去掉无用代码

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/service/impl/RobotNodeServiceImpl.java

@@ -339,1360 +339,6 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                 storgeService.lockStorge(targetStorge, taskNode.getId());
                 dataMap.put("result", true);
             }
-            /*
-            if (CollectionUtil.isNotEmpty(targetList)) {//设备空闲
-                Storge targetStorge = storgeService.getById(targetList.get(0).getStorgeId());
-                //锁定加工设备库位
-                targetStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-                storgeService.lockStorge(targetStorge, taskNode.getId());
-            } else {//设备忙碌，放置到线边库
-                //TODO，哪里的线边库
-                String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-                xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-                if (xbkList != null && xbkList.size() > 0) {
-                    //锁定线边库
-                    Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-
-                    xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-                    storgeService.lockStorge(xbkStorge, taskNode.getId());
-//                    redisTemplate.opsForValue().set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-                }
-            } */
-
-
-//            if(count==0){//第一步的时候锁定资源
-//                //判断机器人是否为空
-//                String jrqarr[] = {resourceAutoCode.getResourceId().toString()};
-//                List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                Map<String,List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
-//
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                //机器人手抓没被锁定，并且有空闲未知
-//                if (CollectionUtil.isNotEmpty(jqrList)&&jqrList.size()>1&&jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
-//                    //满足条件--机器人空闲，设备或线边库有一个空闲
-//                    Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-//                    map.put("Data", startStore);
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"moveMaterial");
-//                }
-//                map.put("result", (CollectionUtil.isNotEmpty(jqrList) )&&jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS));
-//            }else if(count == 1){
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"fetchMaterial");
-//                Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-//                map.put("fromStorge", currentStore);
-//                map.put("Data", currentStore);
-//                //出入库类型
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                //目的地为机器人手臂
-//                map.put("toStorge", jqrStorge);
-//                map.put("result", true);
-//            }else if(count == 2){
-//                Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
-//                map.put("fromStorge", currentStore);
-//                //出入库类型
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                //目的地为机器人手臂
-//                Storge hcwStorge = (Storge)redisTemplate.opsForValue().get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                map.put("Data", hcwStorge);
-//                map.put("toStorge", hcwStorge);
-//                map.put("result", true);
-//            }
-//        }
-            return map;
-
-
-            //质量中心机器人
-//        if(DemoLineConstant.JQR1.equals(robotType)){
-//            //机器人放子盘夹具到上下料站(从子盘到机械手)。可能进行换手操作
-//            if (DemoLineConstant.DEMOLINE_OP01_03.equals(taskNode.getNodeNo())) {
-//                //机器人放子盘夹具到上下料站(从子盘到机械手)。可能进行换手操作
-//                //执行步骤
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                if (count == 0) {
-//                    //更换抓手尚未考虑
-//                    //判断上下料站
-//                    sxlzIdArr = new String[] {task.getResourceId().toString()};
-//                    List<ProductionresourcePosition> sxlzList = productionresourcePositionService.getFreeProductionresourcePositionByIds(sxlzIdArr);
-//                    //判断机器人是否为空
-//                    String jqrarr[] = {DemoLineConstant.JQR1};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jqrarr);
-//
-//                    Storge xbkstorge = storgeService.getTrayStorge(task);
-//                    if (CollectionUtil.isNotEmpty(sxlzList) && CollectionUtil.isNotEmpty(jqrList) && xbkstorge != null) {
-//                        Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                        //(由于搬运拆成两个节点),把锁定的节点放到缓存，便于下个节点使用
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//
-//                        //机器人库位锁定
-//                        jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                        //锁定线边库
-//                        xbkstorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(xbkstorge, nextTaskNode.getId());
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.XBK + nextTaskNode.getId(), xbkstorge, 1, TimeUnit.DAYS);
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.XBK + taskNode.getId(), xbkstorge, 1, TimeUnit.DAYS);
-//
-//                        //锁定上下料站
-//                        TaskNode next2TaskNode = taskNodeService.getNextNTaskNode(taskNode, 2);
-//                        Storge sxlzStorge = storgeService.getById(sxlzList.get(0).getStorgeId());
-//                        sxlzStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(sxlzStorge, next2TaskNode.getId());
-//
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.SXLZ + next2TaskNode.getId(), sxlzStorge, 1, TimeUnit.DAYS);
-//                        //上下料站在下个节点和下下个节点都用到
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.SXLZ + nextTaskNode.getId(), sxlzStorge, 1, TimeUnit.DAYS);
-//
-//                        map.put("zkIp", ZK_ip_zlzx);
-//                        Map handMap = taskService.checkChangeHand(task);
-//                        //需要换手抓
-//                        if ("1".equals(handMap.get("result").toString())) {
-//                            taskService.handleChangeHand(handMap, map);
-//                        } else {//不需要换手
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                            map.put("Data", xbkstorge);
-//                            map.put("fromStorge", xbkstorge);
-//                            map.put("toStorge", jqrStorge);
-//                            //出入库类型
-//                            map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//                        }
-//                        map.put(taskNode.getId().toString() + "count", count);
-//                    }
-//                    map.put("result", (CollectionUtil.isNotEmpty(sxlzList) && CollectionUtil.isNotEmpty(jqrList) && xbkstorge != null));
-//                }
-//                else if (count == 1) {//前面换手完成，机器人放子盘夹具到上下料站(从子盘到机械手)，这一步可能不用走
-//                    Storge xbkstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.XBK + taskNode.getId());
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                    map.put("zkIp", ZK_ip_zlzx);
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("Data", xbkstorge);
-//                    map.put("fromStorge", xbkstorge);
-//                    map.put("toStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//                    map.put("result", true);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP01_04.equals(taskNode.getNodeNo())) {
-//                //1、取出质量中心机器人
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                //重新锁定一下机器人的库位，更新一下被锁定的业务ID(由于搬运拆成两个节点)
-//                //storgeService.lockStorge(jqrStorge, taskNode.getId());
-//                //2、取出上下料站
-//                Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.SXLZ + taskNode.getId());
-//                map.put("zkIp", ZK_ip_zlzx);
-//                //3、把起始终点库位存放到map,用于接口
-//                map.put("fromStorge", jqrStorge);
-//                map.put("toStorge", sxlzstorge);
-//                //出入库类型-托盘夹具出入库
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                map.put("Data", sxlzstorge);
