#

ytfl

2025-07-15 b75e8ba916f7ec85e6eafdc736f1a9c2a4aeed39

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

@@ -643,6 +643,10 @@
     */
    public synchronized void crnMove() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (crn.getId() == 1) {
                continue;
            }

            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -962,7 +966,7 @@

                    if (crnProtocol.getCrnNo() == 1) {
                        //判断堆垛机和当前任务是否处于一个巷道
                        if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
                        if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
                            //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
                            List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
                            if (!currentWrkMasts.isEmpty()) {
@@ -2206,13 +2210,16 @@
        ArrayList<Integer> list = new ArrayList<Integer>(){{add(2003);add(2002);}};
        for (Integer staNo : list) {
            Integer devpId = null;
            Integer rgvStaNoDevpId = null;
            Integer rgvStaNo = null;
            if (staNo == 2003) {
                devpId = 1;
                rgvStaNo = 2002;
                rgvStaNoDevpId = 2;
            }else {
                devpId = 2;
                rgvStaNo = 2003;
                rgvStaNoDevpId = 1;
            }

            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
@@ -2242,6 +2249,38 @@
                    continue;
                }

                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvStaNoDevpId);
                if (devpThread2 == null) {
                    continue;
                }
                StaProtocol staProtocolRgvStaNo = devpThread2.getStation().get(rgvStaNo);
                if (staProtocolRgvStaNo == null) {
                    continue;
                }

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

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

                // 获取RGV信息
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
                if (rgvThread == null) {
                    continue;
                }

                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }

                if (rgvProtocol.statusType1 != RgvStatusType.IDLE && rgvProtocol.getTaskNo1() != 0) {
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo());
                if (object != null) {
                    continue;