package com.zy.core.utils.station;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatch.StationCommandDispatchResult;
import com.zy.core.dispatch.StationCommandDispatcher;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.move.StationMoveCoordinator;
import com.zy.core.move.StationMoveSession;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.station.model.OutOrderDispatchDecision;
import com.zy.core.utils.station.model.RerouteCommandPlan;
import com.zy.core.utils.station.model.RerouteContext;
import com.zy.core.utils.station.model.RerouteDecision;
import com.zy.core.utils.station.model.RerouteExecutionResult;
import com.zy.core.utils.station.model.RerouteSceneType;
import com.zy.core.utils.WmsOperateUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

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

@Component
public class StationRerouteProcessor {
    private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
    private static final int STATION_IDLE_RECOVER_SECONDS = 10;
    private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 30;
    private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;

    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private StationMoveCoordinator stationMoveCoordinator;
    @Autowired
    private StationCommandDispatcher stationCommandDispatcher;
    @Autowired
    private StationOutboundDecisionSupport stationOutboundDecisionSupport;
    @Autowired
    private StationDispatchRuntimeStateSupport stationDispatchRuntimeStateSupport;

    public void checkStationRunBlock() {
        try {
            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<Integer> runBlockReassignLocStationList = new ArrayList<>();
                for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
                    runBlockReassignLocStationList.add(stationObjModel.getStationId());
                }
                List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();

                for (StationProtocol stationProtocol : stationThread.getStatus()) {
                    if (stationProtocol.isAutoing()
                            && stationProtocol.isLoading()
                            && stationProtocol.getTaskNo() > 0
                            && stationProtocol.isRunBlock()) {
                        WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                        if (wrkMast == null) {
                            News.info("输送站点号={} 运行阻塞，但无法找到对应任务，工作号={}", stationProtocol.getStationId(), stationProtocol.getTaskNo());
                            continue;
                        }

                        Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo());
                        if (lock != null) {
                            continue;
                        }
                        redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 15);

                        if (shouldUseRunBlockDirectReassign(wrkMast, stationProtocol.getStationId(), runBlockReassignLocStationList)) {
                            executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
                            continue;
                        }

                        Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
                        RerouteContext context = RerouteContext.create(
                                RerouteSceneType.RUN_BLOCK_REROUTE,
                                basDevp,
                                stationThread,
                                stationProtocol,
                                wrkMast,
                                outOrderStationIds,
                                pathLenFactor,
                                "checkStationRunBlock_reroute"
                        ).withRunBlockCommand()
                                .withSuppressDispatchGuard()
                                .withCancelSessionBeforeDispatch()
                                .withResetSegmentCommandsBeforeDispatch();
                        executeSharedReroute(context);
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

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

                for (StationProtocol stationProtocol : stationThread.getStatus()) {
                    if (stationProtocol.isAutoing()
                            && stationProtocol.isLoading()
                            && stationProtocol.getTaskNo() > 0
                            && !stationProtocol.isRunBlock()) {
                        checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    public void checkStationOutOrder() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }
            Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
            List<StationObjModel> orderList = basDevp.getOutOrderList$();
            List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
            for (StationObjModel stationObjModel : orderList) {
                StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                if (stationProtocol == null
                        || !stationProtocol.isAutoing()
                        || !stationProtocol.isLoading()
                        || stationProtocol.getTaskNo() <= 0
                        || stationProtocol.isRunBlock()
                        || !stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                if (wrkMast == null
                        || !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
                        || Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }
                if (stationOutboundDecisionSupport.shouldSkipOutOrderDispatchForExistingRoute(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }

                Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
                RerouteContext context = RerouteContext.create(
                        RerouteSceneType.OUT_ORDER,
                        basDevp,
                        stationThread,
                        stationProtocol,
                        wrkMast,
                        outOrderStationIds,
                        pathLenFactor,
                        "checkStationOutOrder"
                ).withDispatchDeviceNo(stationObjModel.getDeviceNo())
                        .withSuppressDispatchGuard()
                        .withOutOrderDispatchLock()
                        .withResetSegmentCommandsBeforeDispatch();
                executeSharedReroute(context);
            }
        }
    }

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

            List<Integer> outOrderList = basDevp.getOutOrderIntList();
            for (StationProtocol stationProtocol : stationThread.getStatus()) {
                if (!stationProtocol.isAutoing()
                        || !stationProtocol.isLoading()
                        || stationProtocol.getTaskNo() <= 0
                        || !stationOutboundDecisionSupport.isWatchingCircleArrival(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                if (wrkMast == null
                        || !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
                        || Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }

                Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
                RerouteContext context = RerouteContext.create(
                        RerouteSceneType.WATCH_CIRCLE,
                        basDevp,
                        stationThread,
                        stationProtocol,
                        wrkMast,
                        outOrderList,
                        pathLenFactor,
                        "watchCircleStation"
                ).withSuppressDispatchGuard()
                        .withOutOrderDispatchLock()
                        .withResetSegmentCommandsBeforeDispatch();
                executeSharedReroute(context);
            }
        }
    }

    public RerouteCommandPlan buildRerouteCommandPlan(RerouteContext context,
                                                      RerouteDecision decision) {
        if (context == null) {
            return RerouteCommandPlan.skip("missing-context");
        }
        if (decision == null) {
            return RerouteCommandPlan.skip("missing-decision");
        }
        if (decision.skip()) {
            return RerouteCommandPlan.skip(decision.skipReason());
        }
        if (context.stationThread() == null || context.stationProtocol() == null || context.wrkMast() == null) {
            return RerouteCommandPlan.skip("missing-runtime-dependency");
        }
        Integer currentStationId = context.stationProtocol().getStationId();
        Integer targetStationId = decision.targetStationId();
        if (currentStationId == null || targetStationId == null) {
            return RerouteCommandPlan.skip("missing-target-station");
        }
        if (Objects.equals(currentStationId, targetStationId)) {
            return RerouteCommandPlan.skip("same-station");
        }

        StationCommand command = context.useRunBlockCommand()
                ? context.stationThread().getRunBlockRerouteCommand(
                context.wrkMast().getWrkNo(),
                currentStationId,
                targetStationId,
                0,
                context.pathLenFactor()
        )
                : stationOutboundDecisionSupport.buildOutboundMoveCommand(
                context.stationThread(),
                context.wrkMast(),
                currentStationId,
                targetStationId,
                context.pathLenFactor()
        );
        if (command == null) {
            if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
                News.taskInfo(context.wrkMast().getWrkNo(),
                        "输送站点堵塞重规划未找到可下发路线，当前站点={}，目标站点={}",
                        currentStationId,
                        targetStationId);
            } else if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
                News.taskInfo(context.wrkMast().getWrkNo(),
                        "站点任务停留超时后重算路径失败，当前站点={}，目标站点={}",
                        currentStationId,
                        targetStationId);
            } else {
                News.taskInfo(context.wrkMast().getWrkNo(), "获取输送线命令失败");
            }
            return RerouteCommandPlan.skip("missing-command");
        }
        return RerouteCommandPlan.dispatch(command, decision, context.dispatchScene());
    }

    public RerouteExecutionResult executeReroutePlan(RerouteContext context,
                                                     RerouteCommandPlan plan) {
        if (context == null) {
            return RerouteExecutionResult.skip("missing-context");
        }
        if (plan == null) {
            return RerouteExecutionResult.skip("missing-plan");
        }
        if (plan.skip()) {
            return RerouteExecutionResult.skip(plan.skipReason());
        }
        StationProtocol stationProtocol = context.stationProtocol();
        if (stationProtocol == null) {
            return RerouteExecutionResult.skip("missing-station-protocol");
        }
        Integer taskNo = stationProtocol.getTaskNo();
        Integer stationId = stationProtocol.getStationId();
        if (taskNo == null || taskNo <= 0 || stationId == null) {
            return RerouteExecutionResult.skip("invalid-station-task");
        }
        if (stationMoveCoordinator != null) {
            return stationMoveCoordinator.withTaskDispatchLock(taskNo,
                    () -> executeReroutePlanWithTaskLock(context, plan, stationProtocol, taskNo, stationId));
        }
        return executeReroutePlanWithTaskLock(context, plan, stationProtocol, taskNo, stationId);
    }

    public RerouteDecision resolveSharedRerouteDecision(RerouteContext context) {
        if (context == null || context.wrkMast() == null || context.stationProtocol() == null) {
            return RerouteDecision.skip("missing-runtime-dependency");
        }
        Integer currentStationId = context.stationProtocol().getStationId();
        if (currentStationId == null) {
            return RerouteDecision.skip("missing-current-station");
        }

        if (context.sceneType() == RerouteSceneType.IDLE_RECOVER
                && !Objects.equals(context.wrkMast().getWrkSts(), WrkStsType.STATION_RUN.sts)) {
            Integer targetStationId = context.wrkMast().getStaNo();
            return targetStationId == null || Objects.equals(targetStationId, currentStationId)
                    ? RerouteDecision.skip("same-station")
                    : RerouteDecision.proceed(targetStationId);
        }

