "com.zy.core.plugin." + mainProcessPlugin;
                        Class<? extends MainProcessPluginApi> clazz = Class.forName(className).asSubclass(MainProcessPluginApi.class);
                        mainProcessPluginApi = SpringUtils.getBean(clazz);
                    }

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }

                    mainProcessPluginApi.run();
                    // 间隔
                    Thread.sleep(200);
                } catch (Exception e) {

 src/main/java/com/zy/core/enums/RedisKeyType.java

@@ -20,6 +20,12 @@
    LOC_MAP_BASE("loc_map_base"),

    DEVICE_LOG_KEY("device_log_key_"),

    GENERATE_FAKE_IN_TASK_LIMIT("generate_fake_in_task_limit_"),
    GENERATE_FAKE_OUT_TASK_LIMIT("generate_fake_out_task_limit_"),
    GENERATE_FAKE_IN_STATION_DATA_LIMIT("generate_fake_in_station_data_limit_"),
    CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT("check_out_station_stay_time_out_limit_"),
    CHECK_IN_STATION_STAY_TIME_OUT_LIMIT("check_in_station_stay_time_out_limit_"),
    ;

    public String key;

 src/main/java/com/zy/core/enums/WrkStsType.java

@@ -6,18 +6,15 @@

    NEW_INBOUND(1, "生成入库任务"),
    INBOUND_DEVICE_RUN(2, "设备上走"),
    INBOUND_LIFT_RUN(3, "提升机搬运中"),
    INBOUND_LIFT_RUN_COMPLETE(4, "提升机搬运完成"),
    INBOUND_SHUTTLE_RUN(5, "小车搬运中"),
    INBOUND_SHUTTLE_RUN_COMPLETE(6, "小车搬运完成"),
    INBOUND_RUN(3, "设备搬运中"),
    INBOUND_RUN_COMPLETE(4, "设备搬运完成"),
    COMPLETE_INBOUND(9, "入库完成"),
    SETTLE_INBOUND(10, "入库库存更新"),

    NEW_OUTBOUND(101, "生成出库任务"),
    OUTBOUND_SHUTTLE_RUN(102, "小车搬运中"),
    OUTBOUND_SHUTTLE_RUN_COMPLETE(103, "小车搬运完成"),
    OUTBOUND_LIFT_RUN(104, "提升机搬运中"),
    OUTBOUND_LIFT_RUN_COMPLETE(105, "提升机搬运完成"),
    OUTBOUND_RUN(102, "设备搬运中"),
    OUTBOUND_RUN_COMPLETE(103, "设备搬运完成"),
    STATION_RUN(104, "站点运行中"),
    COMPLETE_OUTBOUND(109, "出库完成"),
    SETTLE_OUTBOUND(110, "出库库存更新"),


 src/main/java/com/zy/core/model/StationObjModel.java

New file
@@ -0,0 +1,18 @@
package com.zy.core.model;

import lombok.Data;

@Data
public class StationObjModel {

    private Integer deviceNo;
    
    private Integer stationId;

    private Integer deviceRow;

    private Integer deviceBay;

    private Integer deviceLev;

}

 src/main/java/com/zy/core/model/command/CrnCommand.java

@@ -41,12 +41,6 @@
    // 源位置层号
    private Short sourcePosZ = 0;

    // 源站
    private Short sourceStaNo = 0;

    // 源巷道
    private Short sourceLane = 0;

    // 目标位置排号
    private Short destinationPosX = 0;

@@ -55,12 +49,6 @@

    // 目标位置层号
    private Short destinationPosZ = 0;

    // 目标站
    private Short destinationStaNo = 0;

    // 目标巷道
    private Short destinationLane = 0;

    // 任务确认 0：未确认 1：已确认
    private Short command = 0;

 src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java

@@ -6,6 +6,7 @@
import com.zy.asrs.entity.DeviceConfig;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
@@ -26,7 +27,7 @@
    private final DeviceConfig deviceConfig;
    // 允许并行执行多个命令任务（固定线程池）。如需更高并发可调整大小。
    private final ExecutorService executor = Executors
            .newFixedThreadPool(Math.max(2, Runtime.getRuntime().availableProcessors()));
            .newFixedThreadPool(9999);

    public ZyStationFakeConnect(DeviceConfig deviceConfig) {
        this.deviceConfig = deviceConfig;
@@ -77,8 +78,28 @@
    }

