*

lsh

2025-07-30 ba1fd16f681598ace796d00032d689bacc3ff972

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

@@ -24,6 +24,7 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread thread2;
    // 频率
    private int i = 0;
    private int j = 0;
@@ -36,23 +37,12 @@
        thread = new Thread(() -> {
            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;
                    }

                    //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
                    // 入库  ===>> 码垛位获取空板条码信息
@@ -63,7 +53,7 @@
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置
                    mainService.stnToCrnStnPick2();
                    // 2楼212呼叫空板
                    mainService.stnToCrnStnPick3Auto(i);
//                    mainService.stnToCrnStnPick3Auto(i);
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
@@ -72,6 +62,43 @@
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 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  2楼
                    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();

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();

                    mainService.armNoStartTwoLo();
                    mainService.armNoCleanUpTwoLo();


                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        thread2 = new Thread(() -> {
            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;
                    }

                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
@@ -89,6 +116,9 @@
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                        if (i==6) {
                            i = 0;
                        }
                    }else {
                        i = 0;
                    }
@@ -96,46 +126,19 @@
                    mainService.rgvCompleteWrkMastSta();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 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  2楼
                    mainService.storeEmptyPlt();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机空板入库
                    mainService.storeEmptyPlt3();
                    // 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘
                    mainService.storeEmptyPlt2();
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置  空板叠盘
                    mainService.storeEmptyPlt4();
                    // 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();

//                    // 其他  ===>> 入出库模式切换
//                    i++;
//                    if (i > 1) {
//                        mainService.ioConvert();
//                        i = 0;
//                    }

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

//                    //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  出库至月台出库口
                    mainService.stackingCompletionDriveTray2();
                    //贴标完成继续下一步
//                    mainService.stackingCompletionDriveTray3();
                    //拆垛完成继续下一步  运行途中自动避让空板
                    mainService.stackingCompletionDriveTray4();
                    //拆垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk2();
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();


                } catch (Exception e) {
                    e.printStackTrace();
@@ -143,11 +146,13 @@
            }
        });
        thread.start();
        thread2.start();
    }

    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (thread2 != null) thread2.interrupt();
    }

}