From a403410276a4e7744d5808004eae6dc3494aea4f Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 24 十月 2025 14:30:13 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 45 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 38 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 6909287..02eb215 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -25,6 +25,7 @@
// 鎵�灞炵嚎绋�
private Thread thread;
private Thread armThread;
+ private Thread agvThread;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -37,8 +38,11 @@
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();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -82,7 +86,7 @@
// 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�
@@ -132,6 +136,10 @@
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);
}
@@ -153,7 +161,7 @@
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 +169,34 @@
}
//arm浠诲姟瀹屾垚
- mainService.armMissionAccomplished();
- mainService.armMissionAccomplishedScanToCheckIn();
+ mainService.armMissionAccomplished();//4==>5
+ mainService.armMissionAccomplishedScanToCheckIn();//3===銆�4
//arm浠诲姟涓嬪彂
- mainService.armTaskAssignment();
+ mainService.armTaskAssignment();//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
} catch (Exception e) {
e.printStackTrace();
--
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