    private void handleCommand(StationCommand command) {
        News.info("[WCS Debug] 站点仿真模拟已启动，命令数据={}", JSON.toJSONString(command));
        Integer taskNo = command.getTaskNo();
        Integer stationId = command.getStationId();
        Integer targetStationId = command.getTargetStaNo();

        if(taskNo == 0 && targetStationId == 0){
            //清空站点
            resetStation(stationId);
            return;
        }

        if (taskNo == 9999 && targetStationId == 0) {
            //生成仿真数据
            generateFakeData(stationId, taskNo);
            return;
        }

        if (taskNo == 9998 && targetStationId == 0) {
            //生成出库站点仿真数据
            generateFakeOutStationData(stationId);
            return;
        }

        String startLev = String.valueOf(stationId).substring(0, 1);
        String endLev = String.valueOf(targetStationId).substring(0, 1);
@@ -88,6 +109,40 @@
        }else {
            diffLevCommand(command);
        }
    }

    private void generateFakeData(Integer stationId, Integer taskNo) {
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        status.setTaskNo(taskNo);
        status.setLoading(true);
        status.setBarcode(String.valueOf(System.currentTimeMillis()));
    }

    private void generateFakeOutStationData(Integer stationId) {
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        status.setLoading(true);
    }

    private void resetStation(Integer stationId) {
        ZyStationStatusEntity status = statusList.stream()
                .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
        if (status == null) {
            return;
        }

        status.setTaskNo(0);
        status.setLoading(false);
        status.setBarcode("");
    }

    private void currentLevCommand(StationCommand command) {
@@ -114,7 +169,7 @@
            return;
        }

        stationMove(navigateNodes, taskNo, targetStationId);
        stationMove(navigateNodes, taskNo, targetStationId, false);
    }

    private void diffLevCommand(StationCommand command) {
@@ -189,11 +244,11 @@
            return;
        }

        stationMove(navigateNodes, taskNo, stationId);
        stationMove(targetNavigateNodes, taskNo, targetStationId);
        stationMove(navigateNodes, taskNo, stationId, true);
        stationMove(targetNavigateNodes, taskNo, targetStationId, false);
    }

    private void stationMove(List<NavigateNode> navigateNodes, Integer taskNo, Integer targetStationId) {
    private void stationMove(List<NavigateNode> navigateNodes, Integer taskNo, Integer targetStationId, boolean clearData) {
        Integer lastStationId = null;
        for (int i = 0; i < navigateNodes.size(); i++) {
            NavigateNode navigateNode = navigateNodes.get(i);
@@ -213,7 +268,7 @@
                        continue;
                    }

                    if (nextStatus.getTaskNo() == 0) {
                    if (nextStatus.getTaskNo() == 0 || nextStatus.getTaskNo() == 9999) {
                        break;
                    }

@@ -221,12 +276,6 @@
                }
            } catch (Exception e) {
                continue;
            }

            synchronized (status) {
                status.setTaskNo(taskNo);
                status.setTargetStaNo(targetStationId);
                status.setLoading(true);
            }

            if (lastStationId != null) {
@@ -241,20 +290,29 @@
                    }
                }
            }

            synchronized (status) {
                status.setTaskNo(taskNo);
                status.setTargetStaNo(targetStationId);
                status.setLoading(true);
            }

            lastStationId = currentStationId;
            sleep(1000);
        }

        sleep(10000);
        if (lastStationId != null) {
            Integer finalLastStationId = lastStationId;
            ZyStationStatusEntity lastStatus = statusList.stream()
                    .filter(item -> item.getStationId().equals(finalLastStationId)).findFirst().orElse(null);
            if (lastStatus != null) {
                synchronized (lastStatus) {
                    lastStatus.setTaskNo(0);
                    lastStatus.setTargetStaNo(0);
                    lastStatus.setLoading(false);
        if (clearData) {
            sleep(10000);
            if (lastStationId != null) {
                Integer finalLastStationId = lastStationId;
                ZyStationStatusEntity lastStatus = statusList.stream()
                        .filter(item -> item.getStationId().equals(finalLastStationId)).findFirst().orElse(null);
                if (lastStatus != null) {
                    synchronized (lastStatus) {
                        lastStatus.setTaskNo(0);
                        lastStatus.setTargetStaNo(0);
                        lastStatus.setLoading(false);
                    }
                }
            }
        }

