#

lsh

2024-01-26 bfe18b8eaa127d34286ef29b89066f5053cb3aee

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

@@ -26,6 +26,8 @@
    private Thread thread;
    // 频率
    private int i = 0;
    private int j = 0;
    private int k = 0;

    /**
     * =====>>  开始工作
@@ -43,15 +45,25 @@
                        continue;
                    }

                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    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
                    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();
                    // 入出库  ===>>  堆垛机入出库作业下发
@@ -61,41 +73,69 @@
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();

                    ///////////////////////RGV调度/////////////////////////////////////
                    //绑定小车方法
                    mainService.rgvBindSte();
                    // 入出库  ===>>  RGV入出库作业下发
                    mainService.rgvIoExecute();
                    // RGV入库  ===>> 根据RGV完成信号,执行对工作档的完成操作
                    mainService.rgvFinished();
                    // 入出库  ===>>  RGV出库站到系统入出库站
                    mainService.rgvDestStnToCrnStn();
//                    // 出库  ===>>  RGV出库站到系统出库站
//                    mainService.rgvOutDStnToOutStn();
                    //////////////////////////////////////////////////////////////////
                    /////////////////////////////////////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,叉车入库站放货
                    // 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();

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

                    //空托盘自动出库
                    mainService.autoEmptyOut();
//                    //空托盘自动入库
//                    mainService.autoEmptyIn();
                    //码垛位自动补充空板：驱动拆盘机输出托盘
//                    mainService.dischargingMachineOutputTray();

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