#

lsh

2024-06-22 c2144e00a981be9093c2b1fe257881203d800810

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

@@ -36,6 +36,9 @@
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    k++; if (k>10) k=0;
                    i++; if (i>5) i=0;
                    j++; if (j>5) j=0;

                    // 间隔
                    Thread.sleep(1000);
@@ -76,34 +79,6 @@
                        mainService.storeFinishedTwo();
                    }

                    /************************************RGV调度************************************/
                    i++;
                    k++;
                    if (i<5) {
//                        // 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
//
//                        }
                    }else {
                        i = 0;
                    }
//                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    /************************************RGV调度************************************/

//                    // 异常信息记录
//                    mainService.recErr();
@@ -118,6 +93,19 @@
                    // 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(k);
                    //Jar任务创建  //完成
                    mainService.jarMastGenerate();




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


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