From 0427d464fe03ae32791701a4cdd68f05025cf364 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期二, 09 九月 2025 16:12:10 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 17 ++++++++++++-----
1 files changed, 12 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 525972c..ea22412 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -24,7 +24,7 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
- private Thread thread2;
+ private Thread armThread;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -37,8 +37,8 @@
thread = new Thread(this::crnAndDevRun);
thread.start();
- thread2 = new Thread(this::roboticArmDispatch);
-// thread2.start();
+ armThread = new Thread(this::roboticArmDispatch);
+ armThread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -150,12 +150,19 @@
try {
// 闂撮殧
- Thread.sleep(1000);
+ Thread.sleep(500);
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
continue;
}
+
+ //arm浠诲姟瀹屾垚
+ mainService.armMissionAccomplished();
+ mainService.armMissionAccomplishedScanToCheckIn();
+
+ //arm浠诲姟涓嬪彂
+ mainService.armTaskAssignment();
} catch (Exception e) {
e.printStackTrace();
@@ -166,7 +173,7 @@
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
- if (thread2 != null) thread2.interrupt();
+ if (armThread != null) armThread.interrupt();
}
}
--
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