package com.zy.core;
|
|
import com.zy.asrs.service.impl.ForkMainServiceImpl;
|
import com.zy.asrs.service.impl.MainServiceImpl;
|
import com.zy.core.properties.SystemProperties;
|
import lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.beans.factory.annotation.Value;
|
import org.springframework.stereotype.Component;
|
|
import javax.annotation.PreDestroy;
|
|
/**
|
* WCS主流程
|
* Created by vincent on 2020/8/6
|
*/
|
@Data
|
@Slf4j
|
@Component
|
public class MainProcess {
|
|
@Value("${deviceExecuteConfig.liftType}")
|
private String liftType;
|
@Autowired
|
private MainServiceImpl mainService;
|
@Autowired
|
private ForkMainServiceImpl forkMainService;
|
// 所属线程
|
private Thread thread;
|
// 频率
|
private int i = 0;
|
|
/**
|
* =====>> 开始工作
|
*/
|
public void start(){
|
if(liftType.equals("ForkLift")){
|
initForkMain();
|
}else {
|
initMain();
|
}
|
}
|
|
private void initMain() {
|
thread = new Thread(() -> {
|
while (!Thread.currentThread().isInterrupted()) {
|
try {
|
|
// 间隔
|
Thread.sleep(300);
|
|
// 系统运行状态判断
|
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
|
continue;
|
}
|
|
//初始化实时地图
|
mainService.initRealtimeBasMap();
|
|
// 入库 ===>> 四向穿梭车入库作业下发
|
mainService.shuttleInExecute();
|
// 出库 ===>> 四向穿梭车出库作业下发
|
mainService.shuttleOutExecute();
|
// //四向穿梭车任务完成
|
// mainService.shuttleFinished();
|
//执行移库任务
|
mainService.shuttleLocMoveExecute();
|
//货叉提升机任务
|
mainService.forkLiftIoExecute();
|
//货叉提升机任务完成
|
mainService.forkLiftFinished();
|
//执行小车移动任务
|
mainService.shuttleMoveExecute();
|
// 异常信息记录
|
mainService.recErr();
|
// 穿梭车 ===>> 小车电量检测充电
|
mainService.loopShuttleCharge();
|
mainService.executeShuttleCharge();
|
|
//自动切换出入库模式
|
mainService.autoSwitchForkLiftIOMode();
|
|
// 间隔
|
Thread.sleep(200);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
});
|
thread.start();
|
}
|
|
private void initForkMain() {
|
thread = new Thread(() -> {
|
while (!Thread.currentThread().isInterrupted()) {
|
try {
|
|
// 间隔
|
Thread.sleep(300);
|
|
// 系统运行状态判断
|
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
|
continue;
|
}
|
|
//初始化实时地图
|
forkMainService.initRealtimeBasMap();
|
|
//出库任务预调度提升机
|
forkMainService.outTaskPreviewDispatchForkLift();
|
|
// 入库 ===>> 四向穿梭车入库作业下发
|
forkMainService.shuttleInExecute();
|
// 出库 ===>> 四向穿梭车出库作业下发
|
forkMainService.shuttleOutExecute();
|
// //四向穿梭车任务完成
|
// mainService.shuttleFinished();
|
//执行移库任务
|
forkMainService.shuttleLocMoveExecute();
|
//货叉提升机任务
|
forkMainService.forkLiftIoExecute();
|
//货叉提升机任务完成
|
forkMainService.forkLiftFinished();
|
//执行小车移动任务
|
forkMainService.shuttleMoveExecute();
|
// 异常信息记录
|
forkMainService.recErr();
|
// 穿梭车 ===>> 小车电量检测充电
|
forkMainService.loopShuttleCharge();
|
forkMainService.executeShuttleCharge();
|
|
//自动切换出入库模式
|
forkMainService.autoSwitchForkLiftIOMode();
|
|
// 间隔
|
Thread.sleep(200);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
});
|
thread.start();
|
}
|
|
@PreDestroy
|
public void shutDown(){
|
if (thread != null) thread.interrupt();
|
}
|
|
}
|
