#

lsh

2024-02-15 554a833b682f4052d7297c633cf4dd68818a33f2

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

@@ -27,6 +27,7 @@
    // 频率
    private int i = 0;
    private int j = 0;
    private int k = 0;

    /**
     * =====>>  开始工作
@@ -47,7 +48,7 @@
                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
//                    mainService.refreshRgvMap();
                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
@@ -72,32 +73,39 @@
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    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;
                    }
                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    /////////////////////////////////////RGV调度/////////////////////////////////////
//                    /////////////////////////////////////RGV调度/////////////////////////////////////
//                    i++;
//                    k++;
//                    if (i<7) {
//                        // RGV  ===>>  小车任务作业下发
//                        try{
//                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
//                            if (rgvIoExecuteSign){
//                                k = 0;
//                            } else if (k>7){
//                                k = 0;
//                                mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                            }
//                        }catch (Exception e){
//                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
//                        }
//                    }else {
//                        i = 0;
//                    }
//                    //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();
//                    /////////////////////////////////////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  2楼
                    mainService.storeEmptyPlt();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机空板入库
                    mainService.storeEmptyPlt3();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘
                    mainService.storeEmptyPlt2();
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置  空板叠盘
                    mainService.storeEmptyPlt4();
//                    // 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  2楼
//                    mainService.storeEmptyPlt();
//                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机空板入库
//                    mainService.storeEmptyPlt3();
//                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘
//                    mainService.storeEmptyPlt2();
//                    // 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
@@ -116,18 +124,18 @@
//                    //拆盘机处空板扫码，驱动托盘向码垛位，不入库
//                    mainService.scanBarcodeEmptyBoard();

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();
                    //拆垛完成继续下一步
                    mainService.stackingCompletionDriveTray2();
                    //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();
//                    //码垛完成驱动托盘下一步扫码入库
//                    mainService.stackingCompletionDriveTray();
//                    //拆垛完成继续下一步  出库至月台出库口
//                    mainService.stackingCompletionDriveTray2();
//                    //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();