#

1

2025-05-08 c64b495fa07b7d381df66590894109fb672c20f0

#

 src/main/java/com/zy/core/model/protocol/TaskProtocol.java

@@ -35,6 +35,15 @@
    }



    public TaskProtocol(TaskProtocol taskProtocol,boolean direction) {
        this.taskNo = taskProtocol.getTaskNo();
        this.targetPosition = taskProtocol.getTargetPosition();
        this.taskStatus = 1;
        this.direction = taskProtocol.direction;
    }


    public String gettaskNoDirection$(Long taskNo,int taskStatus){
        String taskStatusStr = "Walk";
        switch (taskStatus){

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

@@ -198,12 +198,22 @@
                                continue;
                            }
                        }
                        Thread.sleep(100);
                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(4);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
                            taskProtocol.setIsRunning(4);
                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
//                            taskProtocol.setIsRunning(4);
//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            break;
                        }
                    }
                }
            } catch (Exception e) {