From a2d6371396f74e4fb30a4c79e91c6b371a77d0b5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 22 十一月 2024 20:54:07 +0800
Subject: [PATCH] #读取地图文件优化
---
src/main/java/com/zy/core/MainProcess.java | 79 +++++++++++++++++++++++++++++++--------
1 files changed, 62 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 02ccc99..13537db 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -22,6 +22,8 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
+ // 鎵�灞炵嚎绋�
+ private Thread agvThread;
// 棰戠巼
private int i = 0;
@@ -41,9 +43,6 @@
continue;
}
- // 婕旂ず
- mainService.demo();
-
// 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
@@ -51,22 +50,44 @@
// 闂撮殧
Thread.sleep(500);
- //浠巖edis涓噸鍚换鍔�
- mainService.restartTaskFromRedis();
+ //鍒濆鍖栧疄鏃跺湴鍥�
+ 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();
+ // 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�
- mainService.shuttleIoInExecute();
+ mainService.shuttleInExecute();
// 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
- mainService.shuttleIoOutExecute();
+ mainService.shuttleOutExecute();
//鍥涘悜绌挎杞︿换鍔″畬鎴�
mainService.shuttleFinished();
//鎻愬崌鏈轰换鍔�
mainService.liftIoExecute();
//鎻愬崌鏈轰换鍔″畬鎴�
mainService.liftFinished();
+ //搴撲綅绉昏浆
+ mainService.locToLocExecute();
+ //鎵ц灏忚溅绉诲簱浠诲姟
+ mainService.shuttleMoveExecute();
// 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�
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�
mainService.ledExecute();
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
@@ -74,19 +95,12 @@
// 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
mainService.loopShuttleCharge();
mainService.executeShuttleCharge();
- //鍑哄叆搴撴ā寮�
- i++;
- if (i > 1) {
- mainService.outAndIn();
- i = 0;
- }
+
+ //鎵弿璁惧PakMk鏍囪鏄惁瓒呮椂
+ mainService.scanDevicePakMk();
// 闂撮殧
Thread.sleep(200);
- // 绌挎杞� ===>> 灏忚溅澶嶄綅鑷冲緟鏈哄簱浣�
-// mainService.queryChargeLocOfComplete();
-// mainService.steFromChargeToIdleLoc();
-
} catch (Exception e) {
e.printStackTrace();
}
@@ -95,9 +109,40 @@
thread.start();
}
+ public void agvStart(){
+ agvThread = 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) {
+ e.printStackTrace();
+ }
+ }
+ });
+ agvThread.start();
+ }
+
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
+ if (agvThread != null) agvThread.interrupt();
}
}
--
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