-//                //这个节点没有需要验证的内容，都在前一个节点验证并且锁定了
-//                map.put("result", true);
-//                //4、记录机器人的库位，下一个步骤使用
-////                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), sxlzstorge, 1, TimeUnit.DAYS);
-//            }
-//            else if (DemoLineConstant.DEMOLINE_OP01_06.equals(taskNode.getNodeNo())) {
-//                //机器人取料（机器人从人工上料站取料放到机械手）
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                if (count == 0) {
-//                    //判断机器人是否为空
-//                    jqrarr = new String[] {DemoLineConstant.JQR1};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jqrarr);
-//
-//                    Storge plantStorge = null;
-//                    String jbwCode = "";
-//                    List<ProductionresourcePosition> xbkList = null;
-//                    if (CollectionUtil.isNotEmpty(jqrList)) {
-//                        //只要机器人空闲就可以搬
-//                        //判断接驳位D\E是否为空
-//                        jbwarr = new String[] {DemoLineConstant.JBW_D, DemoLineConstant.JBW_E};
-//                        Map plateMap = storgeService.getPlateStorgeByNo(jbwarr, task.getCompleteBatchNo());
-//                        //获取锁定的托板上的库位
-//                        plantStorge = plateMap.get("storge") == null ? null : (Storge) plateMap.get("storge");
-//                        jbwCode = plateMap.get("jbwCode") == null ? "" : plateMap.get("jbwCode").toString();
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        TaskNode next3TaskNode = taskNodeService.getNextNTaskNode(taskNode, 3);
-//                        if (plantStorge != null) {//设备空闲
-//                            plantStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(plantStorge, next3TaskNode.getId());
-//                            //放入缓存，下个节点使用
-//                            Storge jbwStorge = plateMap.get("jbwStorge") == null ? null : (Storge) plateMap.get("jbwStorge");
-////                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.TB + next3TaskNode.getId(), plantStorge, 1, TimeUnit.DAYS);
-////                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JBW + next3TaskNode.getId(), jbwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_JBW_STORAGE + "_" + task.getCompleteBatchNo(), jbwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//
-//                        } else {//设备忙碌，放置到线边库
-//                            String zlzxXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(zlzxXBKarr);
-//                            if (CollectionUtil.isNotEmpty(xbkList)) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZLZX_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                        //满足条件--机器人空闲，设备或线边库有一个空闲
-//                        if (CollectionUtil.isNotEmpty(jqrList) && ((plantStorge != null) || CollectionUtil.isNotEmpty(xbkList))) {
-//                            //目的地为机器人手臂
-//                            Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                            //锁定机器人
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                            //锁定放入缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                            map.put("zkIp", ZK_ip_zlzx);
-//                            Map handMap = taskService.checkChangeHand(task);
-//                            //需要换手抓
-//                            if ("1".equals(handMap.get("result").toString())) {
-//                                taskService.handleChangeHand(handMap, map);
-//                            } else {//不需要换手
-//                                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                                //取出前一步骤存放的上下料站库位
-//                                Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                                //出入库参数
-//                                map.put("fromStorge", sxlzstorge);
-//
-//                                map.put("toStorge", jqrStorge);
-//                                //接口用参数
-//                                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                                map.put("Data", sxlzstorge);
-//                                //出入库类型
-//                                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                                //记录产品流转到的库位
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                            }
-//                            map.put(taskNode.getId().toString() + "count", count);
-//                        }
-//                    }
-//                    map.put("result", CollectionUtil.isNotEmpty(jqrList) && ((plantStorge != null) || CollectionUtil.isNotEmpty(xbkList)));
-//                }
-//                else if (count == 1) {
-//                    //前面换手完成，机器人放子盘夹具到上下料站(从子盘到机械手)，这一步可能不用走
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    //取出前一步骤存放的上下料站库位
-//                    Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                    map.put("zkIp", ZK_ip_zlzx);
-//                    //出入库参数
-//                    map.put("fromStorge", sxlzstorge);
-//
-//                    map.put("toStorge", jqrStorge);
-//                    //接口用参数
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("Data", sxlzstorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//
-//                    map.put("result", true);
-////                    //记录产品流转到的库位
-////                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                }
-//            }
-//            else if (DemoLineConstant.DEMOLINE_OP01_07.equals(taskNode.getNodeNo())) {
-//                //机器人取料（机器人放料到接驳位或者线边库）
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                map.put("zkIp", ZK_ip_zlzx);
-//                map.put("fromStorge", jqrStorge);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                //出入库类型
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//
-//                Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                Storge jbwStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_JBW_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_JBW_STORAGE + "_" + task.getCompleteBatchNo());
-//                //后续要先锁定接驳位，先调试
-//                if (jbwStorge != null) {//接驳位有空闲
-////                    //锁定的托板上的库位，锁定的业务ID是下一个节点的ID
-////                    TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-////                    storgeService.lockStorge(plantStorge, nextTaskNode.getId());
-//                    //目的地为托板上的其中一个库位
-//                    map.put("toStorge", plantStorge);
-//
-//                    map.put("Data", plantStorge);
-//                    //所属接驳位
-//                    map.put("jbwCode", jbwStorge.getResourceNo());
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//
-//                } else {//接驳位忙碌，只能放到10.1预占的线边库
-//                    //1、取出10-1锁定的线边库
-//                    Storge xbkStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZLZX_XBK + taskNode.getId());
-//                    map.put("toStorge", xbkStorge);
-//                    map.put("Data", xbkStorge);
-//                    //临时存放到了线边库的标志
-//                    map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                    //临时存放到了质量中心的线边库
-//                    map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZLZX_XBK);
-//                    //搬运类型
-//                    map.put(DemoLineConstant.DEMOLINE_XBK_CARRY_TYPE, BizConstant.MQ_TASK_NODE_TYPE_STORAGE_WAIT_ZLZX_JBW);
-//                }
-//                //无需条件
-//                map.put("result", true);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP05_02.equals(taskNode.getNodeNo())) {
-//                //取放到三坐标
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                if (count == 0) {
-//                    //机器人为空
-//                    String jrqarr[] = {DemoLineConstant.JQR1};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//
-//                    //三坐标空闲
-//                    String szbarr[] = {DemoLineConstant.Q3ZUOBIAO};
