#

zzgtfwq

1 天以前 a38d955f816eb64f297cd587b507defd5839892e

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

@@ -24,8 +24,8 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    private Thread rgvThread;
    private Thread licenseThread;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -37,12 +37,10 @@
    public void start(){
        thread = new Thread(this::crnAndDevRun);
        thread.start();

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

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();
        rgvThread = new Thread(this::rgvRun);
        rgvThread.start();
        licenseThread = new Thread(this::licenseThreadRun);
        licenseThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -55,135 +53,87 @@
                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();

//                // 系统演示模式运行状态判断
//                if (SystemProperties.WCS_RUNNING_STATUS_DEMO.get()) {
//                    continue;
//                }
                // 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(500);

                mainService.generateStoreWrkFile(); // 组托
                // 入库  ===>> 空栈板初始化入库
                mainService.storeEmptyPlt();
//                mainService.generateStoreWrkFileWalk(); // wms入库任务下发
                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStn(4);
                mainService.crnStnToOutStn();
                // 入出库  ===>>  堆垛机入出库作业下发
                mainService.crnIoExecute(5);
                // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                mainService.crnIoExecute();
                // 入库  ===>> 执行对工作档的完成操作
                mainService.storeFinished(6);
                // 堆垛机异常信息记录
                mainService.recCrnErr(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);
                // 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
                mainService.connectWrk(10);
                mainService.storeFinished();
                // 出库  ===>>  堆垛机10分钟无任务则回到源点
                mainService.crnStnToOutStnSou();

//                    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;
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    private void rgvRun() {
        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;
                }
                i++;
                // 任务生成
                mainService.taskCreate();
                // 任务下发
                mainService.taskStart();
                // 任务删除
                mainService.taskCancel();

                /////////////////////////////////////RGV调度/////////////////////////////////////
                k++;
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

                // 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;
    private void licenseThreadRun(){
        int i = 0;
        while (true) {
            try{
                Thread.sleep(60*60*1000L);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }

                log.info("++++++++ 开始验证许可证 ++++++++");
                if (!mainService.licenseVerify()){
                    if (i>6){
                        SystemProperties.WCS_RUNNING_STATUS.set(Boolean.FALSE);
                        log.info("++++++++ 验证许可证失败 ++++++++");
                        i = 0;
                    } else {
                        i++;
                    }
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                } else {
//                    SystemProperties.WCS_RUNNING_STATUS.set(Boolean.TRUE);
                    log.info("++++++++ 验证许可证成功 ++++++++");
                }
//                //完成小车任务
                mainService.rgvTaskComplete();


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

    private void roboticArmDispatch() {
        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;
                }

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

                //arm任务下发
                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  出库口==》AGV库位
                mainService.agvTaskCreateEmpty();//任务生成  出库口==》AGV库位
                mainService.agvTaskCreateR();//任务生成  AGV库位==》入库口

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

    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (armThread != null) armThread.interrupt();
        if (rgvThread != null) rgvThread.interrupt();
        if (licenseThread != null) licenseThread.interrupt();
    }

}