From 4bd1c32bec97b6edcb5e209ed1d7dae68c4c556f Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期五, 31 十月 2025 13:24:26 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 76 +++++++++++++++++++++----------------
1 files changed, 43 insertions(+), 33 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index f3aa38d..7d05137 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()) {
@@ -99,32 +103,6 @@
}
i++;
- // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
-// i++;
-// if (i > 1) {
-// mainService.ioConvert();
-// i = 0;
-// }
-
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-//
- //瀹屾垚灏忚溅浠诲姟
-// mainService.rgvCompleteWrkMastSta();
-
-// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
-// mainService.rgvRunWrkMastEmptyStaPut();//鏀�
-// mainService.rgvRunWrkMastEmptyStaTake();//鍙�
-// if (rgcWrk){
-// //鎵ц灏忚溅璐х墿鎼繍浠诲姟
-// mainService.rgvRunWrkMastFullSta();
-// rgcWrk = false;
-// }else {
-// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
-// rgcWrk = true;
-// }
-
-
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
k++;
@@ -132,12 +110,16 @@
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;
+ }
}catch (Exception e){
log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
}
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+// //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvTaskComplete();
+
} catch (Exception e) {
e.printStackTrace();
@@ -150,7 +132,7 @@
try {
// 闂撮殧
- Thread.sleep(1000);
+ Thread.sleep(400);
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -158,11 +140,39 @@
}
//arm浠诲姟瀹屾垚
- mainService.armMissionAccomplished();
- mainService.armMissionAccomplishedScanToCheckIn();
+ mainService.armMissionAccomplished();//4==>5
+ mainService.armMissionAccomplishedScanToCheckIn();//3===銆�4
//arm浠诲姟涓嬪彂
- mainService.armTaskAssignment();
+ 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();
--
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