From 29ff148a9a108b387afa2e60d257d5a193e52d5f Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期一, 08 十二月 2025 17:02:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 3
src/main/resources/application.yml | 130 +++++++++++++++++++-----------------------
2 files changed, 61 insertions(+), 72 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 3985769..6be9330 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -52,7 +52,7 @@
//# 杞ㄩ亾鍩哄噯鐐�
private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 7000L;
+ private Long avoidDistance = 14000L;
private String errorRgv = "-";
/**
@@ -1142,6 +1142,7 @@
* 鍐欏叆鏁版嵁
*/
private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
+ Thread.sleep(50L);
if (null == taskProtocol) {
log.error("RGV鍐欏叆鍛戒护涓虹┖ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 2fea273..328b6cd 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -59,7 +59,7 @@
# 杞ㄩ亾杞崲涓虹背姣斾緥
trackProportion: 10000
# 閬胯璺濈
- avoidDistance: 6000
+ avoidDistance: 13300
inventory:
number: 7
@@ -90,8 +90,8 @@
lev: 1
crnInStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 1031
- row: 3
+ staNo: 201
+ row: 2
bay: 1
lev: 2
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
@@ -103,9 +103,9 @@
lev: 1
crnOutStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2001
- row: 2
- bay: 52
+ staNo: 203
+ row: 3
+ bay: 1
lev: 2
# 鍫嗗灈鏈�2
crn[1]:
@@ -120,28 +120,28 @@
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1011
- row: 7
- bay: 52
+ staNo: 105
+ row: 6
+ bay: 1
lev: 1
crnInStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2010
- row: 7
- bay: 52
+ staNo: 205
+ row: 3
+ bay: 1
lev: 2
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1008
- row: 6
- bay: 52
+ staNo: 107
+ row: 7
+ bay: 1
lev: 1
crnOutStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2007
- row: 6
- bay: 52
+ staNo: 207
+ row: 7
+ bay: 1
lev: 2
# 鍫嗗灈鏈�3
crn[2]:
@@ -156,42 +156,30 @@
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1015
+ staNo: 109
row: 9
- bay: 52
+ bay: 1
lev: 1
crnInStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2016
- row: 11
- bay: 52
- lev: 2
- crnInStn[2]:
- devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 4001
+ staNo: 209
row: 9
- bay: 52
- lev: 3
+ bay: 1
+ lev: 2
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1019
- row: 11
- bay: 52
+ staNo: 111
+ row: 10
+ bay: 1
lev: 1
crnOutStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2013
- row: 9
- bay: 52
+ staNo: 211
+ row: 10
+ bay: 1
lev: 2
- crnOutStn[2]:
- devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 4004
- row: 11
- bay: 52
- lev: 3
# 鍫嗗灈鏈�4
crn[3]:
id: 4
@@ -205,28 +193,28 @@
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1025
- row: 15
- bay: 52
+ staNo: 115
+ row: 13
+ bay: 1
lev: 1
crnInStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2022
- row: 15
- bay: 52
+ staNo: 218
+ row: 13
+ bay: 1
lev: 2
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 1022
- row: 14
- bay: 52
+ staNo: 113
+ row: 12
+ bay: 1
lev: 1
crnOutStn[1]:
devpPlcId: ${wcs-slave.devp[1].id}
- staNo: 2019
- row: 14
- bay: 52
+ staNo: 213
+ row: 12
+ bay: 1
lev: 2
# RGV绌挎杞�1
rgv[0]:
@@ -449,66 +437,66 @@
#RGV婧愮珯鐐�
rgvInSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 117
+ staNo: 217
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶�===> 鍚� 鍓峵rue鍚巉alse锛� true:宸� false:鍙�
direction: false
- staNoOther: 117
+ staNoOther: 217
directionOther: false
rgvInSta[1]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 120
+ staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
- staNoOther: 120
+ staNoOther: 220
directionOther: false
rgvInSta[2]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 123
+ staNo: 223
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 123
+ staNoOther: 223
directionOther: false
rgvInSta[3]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 104
+ staNo: 204
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 104
+ staNoOther: 204
directionOther: false
rgvInSta[4]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 108
+ staNo: 208
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 108
+ staNoOther: 208
directionOther: false
rgvInSta[5]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 112
+ staNo: 212
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 112
+ staNoOther: 212
directionOther: false
rgvInSta[6]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 114
+ staNo: 214
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 114
+ staNoOther: 214
directionOther: false
#RGV鐩爣绔欑偣
rgvOutSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 117
+ staNo: 217
direction: false
- staNoOther: 117
+ staNoOther: 217
directionOther: false
rgvOutSta[1]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 120
+ staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
- staNoOther: 120
+ staNoOther: 220
directionOther: false
rgvOutSta[2]:
devpPlcId: ${wcs-slave.devp[0].id}
--
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