*

L

2025-07-10 a435a1d1e06263eb1a219384e6b4f1e551c4f89b

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

@@ -144,6 +144,26 @@
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 复位
                    case 8:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
//                        command4.setTaskNo1((short) command4); // 工作号
                        command4.setAckFinish1((short) 1);  // 任务完成确认位
                        command4.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command4.setSourceStaNo1((short)0);     // 源站
                        command4.setDestinationStaNo1((short)0);     // 目标站
                        command4.setTaskNo2((short) 0); // 工作号
                        command4.setAckFinish2((short) 1);  // 任务完成确认位
                        command4.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command4.setSourceStaNo2((short)0);     // 源站
                        command4.setDestinationStaNo2((short)0);     // 目标站
                        command4.setCommand((short)0);
                        write(command4);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();