From 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 12 四月 2023 16:52:00 +0800
Subject: [PATCH] 穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等
---
src/main/java/com/zy/core/MainProcess.java | 40 +++++++++++++++++++++++++++++++++++-----
1 files changed, 35 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 6826c57..4c2189a 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -22,6 +22,8 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
+ // 棰戠巼
+ private int i = 0;
/**
* =====>> 寮�濮嬪伐浣�
@@ -32,7 +34,7 @@
try {
// 闂撮殧
- Thread.sleep(1000);
+ Thread.sleep(300);
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -42,17 +44,29 @@
// 婕旂ず
mainService.demo();
-
// 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(); // 缁勬墭
- mainService.generateStoreWrkFile0(); // WMS鍏ュ簱
+// mainService.generateStoreWrkFile0(); // WMS鍏ュ簱
+
+ // 闂撮殧
+ Thread.sleep(500);
+
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- mainService.stnToCrnStnPick0();
- mainService.stnToCrnStnPick1();
+ mainService.stnToCrnStnPick();
// 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
mainService.crnStnToOutStn();
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
mainService.crnIoExecute();
+ // 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+ mainService.shuttleIoInExecute();
+ // 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ mainService.shuttleIoOutExecute();
+ //鍥涘悜绌挎杞︿换鍔″畬鎴�
+ mainService.shuttleFinished();
+ //鎻愬崌鏈轰换鍔�
+ mainService.liftIoExecute();
+ //鎻愬崌鏈轰换鍔″畬鎴�
+ mainService.liftFinished();
// 鍏ュ簱 ===>> 鎵ц鍫嗗灈鏈哄宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔
mainService.storeFinished();
// 鍏ュ簱 ===>> 鎵ц绌挎杞﹀宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔
@@ -66,7 +80,23 @@
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
mainService.ledReset();
// 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
+ mainService.loopShuttleCharge();
+ mainService.executeShuttleCharge();
+ // 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
mainService.loopSteCharge();
+ mainService.executeSteCharge();
+ //鍑哄叆搴撴ā寮�
+ i++;
+ if (i > 1) {
+ mainService.outAndIn();
+ i = 0;
+ }
+
+ // 闂撮殧
+ Thread.sleep(200);
+ // 绌挎杞� ===>> 灏忚溅澶嶄綅鑷冲緟鏈哄簱浣�
+// mainService.queryChargeLocOfComplete();
+// mainService.steFromChargeToIdleLoc();
} catch (Exception e) {
e.printStackTrace();
--
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