-//                    List<ProductionresourcePosition> szbList = productionresourcePositionService.getFreeProductionresourcePositionByNos(szbarr);
-//
-//                    List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                    if (CollectionUtil.isNotEmpty(jqrList)) {//机器人是空闲
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        if (CollectionUtil.isNotEmpty(szbList)) {//三坐标为空，并且
-//                            //锁定三坐标
-//                            Storge szbStorge = storgeService.getById(szbList.get(0).getStorgeId());
-//                            szbStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(szbStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.Q3ZUOBIAO + nextTaskNode.getId(), szbStorge, 1, TimeUnit.DAYS);
-//                        } else {
-//                            String zlzxXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(zlzxXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZLZX_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//
-//                        if ((CollectionUtil.isNotEmpty(jqrList)) && ((CollectionUtil.isNotEmpty(szbList) || CollectionUtil.isNotEmpty(xbkList)))) {
-//                            Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                            //目的地为机器人手臂
-//                            Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                            //锁定机器人
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                            //锁定放入缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                            map.put("zkIp", ZK_ip_zlzx);
-//                            Map handMap = taskService.checkChangeHand(task);
-//                            //需要换手抓
-//                            if ("1".equals(handMap.get("result").toString())) {
-//                                taskService.handleChangeHand(handMap, map);
-//                            } else {//不需要换手
-//                                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                                map.put("fromStorge", plantStorge);
-//                                //目的地为机器人手臂
-//                                map.put("toStorge", jqrStorge);
-//                                map.put("Data", plantStorge);
-//                                //出入库类型
-//                                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                                //记录产品流转到的库位
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                            }
-//                            map.put(taskNode.getId().toString() + "count", count);
-//                        }
-//                        map.put("result", (CollectionUtil.isNotEmpty(jqrList)) && ((CollectionUtil.isNotEmpty(szbList) || CollectionUtil.isNotEmpty(xbkList))));
-//                    }
-//                }
-//                else if (count == 1) {
-//                    Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("fromStorge", plantStorge);
-//                    map.put("toStorge", jqrStorge);
-//                    map.put("Data", plantStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //锁定机器人
-//                    jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                    storgeService.lockStorge(jqrStorge, taskNode.getId());
-//                    //记录产品流转到的库位
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP05_05.equals(taskNode.getNodeNo())) {
-//                //机械手从三坐标取出
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                if (count == 0) {
-//                    String[] sxlzIdArr = {DemoLineConstant.SXLZ1, DemoLineConstant.SXLZ2};
-//                    List<ProductionresourcePosition> sxlzList = productionresourcePositionService.getFreeProductionresourcePositionByNos(sxlzIdArr);
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {DemoLineConstant.JQR1};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//
-//                    List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                    if (CollectionUtil.isNotEmpty(jqrList)) {//机器人是空闲
-//                        if (CollectionUtil.isNotEmpty(sxlzList)) {//三坐标为空，并且
-//                            TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                            //锁定上下料站
-//                            Storge sxlzStorge = storgeService.getById(sxlzList.get(0).getStorgeId());
-//                            sxlzStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(sxlzStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.SXLZ + nextTaskNode.getId(), sxlzStorge, 1, TimeUnit.DAYS);
-//                        } else {
-//                            String zlzxXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(zlzxXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//                                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZLZX_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                    }
-//
-//
-//                    if (CollectionUtil.isNotEmpty(jqrList) && ((CollectionUtil.isNotEmpty(sxlzList) || CollectionUtil.isNotEmpty(xbkList)))) {
-//                        map.put("zkIp", ZK_ip_zlzx);
-//                        Storge szbStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                        //取出包含托盘夹具的库位
-//                        Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                        //机器人库位锁定
-//                        jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        //锁定机器人
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                        Map handMap = taskService.checkChangeHand(task);
-//                        //需要换手抓
-//                        if ("1".equals(handMap.get("result").toString())) {
-//                            taskService.handleChangeHand(handMap, map);
-//                        } else {//不需要换手
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                            //出入库类型
-//                            map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                            //目的地为机器人手臂
-//                            map.put("Data", szbStorge);
-//                            map.put("toStorge", jqrStorge);
-//                            map.put("fromStorge", szbStorge);
-//                            //(由于搬运拆成两个节点),把锁定的节点放到缓存，便于下个节点使用
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            //记录产品流转到的库位
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                        }
-//                        map.put(taskNode.getId().toString() + "count", count);
-//                    }
-//                    map.put("result", CollectionUtil.isNotEmpty(jqrList) && ((CollectionUtil.isNotEmpty(sxlzList) || CollectionUtil.isNotEmpty(xbkList))));
-//                } else if (count == 1) {
-//                    Storge szbStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                    map.put("zkIp", ZK_ip_zlzx);
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    map.put("Data", szbStorge);
-//                    map.put("toStorge", jqrStorge);
-//                    map.put("fromStorge", szbStorge);
-//                    map.put("result", true);
-//                    //(由于搬运拆成两个节点),把锁定的节点放到缓存，便于下个节点使用
-//                    //记录产品流转到的库位
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP05_06.equals(taskNode.getNodeNo())) {
-//                //机器人放子盘夹具到上下料站(从机械手到上下料站)
-//                //节点4的任务都在节点3被锁定过了，只要从缓存拿出来对应的值即可
-//                //1、取出机器人
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                //2、取出上下料站
-//                Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.SXLZ + taskNode.getId());
-//                map.put("zkIp", ZK_ip_zlzx);
-//                //3、把起始终点库位存放到map,用于接口
-//                map.put("fromStorge", jqrStorge);
-//                map.put("toStorge", sxlzstorge);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                //出入库类型
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                //目的地为机器人手臂
-//                map.put("Data", sxlzstorge);
