#RGV协议修改，rgv预调度，任务下发

lty

2025-08-14 fc86a263ca2ffdb0e701261ff3b1e730b2065542

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

@@ -54,8 +54,8 @@
//                    mainService.ioConvert();

                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick(3);
                    mainService.stnToCrnStnPick2();
                    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(1); // 组托
@@ -78,8 +78,10 @@
                    mainService.ledExecute(9);
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();
                    //堆垛机衔接任务生成
                    mainService.connectWrk(10);

                    mainService.outOfDevp(11);
//                    mainService.outOfDevp(11);

                    if (i>10){
                        //空托盘自动出库
@@ -121,13 +123,8 @@

                    // RGV  ===>>  小车任务作业下发
                    try{
                        boolean rgvIoExecuteSign = mainService.rgvRunWrkMastFullSta();
                        if (rgvIoExecuteSign){
                            k = 0;
                        } else if (k>4){
                            k = 0;
                            mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                        }
                        mainService.rgvRunWrkMastFullSta();
                        mainService.rgvPreScheduling();
                    }catch (Exception e){
                        log.error("RGV  ===>>  小车任务作业下发异常"+e);
                    }