From 8980782bebfd40b2a56169e4fb53686882e87a97 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期五, 26 十二月 2025 14:20:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 137 ++++++++++++++++++++++++---------------------
1 files changed, 74 insertions(+), 63 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 16f3094..7402bd7 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -25,9 +25,11 @@
// 鎵�灞炵嚎绋�
private Thread thread;
private Thread armThread;
+ private Thread agvThread;
+ private Thread rgvTread;
// 棰戠巼
private int i = 0;
- private int k = 0;
+ private int q = 0;
private boolean rgcWrk = true;
/**
@@ -37,38 +39,37 @@
thread = new Thread(this::crnAndDevRun);
thread.start();
-// armThread = new Thread(this::roboticArmDispatch);
-// armThread.start();
+ armThread = new Thread(this::roboticArmDispatch);
+ armThread.start();
+
+ agvThread = new Thread(this::agvDispatch);
+ agvThread.start();
+
+ rgvTread = new Thread(this::rgvDispatch);
+ rgvTread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
try {
-
// 闂撮殧
Thread.sleep(1000);
-
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
continue;
}
-
// 婕旂ず
// mainService.crnDemoOfLocMove1();
//鍒锋柊RGV鍦板浘
mainService.refreshRgvMap();
-
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
// mainService.ioConvert();
-
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
mainService.stnToCrnStnPick(3);
// mainService.stnToCrnStnPick2();
-
// 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(1); // 缁勬墭
// mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
- Thread.sleep(500);
-
+ Thread.sleep(50);
// 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
mainService.crnStnToOutStn(4);
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
@@ -87,63 +88,41 @@
mainService.ledReset();
//鍫嗗灈鏈鸿鎺ヤ换鍔＄敓鎴�
mainService.connectWrk(10);
-
// mainService.outOfDevp(11);
-
if (i>10){
//绌烘墭鐩樿嚜鍔ㄥ嚭搴�
mainService.autoEmptyOut();
- //绌烘墭鐩樿嚜鍔ㄥ叆搴�
- mainService.autoEmptyIn();
+
i=0;
}
- i++;
-
- // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
-// i++;
-// if (i > 1) {
-// mainService.ioConvert();
-// i = 0;
-// }
-
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-//
- //瀹屾垚灏忚溅浠诲姟
-// mainService.rgvCompleteWrkMastSta();
-
-// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
-// mainService.rgvRunWrkMastEmptyStaPut();//鏀�
-// mainService.rgvRunWrkMastEmptyStaTake();//鍙�
-// if (rgcWrk){
-// //鎵ц灏忚溅璐х墿鎼繍浠诲姟
-// mainService.rgvRunWrkMastFullSta();
-// rgcWrk = false;
-// }else {
-// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
-// rgcWrk = true;
-// }
-
-
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
- k++;
-
- // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
- try{
- //RGV灏忚溅鍑哄叆搴撳彇璐т笅鍙�
- mainService.rgvIoExecute(11);
- }catch (Exception e){
- log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
+ if(q>5){
+ //绌烘墭鐩樿嚜鍔ㄥ叆搴�
+ mainService.autoEmptyIn();
+ q = 0;
}
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
-
- //宸ヤ綅绉诲姩
-// mainService.rgvStaMove();
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-
+ q++;
+ i++;
} catch (Exception e) {
e.printStackTrace();
+ }
+ }
+ }
+ private void rgvDispatch() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+ // 闂撮殧
+ Thread.sleep(400);
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+ mainService.rgvIoExecute(11);//鍙栬揣
+ mainService.rgvIoExecuteScheduling();
+ mainService.rgvOutExecute();//鏀捐揣
+ mainService.rgvTaskComplete();//浠诲姟瀹屾垚
+ } catch (Exception e) {
+ e.printStackTrace();
+ log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
}
}
}
@@ -153,7 +132,7 @@
try {
// 闂撮殧
- Thread.sleep(500);
+ Thread.sleep(400);
// 绯荤粺杩愯鐘舵�佸垽鏂�
if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -161,11 +140,43 @@
}
//arm浠诲姟瀹屾垚
- mainService.armMissionAccomplished();
- mainService.armMissionAccomplishedScanToCheckIn();
+ mainService.armMissionAccomplished();//3==>4 ====> 3===銆�5
+ mainService.armMissionAccomplished1();//3==>4 ====> 3===銆�5 2lou
+ mainService.armMissionAccomplished2();//3==>4 ====> 3===銆�5 2lou
+// mainService.armMissionAccomplishedScanToCheckIn();//4===銆�5
//arm浠诲姟涓嬪彂
- mainService.armTaskAssignment();
+ mainService.armTaskAssignment();//0===銆�1
+ mainService.armTaskAssignment2();//0===銆�1
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+ private void agvDispatch() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(400);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+ //agv浠诲姟涓嬪彂
+ mainService.agvTaskAssignment0();//0===銆�1 AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣 0
+ mainService.agvTaskAssignment1();//0===銆�1 AGV搴撲綅==銆婣GV搴撲綅 1
+ mainService.agvTaskAssignment2();//0===銆�1 杈撻�佺嚎绔欑偣==銆婣GV搴撲綅 2
+ mainService.agvTaskAssignment3();//0===銆�1 杈撻�佺嚎绔欑偣==銆嬭緭閫佺嚎绔欑偣 3
+
+
+ mainService.agvTaskCreateFull();//浠诲姟鐢熸垚 鍑哄簱鍙�==銆婣GV搴撲綅
+ mainService.agvTaskCreateEmpty();//浠诲姟鐢熸垚 鍑哄簱鍙�==銆婣GV搴撲綅
+ mainService.agvTaskCreateR();//浠诲姟鐢熸垚 AGV搴撲綅==銆嬪叆搴撳彛
+// mainService.agvTaskCreateException();//浠诲姟鐢熸垚 鍑哄簱鍙�==銆嬪叆搴撳彛
} catch (Exception e) {
e.printStackTrace();
--
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