#

LSH

2023-11-28 93e0a5e12a3f52e88d91c4a7e3f67c5e2dda5bc5

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

@@ -45,13 +45,15 @@

                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // 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(); // 组托
                    mainService.generateStoreWrkFile0(); // WMS入库
//                    mainService.generateStoreWrkFile0(); // WMS入库
                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick();
                    // 出库  ===>>  堆垛机出库站到出库站
@@ -67,7 +69,8 @@

//                    //绑定小车方法
//                    mainService.rgvBindSte();
//                    // 入出库  ===>>  RGV入出库作业下发
//                    mainService.rgvBindSte2();
////                    // 入出库  ===>>  RGV入出库作业下发
//                    mainService.rgvIoExecute();
//                    // RGV入库  ===>> 根据RGV完成信号,执行对工作档的完成操作
//                    mainService.rgvFinished();
@@ -75,6 +78,17 @@
//                    mainService.rgvDestStnToCrnStn();
//                    // 出库  ===>>  RGV出库站到系统出库站
//                    mainService.rgvOutDStnToOutStn();

                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    //执行小车货物搬运任务
                    mainService.rgvRunWrkMastFullSta();
                    //执行小车空板搬运任务
                    mainService.rgvRunWrkMastEmptyStaPut();//放
                    mainService.rgvRunWrkMastEmptyStaTake();//取
                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让


                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 异常信息记录
@@ -101,13 +115,17 @@
//                    }

                    //码垛位自动补充空板：驱动拆盘机输出托盘
                    mainService.dischargingMachineOutputTray();
//                    mainService.dischargingMachineOutputTray();

                    //拆盘机处空板扫码，驱动托盘向码垛位，不入库
                    mainService.scanBarcodeEmptyBoard();
//                    //拆盘机处空板扫码，驱动托盘向码垛位，不入库
//                    mainService.scanBarcodeEmptyBoard();

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();
                    //拆垛完成继续下一步
                    mainService.stackingCompletionDriveTray2();
                    //贴标完成继续下一步
                    mainService.stackingCompletionDriveTray3();


                } catch (Exception e) {