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4 天以前 4403382cccf10ad69d540bb9f79bd8edc2c9bba7

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

@@ -37,8 +37,8 @@
        thread = new Thread(this::crnAndDevRun);
        thread.start();

//        armThread = new Thread(this::roboticArmDispatch);
//        armThread.start();
        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -132,6 +132,10 @@
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                    if(k > 2){
                        mainService.rgvOutExecute();
                        k = 0;
                    }
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
@@ -153,7 +157,7 @@
            try {

                // 间隔
                Thread.sleep(500);
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -161,11 +165,11 @@
                }

                //arm任务完成
                mainService.armMissionAccomplished();
                mainService.armMissionAccomplishedScanToCheckIn();
                mainService.armMissionAccomplished();//4==>5
                mainService.armMissionAccomplishedScanToCheckIn();//3===》4

                //arm任务下发
                mainService.armTaskAssignment();
                mainService.armTaskAssignment();//0===》1

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