*

lsh

2025-06-06 bb6bc1f4030cf813e128f021ccecd42420f35628

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

@@ -10,6 +10,7 @@

import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Date;

/**
 * WCS主流程
@@ -28,126 +29,48 @@
    private int i = 0;
    private int j = 0;
    private int k = 0;
    private int l = 0;
    private int[] autoZ = new int[]{0,0,0,0,0,0,0};

    /**
     * =====>>  开始工作
     */
    public void start(){
        thread = new Thread(() -> {
            try{
                Thread.sleep(200);
                log.info("++++++++ 开始验证许可证 ++++++++");
                if (!mainService.licenseVerify()){
                    SystemProperties.WCS_RUNNING_STATUS.set(Boolean.FALSE);
                    log.info("++++++++ 验证许可证失败 ++++++++");
                } else {
                    SystemProperties.WCS_RUNNING_STATUS.set(Boolean.TRUE);
                    log.info("++++++++ 验证许可证成功 ++++++++");
                }
            } catch (Exception e) {}
            while (!Thread.currentThread().isInterrupted()) {
                try {

                    // 间隔
                    Thread.sleep(1000);
                    Thread.sleep(200);
                    System.out.println("开始："+new Date().getTime());

                    // 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
                    mainService.generateStoreWrkFileSingle(); // 组托  双工位单伸   小料箱
                    mainService.generateStoreWrkFileLarge(); // 组托  双工位单伸   大料箱
                    // 入库  ===>> 码垛位获取空板条码信息
//                    mainService.generateStoreWrkFileFull2LouM(); // 组托
                    mainService.generateStoreWrkFile0(); // WMS入库
                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick();
                    // 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);
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 出库  ===>>  堆垛机出库站到出库站  工位2
                    mainService.crnStnToOutStnTwo();
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();
                    // 入出库  ===>>  堆垛机入出库作业下发  双工位堆垛机
                    mainService.crnIoExecuteTwo();
                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                    // 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();
                    //更新位置信息
                    mainService.updateStePositionNearby();
                    //更新位置信息
                    mainService.updateStePosition();
                    // 任务下发
                    mainService.DevpTaskNoRun();
                    // 任务完成
                    mainService.rgvCompleteWrkMastSta(autoZ);
                    //更新位置信息
                    mainService.updateStePosition();
                    System.out.println("结束："+new Date().getTime());

//                    /////////////////////////////////////RGV调度/////////////////////////////////////
//                    i++;
//                    k++;
//                    if (i<7) {
//                        // RGV  ===>>  小车任务作业下发
//                        try{
//                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
//                            if (rgvIoExecuteSign){
//                                k = 0;
//                            } else if (k>7){
//                                k = 0;
//                                mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                            }
//                        }catch (Exception e){
//                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
//                        }
//                    }else {
//                        i = 0;
//                    }
//                    //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();
//                    /////////////////////////////////////RGV调度/////////////////////////////////////

//                    // 异常信息记录
//                    mainService.recErr();
                    // 入库  ===>> 空栈板初始化入库
                    mainService.storeEmptyPlt();
                    // 入库  ===>> 空栈板初始化入库  双工位单伸   小料箱
                    mainService.storeEmptyPltSingle();
                    // 入库  ===>> 空栈板初始化入库  双工位单伸   大料箱
                    mainService.storeEmptyPltLarge();
//                    // 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();