package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.param.CreateInTaskParam;
import com.zy.asrs.domain.param.CreateOutTaskParam;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatch.StationCommandDispatcher;
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.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.plugin.api.MainProcessPluginApi;
import com.zy.core.plugin.store.StoreInTaskContext;
import com.zy.core.plugin.store.StoreInTaskGenerationService;
import com.zy.core.plugin.store.StoreInTaskPolicy;
import com.zy.core.task.MainProcessAsyncTaskScheduler;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.DualCrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import com.zy.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.*;
import java.util.concurrent.ConcurrentHashMap;

@Slf4j
@Component
public class FakeProcess implements MainProcessPluginApi, StoreInTaskPolicy {
    private static final String CRN_TASK_LANE = "fake-crn";
    private static final String STATION_TASK_LANE = "fake-station";
    private static final String DUAL_CRN_TASK_LANE = "fake-dual-crn";
    private static final String GENERATE_STORE_TASK_LANE_PREFIX = "fake-generate-store-";
    private static final String ASYNC_TASK_LANE_PREFIX = "fake-async-";
    private static final long MAIN_DISPATCH_INTERVAL_MS = 200L;
    private static final long ASYNC_DISPATCH_INTERVAL_MS = 50L;
    private static final long TASK_SLOW_LOG_THRESHOLD_MS = 1000L;

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

    @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 BasDualCrnpService basDualCrnpService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private CrnOperateProcessUtils crnOperateUtils;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private WrkAnalysisService wrkAnalysisService;
    @Autowired
    private DualCrnOperateProcessUtils dualCrnOperateProcessUtils;
    @Autowired
    private StoreInTaskGenerationService storeInTaskGenerationService;
    @Autowired
    private StationCommandDispatcher stationCommandDispatcher;
    @Autowired
    private MainProcessAsyncTaskScheduler mainProcessAsyncTaskScheduler;

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

        // 仿真相关任务按各自 lane 串行提交，互不阻塞
        submitAsyncTask("checkInStationHasTask", ASYNC_DISPATCH_INTERVAL_MS, this::checkInStationHasTask);
        submitAsyncTask("generateFakeInTask", ASYNC_DISPATCH_INTERVAL_MS, this::generateFakeInTask);
        submitAsyncTask("generateFakeOutTask", ASYNC_DISPATCH_INTERVAL_MS, this::generateFakeOutTask);
        submitAsyncTask("calcAllStationStayTime", ASYNC_DISPATCH_INTERVAL_MS, this::calcAllStationStayTime);
        submitAsyncTask("checkOutStationStayTimeOut", ASYNC_DISPATCH_INTERVAL_MS, this::checkOutStationStayTimeOut);
        submitAsyncTask("checkInStationCrnTake", ASYNC_DISPATCH_INTERVAL_MS, this::checkInStationCrnTake);
        submitStationTask("checkStationRunBlock", ASYNC_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::checkStationRunBlock);

        // 请求生成入库任务，按站点拆成独立串行通道，避免单站阻塞整轮扫描
        generateStoreWrkFile();

        // 堆垛机、输送线、双工位堆垛机任务分别进入各自串行通道逐个执行
        submitCrnTask("crnIoExecute", MAIN_DISPATCH_INTERVAL_MS, crnOperateUtils::crnIoExecute);
        submitCrnTask("crnIoExecuteFinish", MAIN_DISPATCH_INTERVAL_MS, this::crnIoExecuteFinish);
        submitStationTask("stationInExecute", MAIN_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::stationInExecute);
        submitStationTask("crnStationOutExecute", MAIN_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::crnStationOutExecute);
        submitStationTask("checkStationOutOrder", MAIN_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::checkStationOutOrder);
        submitStationTask("watchCircleStation", MAIN_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::watchCircleStation);
        submitDualCrnTask("dualCrnIoExecute", MAIN_DISPATCH_INTERVAL_MS, dualCrnOperateProcessUtils::dualCrnIoExecute);
        submitDualCrnTask("dualCrnIoExecuteFinish", MAIN_DISPATCH_INTERVAL_MS, dualCrnOperateProcessUtils::dualCrnIoExecuteFinish);

