From 554a833b682f4052d7297c633cf4dd68818a33f2 Mon Sep 17 00:00:00 2001
From: lsh <1>
Date: 星期四, 15 二月 2024 09:37:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 117 ++++++++++++++++++++++++----------------------------------
1 files changed, 48 insertions(+), 69 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 48c9273..3f24ad8 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -27,6 +27,7 @@
// 棰戠巼
private int i = 0;
private int j = 0;
+ private int k = 0;
/**
* =====>> 寮�濮嬪伐浣�
@@ -47,7 +48,7 @@
//鍒濆鍖朢GV鍦板浘
// mainService.initRgvMap();
//鍒锋柊RGV鍦板浘
- mainService.refreshRgvMap();
+// mainService.refreshRgvMap();
// 婕旂ず
// mainService.crnDemoOfLocMove1();
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
@@ -61,6 +62,8 @@
mainService.stnToCrnStnPick();
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱鎷嗙洏鍖� 1妤兼媶鍨涗綅缃�
mainService.stnToCrnStnPick2();
+ // 2妤�212鍛煎彨绌烘澘
+ mainService.stnToCrnStnPick3Auto(i);
// 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
@@ -70,67 +73,43 @@
// 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
mainService.storeFinished();
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+// /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+// i++;
+// k++;
+// if (i<7) {
+// // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
+// try{
+// boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
+// if (rgvIoExecuteSign){
+// k = 0;
+// } else if (k>7){
+// k = 0;
+// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
+// }
+// }catch (Exception e){
+// log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
+// }
+// }else {
+// i = 0;
+// }
+// //瀹屾垚灏忚溅浠诲姟
+// mainService.rgvCompleteWrkMastSta();
+// /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-// //缁戝畾灏忚溅鏂规硶
-// mainService.rgvBindSte();
-// mainService.rgvBindSte2();
-//// // 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
-// mainService.rgvIoExecute();
-// // RGV鍏ュ簱 ===>> 鏍规嵁RGV瀹屾垚淇″彿,鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
-// mainService.rgvFinished();
-// // 鍏ュ嚭搴� ===>> RGV鍑哄簱绔欏埌绯荤粺鍏ュ嚭搴撶珯
-// mainService.rgvDestStnToCrnStn();
-// // 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔�
-// mainService.rgvOutDStnToOutStn();
-
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
- i++;
- if (i<7) {
- // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
- try{
- mainService.rgvIoExecute(i);
- }catch (Exception e){
- log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
- }
- }else {
- i = 0;
- }
-
-
-// //鎵ц灏忚溅璐х墿鎼繍浠诲姟
-// mainService.rgvRunWrkMastFullSta();
-// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
-// mainService.rgvRunWrkMastEmptyStaPut();//鏀�//鎷嗙洏
-// mainService.rgvRunWrkMastEmptyStaPutFull();//婊℃斁
-// mainService.rgvRunWrkMastEmptyStaTake();//鍙栧彔鐩�
-// mainService.rgvRunWrkMastEmptyStaTakeFull();////婊″彇
-// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
-
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-
- // 寮傚父淇℃伅璁板綍
- mainService.recErr();
- // 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� 2妤�
- mainService.storeEmptyPlt();
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
- mainService.storeEmptyPlt2();
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満绌烘澘鍏ュ簱
- mainService.storeEmptyPlt3();
- // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱鎷嗙洏鍖� 1妤兼媶鍨涗綅缃� 绌烘澘鍙犵洏
- mainService.storeEmptyPlt4();
+// // 寮傚父淇℃伅璁板綍
+// mainService.recErr();
+// // 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� 2妤�
+// mainService.storeEmptyPlt();
+// // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満绌烘澘鍏ュ簱
+// mainService.storeEmptyPlt3();
+// // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
+// mainService.storeEmptyPlt2();
+// // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱鎷嗙洏鍖� 1妤兼媶鍨涗綅缃� 绌烘澘鍙犵洏
+// mainService.storeEmptyPlt4();
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
mainService.ledExecute();
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
mainService.ledReset();
-
-// mainService.outOfDevp();
-
-// //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
-// mainService.autoEmptyOut();
-// //绌烘墭鐩樿嚜鍔ㄥ叆搴�
-// mainService.autoEmptyIn();
// // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
// i++;
@@ -145,18 +124,18 @@
// //鎷嗙洏鏈哄绌烘澘鎵爜锛岄┍鍔ㄦ墭鐩樺悜鐮佸灈浣嶏紝涓嶅叆搴�
// mainService.scanBarcodeEmptyBoard();
- //鐮佸灈瀹屾垚椹卞姩鎵樼洏涓嬩竴姝ユ壂鐮佸叆搴�
- mainService.stackingCompletionDriveTray();
- //鎷嗗灈瀹屾垚缁х画涓嬩竴姝�
- mainService.stackingCompletionDriveTray2();
- //璐存爣瀹屾垚缁х画涓嬩竴姝�
-// mainService.stackingCompletionDriveTray3();
- //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 杩愯閫斾腑鑷姩閬胯绌烘澘
- mainService.stackingCompletionDriveTray4();
- //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�
- mainService.stackingCompletionDriveTrayOk2();
- //閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
- mainService.stackingCompletionDriveTrayOk3();
+// //鐮佸灈瀹屾垚椹卞姩鎵樼洏涓嬩竴姝ユ壂鐮佸叆搴�
+// mainService.stackingCompletionDriveTray();
+// //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 鍑哄簱鑷虫湀鍙板嚭搴撳彛
+// mainService.stackingCompletionDriveTray2();
+// //璐存爣瀹屾垚缁х画涓嬩竴姝�
+//// mainService.stackingCompletionDriveTray3();
+// //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 杩愯閫斾腑鑷姩閬胯绌烘澘
+// mainService.stackingCompletionDriveTray4();
+// //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�
+// mainService.stackingCompletionDriveTrayOk2();
+// //閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
+// mainService.stackingCompletionDriveTrayOk3();
} catch (Exception e) {
e.printStackTrace();
--
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