*

lsh

8 天以前 8c0d2c49eb091aedd053d8f7a1be28b67ce8d0c3

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

@@ -25,6 +25,7 @@
    // 所属线程
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -39,6 +40,9 @@

        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -82,7 +86,7 @@
                // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                mainService.storeEmptyPlt(8);
                // 出库  ===>> 工作档信息写入led显示器
                mainService.ledExecute(9);
//                mainService.ledExecute(9);
                // 其他  ===>> LED显示器复位，显示默认信息
                mainService.ledReset();
                //堆垛机衔接任务生成
@@ -132,11 +136,18 @@
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                    if(k > 2){
                        mainService.rgvOutExecute();
                        k = 0;
                    }
                }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) {
@@ -150,7 +161,7 @@
            try {

                // 间隔
                Thread.sleep(500);
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -158,11 +169,38 @@
                }

                //arm任务完成
                mainService.armMissionAccomplished();
                mainService.armMissionAccomplishedScanToCheckIn();
                mainService.armMissionAccomplished();//4==>5
                mainService.armMissionAccomplishedScanToCheckIn();//3===》4

                //arm任务下发
                mainService.armTaskAssignment();
                mainService.armTaskAssignment();//0===》1

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

    private void agvDispatch() {
        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;
                }
                //agv任务下发
                mainService.agvTaskAssignment0();//0===》1  AGV库位==》输送线站点  0
                mainService.agvTaskAssignment1();//0===》1  AGV库位==》AGV库位  1
                mainService.agvTaskAssignment2();//0===》1  输送线站点==》AGV库位  2
                mainService.agvTaskAssignment3();//0===》1  输送线站点==》输送线站点  3


                mainService.agvTaskCreateFull();//任务生成
                mainService.agvTaskCreateEmpty();//任务生成

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