-//                //这个节点没有需要验证的内容，都在前一个节点验证并且锁定了
-//                map.put("result", true);
-//                //4、记录机器人的库位，下一个步骤使用
-//                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), sxlzstorge, 1, TimeUnit.DAYS);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP06_02.equals(taskNode.getNodeNo())) {
-//                //子盘，夹具，归还线边库
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                if (count == 0) {
-//                    Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    //更换抓手尚未考虑
-//                    //判断上下料站
-//                    //根据工件获取所在的生产单元(产线)
-//                    String zoneNo = msgUtil.redis_get(DemoCacheKey.DEMOLINE_WORKOP_ZONE + task.getCompleteBatchNo()) == null ? ""
-//                            : msgUtil.redis_get(DemoCacheKey.DEMOLINE_WORKOP_ZONE + task.getCompleteBatchNo()).toString();
-//                    //线边库事宜的托盘类型
-//                    String fitTrayType = "1";
-//                    if (DemoLineConstant.DEMOLINE_WORK_SPACE1.equals(zoneNo)) {
-//                        fitTrayType = "0";
-//                    }
-//
-//                    String zlzxXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
-//                    List<ProductionresourcePosition> xbkList = productionresourcePositionService.getFreeProductionresourcePositionByTrayTypeNos(zlzxXBKarr, fitTrayType);
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {DemoLineConstant.JQR1};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//
-//
-//                    if (CollectionUtil.isNotEmpty(xbkList) && CollectionUtil.isNotEmpty(jqrList)) {
-//                        Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                        //机器人库位锁定
-//                        jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        //(由于搬运拆成两个节点),把锁定的节点放到缓存，便于下个节点使用
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                        //锁定线边库
-//                        Storge xbkstorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//                        xbkstorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(xbkstorge, nextTaskNode.getId());
-//                        //锁定放入缓存
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.XBK + nextTaskNode.getId(), xbkstorge, 1, TimeUnit.DAYS);
-//
-//                        map.put("zkIp", ZK_ip_zlzx);
-//                        Map handMap = taskService.checkChangeHand(task);
-//                        //需要换手抓
-//                        if ("1".equals(handMap.get("result").toString())) {
-//                            taskService.handleChangeHand(handMap, map);
-//                        } else {
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                            map.put("fromStorge", sxlzstorge);
-//                            map.put("toStorge", jqrStorge);
-//                            map.put("Data", sxlzstorge);
-//                            map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//                        }
-//                        map.put(taskNode.getId().toString() + "count", count);
-//                    }
-//                    map.put("result", CollectionUtil.isNotEmpty(xbkList) && CollectionUtil.isNotEmpty(jqrList));
-//                } else if (count == 1) {//前面换手完成，机器人放子盘夹具到上下料站(从子盘到机械手)，这一步可能不用走
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-//                    Storge sxlzstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("fromStorge", sxlzstorge);
-//                    map.put("toStorge", jqrStorge);
-//                    map.put("Data", sxlzstorge);
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP06_03.equals(taskNode.getNodeNo())) {
-//                //机器人放子盘夹具到上下料站(从机械手到上下料站)
-//                //节点4的任务都在节点3被锁定过了，只要从缓存拿出来对应的值即可
-//                //1、取出机器人
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR1 + taskNode.getId());
-////                //重新锁定一下机器人的库位，更新一下被锁定的业务ID(由于搬运拆成两个节点)
-////                storgeService.lockStorge(jqrStorge, taskNode.getId());
-//                //2、取出上下料站
-//                Storge xbkstorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.XBK + taskNode.getId());
-//                map.put("zkIp", ZK_ip_zlzx);
-//                //3、把起始终点库位存放到map,用于接口
-//                map.put("fromStorge", jqrStorge);
-//                map.put("toStorge", xbkstorge);
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_TRAY_CRK);
-//
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                map.put("Data", xbkstorge);
-//                //这个节点没有需要验证的内容，都在前一个节点验证并且锁定了
-//                map.put("result", true);
-//                //4、记录机器人的库位，下一个步骤使用
-////                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), sxlzstorge, 1, TimeUnit.DAYS);
-//            }
-//
-//        }
-//        //智能单元机器人
-//        else if(DemoLineConstant.JQR2.equals(robotType)){
-//            if (DemoLineConstant.DEMOLINE_OP02_01.equals(taskNode.getNodeNo())) {
-//                map.put("zkIp", ZK_ip_zndy);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                //判断机器人是否为空
-//                String jrqarr[] = {DemoLineConstant.JQR2};
-//                List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//
-//                Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//
-//                //判断设备是否空闲
-//                String sum50[] = {DemoLineConstant.DEMOLINE_SUM50_ZNDY};
-//                List<ProductionresourcePosition> sum50List = productionresourcePositionService.getFreeProductionresourcePositionByNos(sum50);
-//                List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                if (CollectionUtil.isNotEmpty(jqrList)) {
-//                    if (CollectionUtil.isNotEmpty(sum50List)) {//设备空闲
-//                        Storge sum50Storge = storgeService.getById(sum50List.get(0).getStorgeId());
-//                        //锁定加工设备库位
-//                        sum50Storge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(sum50Storge, nextTaskNode.getId());
-//                        //放入缓存，下个节点使用
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_SUM50_ZNDY + nextTaskNode.getId(), sum50Storge, 1, TimeUnit.DAYS);
-//
-//                    }
-//                    else {//设备忙碌，放置到线边库
-//                        String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                        xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                        if (xbkList != null && xbkList.size() > 0) {
-//                            //锁定线边库
-//                            Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//
-//                            xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                        }
-//                    }
-//                    //满足条件--机器人空闲，设备或线边库有一个空闲
-//                    if (CollectionUtil.isNotEmpty(jqrList) && ((CollectionUtil.isNotEmpty(sum50List) || CollectionUtil.isNotEmpty(xbkList)))) {
-//                        map.put("fromStorge", plantStorge);
-//                        map.put("Data", plantStorge);
-//                        //出入库类型
-//                        map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                        //目的地为机器人手臂
-//                        Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                        map.put("toStorge", jqrStorge);
-//                        //锁定机器人
-//                        jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                        //记录产品流转到的库位
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//
-//                    }
-//                }
-//                map.put("result", (CollectionUtil.isNotEmpty(jqrList) && ((CollectionUtil.isNotEmpty(sum50List) || CollectionUtil.isNotEmpty(xbkList)))));
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP02_02.equals(taskNode.getNodeNo())) {
-//                map.put("zkIp", ZK_ip_zndy);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                //前序绑定的sum50
