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1

2025-05-10 2cf9b53834bf61455fffd322b0201b3d0080577a

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -48,11 +48,11 @@
    //    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
    // # 轨道总长
    private Long trackEntireLength = 100L;
    private Long trackEntireLength = 215000L;
    //# 轨道基准点
    private Long trackBenchmark = 100L;
    private Long trackBenchmark = 1L;
    //  # 避让距离
    private Long avoidDistance = 100L;
    private Long avoidDistance = 4000L;

    /**
     * 工位1复位信号
@@ -520,8 +520,10 @@
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());

                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));