        OutOrderDispatchDecision dispatchDecision =
                stationOutboundDecisionSupport.resolveOutboundDispatchDecision(
                        currentStationId,
                        context.wrkMast(),
                        context.outOrderStationIds(),
                        context.pathLenFactor()
                );
        Integer targetStationId = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
        if (targetStationId == null || Objects.equals(targetStationId, currentStationId)) {
            return RerouteDecision.skip("same-station");
        }
        return RerouteDecision.proceed(targetStationId, dispatchDecision);
    }

    public boolean shouldUseRunBlockDirectReassign(WrkMast wrkMast,
                                                   Integer stationId,
                                                   List<Integer> runBlockReassignLocStationList) {
        return wrkMast != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)
                && stationId != null
                && runBlockReassignLocStationList != null
                && runBlockReassignLocStationList.contains(stationId);
    }

    public boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
        if (taskNo == null || taskNo <= 0 || stationId == null) {
            return false;
        }
        long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
        StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(taskNo);
        if (session != null && session.isActive() && session.getLastIssuedAt() != null) {
            if (Objects.equals(stationId, session.getCurrentStationId())
                    || Objects.equals(stationId, session.getDispatchStationId())
                    || session.containsStation(stationId)) {
                long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
                if (elapsedMs < thresholdMs) {
                    stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
                    News.info("输送站点任务刚完成命令下发，已跳过停留重算。站点号={}，工作号={}，距上次下发={}ms，routeVersion={}",
                            stationId, taskNo, elapsedMs, session.getRouteVersion());
                    return true;
                }
            }
        }
        if (!stationDispatchRuntimeStateSupport.hasRecentIssuedMoveCommand(taskNo, stationId, thresholdMs)) {
            return false;
        }
        stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
        News.info("输送站点任务刚完成命令下发，已跳过停留重算。站点号={}，工作号={}，距最近命令下发<{}ms，routeVersion={}",
                stationId, taskNo, thresholdMs, session == null ? null : session.getRouteVersion());
        return true;
    }

    private RerouteExecutionResult executeReroutePlanWithTaskLock(RerouteContext context,
                                                                  RerouteCommandPlan plan,
                                                                  StationProtocol stationProtocol,
                                                                  Integer taskNo,
                                                                  Integer stationId) {
        boolean runBlockReroute = context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE;
        if (context.checkRecentDispatch()
                && shouldSkipIdleRecoverForRecentDispatch(taskNo, stationId)) {
            return RerouteExecutionResult.skip("recent-dispatch");
        }
        int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo);
        if (currentTaskBufferCommandCount > 0 && !runBlockReroute) {
            if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
                News.info("输送站点任务停留超时，但缓存区仍存在当前任务命令，已跳过重算。站点号={}，工作号={}，当前任务命令数={}",
                        stationId,
                        taskNo,
                        currentTaskBufferCommandCount);
            }
            return RerouteExecutionResult.skip("buffer-has-current-task");
        }
        if (currentTaskBufferCommandCount > 0 && runBlockReroute) {
            News.info("输送站点运行堵塞重规划检测到旧分段命令残留，已先清理本地状态后继续重发。站点号={}，工作号={}，当前任务命令数={}",
                    stationId,
                    taskNo,
                    currentTaskBufferCommandCount);
        }
        if (!runBlockReroute
                && context.checkSuppressDispatch()
                && stationMoveCoordinator != null
                && stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command())) {
            return RerouteExecutionResult.skip("dispatch-suppressed");
        }
        if (context.requireOutOrderDispatchLock()
                && !stationDispatchRuntimeStateSupport.tryAcquireOutOrderDispatchLock(taskNo, stationId, OUT_ORDER_DISPATCH_LIMIT_SECONDS)) {
            return RerouteExecutionResult.skip("out-order-lock");
        }

        if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
            stationMoveCoordinator.markCancelPending(taskNo, "reroute_pending");
        }

        if (runBlockReroute) {
            if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
                stationMoveCoordinator.cancelSession(taskNo);
            }
            if (context.resetSegmentCommandsBeforeDispatch()) {
                stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
            }
        }