-//                Object sum50Storge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_SUM50_ZNDY + taskNode.getId());
-//                if (sum50Storge != null) {//前序是绑定到sum50
-//                    sum50Storge = (Storge) sum50Storge;
-//                    //目的地为机器人手臂
-//                    map.put("toStorge", sum50Storge);
-//                    map.put("Data", sum50Storge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), sum50Storge, 1, TimeUnit.DAYS);
-//                } else {
-//                    //前序绑定的线边库
-//                    Object xbkStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + taskNode.getId());
-//                    if (xbkStorge != null) {
-//                        xbkStorge = (Storge) xbkStorge;
-//                        //目的地为线边库
-//                        map.put("toStorge", xbkStorge);
-//                        map.put("Data", xbkStorge);
-//                        //临时存放到了线边库的标志
-//                        map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                        //临时存放到了智能单元的线边库
-//                        map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK);
-//                    }
-//                }
-//                //出入库类型-托盘夹具原材料出入库
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                //
-//                map.put("result", true);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP04_09.equals(taskNode.getNodeNo())) {
-//                String jrqarr[] = {DemoLineConstant.JQR2};
-//                List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                if (jqrList != null && jqrList.size() > 0) {
-//                    //判断接驳位D\E是否为空
-//                    String jbwarr[] = {DemoLineConstant.JBW_F, DemoLineConstant.JBW_G};
-//                    Map plateMap = storgeService.getPlateStorgeByNo(jbwarr, task.getCompleteBatchNo());
-//                    Storge plantStorge = plateMap.get("storge") == null ? null : (Storge) plateMap.get("storge");
-//                    String jbwCode = plateMap.get("jbwCode") == null ? "" : plateMap.get("jbwCode").toString();
-//                    Storge jbwStorge = plateMap.get("jbwStorge") == null ? null : (Storge) plateMap.get("jbwStorge");
-//
-//                    if (plantStorge != null) {//接驳位有空闲
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        plantStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(plantStorge, nextTaskNode.getId());
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_JBW_STORAGE + "_" + task.getCompleteBatchNo(), jbwStorge, 1, TimeUnit.DAYS);
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//                    } else {//设备忙碌，放置到线边库
-//                        String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                        xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                        if (xbkList != null && xbkList.size() > 0) {
-//                            //锁定线边库
-//                            Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//                            TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                            xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                        }
-//                    }
-//                    //满足条件--机器人空闲，设备或线边库有一个空闲
-//                    if ((CollectionUtil.isNotEmpty(jqrList)) && ((plantStorge != null) || CollectionUtil.isNotEmpty(xbkList))) {
-//                        Storge sum50Storge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                        sum50Storge = (Storge) sum50Storge;
-//                        map.put("zkIp", ZK_ip_zndy);
-//                        map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                        map.put("fromStorge", sum50Storge);
-//                        map.put("Data", sum50Storge);
-//                        //目的地为机器人手臂
-//                        Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-//                        map.put("toStorge", jqrStorge);
-//                        //出入库类型
-//                        map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                        //锁定机器人
-//                        jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                        storgeService.lockStorge(jqrStorge, taskNode.getId());
-//                        //记录产品流转到的库位
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), jqrStorge, 1, TimeUnit.DAYS);
-//                        map.put("result", (CollectionUtil.isNotEmpty(jqrList)) && ((plantStorge != null) || CollectionUtil.isNotEmpty(xbkList)));
-//                    }
-//
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP04_10.equals(taskNode.getNodeNo())) {
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                map.put("zkIp", ZK_ip_zndy);
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                map.put("fromStorge", jqrStorge);
-//                map.put("toStorge", plantStorge);
-//                map.put("Data", plantStorge);
-//                //出入库类型-托盘夹具原材料出入库
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//                //前一步已经锁定完毕，直接满足条件
-//                map.put("result", true);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP05_03.equals(taskNode.getNodeNo())) {
-//                //取放到三坐标  从机器人手臂到三坐标
-//                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//
-//                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                map.put("zkIp", ZK_ip_zlzx);
-//                map.put("fromStorge", jqrStorge);
-//                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                //前序绑定的sum50
-//                Object szbStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.Q3ZUOBIAO + taskNode.getId());
-//                if (szbStorge != null) {//前序是绑定到托板
-//                    szbStorge = (Storge) szbStorge;
-//                    //目的地为机器人手臂
-//                    map.put("toStorge", szbStorge);
-//                    map.put("Data", szbStorge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), szbStorge, 1, TimeUnit.DAYS);
-//                } else {
-//                    //前序绑定的线边库
-//                    Object xbkStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZLZX_XBK + taskNode.getId());
-//                    if (xbkStorge != null) {
-//                        xbkStorge = (Storge) xbkStorge;
-//                        //目的地为线边库
-//                        map.put("toStorge", xbkStorge);
-//                        map.put("Data", xbkStorge);
-//                        //出入库类型
-//                        map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                        //临时存放到了线边库的标志
-//                        map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                        //临时存放到了智能单元的线边库
-//                        map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZLZX_XBK);
-//                        //搬运类型
-//                        map.put(DemoLineConstant.DEMOLINE_XBK_CARRY_TYPE, BizConstant.MQ_TASK_NODE_TYPE_STORAGE_WAIT_ZLZX_SZB);
-//                        //当前执行数量
-//                        msgUtil.redis_set(DemoCacheKey.DEMOLINE_XBK_CURRCOUNT + task.getCompleteBatchNo(), 0, 1, TimeUnit.DAYS);
-//                    }
-//                }
-//                map.put("result", true);
-//            }
-//
-//        }
-//        //柔性线机器人
-//        else if(DemoLineConstant.JQR3.equals(robotType)){
-//            if (DemoLineConstant.DEMOLINE_OP02_01.equals(taskNode.getNodeNo())) {
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//                Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//
-//                if (count == 0) {//第一步的时候锁定资源
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {DemoLineConstant.JQR3};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                    Map<String, List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
-//                    //判断设备是否空闲
-//                    String sum50[] = {DemoLineConstant.DEMOLINE_SUM50_RXDY4};