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

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

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

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

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

    private void submitCrnTask(String taskName, long minIntervalMs, Runnable task) {
        submitProcessTask(CRN_TASK_LANE, taskName, minIntervalMs, task);
    }

    private void submitStationTask(String taskName, long minIntervalMs, Runnable task) {
        submitProcessTask(STATION_TASK_LANE, taskName, minIntervalMs, task);
    }

    private void submitDualCrnTask(String taskName, long minIntervalMs, Runnable task) {
        submitProcessTask(DUAL_CRN_TASK_LANE, taskName, minIntervalMs, task);
    }

    private void submitAsyncTask(String taskName, long minIntervalMs, Runnable task) {
        submitProcessTask(ASYNC_TASK_LANE_PREFIX + taskName, taskName, minIntervalMs, task);
    }

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

    private void submitGenerateStoreTask(Integer stationId, long minIntervalMs, Runnable task) {
        submitProcessTask(GENERATE_STORE_TASK_LANE_PREFIX + stationId, "generateStoreWrkFile", minIntervalMs, task);
    }

    private void submitProcessTask(String laneName, String taskName, long minIntervalMs, Runnable task) {
        mainProcessAsyncTaskScheduler.submit(
                laneName,
                taskName,
                minIntervalMs,
                TASK_SLOW_LOG_THRESHOLD_MS,
                task
        );
    }

    // 检测入库站是否有任务生成，并仿真生成模拟入库站点数据
    private void checkInStationHasTask() {
        if (!enableFake.equals("Y")) {
            return;
        }

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

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

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

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

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

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

                // 满足自动、无物、工作号0，生成入库数据
                if (stationProtocol.isAutoing()
                        && !stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE,
                            commonService.getWorkNo(WrkIoType.FAKE_TASK_NO.id), stationId,
                            entity.getBarcodeStation().getStationId(), 0);
                    stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "fake-process", "fake-enable-in");
                    if (entity.getBarcodeStation() != null && entity.getBarcodeStation().getStationId() != null) {
                        Utils.precomputeInTaskEnableRow(entity.getBarcodeStation().getStationId());
                    }
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 5);
                }
            }
        }
    }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

                        LocMast locMast = locMastList.get(0);

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

    /**
     * 请求生成入库任务
     * 入库站，根据条码扫描生成入库工作档
     */
    public void generateStoreWrkFile() {
        submitGenerateStoreTasks();
    }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

        List<BasDualCrnp> basDualCrnps = basDualCrnpService.list(new QueryWrapper<>());
        for (BasDualCrnp basDualCrnp : basDualCrnps) {
            List<StationObjModel> inStationList = basDualCrnp.getInStationList$();
            if (inStationList.isEmpty()) {
                News.info("双工位堆垛机:{} 入库站点未设置", basDualCrnp.getCrnNo());
                continue;
            }
            checkInStationListCrnTake(inStationList);
        }
    }

    private void checkInStationListCrnTake(List<StationObjModel> inStationList) {
        for (StationObjModel stationObjModel : inStationList) {
            Object lock = redisUtil
                    .get(RedisKeyType.CHECK_IN_STATION_STAY_TIME_OUT_LIMIT.key + stationObjModel.getStationId());
            if (lock != null) {
                continue;
            }

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

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

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

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

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

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

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

                            if (!reset) {
                                continue;
                            }

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

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

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

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

                // 获取待确认工作档
                WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
                if (wrkMast == null) {
                    News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
                }

                Long updateWrkSts = null;
                if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
                    updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
                } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts) {
                    updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;

                    // 生成仿真站点数据
                    List<StationObjModel> outStationList = basCrnp.getOutStationList$();
                    if (outStationList.isEmpty()) {
                        News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
                        continue;
                    }

                    for (StationObjModel stationObjModel : outStationList) {
                        if (!stationObjModel.getStationId().equals(wrkMast.getSourceStaNo())) {
                            continue;
                        }

                        StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp,
                                stationObjModel.getDeviceNo());
                        if (stationThread == null) {
                            continue;
                        }
                        // 生成仿真站点数据
                        StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, 9998,
                                wrkMast.getSourceStaNo(), 0, 0);
                        stationCommandDispatcher.dispatch(stationObjModel.getDeviceNo(), command, "fake-process", "crn-out-complete-write-info");
                        redisUtil.set(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo(), JSON.toJSONString(stationObjModel, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    }
                } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
                    updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
                } else if (wrkMast.getWrkSts() == WrkStsType.CRN_MOVE_RUN.sts) {
                    updateWrkSts = WrkStsType.COMPLETE_CRN_MOVE.sts;
                } else {
                    News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
                }

                Date now = new Date();
                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastService.updateById(wrkMast)) {
                    wrkAnalysisService.markCraneComplete(wrkMast, now, updateWrkSts);
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getTaskNo(), crnProtocol.getCrnNo());
                    MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
                    News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                }

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

}