#

pang.jiabao

2024-08-06 dbb60e2e942adb7b16e33d5d51650319aaead683

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

@@ -1,6 +1,6 @@
package com.zy.core;

import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.service.impl.MainServiceImpl;
import com.zy.core.properties.SystemProperties;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -22,6 +22,9 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    // 频率
    private int i = 0;
    private boolean rgcWrk = true;

    /**
     * =====>>  开始工作
@@ -40,30 +43,86 @@
                    }

                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();
                    //刷新RGV地图
//                    mainService.refreshRgvMap();

                    // 入出库模式切换函数
//                    mainService.ioConvert();

                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick(3);
//                    mainService.stnToCrnStnPick2();

                    // 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
                    mainService.generateStoreWrkFile0(); // WMS入库
                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick();
                    mainService.generateStoreWrkFile(1); // 组托
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                    Thread.sleep(500);

                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    mainService.crnStnToOutStn(4);
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();
                    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();
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    mainService.storeFinished(6);
                    // 堆垛机异常信息记录
                    mainService.recCrnErr();
                    mainService.recCrnErr(7);
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt();
//                    mainService.storeEmptyPlt(8);
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute();
                    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();

                    // 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/////////////////////////////////////

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