-//                    List<ProductionresourcePosition> sum50List = productionresourcePositionService.getFreeProductionresourcePositionByNos(sum50);
-//                    List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                    TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                    //机器人手抓没被锁定，并且有空闲未知
-//                    if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
-//                        if (CollectionUtil.isNotEmpty(sum50List)) {//设备空闲
-//                            Storge sum50Storge = storgeService.getById(sum50List.get(0).getStorgeId());
-//                            //锁定加工设备库位
-//                            sum50Storge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(sum50Storge, nextTaskNode.getId());
-//                            //放入缓存，下个节点使用
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_SUM50_RXDY4 + nextTaskNode.getId(), sum50Storge, 1, TimeUnit.DAYS);
-//
-//                            //锁定机器人手抓
-//                            Storge jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-////                                //去掉抓手
-////                                jqrMap.remove(DemoLineConstant.DEMOLINE_RJQR_ZS);
-//                            //锁定一个缓存位
-//                            List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p)).findFirst().get());
-//                            Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
-//                            hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(hcwStorge, nextTaskNode.getId());
-//
-//
-//                            //抓手缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            //缓存位缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + nextTaskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//
-//
-//                        }
-//                        else {//设备忙碌，放置到线边库
-//                            String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                        //满足条件--机器人空闲，设备或线边库有一个空闲
-//                        if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((CollectionUtil.isNotEmpty(sum50List) || CollectionUtil.isNotEmpty(xbkList)))) {//移动
-//                            map.put("Data", plantStorge);
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                        }
-//                    }
-//                    map.put("result", (CollectionUtil.isNotEmpty(jqrList) && ((CollectionUtil.isNotEmpty(sum50List) || CollectionUtil.isNotEmpty(xbkList)))));
-//
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP02_02.equals(taskNode.getNodeNo())) {
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                if (count == 0) {//第一步移动
-//                    Storge sum50Storge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_SUM50_RXDY4 + taskNode.getId());
-//                    map.put("Data", sum50Storge);
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                } else if (count == 1) {//从缓存位拿出来
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("fromStorge", hcwStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                } else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    Storge sum50Storge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_SUM50_RXDY4 + taskNode.getId());
-//                    map.put("Data", sum50Storge);
-//                    map.put("toStorge", sum50Storge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), sum50Storge, 1, TimeUnit.DAYS);
-//                }
-//                map.put("result", true);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP03_01.equals(taskNode.getNodeNo())) {
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//
-//                if (count == 0) {//第一步的时候锁定资源
-//                    String JQR = DemoLineConstant.JQR3;
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {JQR};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                    Map<String, List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
-//                    //判断设备是否空闲
-//                    List<ProductionresourcePosition> qxjList = new ArrayList<>();
-//                    List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//                    Storge qxjStorge = null;
-//
-//                    TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                    //机器人手抓没被锁定，并且有空闲未知
-//                    if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
-//                        //清洗机有空位
-//                        String qxjarr[] = {DemoLineConstant.DEMOLINE_QINGXIJI};
-//                        qxjList = productionresourcePositionService.getFreeProductionresourcePositionByNos(qxjarr);
-//                        if (CollectionUtil.isNotEmpty(qxjList)) {//设备空闲
-//                            qxjStorge = storgeService.getById(qxjList.get(0).getStorgeId());
-//                            qxjStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(qxjStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_QINGXIJI + nextTaskNode.getId(), qxjStorge, 1, TimeUnit.DAYS);
-//
-//                            //锁定机器人手抓
-//                            Storge jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                            //锁定一个缓存位
-//                            List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p)).findFirst().get());
-//                            Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
-//                            hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(hcwStorge, nextTaskNode.getId());
-//
-//                            //抓手缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            //缓存位缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + nextTaskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                        }
-//                        else {//设备忙碌，放置到线边库
-//                            String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_RXSC_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                        //满足条件--机器人空闲，设备或线边库有一个空闲
-//                        if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((CollectionUtil.isNotEmpty(qxjList)) || (CollectionUtil.isNotEmpty(xbkList)))) {//移动
-//                            //移动到sum50
-//                            Storge sum50Storge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                            map.put("Data", sum50Storge);
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                        }
-//                    }
-//                    map.put("result", (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((CollectionUtil.isNotEmpty(qxjList)) || (CollectionUtil.isNotEmpty(xbkList)))));
-//                } else if (count == 1) {
-//                    Storge sum50Storge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("fromStorge", sum50Storge);
-//                    map.put("Data", sum50Storge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    map.put("result", true);
-//                } else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("toStorge", hcwStorge);
-//                    map.put("result", true);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP03_02.equals(taskNode.getNodeNo())) {
-//                //直接搬运到设备或线边库上
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//                String JQR = DemoLineConstant.JQR3;
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                if (count == 0) {//第一步移动
-//                    Object qxjStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_QINGXIJI + taskNode.getId());
-//                    if (qxjStorge != null) {
-//                        map.put("Data", qxjStorge);
-//                        map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                    } else {
-//                        //前序绑定的线边库
-//                        Object xbkStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + taskNode.getId());
-//                        if (xbkStorge != null) {
-//                            xbkStorge = (Storge) xbkStorge;
-//                            //目的地为线边库
