#

Junjie

2025-03-19 a01cd9b188ec5e7e16baa5a79a647cd199043c5c

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

@@ -41,54 +41,33 @@
                        continue;
                    }

                    // 演示
                    mainService.demo();

                    // 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

                    // 间隔
                    Thread.sleep(500);

                    //实时更新地图
                    mainService.refreshMap();
                    //从redis中重启任务
                    mainService.restartTaskFromRedis();
                    //初始化实时地图
                    mainService.initRealtimeBasMap();
                    // 入库  ===>>  四向穿梭车入库作业下发
                    mainService.shuttleIoInExecute();
                    mainService.shuttleInExecute();
                    // 出库  ===>>  四向穿梭车出库作业下发
                    mainService.shuttleIoOutExecute();
                    mainService.shuttleOutExecute();
                    //四向穿梭车任务完成
                    mainService.shuttleFinished();
                    //提升机任务
                    mainService.liftIoExecute();
                    //提升机任务完成
                    mainService.liftFinished();
                    //执行移库任务
                    mainService.shuttleLocMoveExecute();
                    //货叉提升机任务
                    mainService.forkLiftIoExecute();
                    //货叉提升机任务完成
                    mainService.forkLiftFinished();
                    //执行小车移动任务
                    mainService.shuttleMoveExecute();
                    // 异常信息记录
                    mainService.recErr();
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt();
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute();
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopShuttleCharge();
                    mainService.executeShuttleCharge();
                    //出入库模式
                    i++;
                    if (i > 1) {
                        mainService.outAndIn();
                        i = 0;
                    }

                    //自动切换出入库模式
                    mainService.autoSwitchForkLiftIOMode();

                    // 间隔
                    Thread.sleep(200);
                    // 穿梭车 ===>> 小车复位至待机库位
//                    mainService.queryChargeLocOfComplete();
//                    mainService.steFromChargeToIdleLoc();

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