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

New file
@@ -0,0 +1,573 @@
package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.param.CreateInTaskParam;
import com.zy.asrs.domain.param.CreateOutTaskParam;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
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.enums.*;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
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.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.*;

@Slf4j
@Component
public class FakeProcess implements MainProcessPluginApi {

    private static Map<Integer,Long> stationStayTimeMap = new HashMap<>();
    private static String enableFake = "N";

    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private CrnOperateProcessUtils crnOperateUtils;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;

    @Override
    public void run() {
        Config enableFakeConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
        if (enableFakeConfig != null) {
            enableFake = enableFakeConfig.getValue();
        }

        //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();

        //请求生成入库任务
        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
        crnIoExecuteFinish();
        //执行输送站点入库任务
        stationOperateProcessUtils.stationInExecute();
        //执行输送站点出库任务
        stationOperateProcessUtils.stationOutExecute();
        //检测输送站点出库任务执行完成
        stationOperateProcessUtils.stationOutExecuteFinish();
    }

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

        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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 object = redisUtil.get(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId);
                if (object != 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.getMoveCommand(9999, stationId, 0, 0);
                    MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 10);
                }
            }
        }
    }

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

        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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 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) {
                    return;
                }

                //满足自动、有物、工作号9999，生成入库数据
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 9999
                ) {
                    //检测任务是否生成
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }

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

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

                    Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
                    if (crnNo == null) {
                        continue;
                    }

                    Integer targetStationId = commonService.findInStationId(crnNo, 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());
                    boolean result = commonService.createInTask(taskParam);

                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_TASK_LIMIT.key + stationId, "lock", 5);
                }
            }
        }
    }

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

        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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.selectList(new EntityWrapper<LocMast>().eq("loc_sts", String.valueOf(LocStsType.F)));
                    if (locMastList.isEmpty()) {
                        continue;
                    }

                    LocMast locMast = locMastList.get(0);

                    Integer crnNo = commonService.findCrnNoByLocNo(locMast.getLocNo());
                    if (crnNo == null) {
                        continue;
                    }

                    Integer sourceStationId = commonService.findOutStationId(crnNo, stationId);
                    if (sourceStationId == null) {
                        continue;
                    }

                    CreateOutTaskParam taskParam = new CreateOutTaskParam();
                    taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.OUT.id)));
                    taskParam.setSourceStaNo(sourceStationId);
                    taskParam.setStaNo(stationId);
                    taskParam.setSourceLocNo(locMast.getLocNo());
                    taskParam.setBarcode(locMast.getBarcode());
                    boolean result = commonService.createOutTask(taskParam);
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_OUT_TASK_LIMIT.key + stationId, "lock", 15);
                }
            }
        }
    }

    /**
     * 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() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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;
                }

                //满足自动、有物、工作号9999，生成入库数据
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 9999
                ) {
                    //检测任务是否生成
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }

                    String wmsUrl = null;
                    Config wmsSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "wmsSystemUri"));
                    if (wmsSystemUriConfig != null) {
                        wmsUrl = wmsSystemUriConfig.getValue();
                    }

                    if(wmsUrl == null){
                        News.error("未配置WMS系统URI，配置文件Code编码：wmsSystemUri");
                        return;
                    }

                    String wmsSystemInUrl = null;
                    Config wmsSystemInUrlConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "wmsSystemInUrl"));
                    if (wmsSystemInUrlConfig != null) {
                        wmsSystemInUrl = wmsSystemInUrlConfig.getValue();
                    }

                    if(wmsSystemInUrlConfig == null){
                        News.error("未配置WMS入库接口地址，配置文件Code编码：wmsSystemInUrl");
                        return;
                    }

                    try {
                        HashMap<String, Object> param = new HashMap<>();
                        param.put("barcode", stationProtocol.getBarcode());
                        param.put("ioType", 1);
                        param.put("sourceStaNo", stationProtocol.getStationId());
                        param.put("locType1", stationProtocol.getPalletHeight());

                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath(wmsSystemInUrl)
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            CreateInTaskParam taskParam = new CreateInTaskParam();
                            taskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
                            taskParam.setLocNo(dto.getLocNo());
                            taskParam.setTaskPri(dto.getTaskPri());
                            boolean result = commonService.createInTask(taskParam);
                        } else {
                            News.error("请求WMS接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                    }
                }
            }
        }
    }

    //计算所有站点停留时间
    public synchronized void calcAllStationStayTime() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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 synchronized void checkOutStationStayTimeOut() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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 * 15) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                    if(stationThread == null){
                        continue;
                    }

