From 236edf0559e2d5a6031b1df56a69454baa0357e5 Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期二, 09 十二月 2025 14:26:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 191 +++++++++++++++++------------------------------
1 files changed, 70 insertions(+), 121 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index fbb579c..5459597 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -24,8 +24,8 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
- private Thread armThread;
- private Thread agvThread;
+ private Thread rgvThread;
+ private Thread licenseThread;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -37,12 +37,10 @@
public void start(){
thread = new Thread(this::crnAndDevRun);
thread.start();
-
- armThread = new Thread(this::roboticArmDispatch);
- armThread.start();
-
- agvThread = new Thread(this::agvDispatch);
- agvThread.start();
+ rgvThread = new Thread(this::rgvRun);
+ rgvThread.start();
+ licenseThread = new Thread(this::licenseThreadRun);
+ licenseThread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -55,136 +53,87 @@
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
continue;
}
-
- // 婕旂ず
-// mainService.crnDemoOfLocMove1();
- //鍒锋柊RGV鍦板浘
- mainService.refreshRgvMap();
-
- // 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
-// mainService.ioConvert();
-
- // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- mainService.stnToCrnStnPick(3);
-// mainService.stnToCrnStnPick2();
-
+// // 绯荤粺婕旂ず妯″紡杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS_DEMO.get()) {
+// continue;
+// }
// 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
- mainService.generateStoreWrkFile(1); // 缁勬墭
-// mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
- Thread.sleep(500);
-
+ mainService.generateStoreWrkFile(); // 缁勬墭
+ // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱
+ mainService.storeEmptyPlt();
+// mainService.generateStoreWrkFileWalk(); // wms鍏ュ簱浠诲姟涓嬪彂
// 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
- mainService.crnStnToOutStn(4);
+ mainService.crnStnToOutStn();
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- mainService.crnIoExecute(5);
- // 鍏ュ嚭搴撳寮� ===>> 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
-// mainService.crnIoWrkMast();
+ mainService.crnIoExecute();
// 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- mainService.storeFinished(6);
- // 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- mainService.recCrnErr(7);
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
- mainService.storeEmptyPlt(8);
- // 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- mainService.ledExecute(9);
- // 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- mainService.ledReset();
- //鍫嗗灈鏈鸿鎺ヤ换鍔＄敓鎴�
- mainService.connectWrk(10);
+ mainService.storeFinished();
+ // 鍑哄簱 ===>> 鍫嗗灈鏈�10鍒嗛挓鏃犱换鍔″垯鍥炲埌婧愮偣
+ mainService.crnStnToOutStnSou();
-// mainService.outOfDevp(11);
- if (i>10){
- //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
- mainService.autoEmptyOut();
- //绌烘墭鐩樿嚜鍔ㄥ叆搴�
- mainService.autoEmptyIn();
- i=0;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ private void rgvRun() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(1000);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
}
- i++;
+ // 浠诲姟鐢熸垚
+ mainService.taskCreate();
+ // 浠诲姟涓嬪彂
+ mainService.taskStart();
+ // 浠诲姟鍒犻櫎
+ mainService.taskCancel();
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
- k++;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
- // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
- try{
- //RGV灏忚溅鍑哄叆搴撳彇璐т笅鍙�
- mainService.rgvIoExecute(11);
- if(k > 2){
- mainService.rgvOutExecute();
- k = 0;
+ private void licenseThreadRun(){
+ int i = 0;
+ while (true) {
+ try{
+ Thread.sleep(60*60*1000L);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+
+ log.info("++++++++ 寮�濮嬮獙璇佽鍙瘉 ++++++++");
+ if (!mainService.licenseVerify()){
+ if (i>6){
+ SystemProperties.WCS_RUNNING_STATUS.set(Boolean.FALSE);
+ log.info("++++++++ 楠岃瘉璁稿彲璇佸け璐� ++++++++");
+ i = 0;
+ } else {
+ i++;
}
- }catch (Exception e){
- e.printStackTrace();
- log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
+ } else {
+// SystemProperties.WCS_RUNNING_STATUS.set(Boolean.TRUE);
+ log.info("++++++++ 楠岃瘉璁稿彲璇佹垚鍔� ++++++++");
}
-// //瀹屾垚灏忚溅浠诲姟
- mainService.rgvTaskComplete();
-
-
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
-
- private void roboticArmDispatch() {
- 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;
- }
-
- //arm浠诲姟瀹屾垚
- mainService.armMissionAccomplished();//4==>5
- mainService.armMissionAccomplishedScanToCheckIn();//3===銆�4
-
- //arm浠诲姟涓嬪彂
- mainService.armTaskAssignment();//0===銆�1
-
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
-
- 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.agvTaskAssignment0();//0===銆�1 AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣 0
-// mainService.agvTaskAssignment1();//0===銆�1 AGV搴撲綅==銆婣GV搴撲綅 1
-// mainService.agvTaskAssignment2();//0===銆�1 杈撻�佺嚎绔欑偣==銆婣GV搴撲綅 2
-// mainService.agvTaskAssignment3();//0===銆�1 杈撻�佺嚎绔欑偣==銆嬭緭閫佺嚎绔欑偣 3
-//
-//
-// mainService.agvTaskCreateFull();//浠诲姟鐢熸垚 鍑哄簱鍙�==銆婣GV搴撲綅
-// mainService.agvTaskCreateEmpty();//浠诲姟鐢熸垚 鍑哄簱鍙�==銆婣GV搴撲綅
-// mainService.agvTaskCreateR();//浠诲姟鐢熸垚 AGV搴撲綅==銆嬪叆搴撳彛
-
- } catch (Exception e) {
- e.printStackTrace();
- }
+ } catch (Exception e) {}
}
}
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
- if (armThread != null) armThread.interrupt();
+ if (rgvThread != null) rgvThread.interrupt();
+ if (licenseThread != null) licenseThread.interrupt();
}
}
--
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