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7 天以前 556fa0e355ae22b6bfcf15d0a230cd5c1b1cb764

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

@@ -24,62 +24,194 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    // 频率
    private int i = 0;
    private int k = 0;
    private boolean rgcWrk = true;

    /**
     * =====>>  开始工作
     */
    public void start(){
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {

                    // 间隔
                    Thread.sleep(1000);

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }

                    // 演示
                    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
                    // 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();
                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    // 堆垛机异常信息记录
                    mainService.recCrnErr();
                    // 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();

                    mainService.outOfDevp();

                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        thread = new Thread(this::crnAndDevRun);
        thread.start();

        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(1000);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }

                // 演示
//                    mainService.crnDemoOfLocMove1();
                //刷新RGV地图
                mainService.refreshRgvMap();

                // 入出库模式切换函数
//                    mainService.ioConvert();

                // 拣料、并板、盘点再入库
                mainService.stnToCrnStnPick(3);
//                    mainService.stnToCrnStnPick2();

                // 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(1); // 组托
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                Thread.sleep(500);

                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStn(4);
                // 入出库  ===>>  堆垛机入出库作业下发
                mainService.crnIoExecute(5);
                // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                // 入库  ===>> 执行对工作档的完成操作
                mainService.storeFinished(6);
                // 堆垛机异常信息记录
                mainService.recCrnErr(7);
                // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                mainService.storeEmptyPlt(8);
                // 出库  ===>> 工作档信息写入led显示器
//                mainService.ledExecute(9);
                // 其他  ===>> LED显示器复位，显示默认信息
                mainService.ledReset();
                //堆垛机衔接任务生成
                mainService.connectWrk(10);

//                    mainService.outOfDevp(11);

                if (i>10){
                    //空托盘自动出库
                    mainService.autoEmptyOut();
                    //空托盘自动入库
                    mainService.autoEmptyIn();
                    i=0;
                }
                i++;

                // 其他  ===>> 入出库模式切换
//                    i++;
//                    if (i > 1) {
//                        mainService.ioConvert();
//                        i = 0;
//                    }

                /////////////////////////////////////RGV调度/////////////////////////////////////
//
                //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();

//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取
//                    if (rgcWrk){
//                        //执行小车货物搬运任务
//                        mainService.rgvRunWrkMastFullSta();
//                        rgcWrk = false;
//                    }else {
//                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                        rgcWrk = true;
//                    }


                /////////////////////////////////////RGV调度/////////////////////////////////////
                /////////////////////////////////////RGV调度/////////////////////////////////////
                k++;

                // RGV  ===>>  小车任务作业下发
                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);
                }
//                //完成小车任务
                mainService.rgvTaskComplete();

                //工位移动
//                mainService.rgvStaMove();
                /////////////////////////////////////RGV调度/////////////////////////////////////

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

    private void roboticArmDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }

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

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

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

    private void agvDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }
                //agv任务下发
                mainService.agvTaskAssignment0();//0===》1  AGV库位==》输送线站点  0
                mainService.agvTaskAssignment1();//0===》1  AGV库位==》AGV库位  1
                mainService.agvTaskAssignment2();//0===》1  输送线站点==》AGV库位  2
                mainService.agvTaskAssignment3();//0===》1  输送线站点==》输送线站点  3


                mainService.agvTaskCreateFull();//任务生成
                mainService.agvTaskCreateEmpty();//任务生成

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

    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (armThread != null) armThread.interrupt();
    }

}