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

                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    redisUtil.set(RedisKeyType.CHECK_OUT_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId(), "lock",10);
                    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));
                }
            }
        }
    }

    //检测入库站点堆垛机是否取走货物
    public synchronized void checkInStationCrnTake() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        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;
            }

            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;
                }

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

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

                if(stationProtocol.getTaskNo() > 0) {
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                    if (wrkMast == null) {
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        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，站点号={}，命令数据={}", stationObjModel.getStationId(), JSON.toJSONString(command));
                    }else {
                        if (wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts && wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
                            Integer crnNo = wrkMast.getCrnNo();
                            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                            if (crnThread == null) {
                                continue;
                            }
                            CrnProtocol crnProtocol = crnThread.getStatus();
                            if (crnProtocol.getStatusType().equals(CrnStatusType.FETCH_MOVING) || crnProtocol.getStatusType().equals(CrnStatusType.FETCHING)) {
                                continue;
                            }

                            MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                            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，站点号={}，命令数据={}", stationObjModel.getStationId(), JSON.toJSONString(command));
                        }
                    }
                }
            }
        }
    }

    //堆垛机任务执行完成
    public synchronized void crnIoExecuteFinish() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        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
            ) {

                // 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.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());
                }
            }
        }
    }

}

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

New file
@@ -0,0 +1,7 @@
package com.zy.core.plugin;

public interface MainProcessPluginApi {

    void run();

}

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

New file
@@ -0,0 +1,28 @@
package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
import com.zy.asrs.service.BasMapService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.List;

@Slf4j
@Component
public class NormalProcess implements MainProcessPluginApi{

    @Autowired
    private BasMapService basMapService;

    @Override
    public void run() {
        getLevList();
    }

    private void getLevList() {
        List<Integer> list = basMapService.getLevList();
        System.out.println(JSON.toJSONString(list));
    }

}

 src/main/java/com/zy/core/thread/StationThread.java

@@ -5,11 +5,14 @@
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import java.util.List;
import java.util.Map;

public interface StationThread extends ThreadHandler {

    List<StationProtocol> getStatus();

    Map<Integer, StationProtocol> getStatusMap();

    StationCommand getMoveCommand(Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize);

    CommandResponse sendCommand(StationCommand command);

 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -191,6 +191,8 @@
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basCrnp.setStatus(1);
                basCrnp.setInEnable("N");
                basCrnp.setOutEnable("N");
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
            }

 src/main/java/com/zy/core/thread/impl/ZyStationThread.java

@@ -24,9 +24,7 @@
import com.zy.core.network.entity.ZyStationStatusEntity;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.*;

import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -172,4 +170,12 @@
       return commandResponse;
    }

    @Override
    public Map<Integer, StationProtocol> getStatusMap() {
        Map<Integer, StationProtocol> map = new HashMap<>();
        for (StationProtocol stationProtocol : statusList) {
            map.put(stationProtocol.getStationId(), stationProtocol);
        }
        return map;
    }
}

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

New file
@@ -0,0 +1,316 @@
package com.zy.core.utils;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
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.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.List;
import java.util.Map;

@Component
public class CrnOperateProcessUtils {

    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private LocMastService locMastService;

    //入出库  ===>>  堆垛机入出库作业下发
    public synchronized void crnIoExecute() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        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;
            }

            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("crn_no", basCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
            );
            if(!wrkMasts.isEmpty()){
                continue;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getMode() == CrnModeType.AUTO.id
                    && crnProtocol.getTaskNo() == 0
                    && crnProtocol.getStatus() == CrnStatusType.IDLE.id
                    && crnProtocol.getLoaded() == 0
                    && crnProtocol.getForkPos() == 0
                    && crnProtocol.getAlarm() == 0
            ) {
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        this.crnExecuteIn(basCrnp, crnThread); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        this.crnExecuteOut(basCrnp, crnThread); //  出库
                        crnProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.crnExecuteOut(basCrnp, crnThread); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnExecuteIn(basCrnp, crnThread); //  入库
                        crnProtocol.setLastIo("O");
                    }
                }
            }
        }
    }

    private synchronized void crnExecuteIn(BasCrnp basCrnp, CrnThread crnThread) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if(crnProtocol == null){
            return;
        }

        if(!basCrnp.getInEnable().equals("Y")){
            News.info("堆垛机:{} 可入信号不满足", basCrnp.getCrnNo());
            return;
        }

