#

lsh

3 天以前 0d8fcb1505ba869290cce9099b42370e4333b708

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

@@ -27,6 +27,7 @@
    // 频率
    private int i = 0;
    private int j = 0;
    private int k = 0;

    /**
     * =====>>  开始工作
@@ -46,8 +47,6 @@

                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
@@ -62,7 +61,7 @@
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置
                    mainService.stnToCrnStnPick2();
                    // 2楼212呼叫空板
                    mainService.stnToCrnStnPick3Auto(i);
//                    mainService.stnToCrnStnPick3Auto(i);
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
@@ -72,12 +71,23 @@
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();


                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    k++;
                    if (i<7) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            mainService.rgvIoExecute(i);
                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
                            if (rgvIoExecuteSign){
                                k = 0;
                            } else if (k>7){
                                k = 0;
                                mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                            }
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
@@ -118,17 +128,21 @@

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();
                    //拆垛完成继续下一步
                    //拆垛完成继续下一步  出库至月台出库口
                    mainService.stackingCompletionDriveTray2();
                    //贴标完成继续下一步
//                    mainService.stackingCompletionDriveTray3();
                    //拆垛完成继续下一步  运行途中自动避让空板
                    mainService.stackingCompletionDriveTray4();
                    //拆垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk2();
                    //拆垛完成托盘继续下一步2==3废弃
//                    mainService.stackingCompletionDriveTrayOk2();
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();

                    mainService.armNoStartTwoLo();
                    mainService.armNoCleanUpTwoLo();


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