穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等

Junjie

2023-04-12 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04

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

@@ -22,6 +22,8 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    // 频率
    private int i = 0;

    /**
     * =====>>  开始工作
@@ -30,27 +32,72 @@
        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()) {
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }

                    // 演示
                    mainService.demo();

                    // 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();
                    mainService.generateStoreWrkFile(); // 组托
//                    mainService.generateStoreWrkFile0(); // WMS入库

                    // 间隔
                    Thread.sleep(500);

                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick();
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();

                    // 入库  ===>> 执行对工作档的入库完成
                    // 入库  ===>>  四向穿梭车入库作业下发
                    mainService.shuttleIoInExecute();
                    // 出库  ===>>  四向穿梭车出库作业下发
                    mainService.shuttleIoOutExecute();
                    //四向穿梭车任务完成
                    mainService.shuttleFinished();
                    //提升机任务
                    mainService.liftIoExecute();
                    //提升机任务完成
                    mainService.liftFinished();
                    // 入库  ===>> 执行堆垛机对工作档的完成操作
                    mainService.storeFinished();
                    // 更新堆垛机移动时工作档状态
                    mainService.updateCrnMove();
                    // 入库 ===>> 执行穿梭车对工作档的完成操作
                    mainService.carGenerateStore();
                    // 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
                    mainService.storeEmptyPlt();
                    // 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
                    mainService.ledReset();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopShuttleCharge();
                    mainService.executeShuttleCharge();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopSteCharge();
                    mainService.executeSteCharge();
                    //出入库模式
                    i++;
                    if (i > 1) {
                        mainService.outAndIn();
                        i = 0;
                    }

                    // 间隔
                    Thread.sleep(1500);
                    log.info("WCS 工作中 .....................");
                    Thread.sleep(200);
                    // 穿梭车 ===>> 小车复位至待机库位
//                    mainService.queryChargeLocOfComplete();
//                    mainService.steFromChargeToIdleLoc();

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