*

lsh

2025-08-22 d957e8b917d64f118ef82e6a569e5df233967363

*

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

@@ -24,6 +24,7 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread thread2;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -33,75 +34,81 @@
     * =====>>  开始工作
     */
    public void start(){
        thread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
        thread = new Thread(this::crnAndDevRun);
        thread.start();

                    // 间隔
                    Thread.sleep(1000);
        thread2 = new Thread(this::roboticArmDispatch);
//        thread2.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
                    }
                // 间隔
                Thread.sleep(1000);

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

                // 演示
//                    mainService.crnDemoOfLocMove1();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                //刷新RGV地图
                mainService.refreshRgvMap();

                    // 入出库模式切换函数
                // 入出库模式切换函数
//                    mainService.ioConvert();

                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick(3);
                // 拣料、并板、盘点再入库
                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
                // 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
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                    Thread.sleep(500);
                Thread.sleep(500);

                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn(4);
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute(5);
                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStn(4);
                // 入出库  ===>>  堆垛机入出库作业下发
                mainService.crnIoExecute(5);
                // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished(6);
                    // 堆垛机异常信息记录
                    mainService.recCrnErr(7);
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt(8);
                    // 出库  ===>> 工作档信息写入led显示器
                    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);
                // 入库  ===>> 执行对工作档的完成操作
                mainService.storeFinished(6);
                // 堆垛机异常信息记录
                mainService.recCrnErr(7);
                // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                mainService.storeEmptyPlt(8);
                // 出库  ===>> 工作档信息写入led显示器
                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);

                    if (i>10){
                        //空托盘自动出库
                        mainService.autoEmptyOut();
                        //空托盘自动入库
                        mainService.autoEmptyIn();
                        i=0;
                    }
                    i++;
                if (i>10){
                    //空托盘自动出库
                    mainService.autoEmptyOut();
                    //空托盘自动入库
                    mainService.autoEmptyIn();
                    i=0;
                }
                i++;

                    // 其他  ===>> 入出库模式切换
                // 其他  ===>> 入出库模式切换
//                    i++;
//                    if (i > 1) {
//                        mainService.ioConvert();
//                        i = 0;
//                    }

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                /////////////////////////////////////RGV调度/////////////////////////////////////
//
                    //完成小车任务
                //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();

//                    //执行小车空板搬运任务
@@ -117,32 +124,49 @@
//                    }


                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    k++;
                /////////////////////////////////////RGV调度/////////////////////////////////////
                /////////////////////////////////////RGV调度/////////////////////////////////////
                k++;

                    // RGV  ===>>  小车任务作业下发
                    try{
                        //RGV小车出入库取货下发
                        mainService.rgvIoExecute(11);
                    }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();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

                } catch (Exception e) {
                    e.printStackTrace();
                // RGV  ===>>  小车任务作业下发
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                }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();
                /////////////////////////////////////RGV调度/////////////////////////////////////

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

    private void roboticArmDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(1000);

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

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

    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (thread2 != null) thread2.interrupt();
    }

}

 src/main/java/com/zy/core/thread/RoboticArmThread.java

New file
@@ -0,0 +1,157 @@
package com.zy.core.thread;

import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.zy.core.ThreadHandler;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

/**
 * RoboticArm 机械手线程
 * Created by Monkey D. Luffy on 2025/8/22
 */
@Data
@Slf4j
public class RoboticArmThread implements Runnable, ThreadHandler {

    private SiemensS7Net siemensS7Net;
//    private RoboticArmSlave slave;
//    private RoboticArmProtocol roboticArmProtocol;
    private short heartBeatVal = 1;
    private boolean connectRoboticArm = false;


//    public RoboticArmThread(RoboticArmSlave slave) {
//        this.slave = slave;
//    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {

        connectRoboticArm = this.connect();
        while(!connectRoboticArm){
            try {
                connectRoboticArm = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

        // 启动线程自动重连
        new Thread(this::roboticArmConnect).start();

        // 启动读数据线程
        new Thread(this::readStatusRoboticArm).start();

        // 启动任务下发线程
        new Thread(this::taskIssued).start();


    }

    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.RoboticArm, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                switch (step) {
//                    case 1:
//                        break;
//                    case 2:
////                        write((RoboticArmCommand) task.getData());
//                        break;
//                    default:
//                        break;
//                }
                // 心跳
//                heartbeat();
                Thread.sleep(200);
            } catch (Exception e) {
                log.error("RoboticArm写线程异常"+e.getMessage());
            }

        }
    }

    private void roboticArmConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRoboticArm){
                    try {
                        connectRoboticArm = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                initSte();
            }
        }
    }

    private void readStatusRoboticArm() {
        while (true) {
            try {
                Thread.sleep(50);

                readStatus();

            } catch (Exception e) {
                initSte();
            }

        }

    }

    /**
     * 初始化状态
     */
    private void initSte() {

    }

    @Override
    public boolean connect() {
        boolean result = false;


        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){

    }
//
//    /**
//     * 写入数据
//     */
//    private synchronized boolean write(String command){
//
//    }

    @Override
    public void close() {

    }

    /**
     * 心跳
     */
    private void heartbeat(){

    }

}