*

lsh

2025-06-14 887b859992b9f772496b499b5956f0094e560245

*

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

@@ -16,6 +16,7 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
@@ -289,7 +290,10 @@
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                long poi = siemensNet.getByteTransform().TransInt32(result.Content, 16);
                if (poi>0){
                    rgvProtocol.setRgvPos(poi);
                }
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
                boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);

 src/main/resources/application.yml

@@ -57,7 +57,7 @@
  # 小车数
  rgvCount: 10
  # 延迟时间
  rgvDate: 1
  rgvDate: 0.5

# 下位机配置
wcs-slave: