From 8a8faba0f55512a2c18c4fe719a1bb0c4f6a86c9 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 12 六月 2024 08:44:28 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/tzskwcs_3' into tzskwcs_3
---
src/main/java/com/zy/core/MainProcess.java | 55 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 45 insertions(+), 10 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 2afd5de..33ac14b 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -52,8 +52,8 @@
mainService.initRealtimeBasMap();
// 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱
mainService.stnToCrnStnPick();
- // 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱(325銆�331銆�333銆�339)
- mainService.stnToCrnStnPick2();
+// // 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱(325銆�331銆�333銆�339)
+// mainService.stnToCrnStnPick2();
// 鐩樼偣鍐嶅叆搴�
mainService.stnToCrnStnPlate();
// 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
@@ -74,14 +74,16 @@
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�
mainService.storeEmptyPlt();
- // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
- mainService.robotGenerateAgvTask();
- // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
- mainService.agvRestockByRobot();
- // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
- mainService.agvRestockInto();
- // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
- mainService.agvRestockIntoByHangingWire();
+// // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
+// mainService.robotGenerateAgvTask();
+// // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
+// mainService.agvRestockByRobot();
+// // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
+// mainService.agvRestockInto();
+// // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
+// mainService.agvRestockIntoByHangingWire();
+// // AGV淇℃伅鏇存柊
+// mainService.agvCurrentContainerCodeInfoWire();
// 300绔欐嫞鏂�
mainService.pick300();
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
@@ -92,6 +94,39 @@
mainService.loopShuttleCharge();
mainService.executeShuttleCharge();
+ //鎵弿璁惧PakMk鏍囪鏄惁瓒呮椂
+ mainService.scanDevicePakMk();
+
+ // 闂撮殧
+ Thread.sleep(200);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ thread.start();
+ }
+
+ public void agvStart(){
+ thread = new Thread(() -> {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(300);
+
+ // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
+ mainService.robotGenerateAgvTask();
+ // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
+ mainService.agvRestockByRobot();
+ // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
+ mainService.agvRestockInto();
+ // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
+ mainService.agvRestockIntoByHangingWire();
+ // AGV淇℃伅鏇存柊
+ mainService.agvCurrentContainerCodeInfoWire();
+
+
// 闂撮殧
Thread.sleep(200);
} catch (Exception e) {
--
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