#

Junjie

2025-11-14 f140f8d9e17f4465f029134b008ec7f644b0e3db

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

@@ -41,34 +41,8 @@
                        continue;
                    }

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

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

                    // 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();
                    //货叉提升机任务
                    mainService.forkLiftIoExecute();
                    //货叉提升机任务完成
                    mainService.forkLiftFinished();
                    //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.autoSwitchForkLiftIOMode();
                    // 初始化库位地图
                    mainService.initLocMap();

                    // 间隔
                    Thread.sleep(200);