#

lty

2025-09-25 8478a159d79bf9ca5da04ab18562f2d7cdddb05c

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

@@ -37,8 +37,8 @@
        thread = new Thread(this::crnAndDevRun);
        thread.start();

        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();
//        armThread = new Thread(this::roboticArmDispatch);
//        armThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -135,8 +135,11 @@
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
                //完成小车任务
                mainService.rgvCompleteWrkMastSta();
//                //完成小车任务
                mainService.rgvTaskComplete();

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

            } catch (Exception e) {
@@ -157,12 +160,12 @@
                    continue;
                }

//                //arm任务完成
//                mainService.armMissionAccomplished();
//                mainService.armMissionAccomplishedScanToCheckIn();
//
//                //arm任务下发
//                mainService.armTaskAssignment();
                //arm任务完成
                mainService.armMissionAccomplished();
                mainService.armMissionAccomplishedScanToCheckIn();

                //arm任务下发
                mainService.armTaskAssignment();

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