牛眼坐标与WCS系统坐标转换公式

Junjie

2023-07-29 c60cfa9037592af51f47cccf1c063ebc64923394

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

@@ -41,8 +41,8 @@
                        continue;
                    }

                    // 演示
                    mainService.demo();
//                    // 演示
//                    mainService.demo();

                    // 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
@@ -53,20 +53,24 @@

                    //初始化实时地图
                    mainService.initRealtimeBasMap();
                    //从redis中重启任务
                    mainService.restartTaskFromRedis();
                    // 入库  ===>>  四向穿梭车入库作业下发
                    mainService.shuttleIoInExecute();
                    // 出库  ===>>  四向穿梭车出库作业下发
                    mainService.shuttleIoOutExecute();
                    //四向穿梭车任务完成
                    mainService.shuttleFinished();
//                    //从redis中重启任务
//                    mainService.restartTaskFromRedis();
                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick();
//                    // 入库  ===>>  四向穿梭车入库作业下发
//                    mainService.shuttleIoInExecute();
//                    // 出库  ===>>  四向穿梭车出库作业下发
//                    mainService.shuttleIoOutExecute();
//                    //四向穿梭车任务完成
//                    mainService.shuttleFinished();
                    //提升机任务
                    mainService.liftIoExecute();
                    //提升机任务完成
                    mainService.liftFinished();
                    // 异常信息记录
                    mainService.recErr();
                    //库位移转
                    mainService.locToLocExecute();
//                    // 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
                    mainService.storeEmptyPlt();
                    // 出库  ===>> 工作档信息写入led显示器