From 6daf900a09adcca981f620744bf89851654d88e0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 05 八月 2025 09:58:08 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 120 +++++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 94 insertions(+), 26 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index af52e13..e748408 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -1,10 +1,12 @@
package com.zy.core;
+import com.zy.asrs.service.impl.ForkMainServiceImpl;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.properties.SystemProperties;
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;
@@ -18,55 +20,121 @@
@Component
public class MainProcess {
+ @Value("${deviceExecuteConfig.liftType}")
+ private String liftType;
@Autowired
private MainServiceImpl mainService;
+ @Autowired
+ private ForkMainServiceImpl forkMainService;
// 鎵�灞炵嚎绋�
private Thread thread;
+ // 棰戠巼
+ private int i = 0;
/**
* =====>> 寮�濮嬪伐浣�
*/
public void start(){
+ if(liftType.equals("ForkLift")){
+ initForkMain();
+ }else {
+ initMain();
+ }
+ }
+
+ private void initMain() {
thread = new Thread(() -> {
while (!Thread.currentThread().isInterrupted()) {
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()) {
continue;
}
- // 婕旂ず
- mainService.demo();
+ //鍒濆鍖栧疄鏃跺湴鍥�
+ mainService.initRealtimeBasMap();
-
- // 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
- // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- 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 ===>> 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
- mainService.carGenerateStore();
- // 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- mainService.recCrnErr();
- // 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();
- // 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();
+ // 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�
+ mainService.shuttleOutExecute();
+// //鍥涘悜绌挎杞︿换鍔″畬鎴�
+// mainService.shuttleFinished();
+ //鎵ц绉诲簱浠诲姟
+ mainService.shuttleLocMoveExecute();
+ //璐у弶鎻愬崌鏈轰换鍔�
+ mainService.forkLiftIoExecute();
+ //璐у弶鎻愬崌鏈轰换鍔″畬鎴�
+ mainService.forkLiftFinished();
+ //鎵ц灏忚溅绉诲姩浠诲姟
+ mainService.shuttleMoveExecute();
+ // 寮傚父淇℃伅璁板綍
+ mainService.recErr();
// 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
- mainService.loopSteCharge();
+ mainService.loopShuttleCharge();
+ mainService.executeShuttleCharge();
+ //鑷姩鍒囨崲鍑哄叆搴撴ā寮�
+ mainService.autoSwitchForkLiftIOMode();
+
+ // 闂撮殧
+ Thread.sleep(200);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ thread.start();
+ }
+
+ private void initForkMain() {
+ thread = new Thread(() -> {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(300);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+
+ //鍒濆鍖栧疄鏃跺湴鍥�
+ forkMainService.initRealtimeBasMap();
+
+ //鍑哄簱浠诲姟棰勮皟搴︽彁鍗囨満
+ forkMainService.outTaskPreviewDispatchForkLift();
+
+ // 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+ forkMainService.shuttleInExecute();
+ // 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ forkMainService.shuttleOutExecute();
+// //鍥涘悜绌挎杞︿换鍔″畬鎴�
+// mainService.shuttleFinished();
+ //鎵ц绉诲簱浠诲姟
+ forkMainService.shuttleLocMoveExecute();
+ //璐у弶鎻愬崌鏈轰换鍔�
+ forkMainService.forkLiftIoExecute();
+ //璐у弶鎻愬崌鏈轰换鍔″畬鎴�
+ forkMainService.forkLiftFinished();
+ //鎵ц灏忚溅绉诲姩浠诲姟
+ forkMainService.shuttleMoveExecute();
+ // 寮傚父淇℃伅璁板綍
+ forkMainService.recErr();
+ // 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
+ forkMainService.loopShuttleCharge();
+ forkMainService.executeShuttleCharge();
+
+ //鑷姩鍒囨崲鍑哄叆搴撴ā寮�
+ forkMainService.autoSwitchForkLiftIOMode();
+
+ // 闂撮殧
+ Thread.sleep(200);
} catch (Exception e) {
e.printStackTrace();
}
--
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