From 02d21f6176ac8d54f7ba121bf42821a405be40f2 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 23 十月 2025 16:45:21 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 24 ++++++++++++++++++++++++
1 files changed, 24 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index c9b6419..f7ef9b8 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -25,6 +25,7 @@
// 鎵�灞炵嚎绋�
private Thread thread;
private Thread armThread;
+ private Thread agvThread;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -39,6 +40,9 @@
armThread = new Thread(this::roboticArmDispatch);
armThread.start();
+
+ agvThread = new Thread(this::agvDispatch);
+ agvThread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -177,6 +181,26 @@
}
}
+ private void agvDispatch() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(400);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+ //agv浠诲姟涓嬪彂
+ mainService.agvTaskAssignment();//0===銆�1
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
--
Gitblit v1.9.1