#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java

@@ -36,16 +36,11 @@
    public BaseResult<?> executeAgvActionCmd(AgvAction agvAction) {

        // todo 1: 记录日志 2：发送任务  3：同步响应
        log.info(JSON.toJSONString(agvAction));
//        log.info(JSON.toJSONString(agvAction));

        String serialNo = agvAction.getSerialNo();

        AgvProtocol protocol = AgvProtocol.build(agvAction.getAgvNo()).setMessageBody(agvAction.beMesBody(serialNo));

        // fake
        if (configService.getVal("fakeSign", Boolean.class)) {
            return BaseResult.ok();
        }

        return this.requestProcess(serialNo, protocol
                , (RequestSupport<AGV_01_UP>) result -> result.getSerialNo().equals(serialNo));
@@ -74,7 +69,8 @@
            } else {
                return BaseResult.error();
            }
        } catch (TimeoutException ex){
        } catch (TimeoutException e){
            log.error("AgvCmdService.requestProcess", e);
            return BaseResult.error();
        }
    }
@@ -95,7 +91,7 @@
                return messageBody;
            }
            try{
                Thread.sleep(100);
                Thread.sleep(10);
            }catch(Exception ex){
                ex.printStackTrace();
            }