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

        Integer crnNo = basCrnp.getCrnNo();

        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());
            if (stationProtocol == null) {
                continue;
            }

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

            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;
            }

            if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
                News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务状态异常", stationProtocol.getTaskNo());
                continue;
            }

            // 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());
                continue;
            }

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

            String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());

            CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);

            wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
            }
        }
    }

    private synchronized void crnExecuteOut(BasCrnp basCrnp, CrnThread crnThread) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if(crnProtocol == null){
            return;
        }

        if(!basCrnp.getOutEnable().equals("Y")){
            News.info("堆垛机:{} 可出信号不满足", basCrnp.getCrnNo());
            return;
        }

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

        Integer crnNo = basCrnp.getCrnNo();

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

        for (WrkMast wrkMast : wrkMasts) {
            for (StationObjModel stationObjModel : outStationList) {
                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());
                if (stationProtocol == null) {
                    continue;
                }

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

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

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

                if (!stationProtocol.isOutEnable()) {
                    News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
                    continue;
                }

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

                if (!locMast.getLocSts().equals("R")) {
                    News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
                    continue;
                }

                String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());

                CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);

                wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
                wrkMast.setCrnNo(crnNo);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                    News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                    return;
                }
            }
        }
    }

    //堆垛机任务执行完成
    public synchronized void crnIoExecuteFinish() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        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
            ) {

                // 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;
                }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());
                }
            }
        }
    }

}

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

New file
@@ -0,0 +1,195 @@
package com.zy.core.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.service.CommonService;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.List;
import java.util.Map;

@Component
public class StationOperateProcessUtils {

    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasCrnpService basCrnpService;

    //执行输送站点入库任务
    public synchronized void stationInExecute() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        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;
                }

                //满足自动、有物、工作号9999
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 9999
                ) {
                    //检测任务是否生成
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                    if (wrkMast == null) {
                        continue;
                    }

                    if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
                        continue;
                    }

                    String locNo = wrkMast.getLocNo();
                    Integer crnNo = commonService.findCrnNoByLocNo(locNo);
                    if (crnNo == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "未匹配到堆垛机");
                        continue;
                    }

                    Integer targetStationId = commonService.findInStationId(crnNo, stationId);
                    if (targetStationId == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "搜索入库站点失败");
                        continue;
                    }

                    StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationId, targetStationId, 0);
                    if(command == null){
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }

                    wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                    wrkMast.setSourceStaNo(stationProtocol.getStationId());
                    wrkMast.setStaNo(targetStationId);
                    wrkMast.setSystemMsg("");
                    wrkMast.setIoTime(new Date());
                    if (wrkMastService.updateById(wrkMast)) {
                        MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                        News.info("输送站点入库命令下发成功，站点号={}，工作号={}，命令数据={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
                    }
                }
            }
        }
    }

    //执行输送站点出库任务
    public synchronized void stationOutExecute() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts));
        for (WrkMast wrkMast : wrkMasts) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", wrkMast.getCrnNo()));
            if (basCrnp == null) {
                continue;
            }

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

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

                //满足自动、有物、工作号0
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    if(command == null){
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }

                    wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
                    wrkMast.setSystemMsg("");
                    wrkMast.setIoTime(new Date());
                    if (wrkMastService.updateById(wrkMast)) {
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                    }
                }
            }
        }
    }

    //检测输送站点出库任务执行完成
    public synchronized void stationOutExecuteFinish() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
        for (WrkMast wrkMast : wrkMasts) {
            Integer wrkNo = wrkMast.getWrkNo();

            boolean complete = true;
            List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
            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().equals(wrkNo)) {
                        complete = false;
                    }
                }
            }

            if (complete) {
                wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                wrkMast.setIoTime(new Date());
                wrkMastService.updateById(wrkMast);
            }
        }
    }


}

 src/main/resources/application.yml

@@ -46,4 +46,6 @@
deviceExecuteConfig:
  # 每个线程管控设备执行数量
  threadControlCount: 10
  liftType: lift
  liftType: lift

mainProcessPlugin: FakeProcess

 src/main/resources/mapper/BasCrnpMapper.xml

@@ -14,6 +14,9 @@
        <result column="update_by" property="updateBy" />
        <result column="update_time" property="updateTime" />
        <result column="memo" property="memo" />
        <result column="control_rows" property="controlRows" />
        <result column="in_station_list" property="inStationList" />
        <result column="out_station_list" property="outStationList" />

