From aa8638651f5f488ccc714a6e73e5b351bdfbde2e Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 27 十月 2025 17:57:51 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 31 +++++++++++++++++++++++++++++++
1 files changed, 31 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index c9b6419..96fb0f9 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;
@@ -39,6 +40,9 @@
armThread = new Thread(this::roboticArmDispatch);
armThread.start();
+
+ agvThread = new Thread(this::agvDispatch);
+ agvThread.start();
}
private void crnAndDevRun() {
while (!Thread.currentThread().isInterrupted()) {
@@ -177,6 +181,33 @@
}
}
+ 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
+ mainService.agvTaskCreateEmpty();//浠诲姟鐢熸垚
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
--
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