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昨天 b6fc07bc9d9af60511d171c2147b806bb7dd6983

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

@@ -29,6 +29,7 @@
    // 频率
    private int i = 0;
    private int k = 0;
    private int q = 0;
    private boolean rgcWrk = true;

    /**
@@ -71,7 +72,7 @@
                // 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);
                Thread.sleep(50);

                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStn(4);
@@ -97,10 +98,15 @@
                if (i>10){
                    //空托盘自动出库
                    mainService.autoEmptyOut();
                    //空托盘自动入库
                    mainService.autoEmptyIn();

                    i=0;
                }
                if(q>2){
                    //空托盘自动入库
                    mainService.autoEmptyIn();
                    q = 0;
                }
                q++;
                i++;

                /////////////////////////////////////RGV调度/////////////////////////////////////
@@ -115,6 +121,7 @@
                        k = 0;
                    }
                }catch (Exception e){
                    e.printStackTrace();
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
//                //完成小车任务
@@ -140,11 +147,14 @@
                }

                //arm任务完成
                mainService.armMissionAccomplished();//4==>5
                mainService.armMissionAccomplishedScanToCheckIn();//3===》4
                mainService.armMissionAccomplished();//3==>4   ====>   3===》5
                mainService.armMissionAccomplished1();//3==>4   ====>   3===》5  2lou
                mainService.armMissionAccomplished2();//3==>4   ====>   3===》5  2lou
//                mainService.armMissionAccomplishedScanToCheckIn();//4===》5

                //arm任务下发
                mainService.armTaskAssignment();//0===》1
                mainService.armTaskAssignment2();//0===》1

            } catch (Exception e) {
                e.printStackTrace();
@@ -170,8 +180,10 @@
                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
                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
//                mainService.agvTaskCreateException();//任务生成  出库口==》入库口

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