    </resultMap>


 src/main/resources/mapper/LocMastMapper.xml

@@ -22,6 +22,7 @@
        <result column="error_memo" property="errorMemo" />
        <result column="qr_code_value" property="qrCodeValue" />
        <result column="status" property="status" />
        <result column="barcode" property="barcode" />

    </resultMap>


 src/main/resources/mapper/WrkMastMapper.xml

@@ -22,149 +22,17 @@
        <result column="error_memo" property="errorMemo" />
        <result column="memo" property="memo" />
        <result column="barcode" property="barcode" />
        <result column="shuttle_no" property="shuttleNo" />
        <result column="lift_no" property="liftNo" />
        <result column="crn_no" property="crnNo" />
        <result column="rgv_no" property="rgvNo" />
        <result column="wms_wrk_no" property="wmsWrkNo" />
        <result column="system_msg" property="systemMsg" />

    </resultMap>

    <select id="selectPakInStep1" resultMap="BaseResultMap">
        select * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=2 and barcode=#{barcode} and (io_type=1 or io_type=10) order by io_pri desc,io_time,wrk_no ASC limit 0,1
    </select>

    <select id="selectPakInStep11" resultMap="BaseResultMap">
        select * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=1 and (io_type=1 or io_type=10) order by io_pri desc,io_time,wrk_no ASC limit 0,1
    </select>

    <select id="selectInStep4" resultMap="BaseResultMap">
        select *
        from asr_wrk_mast
        where 1=1
        and wrk_sts = 4
        and io_type in (1,10,53,57)
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectByWorkNo" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_no=#{workNo}
        limit 0,1
    </select>

    <select id="selectLiftStep223103" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and wrk_sts in (2,103,303)
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectByWorkNo324104" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_no=#{workNo}
        and wrk_sts in (3,104,303,306)
        limit 0,1
    </select>

    <select id="selectBy2125" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_sts in (101,105)
        and io_type in (101,103,107,110)
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectShuttleWrkByLev" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where shuttle_no is not null
        and ((wrk_sts not in (9,10)  and loc_no like #{lev}) or (wrk_sts not in (29,30) and source_loc_no like #{lev}))
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectShuttleOutWrkByLev" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where shuttle_no is not null
        and (wrk_sts not in (109,110) and source_loc_no like #{lev})
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectLiftWrkMast" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where lift_no = #{liftNo}
    </select>

    <select id="selectLocToLocWrkMast" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where io_type in (11)
        and wrk_sts not in (9,10,109,110)
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectPickStepByBarcode" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where io_type in (53,103,107)
        and wrk_sts in (2,3,104,109)
        and barcode = #{barcode}
        order by io_pri desc,wrk_sts desc
        limit 0,1
    </select>

    <select id="selectShuttleHasMoveWorking" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and shuttle_no = #{shuttleNo}
        and wrk_sts not in (311)
        and io_type = 200
        order by io_pri desc,io_time,wrk_no asc
        limit 0,1
    </select>

    <select id="selectShuttleMoveWrk" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and wrk_sts in (301,302,303,304,305,306,307,308,309,310,311)
        and io_type = 200
        order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectShuttleWorking" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and shuttle_no = #{shuttleNo}
        and wrk_sts not in (9,10,109,110,210)
        and io_type not in (200,300)
        order by io_pri desc,io_time,wrk_no asc
        limit 0,1
    </select>

    <select id="selectByBarcode" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and barcode = #{barcode}
        order by io_pri desc,io_time,wrk_no asc
        limit 0,1
    </select>

    <select id="selectInWrkMastByLiftNo" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where 1=1
        and lift_no = #{liftNo}
        and io_type &lt;= 100
        and wrk_sts in (1,2,3,4,5)
        order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectChargeWorking" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where io_type in (300)
        and shuttle_no = #{shuttleNo}
        order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectChargeWorkingByChargeSta" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_sts in (201,202,203,204,205,210)
        and mk = #{chargeSta}
        order by io_pri desc,io_time,wrk_no asc
    </select>