        if (!runBlockReroute
                && context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
            stationMoveCoordinator.cancelSession(taskNo);
        }
        if (!isBlank(context.executionLockKey())
                && !stationDispatchRuntimeStateSupport.tryAcquireLock(context.executionLockKey(), context.executionLockSeconds())) {
                return RerouteExecutionResult.skip("scene-lock");
        }
        if (!runBlockReroute && context.resetSegmentCommandsBeforeDispatch()) {
            stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
        }

        int clearedCommandCount = 0;
        if (context.clearIdleIssuedCommands()) {
            clearedCommandCount = stationDispatchRuntimeStateSupport.clearIssuedMoveCommandsDuringIdleStay(context.idleTrack(), taskNo, stationId);
        }

        boolean offered = offerDevpCommandWithDedup(context.dispatchDeviceNo(), plan.command(), plan.dispatchScene());
        if (!offered) {
            return RerouteExecutionResult.skip("dispatch-dedup");
        }

        applyRerouteDispatchEffects(context, plan, clearedCommandCount);
        return RerouteExecutionResult.dispatched(plan.command(), clearedCommandCount);
    }

    private RerouteExecutionResult executeSharedReroute(RerouteContext context) {
        RerouteDecision decision = resolveSharedRerouteDecision(context);
        if (decision.skip()) {
            return RerouteExecutionResult.skip(decision.skipReason());
        }
        RerouteCommandPlan plan = buildRerouteCommandPlan(context, decision);
        return executeReroutePlan(context, plan);
    }

    private void applyRerouteDispatchEffects(RerouteContext context,
                                             RerouteCommandPlan plan,
                                             int clearedCommandCount) {
        if (context == null || plan == null || plan.command() == null || context.wrkMast() == null || context.stationProtocol() == null) {
            return;
        }
        WrkMast wrkMast = context.wrkMast();
        StationProtocol stationProtocol = context.stationProtocol();
        OutOrderDispatchDecision dispatchDecision =
                plan.decision() == null ? null : plan.decision().dispatchDecision();

        stationOutboundDecisionSupport.syncOutOrderWatchState(
                wrkMast,
                stationProtocol.getStationId(),
                context.outOrderStationIds(),
                dispatchDecision,
                plan.command()
        );
        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.recordDispatch(
                    wrkMast.getWrkNo(),
                    stationProtocol.getStationId(),
                    plan.dispatchScene(),
                    plan.command(),
                    dispatchDecision != null && dispatchDecision.isCircle()
            );
        }
        if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
            stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(wrkMast.getWrkNo(), stationProtocol.getStationId(), System.currentTimeMillis()));
            News.info("输送站点任务停留{}秒未运行，已重新计算路径并重启运行，站点号={}，目标站={}，工作号={}，清理旧分段命令数={}，命令数据={}",
                    STATION_IDLE_RECOVER_SECONDS,
                    stationProtocol.getStationId(),
                    plan.command().getTargetStaNo(),
                    wrkMast.getWrkNo(),
                    clearedCommandCount,
                    JSON.toJSONString(plan.command()));
            return;
        }
        if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
            News.info("输送站点堵塞后重新计算路径命令下发成功，站点号={}，工作号={}，命令数据={}",
                    stationProtocol.getStationId(),
                    wrkMast.getWrkNo(),
                    JSON.toJSONString(plan.command()));
            return;
        }
        if (context.sceneType() == RerouteSceneType.OUT_ORDER) {
            News.info(dispatchDecision != null && dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
        }
    }

    private void checkStationIdleRecover(BasDevp basDevp,
                                         StationThread stationThread,
                                         StationProtocol stationProtocol,
                                         List<Integer> outOrderList) {
        if (stationProtocol == null || stationProtocol.getTaskNo() == null || stationProtocol.getTaskNo() <= 0) {
            return;
        }
        if (!Objects.equals(stationProtocol.getStationId(), stationProtocol.getTargetStaNo())) {
            return;
        }

        StationTaskIdleTrack idleTrack = stationDispatchRuntimeStateSupport.touchIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
        if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
            return;
        }
        if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
            return;
        }

        WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
        if (!canRecoverIdleStationTask(wrkMast, stationProtocol.getStationId())) {
            return;
        }

        Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo());
        if (lock != null) {
            return;
        }
        Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
        RerouteContext context = RerouteContext.create(
                RerouteSceneType.IDLE_RECOVER,
                basDevp,
                stationThread,
                stationProtocol,
                wrkMast,
                outOrderList,
                pathLenFactor,
                "checkStationIdleRecover"
        ).withCancelSessionBeforeDispatch()
                .withExecutionLock(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), STATION_IDLE_RECOVER_LIMIT_SECONDS)
                .withResetSegmentCommandsBeforeDispatch()
                .clearIdleIssuedCommands(idleTrack);
        executeSharedReroute(context);
    }

    private void executeRunBlockDirectReassign(BasDevp basDevp,
                                               StationThread stationThread,
                                               StationProtocol stationProtocol,
                                               WrkMast wrkMast) {
        if (basDevp == null || stationThread == null || stationProtocol == null || wrkMast == null) {
            return;
        }
        int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(
                stationProtocol.getTaskBufferItems(),
                stationProtocol.getTaskNo()
        );
        if (currentTaskBufferCommandCount > 0) {
            News.info("输送站点运行堵塞重分配已跳过，缓存区仍存在当前任务命令。站点号={}，工作号={}，当前任务命令数={}",
                    stationProtocol.getStationId(),
                    stationProtocol.getTaskNo(),
                    currentTaskBufferCommandCount);
            return;
        }
        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
        }
        String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
        if (Cools.isEmpty(response)) {
            News.taskError(wrkMast.getWrkNo(), "请求WMS重新分配库位接口失败，接口未响应！！！response：{}", response);
            return;
        }
        JSONObject jsonObject = JSON.parseObject(response);
        if (!jsonObject.getInteger("code").equals(200)) {
            News.error("请求WMS接口失败！！！response：{}", response);
            return;
        }

        StartupDto dto = jsonObject.getObject("data", StartupDto.class);
        String sourceLocNo = wrkMast.getLocNo();
        String locNo = dto.getLocNo();

        LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
        if (sourceLocMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位信息不存在", sourceLocNo);
            return;
        }
        if (!sourceLocMast.getLocSts().equals("S")) {
            News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位状态不处于入库预约", sourceLocNo);
            return;
        }

        LocMast locMast = locMastService.queryByLoc(locNo);
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位信息不存在", locNo);
            return;
        }
        if (!locMast.getLocSts().equals("O")) {
            News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位状态不处于空库位", locNo);
            return;
        }

        FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
        if (findCrnNoResult == null) {
            News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
            return;
        }
        Integer crnNo = findCrnNoResult.getCrnNo();

        Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
        if (targetStationId == null) {
            News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationProtocol.getStationId());
            return;
        }

        StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
        if (command == null) {
            News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
            return;
        }

        sourceLocMast.setLocSts("O");
        sourceLocMast.setModiTime(new Date());
        locMastService.updateById(sourceLocMast);

        locMast.setLocSts("S");
        locMast.setModiTime(new Date());
        locMastService.updateById(locMast);

        wrkMast.setLocNo(locNo);
        wrkMast.setStaNo(targetStationId);

        if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
            wrkMast.setCrnNo(crnNo);
        } else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
            wrkMast.setDualCrnNo(crnNo);
        } else {
            throw new CoolException("未知设备类型");
        }

        if (!wrkMastService.updateById(wrkMast)) {
            return;
        }
        boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
        if (!offered) {
            return;
        }
        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.recordDispatch(
                    wrkMast.getWrkNo(),
                    stationProtocol.getStationId(),
                    "checkStationRunBlock_direct",
                    command,
                    false
            );
        }
    }

    private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
        if (wrkMast == null || currentStationId == null || wrkMast.getStaNo() == null) {
            return false;
        }
        if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
            return false;
        }
        return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
                || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
    }

    private int countCurrentTaskBufferCommands(List<StationTaskBufferItem> taskBufferItems, Integer currentTaskNo) {
        if (taskBufferItems == null || taskBufferItems.isEmpty() || currentTaskNo == null || currentTaskNo <= 0) {
            return 0;
        }
        int count = 0;
        for (StationTaskBufferItem item : taskBufferItems) {
            if (item == null || item.getTaskNo() == null) {
                continue;
            }
            if (currentTaskNo.equals(item.getTaskNo())) {
                count++;
            }
        }
        return count;
    }

    private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
        StationCommandDispatchResult dispatchResult = stationCommandDispatcher
                .dispatch(deviceNo, command, "station-operate-process", scene);
        return dispatchResult.isAccepted();
    }

    private boolean isBlank(String value) {
        return value == null || value.trim().isEmpty();
    }
}