From 6c5963052282dfe4ae2f20d2e18012d1cff93c85 Mon Sep 17 00:00:00 2001
From: pjb <pjb123456>
Date: 星期一, 23 六月 2025 08:54:51 +0800
Subject: [PATCH] rgv调度优化
---
src/main/java/com/zy/core/MainProcess.java | 109 ++++++++++++++++--------------------------------------
1 files changed, 32 insertions(+), 77 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 5f71ad7..ff6b6ee 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -5,11 +5,9 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import javax.annotation.PreDestroy;
-import java.util.ArrayList;
/**
* WCS涓绘祦绋�
@@ -28,95 +26,52 @@
private int i = 0;
private int j = 0;
private int k = 0;
+ private int l = 0;
+ private int[] autoZ = new int[]{0,0,0,0,0,0,0};
/**
* =====>> 寮�濮嬪伐浣�
*/
public void start(){
thread = new Thread(() -> {
+ try{
+ Thread.sleep(200);
+ log.info("++++++++ 寮�濮嬮獙璇佽鍙瘉 ++++++++");
+ if (!mainService.licenseVerify()){
+ SystemProperties.WCS_RUNNING_STATUS.set(Boolean.FALSE);
+ log.info("++++++++ 楠岃瘉璁稿彲璇佸け璐� ++++++++");
+ } else {
+ SystemProperties.WCS_RUNNING_STATUS.set(Boolean.TRUE);
+ log.info("++++++++ 楠岃瘉璁稿彲璇佹垚鍔� ++++++++");
+ }
+ } catch (Exception e) {}
while (!Thread.currentThread().isInterrupted()) {
try {
-
// 闂撮殧
- Thread.sleep(1000);
+ Thread.sleep(500);
// 绯荤粺杩愯鐘舵�佸垽鏂�
- if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
- continue;
- }
+// if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+// continue;
+// }
- //鍒濆鍖朢GV鍦板浘
-// mainService.initRgvMap();
- //鍒锋柊RGV鍦板浘
-// mainService.refreshRgvMap();
- // 婕旂ず
-// mainService.crnDemoOfLocMove1();
- // 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
-// mainService.ioConvert();
- // 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.generateStoreWrkFileSingle(); // 缁勬墭 鍙屽伐浣嶅崟浼� 灏忔枡绠�
- mainService.generateStoreWrkFileLarge(); // 缁勬墭 鍙屽伐浣嶅崟浼� 澶ф枡绠�
- mainService.generateStoreWrkFile0(); // WMS鍏ュ簱
- // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
- mainService.crnStnToOutStn();
- // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯 宸ヤ綅2
- mainService.crnStnToOutStnTwo();
- // 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- mainService.crnIoExecute();
- // 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 鍙屽伐浣嶅爢鍨涙満
- mainService.crnIoExecuteTwo();
- // 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 鍙屽伐浣嶅爢鍨涙満 鎷嗗垎鎵ц浠诲姟涓嬪彂
- mainService.crnIoExecuteTwoExecute(i);//Execute
- if (i%2==0){
- // 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- mainService.storeFinished();
- }else {
- // 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣� 宸ヤ綅2
- mainService.storeFinishedTwo();
- }
+ //鏇存柊灏忚溅鎺掑簭
+// mainService.updateStePositionNearby();
+// //鏇存柊浣嶇疆淇℃伅
+// mainService.updateStePosition();
+// // 浠诲姟涓嬪彂
+// mainService.DevpTaskNoRun();
- /************************************RGV璋冨害************************************/
- i++;
- k++;
- if (i<5) {
-// // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
-// if (i == 7) {
-// try{
-// boolean rgvIoExecuteSign = mainService.rgvIoExecute(i); //7鐓滄槦鐗逛緵锛屽乏鍙崇Щ鍔�
-// if (rgvIoExecuteSign){
-// k = 0;
-// } else if (k>8){
-// 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 {
-// //绌挎鏉�
-//// boolean rgvIoExecuteSign = mainService.rgvIoExecute(i); //7鐓滄槦鐗逛緵锛屽乏鍙崇Щ鍔�
-//
-// }
- }else {
- i = 0;
- }
-// //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
- /************************************RGV璋冨害************************************/
+ // 灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷
+ mainService.rgvTaskCancel();
-// // 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
- mainService.storeEmptyPlt();
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱 鍙屽伐浣嶅崟浼� 灏忔枡绠�
- mainService.storeEmptyPltSingle();
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱 鍙屽伐浣嶅崟浼� 澶ф枡绠�
- mainService.storeEmptyPltLarge();
- // 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();
+ // 浠诲姟涓嬪彂
+ mainService.rgvTheHandlingTaskIsIssued();
+
+ // 浠诲姟瀹屾垚
+ mainService.rgvCompleteWrkMastSta(autoZ);
+ //鏇存柊浣嶇疆淇℃伅
+// mainService.updateStePosition();
} catch (Exception e) {
e.printStackTrace();
--
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