#

lsh

2024-06-19 493ed460e007fb6b24ce7654826f012dbbf80280

#

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

@@ -117,23 +117,19 @@

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    k++;
                    if (i<4) {
                        // 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
                            }
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);

                    // 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
                        }
                    }else {
                        i = 0;
                    }catch (Exception e){
                        log.error("RGV  ===>>  小车任务作业下发异常"+e);
                    }
                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();