#

lsh

2024-01-21 0e32b14a61afca8f7dbbe9851f47b57158abfdc1

 src/main/java/com/zy/core/MainProcess.java

@@ -26,6 +26,7 @@
    private Thread thread;
    // 频率
    private int i = 0;
    private int j = 0;

    /**
     * =====>>  开始工作
@@ -48,15 +49,17 @@
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateStoreWrkFile(); // 组托
//                    mainService.generateStoreWrkFile0(); // WMS入库
                    // 入库  ===>> 码垛位获取空板条码信息
                    mainService.generateStoreWrkFileFull2LouM(); // 组托
                    mainService.generateStoreWrkFile0(); // WMS入库
                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick();
                    // 拣料、并板、盘点再入库拆盘区
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置
                    mainService.stnToCrnStnPick2();
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
@@ -83,22 +86,40 @@

                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    //执行小车货物搬运任务
                    mainService.rgvRunWrkMastFullSta();
                    //执行小车空板搬运任务
                    mainService.rgvRunWrkMastEmptyStaPut();//放
                    mainService.rgvRunWrkMastEmptyStaTake();//取
                    i++;
                    if (i > 3) {
                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                    if (i<7) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            mainService.rgvIoExecute(i);
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                    }else {
                        i = 0;
                    }


//                    //执行小车货物搬运任务
//                    mainService.rgvRunWrkMastFullSta();
//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放//拆盘
//                    mainService.rgvRunWrkMastEmptyStaPutFull();//满放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取叠盘
//                    mainService.rgvRunWrkMastEmptyStaTakeFull();////满取
//                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让

                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 异常信息记录
                    mainService.recErr();
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货  2楼
                    mainService.storeEmptyPlt();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘
                    mainService.storeEmptyPlt2();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机空板入库
                    mainService.storeEmptyPlt3();
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置  空板叠盘
                    mainService.storeEmptyPlt4();
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute();
                    // 其他  ===>> LED显示器复位，显示默认信息
@@ -128,11 +149,14 @@
                    mainService.stackingCompletionDriveTray();
                    //拆垛完成继续下一步
                    mainService.stackingCompletionDriveTray2();
                    //拆垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk2();
                    //贴标完成继续下一步
//                    mainService.stackingCompletionDriveTray3();

                    //拆垛完成继续下一步  运行途中自动避让空板
                    mainService.stackingCompletionDriveTray4();
                    //拆垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk2();
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();

                } catch (Exception e) {
                    e.printStackTrace();