</mapper>

 src/main/webapp/components/WatchRgvCard.js

@@ -55,7 +55,7 @@
      rgvList: [],
      activeNames: "",
      searchRgvNo: "",
      showControl: true,
      showControl: false,
      controlParam: {
        rgvNo: "",
        sourcePos: "",

 src/main/webapp/static/js/basCrnp/basCrnp.js

@@ -24,13 +24,16 @@
            {type: 'checkbox'}
            ,{field: 'crnNo', align: 'center',title: '编号'}
            ,{field: 'status$', align: 'center',title: '状态'}
            ,{field: 'wrkNo', align: 'center',title: '工作号'}
            // ,{field: 'wrkNo', align: 'center',title: '工作号'}
            ,{field: 'inEnable', align: 'center',title: '可入(checkBox)'}
            ,{field: 'outEnable', align: 'center',title: '可出(checkBox)'}
            ,{field: 'createBy', align: 'center',title: '创建人员'}
            ,{field: 'createTime$', align: 'center',title: '创建时间'}
            ,{field: 'updateBy', align: 'center',title: '修改人员'}
            ,{field: 'updateTime$', align: 'center',title: '修改时间'}
            ,{field: 'controlRows', align: 'center',title: '控制库位排号'}
            ,{field: 'inStationList', align: 'center',title: '入库站列表'}
            ,{field: 'outStationList', align: 'center',title: '出库站列表'}
            // ,{field: 'createBy', align: 'center',title: '创建人员'}
            // ,{field: 'createTime$', align: 'center',title: '创建时间'}
            // ,{field: 'updateBy', align: 'center',title: '修改人员'}
            // ,{field: 'updateTime$', align: 'center',title: '修改时间'}
            ,{field: 'memo', align: 'center',title: '备注'}

            ,{fixed: 'right', title:'操作', align: 'center', toolbar: '#operate', width:120}

 src/main/webapp/static/js/locMast/locMast.js

@@ -21,7 +21,7 @@
            {type: 'checkbox', fixed: 'left'}
            ,{field: 'locNo', align: 'center',title: '库位号',sort:true}
            ,{field: 'locSts$', align: 'center',title: '库位状态',width:200}
            ,{field: 'qrCodeValue', align: 'center',title: '二维码值', sort:true}
            ,{field: 'barcode', align: 'center',title: '托盘码'}
            ,{field: 'row1', align: 'center',title: '排', sort:true}
            ,{field: 'bay1', align: 'center',title: '列', sort:true}
            ,{field: 'lev1', align: 'center',title: '层', sort:true}

 src/main/webapp/views/basCrnp/basCrnp.html

@@ -82,12 +82,12 @@
                        </select>
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label">工作号: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="wrkNo" placeholder="请输入工作号">
                    </div>
                </div>
<!--                <div class="layui-form-item">-->
<!--                    <label class="layui-form-label">工作号: </label>-->
<!--                    <div class="layui-input-block">-->
<!--                        <input class="layui-input" name="wrkNo" placeholder="请输入工作号">-->
<!--                    </div>-->
<!--                </div>-->
                <div class="layui-form-item">
                    <label class="layui-form-label">可入(checkBox): </label>
                    <div class="layui-input-block">
@@ -101,6 +101,24 @@
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label">控制库位排号: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="controlRows" placeholder="请输入控制库位排号">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label">入库站列表: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="inStationList" placeholder="请输入入库站列表">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label">出库站列表: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="outStationList" placeholder="请输入出库站列表">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label">备注: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="memo" placeholder="请输入备注">

 src/main/webapp/views/wrkMast/wrkMast.html

@@ -53,9 +53,7 @@
                        </el-table-column>
                        <el-table-column property="barcode" label="托盘码">
                        </el-table-column>
                        <el-table-column property="liftNo" label="提升机">
                        </el-table-column>
                        <el-table-column property="shuttleNo" label="穿梭车">
                        <el-table-column property="crnNo" label="堆垛机">
                        </el-table-column>
                        <el-table-column property="systemMsg" label="系统消息">
                        </el-table-column>
@@ -67,7 +65,7 @@
<!--                                        <el-dropdown-item command="change">修改</el-dropdown-item>-->
                                        <el-dropdown-item command="complete">完成</el-dropdown-item>
                                        <el-dropdown-item command="cancel">取消</el-dropdown-item>
                                        <el-dropdown-item command="shuttleCommand">穿梭车指令</el-dropdown-item>
<!--                                        <el-dropdown-item command="shuttleCommand">穿梭车指令</el-dropdown-item>-->
                                    </el-dropdown-menu>
                                </el-dropdown>
                            </template>