Merge remote-tracking branch 'origin/jshdwcs' into jshdwcs

1

5 天以前 ccdcd79a48aabb15d9ce9525a3535c01e69475c8

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

@@ -25,6 +25,7 @@
    // 所属线程
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -39,6 +40,9 @@

        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -99,32 +103,6 @@
                }
                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/////////////////////////////////////
                /////////////////////////////////////RGV调度/////////////////////////////////////
                k++;

@@ -132,12 +110,16 @@
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                    if(k > 2){
                        mainService.rgvOutExecute();
                        k = 0;
                    }
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
                //完成小车任务
                mainService.rgvCompleteWrkMastSta();
                /////////////////////////////////////RGV调度/////////////////////////////////////
//                //完成小车任务
                mainService.rgvTaskComplete();


            } catch (Exception e) {
                e.printStackTrace();
@@ -150,7 +132,7 @@
            try {

                // 间隔
                Thread.sleep(500);
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -158,11 +140,39 @@
                }

                //arm任务完成
                mainService.armMissionAccomplished();
                mainService.armMissionAccomplishedScanToCheckIn();
                mainService.armMissionAccomplished();//4==>5
                mainService.armMissionAccomplishedScanToCheckIn();//3===》4

                //arm任务下发
                mainService.armTaskAssignment();
                mainService.armTaskAssignment();//0===》1

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

    private void agvDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(400);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }
                //agv任务下发
                mainService.agvTaskAssignment0();//0===》1  AGV库位==》输送线站点  0
                mainService.agvTaskAssignment1();//0===》1  AGV库位==》AGV库位  1
                mainService.agvTaskAssignment2();//0===》1  输送线站点==》AGV库位  2
                mainService.agvTaskAssignment3();//0===》1  输送线站点==》输送线站点  3


                mainService.agvTaskCreateFull();//任务生成  出库口==》AGV库位
                mainService.agvTaskCreateEmpty();//任务生成  出库口==》AGV库位
                mainService.agvTaskCreateR();//任务生成  AGV库位==》入库口

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