#

zjj

2025-04-03 785af73325fe0cd928a7e059f4bf010dc7bdf25f

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

@@ -26,6 +26,7 @@
    private Thread thread;
    // 频率
    private int i = 0;
    private int k = 0;
    private boolean rgcWrk = true;

    /**
@@ -37,7 +38,7 @@
                try {

                    // 间隔
                    Thread.sleep(500);
                    Thread.sleep(1000);

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -45,10 +46,7 @@
                    }

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

//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
//                    mainService.ioConvert();

@@ -79,42 +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/////////////////////////////////////

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