-//                            map.put("toStorge", xbkStorge);
-//                            //临时存放到了线边库的标志
-//                            map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                            //临时存放到了智能单元的线边库
-//                            map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK);
-//                            //当前执行数量
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_XBK_CURRCOUNT + task.getCompleteBatchNo(), 0, 1, TimeUnit.DAYS);
-//                        }
-//                    }
-//                } else if (count == 1) {//从缓存位拿出来
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("fromStorge", hcwStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                } else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    Object qxjStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_QINGXIJI + taskNode.getId());
-//                    map.put("Data", qxjStorge);
-//                    map.put("toStorge", qxjStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), qxjStorge, 1, TimeUnit.DAYS);
-//                }
-//                map.put("result", true);
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP04_01.equals(taskNode.getNodeNo())) {
-//                //打标
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//
-//                if (count == 0) {//第一步的时候锁定资源
-//                    String JQR = DemoLineConstant.JQR3;
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {JQR};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                    Map<String, List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
-//                    //判断设备是否空闲
-//                    List<ProductionresourcePosition> dbjList = new ArrayList<>();
-//                    List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//                    Storge dbjStorge = null;
-//
-//                    TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                    //机器人手抓没被锁定，并且有空闲未知
-//                    if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
-//                        //打标机有空位
-//                        String dbjarr[] = {DemoLineConstant.DEMOLINE_DABIAOJI};
-//                        dbjList = productionresourcePositionService.getFreeProductionresourcePositionByNos(dbjarr);
-//                        if (CollectionUtil.isNotEmpty(dbjList)) {//设备空闲
-//                            dbjStorge = storgeService.getById(dbjList.get(0).getStorgeId());
-//                            dbjStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(dbjStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_DABIAOJI + nextTaskNode.getId(), dbjStorge, 1, TimeUnit.DAYS);
-//
-//                            //锁定机器人手抓
-//                            Storge jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-////                            //去掉抓手
-//                            //锁定一个缓存位
-//                            List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p)).findFirst().get());
-//                            Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
-//                            hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(hcwStorge, nextTaskNode.getId());
-//
-//
-//                            //抓手缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            //缓存位缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + nextTaskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                        } else {//设备忙碌，放置到线边库
-//                            String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_RXSC_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                        //满足条件--机器人空闲，设备或线边库有一个空闲
-//                        if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((CollectionUtil.isNotEmpty(dbjList)) || (CollectionUtil.isNotEmpty(xbkList)))) {//移动
-//                            //移动到sum50
-//                            Storge qxjStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                            map.put("Data", qxjStorge);
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                        }
-//                    }
-//                    map.put("result", (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((CollectionUtil.isNotEmpty(dbjList)) || (CollectionUtil.isNotEmpty(xbkList)))));
-//                }
-//                else if (count == 1) {
-//                    Storge dbjStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    map.put("fromStorge", dbjStorge);
-//                    map.put("Data", dbjStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    map.put("result", true);
-//                }
-//                else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("toStorge", hcwStorge);
-//                    map.put("result", true);
-//                }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP04_02.equals(taskNode.getNodeNo())) {
-//                //直接搬运到设备或线边库上
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//                String JQR = DemoLineConstant.JQR3;
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                if (count == 0) {//第一步移动
-//                    Object dbjStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_DABIAOJI + taskNode.getId());
-//                    if (dbjStorge != null) {
-//                        map.put("Data", dbjStorge);
-//                        map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                    } else {
-//                        //前序绑定的线边库
-//                        Object xbkStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + taskNode.getId());
-//                        if (xbkStorge != null) {
-//                            xbkStorge = (Storge) xbkStorge;
-//                            //目的地为线边库
-//                            map.put("toStorge", xbkStorge);
-//                            //临时存放到了线边库的标志
-//                            map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                            //临时存放到了智能单元的线边库
-//                            map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK);
-//                            //当前执行数量
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_XBK_CURRCOUNT + task.getCompleteBatchNo(), 0, 1, TimeUnit.DAYS);
-//                        }
-//                    }
-//                } else if (count == 1) {//从缓存位拿出来
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("fromStorge", hcwStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                } else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    Object dbjStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_DABIAOJI + taskNode.getId());
-//                    map.put("Data", dbjStorge);
-//                    map.put("toStorge", dbjStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), dbjStorge, 1, TimeUnit.DAYS);
-//                }
-//                map.put("result", true);
-//
-//            }
-//
-//            //
-//            else if (DemoLineConstant.DEMOLINE_OP04_09.equals(taskNode.getNodeNo())) {
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_NOMOVE_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-//
-//                Storge plantStorge = null;
-//                List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//                String jbwCode = null;
-//
-//                if (count == 0) {//第一步的时候锁定资源
-//                    //判断机器人是否为空
-//                    String jrqarr[] = {DemoLineConstant.JQR3};
-//                    List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-//                    Map<String, List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
-//                    //机器人手抓没被锁定，并且有空闲未知
-//                    if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
-//                        TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                        //判断接驳位D\E是否为空
-//                        String jbwarr[] = {DemoLineConstant.JBW_H, DemoLineConstant.JBW_I};
