From 6fcad8a10aab91b9a0825b0465b7e21d37df2332 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期三, 22 十月 2025 11:53:13 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 30 ++++++++++++++++++++++--------
1 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 525972c..c9b6419 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -24,7 +24,7 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
- private Thread thread2;
+ private Thread armThread;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -37,8 +37,8 @@
thread = new Thread(this::crnAndDevRun);
thread.start();
- thread2 = new Thread(this::roboticArmDispatch);
-// thread2.start();
+ armThread = new Thread(this::roboticArmDispatch);
+ armThread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -82,7 +82,7 @@
// 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(8);
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- mainService.ledExecute(9);
+// mainService.ledExecute(9);
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
mainService.ledReset();
//鍫嗗灈鏈鸿鎺ヤ换鍔＄敓鎴�
@@ -132,11 +132,18 @@
try{
//RGV灏忚溅鍑哄叆搴撳彇璐т笅鍙�
mainService.rgvIoExecute(11);
+ if(k > 2){
+ mainService.rgvOutExecute();
+ k = 0;
+ }
}catch (Exception e){
log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
}
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
+// //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvTaskComplete();
+
+ //宸ヤ綅绉诲姩
+// mainService.rgvStaMove();
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
} catch (Exception e) {
@@ -150,12 +157,19 @@
try {
// 闂撮殧
- Thread.sleep(1000);
+ Thread.sleep(400);
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
continue;
}
+
+ //arm浠诲姟瀹屾垚
+ mainService.armMissionAccomplished();//4==>5
+ mainService.armMissionAccomplishedScanToCheckIn();//3===銆�4
+
+ //arm浠诲姟涓嬪彂
+ mainService.armTaskAssignment();//0===銆�1
} catch (Exception e) {
e.printStackTrace();
@@ -166,7 +180,7 @@
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
- if (thread2 != null) thread2.interrupt();
+ if (armThread != null) armThread.interrupt();
}
}
--
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