#

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()) {
@@ -2262,6 +2266,21 @@
                    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;