-//                        Map plateMap = storgeService.getPlateStorgeByNo(jbwarr, task.getCompleteBatchNo());
-//                        plantStorge = plateMap.get("storge") == null ? null : (Storge) plateMap.get("storge");
-//                        jbwCode = plateMap.get("jbwCode") == null ? "" : plateMap.get("jbwCode").toString();
-//                        Storge jbwStorge = plateMap.get("jbwStorge") == null ? null : (Storge) plateMap.get("jbwStorge");
-//                        if (plantStorge != null) {//设备空闲
-//                            plantStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(plantStorge, nextTaskNode.getId());
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_JBW_STORAGE + "_" + task.getCompleteBatchNo(), jbwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//
-//                            //锁定机器人手抓
-//                            Storge jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
-//                            jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-//                            //锁定一个缓存位
-//                            List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p)).findFirst().get());
-//                            Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
-//                            hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                            storgeService.lockStorge(hcwStorge, nextTaskNode.getId());
-//
-//                            //抓手缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
-//                            //缓存位缓存
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + nextTaskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
-//
-//                        } else {//设备忙碌，放置到线边库
-//                            String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
-//                            xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(znscdyXBKarr);
-//                            if (xbkList != null && xbkList.size() > 0) {
-//                                //锁定线边库
-//                                Storge xbkStorge = storgeService.getById(xbkList.get(0).getStorgeId());
-//
-//                                xbkStorge.setCompleteBatchNo(task.getCompleteBatchNo());
-//                                storgeService.lockStorge(xbkStorge, nextTaskNode.getId());
-//                                msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + nextTaskNode.getId(), xbkStorge, 1, TimeUnit.DAYS);
-//                            }
-//                        }
-//                        //满足条件--机器人空闲，设备或线边库有一个空闲
-//                        if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((plantStorge != null || CollectionUtil.isNotEmpty(xbkList)))) {//移动
-//                            Storge dbjStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo());
-//                            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                            map.put("fromStorge", dbjStorge);
-//                            map.put("jbwCode", jbwCode);
-//                            map.put("Data", dbjStorge);
-//                            //出入库类型
-//                            map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                            //目的地为机器人手臂
-//                            Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                            map.put("toStorge", jqrStorge);
-//                        }
-//                    }
-//                    map.put("result", (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS) && ((plantStorge != null || CollectionUtil.isNotEmpty(xbkList)))));
-//                } else if (count == 1) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    map.put("jbwCode", jbwCode);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    //目的地为机器人手臂
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("toStorge", hcwStorge);
-//                    map.put("result", true);
-//                }
-////                    else if(count == 2){
-////                        map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
-////                        Storge jqrStorge = (Storge)msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-////                        map.put("fromStorge", jqrStorge);
-////                        map.put("jbwCode", jbwCode);
-////                        //出入库类型
-////                        map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-////                        //目的地为机器人手臂
-////                        Storge hcwStorge = (Storge)msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-////                        map.put("Data", hcwStorge);
-////                        map.put("toStorge", hcwStorge);
-////                        map.put("result", true);
-////                    }
-//            }
-//
-//            else if (DemoLineConstant.DEMOLINE_OP04_10.equals(taskNode.getNodeNo())) {
-//                //当前步骤。骤有的节点会生产多步执行
-//                int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
-//                //执行到第几步
-//                map.put(taskNode.getId().toString() + "count", count);
-//                map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-//                map.put("zkIp", ZK_ip_rxx);
-////                    JQR = DemoLineConstant.JQR3;
-////                    TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                if (count == 0) {//第一步移动
-//                    Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                    if (plantStorge != null) {
-//                        map.put("Data", plantStorge);
-//                        map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
-//                    } else {
-//                        //前序绑定的线边库
-//                        Object xbkStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK + taskNode.getId());
-//                        if (xbkStorge != null) {
-//                            xbkStorge = (Storge) xbkStorge;
-//                            //目的地为线边库
-//                            map.put("toStorge", xbkStorge);
-//                            //临时存放到了线边库的标志
-//                            map.put(DemoLineConstant.DEMOLINE_XBKFLAG, "1");
-//                            //临时存放到了智能单元的线边库
-//                            map.put(DemoLineConstant.DEMOLINE_XBK_TYPE, DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK);
-//                            //当前执行数量
-//                            msgUtil.redis_set(DemoCacheKey.DEMOLINE_XBK_CURRCOUNT + task.getCompleteBatchNo(), 0, 1, TimeUnit.DAYS);
-//                        }
-//                    }
-//                }
-//                else if (count == 1) {//从缓存位拿出来
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-//                    Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-//                    map.put("Data", hcwStorge);
-//                    map.put("fromStorge", hcwStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("toStorge", jqrStorge);
-//                    //出入库类型
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                }
-//                else if (count == 2) {
-//                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-//                    //出入库类型-托盘夹具原材料出入库
-//                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-//                    Storge plantStorge = msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo()) == null ? null : (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CIRCULATION_TB_STORAGE + "_" + task.getCompleteBatchNo());
-//                    map.put("Data", plantStorge);
-//                    map.put("toStorge", plantStorge);
-//                    Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-//                    map.put("fromStorge", jqrStorge);
-//                    msgUtil.redis_set(DemoCacheKey.DEMOLINE_CIRCULATION_STORAGE + "_" + task.getCompleteBatchNo(), plantStorge, 1, TimeUnit.DAYS);
-//                }
-//                map.put("result", true);
-//            }
-//
         }
         return map;
     }