#

zjj

2025-04-03 785af73325fe0cd928a7e059f4bf010dc7bdf25f

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

@@ -47,9 +47,6 @@

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

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

@@ -80,64 +77,6 @@
                    mainService.ledReset();

                    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/////////////////////////////////////
                    i++;
                    k++;
                    if (i<4) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            boolean rgvIoExecuteSign = mainService.rgvRunWrkMastFullSta();
                            if (rgvIoExecuteSign){
                                k = 0;
                            } else if (k>4){
                                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/////////////////////////////////////

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