From 64f912f0fbbf9b07f6347afa0fcc26d5c099edf3 Mon Sep 17 00:00:00 2001
From: tzsk <Administrator@qq.com>
Date: 星期四, 11 四月 2024 20:06:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 56 +++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 49 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 9555160..33ac14b 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -50,8 +50,12 @@
//鍒濆鍖栧疄鏃跺湴鍥�
mainService.initRealtimeBasMap();
- // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ // 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱
mainService.stnToCrnStnPick();
+// // 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱(325銆�331銆�333銆�339)
+// mainService.stnToCrnStnPick2();
+ // 鐩樼偣鍐嶅叆搴�
+ mainService.stnToCrnStnPlate();
// 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
mainService.shuttleInExecute();
// 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
@@ -70,6 +74,18 @@
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�
mainService.storeEmptyPlt();
+// // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
+// mainService.robotGenerateAgvTask();
+// // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
+// mainService.agvRestockByRobot();
+// // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
+// mainService.agvRestockInto();
+// // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
+// mainService.agvRestockIntoByHangingWire();
+// // AGV淇℃伅鏇存柊
+// mainService.agvCurrentContainerCodeInfoWire();
+ // 300绔欐嫞鏂�
+ mainService.pick300();
// 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
@@ -78,12 +94,38 @@
mainService.loopShuttleCharge();
mainService.executeShuttleCharge();
-// //鍑哄叆搴撴ā寮�
-// i++;
-// if (i > 1) {
-// mainService.outAndIn();
-// i = 0;
-// }
+ //鎵弿璁惧PakMk鏍囪鏄惁瓒呮椂
+ mainService.scanDevicePakMk();
+
+ // 闂撮殧
+ Thread.sleep(200);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ thread.start();
+ }
+
+ public void agvStart(){
+ thread = new Thread(() -> {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(300);
+
+ // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
+ mainService.robotGenerateAgvTask();
+ // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
+ mainService.agvRestockByRobot();
+ // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
+ mainService.agvRestockInto();
+ // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
+ mainService.agvRestockIntoByHangingWire();
+ // AGV淇℃伅鏇存柊
+ mainService.agvCurrentContainerCodeInfoWire();
+
// 闂撮殧
Thread.sleep(200);
--
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