From 6ea30a9291bfcf21fda724f9957405bbe3fecbd5 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 15 四月 2024 15:34:44 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/MainProcess.java |   53 ++++++++++++++++-------------------------------------
 1 files changed, 16 insertions(+), 37 deletions(-)

diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 48c9273..e86a7d6 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�
@@ -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
@@ -71,66 +74,42 @@
                     mainService.storeFinished();
 
                     /////////////////////////////////////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++;
+                    k++;
                     if (i<7) {
                         // RGV  ===>>  灏忚溅浠诲姟浣滀笟涓嬪彂
                         try{
-                            mainService.rgvIoExecute(i);
+                            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;
                     }
-
-
-//                    //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
-
+                    //瀹屾垚灏忚溅浠诲姟
+                    mainService.rgvCompleteWrkMastSta();
                     /////////////////////////////////////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();
+                    // 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++;
@@ -147,7 +126,7 @@
 
                     //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�
+                    //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();

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