#

Junjie

2025-11-14 f140f8d9e17f4465f029134b008ec7f644b0e3db

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

@@ -1,12 +1,10 @@
package com.zy.core;

import com.zy.asrs.service.impl.ForkMainServiceImpl;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.properties.SystemProperties;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
@@ -20,12 +18,8 @@
@Component
public class MainProcess {

    @Value("${deviceExecuteConfig.liftType}")
    private String liftType;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private ForkMainServiceImpl forkMainService;
    // 所属线程
    private Thread thread;
    // 频率
@@ -35,14 +29,6 @@
     * =====>>  开始工作
     */
    public void start(){
        if(liftType.equals("ForkLift")){
            initForkMain();
        }else {
            initMain();
        }
    }

    private void initMain() {
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
@@ -55,83 +41,8 @@
                        continue;
                    }

                    //初始化实时地图
                    mainService.initRealtimeBasMap();

                    // 入库  ===>>  四向穿梭车入库作业下发
                    mainService.shuttleInExecute();
                    // 出库  ===>>  四向穿梭车出库作业下发
                    mainService.shuttleOutExecute();
//                    //四向穿梭车任务完成
//                    mainService.shuttleFinished();
                    //执行移库任务
                    mainService.shuttleLocMoveExecute();
                    //提升机任务
                    mainService.liftIoExecute();
                    //提升机任务完成
                    mainService.liftFinished();
                    //执行小车移动任务
                    mainService.shuttleMoveExecute();
                    // 异常信息记录
                    mainService.recErr();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopShuttleCharge();
                    mainService.executeShuttleCharge();

                    //自动切换出入库模式
                    mainService.autoSwitchLiftIOMode();

                    // 间隔
                    Thread.sleep(200);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        thread.start();
    }

    private void initForkMain() {
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {

                    // 间隔
                    Thread.sleep(300);

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }

                    //初始化实时地图
                    forkMainService.initRealtimeBasMap();

                    //出库任务预调度提升机
                    forkMainService.outTaskPreviewDispatchForkLift();

                    // 入库  ===>>  四向穿梭车入库作业下发
                    forkMainService.shuttleInExecute();
                    // 出库  ===>>  四向穿梭车出库作业下发
                    forkMainService.shuttleOutExecute();
//                    //四向穿梭车任务完成
//                    mainService.shuttleFinished();
                    //执行移库任务
                    forkMainService.shuttleLocMoveExecute();
                    //货叉提升机任务
                    forkMainService.forkLiftIoExecute();
                    //货叉提升机任务完成
                    forkMainService.forkLiftFinished();
                    //执行小车移动任务
                    forkMainService.shuttleMoveExecute();
                    // 异常信息记录
                    forkMainService.recErr();
                    // 穿梭车 ===>> 小车电量检测充电
                    forkMainService.loopShuttleCharge();
                    forkMainService.executeShuttleCharge();

                    //自动切换出入库模式
                    forkMainService.autoSwitchForkLiftIOMode();
                    // 初始化库位地图
                    mainService.initLocMap();

                    // 间隔
                    Thread.sleep(200);