From 6ba157825d34078a75fee36cb66ead17327f5b32 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 29 四月 2025 14:32:55 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 25 ++++++++++++++++++++++---
1 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 3341f0a..858c5ba 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -26,6 +26,7 @@
private Thread thread;
// 棰戠巼
private int i = 0;
+ private int k = 0;
private boolean rgcWrk = true;
/**
@@ -45,7 +46,7 @@
}
// 婕旂ず
- mainService.crnDemoOfLocMove1();
+// mainService.crnDemoOfLocMove1();
//鍒锋柊RGV鍦板浘
mainService.refreshRgvMap();
@@ -99,14 +100,14 @@
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
//
//瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
+// 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();
+// mainService.rgvRunWrkMastFullSta();
// rgcWrk = false;
// }else {
// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
@@ -115,6 +116,24 @@
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+ k++;
+
+ // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
+ try{
+ boolean rgvIoExecuteSign = mainService.rgvRunWrkMastFullSta();
+ if (rgvIoExecuteSign){
+ k = 0;
+ } else if (k>4){
+ k = 0;
+ mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
+ }
+ }catch (Exception e){
+ log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
+ }
+ //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvCompleteWrkMastSta();
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
} catch (Exception e) {
e.printStackTrace();
--
Gitblit v1.9.1