#

lsh

2024-06-22 a64aaeecc264176a60c6bb0e4e348c63f929d459

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

@@ -66,40 +66,20 @@
                    mainService.crnIoExecute();
                    // 入出库  ===>>  堆垛机入出库作业下发  双工位堆垛机
                    mainService.crnIoExecuteTwo();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    // 入库  ===>> 执行对工作档的完成操作  工位2
                    mainService.storeFinishedTwo();

                    /************************************RGV调度************************************/
                    i++;
                    k++;
                    if (i<8) {
                        // RGV  ===>>  小车任务作业下发
                        if (i == 7) {
                            try{
                                boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动
//                                if (rgvIoExecuteSign){
//                                    k = 0;
//                                } else if (k>8){
//                                    k = 0;
//                                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                                }
                            }catch (Exception e){
                                log.error("RGV  ===>>  小车任务作业下发异常"+e);
                            }
                        }else {
                            //穿梭板
//                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动

                        }

                    // 入出库  ===>>  堆垛机入出库作业下发  双工位堆垛机  拆分执行任务下发
                    mainService.crnIoExecuteTwoExecute(i);//Execute
                    if (i%2==0){
                        // 入库  ===>> 执行对工作档的完成操作
                        mainService.storeFinished();
                    }else {
                        i = 0;
                        // 入库  ===>> 执行对工作档的完成操作  工位2
                        mainService.storeFinishedTwo();
                    }
//                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    /************************************RGV调度************************************/

                    i++;
                    if (i>5){
                        i=0;
                    }

//                    // 异常信息记录
//                    mainService.recErr();
@@ -114,6 +94,19 @@
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

                    /************************************JAR调度************************************/

                    //开门、入硫化罐
                    mainService.jarWrkMastExecuteGenerate();
                    //Jar任务创建  //完成
                    mainService.jarMastGenerate();




                    /************************************JAR调度************************************/


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