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8 天以前 8980782bebfd40b2a56169e4fb53686882e87a97

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

@@ -26,9 +26,10 @@
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    private Thread rgvTread;
    // 频率
    private int i = 0;
    private int k = 0;
    private int q = 0;
    private boolean rgcWrk = true;

    /**
@@ -43,36 +44,32 @@

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();

        rgvTread = new Thread(this::rgvDispatch);
        rgvTread.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(50);

                // 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
@@ -91,42 +88,44 @@
                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++;

                /////////////////////////////////////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){
                    e.printStackTrace();
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                if(q>5){
                    //空托盘自动入库
                    mainService.autoEmptyIn();
                    q = 0;
                }
//                //完成小车任务
                mainService.rgvTaskComplete();


                q++;
                i++;
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    private void rgvDispatch() {
        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;
                }
                mainService.rgvIoExecute(11);//取货
                mainService.rgvIoExecuteScheduling();
                mainService.rgvOutExecute();//放货
                mainService.rgvTaskComplete();//任务完成
            } catch (Exception e) {
                e.printStackTrace();
                log.error("RGV  ===>>  小车任务作业下发异常"+e);
            }
        }
    }

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