站点转移功能入出罐装线异常修复

pjb

2025-09-14 cb2e9ba3d787767f4d7593ed53124e1135a391d5

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

@@ -29,99 +29,81 @@
    /**
     * =====>>  开始工作
     */
    public void start(){
    public void start() throws InterruptedException {
        thread = new Thread(() -> {
            // 初始化罐装线出库口是否可出
            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;
                    }
                    if(rgcWrk) {
                        Thread.sleep(3000);
                        mainService.intiGzxkc();
                        rgcWrk = false;
                    }

                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    //刷新RGV地图
//                    mainService.refreshRgvMap();
                    // 托盘到达rgv接驳站点，更改工作档状态为9.呼叫RGV，环穿程序调度rgv
                    mainService.callRgv();

                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // rgv放货完成，给输送线下发任务
                    mainService.rgvToDev();

                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick(3);
//                    mainService.stnToCrnStnPick2();
                    // 1090异常口重新入库分配库位
                    mainService.abnormalMouthWarehousing();

                    // 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(1); // 组托
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                    Thread.sleep(500);

                    // 生成 空子/母托盘出库任务
                    mainService.generateEmptyPalletStoreWrk();

                    // 入库 ===>> 母托盘叠满入库
                    mainService.autoEmptyIn();

                    // 子托盘底下母托盘回叠盘机
                    mainService.motherTrayReflow();

                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn(4);

                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute(5);
                    // 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(6);

                    // 空桶到达罐装线入口 告诉罐装线入库桶信息
                    mainService.inGzxBefore();

                    // 空桶罐装完成到达罐装线出口 完成直供罐装线任务和空桶出库任务，创建成品桶入库任务
                    mainService.canningLineTaskFinish();

                    // 读要桶信号，自动出空桶
                    mainService.autoOutEmptyBucket();

                    // 堆垛机异常信息记录
                    mainService.recCrnErr(7);
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
//                    mainService.storeEmptyPlt(8);

                    // 输送线异常信息记录
                    mainService.recDevpErr();

                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute(9);

                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

                    mainService.outOfDevp(11);

                    // 106生成转移任务
                    mainService.autoMoveLoc();
                    // 堆垛机回原点
                    mainService.originGo();

                    // 给plc写开门信号
                    mainService.writePlc305();

                    // 305入库调用底座到305
                    mainService.invokingBase();

//                    if (i>10){
//                        //空托盘自动出库
//                        mainService.autoEmptyOut();
//                        //空托盘自动入库
//                        mainService.autoEmptyIn();
//                        i=0;
//                    }
//                    i++;

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

                    /////////////////////////////////////RGV调度/////////////////////////////////////
//
                    //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();

//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取
//                    if (rgcWrk){
//                        //执行小车货物搬运任务
//                        mainService.rgvRunWrkMastFullSta();
//                        rgcWrk = false;
//                    }else {
//                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                        rgcWrk = true;
//                    }


                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    //手动站位转移
                    mainService.manualStationTransfer();

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