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.*;
import com.zy.asrs.service.*;
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.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.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.plugin.api.MainProcessPluginApi;
import com.zy.core.properties.SystemProperties;
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.core.utils.WmsOperateUtils;
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;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.Future;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.TimeoutException;

@Slf4j
@Component
public class FakeProcess implements MainProcessPluginApi {

    private static final long METHOD_TIMEOUT_MS = 15000; // 15秒超时
    private static final ExecutorService timeoutExecutor = Executors.newCachedThreadPool();

    private static 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";

    private Thread asyncFakeRunThread = null;

    @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 WmsOperateUtils wmsOperateUtils;
    @Autowired
    private DualCrnOperateProcessUtils dualCrnOperateProcessUtils;

    /**
     * 带超时保护执行方法
     * 
     * @param taskName 任务名称（用于日志）
     * @param task     要执行的任务
     */
    private void executeWithTimeout(String taskName, Runnable task) {
        Future<?> future = timeoutExecutor.submit(task);
        try {
            future.get(METHOD_TIMEOUT_MS, TimeUnit.MILLISECONDS);
        } catch (TimeoutException e) {
            // 使用 cancel(false) 不发送中断信号，避免 RedisCommandInterruptedException
            // 任务会在后台继续执行直到完成，但主循环不会等待
            future.cancel(false);
            News.error("[WCS Warning] 方法执行超时，主循环已跳过: {}, 超时时间: {}ms (任务仍在后台运行)", taskName, METHOD_TIMEOUT_MS);
        } catch (Exception e) {
            News.error("[WCS Error] 方法执行异常: {}, 异常: {}", taskName, e.getMessage());
        }
    }

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

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

        // 执行堆垛机任务
        crnOperateUtils.crnIoExecuteNormal();
        // 堆垛机任务执行完成-具备仿真能力
        this.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();

        // 执行双工位堆垛机任务
        dualCrnOperateProcessUtils.dualCrnIoExecute();
        // 双工位堆垛机任务执行完成
        dualCrnOperateProcessUtils.dualCrnIoExecuteFinish();

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

    public void asyncFakeRun() {
        if (asyncFakeRunThread != null) {
            return;
        }

        asyncFakeRunThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Config enableFakeConfig = configService
                            .selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
                    if (enableFakeConfig != null) {
                        enableFake = enableFakeConfig.getValue();
                    }

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

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

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

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

                    // 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();

                    // 检测输送站点是否运行堵塞
                    stationOperateProcessUtils.checkStationRunBlock();

                    // 间隔
                    Thread.sleep(50);
                } catch (InterruptedException ie) {
                    Thread.currentThread().interrupt();
                    break;
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        asyncFakeRunThread.setName("asyncFakeRunProcess");
        asyncFakeRunThread.setDaemon(true);
        asyncFakeRunThread.start();
    }

    // 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;
        }

        if (!fakeGenerateInTask.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 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);
                    MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                    redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 5);
                }
            }
        }
    }

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

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

        if (!fakeGenerateInTask.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.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
                            .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);

                    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;
                    }
                    MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                    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;
        }

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

        if (!fakeGenerateOutTask.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);

                    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);
                }
            }
        }
    }

    /**
     * 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() {
        try {
            if (fakeRealTaskRequestWms.equals("N")) {
                return;
            }

            Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
            if (systemConfigMapObj == null) {
                return;
            }
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;

            int conveyorStationTaskLimit = 30;
            String conveyorStationTaskLimitStr = systemConfigMap.get("conveyorStationTaskLimit");
            if (conveyorStationTaskLimitStr != null) {
                conveyorStationTaskLimit = Integer.parseInt(conveyorStationTaskLimitStr);
            }
            int currentStationTaskCount = stationOperateProcessUtils.getCurrentStationTaskCount();
            if (currentStationTaskCount > conveyorStationTaskLimit) {
                News.error("输送站点任务已达到上限，上限值：{}，站点任务数：{}", conveyorStationTaskLimit, currentStationTaskCount);
                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.getBarcodeStationList$();
                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、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
                                .selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                        if (!wrkMasts.isEmpty()) {
                            continue;
                        }

                        Object lock = redisUtil.get(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId);
                        if (lock != null) {
                            continue;
                        }
                        redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 10);

                        String barcode = stationProtocol.getBarcode();
                        Integer stationIdVal = stationProtocol.getStationId();

                        // 1. 首先查询是否有已完成的异步响应
                        String response = wmsOperateUtils.queryAsyncInTaskResponse(barcode, stationIdVal);

                        if (response != null) {
                            // 2. 有响应结果，处理响应
                            if (response.equals("FAILED") || response.startsWith("ERROR:")) {
                                // 请求失败，重新发起异步请求
                                News.error("WMS入库请求失败，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                                continue;
                            }

                            // 解析响应
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (jsonObject.getInteger("code").equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                CreateInTaskParam taskParam = new CreateInTaskParam();
                                taskParam.setTaskNo(dto.getTaskNo());
                                taskParam.setLocNo(dto.getLocNo());
                                taskParam.setTaskPri(dto.getTaskPri());
                                taskParam.setBarcode(barcode);
                                WrkMast wrkMast = commonService.createInTask(taskParam);

                                StationCommand command = stationThread.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");
                                    continue;
                                }
                                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            } else {
                                // 接口返回非200，重新发起请求
                                News.error("WMS入库接口返回非200，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                        } else {
                            // 3. 没有响应结果，检查是否有请求正在进行中
                            if (!wmsOperateUtils.isAsyncRequestInProgress(barcode, stationIdVal)) {
                                // 没有请求进行中，发起新的异步请求
                                News.info("发起异步WMS入库请求，barcode={}，stationId={}", barcode, stationIdVal);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                        }
                    }
                }
            }
        } 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.getCommand(StationCommandType.RESET, 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 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;
            }
            checkInStationListCrnTake(inStationList);
        }

        List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
        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 synchronized 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) {
                    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(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_DEVICE_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;
                            }

                            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(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;
                            }

                            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(crn_fetch)，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) {
                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);
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    }
                } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
                    updateWrkSts = WrkStsType.COMPLETE_LOC_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;
                }

                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());
                }

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

}