联调

dubin

2025-08-28 6d11821ff01c5bfb1c07153772a8efce774ab5d5

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

@@ -5,11 +5,9 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.ArrayList;

/**
 * WCS主流程
@@ -46,21 +44,21 @@

                    // 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();

                  //  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);
                    Thread.sleep(200);


                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick(3);
                    // 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
@@ -75,46 +73,26 @@
                    mainService.storeEmptyPlt(8);
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute(9);
//                    if(MessageQueue.offer(SlaveType.Led, 1, new Task(3,  "条码已存在状态为（ 2.设备上走 ）的任务,工作号="))){
//                        News.info("输入成功");
//                    }
                    //堆垛机无任务回入库口待机
                    mainService.crnMove();
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

                    mainService.outOfDevp(11);

//                    mainService.outOfDevp(11);

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

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