From 16b33601494d55d62aa9e719a469ac99bb71e69f Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期五, 17 四月 2026 08:16:45 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 31 ++++++++++++++++++++++++-------
1 files changed, 24 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index ce27b3f..5e213cf 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -192,8 +192,8 @@
continue;
}
Thread.sleep(40);
- readStatus();
-
+// readStatus();
+ initRgv();
} catch (Exception e) {
log.error("RGV璇荤嚎绋嬪紓甯�"+e.getMessage());
@@ -214,13 +214,30 @@
rgvProtocol = new RgvProtocol();
}
rgvProtocol.setRgvNo(slave.getId());
- rgvProtocol.setMode((short) -1);
- rgvProtocol.setStatus((short)-1);
+// rgvProtocol.setMode((short) -1);
+// rgvProtocol.setStatus((short)-1);
+// rgvProtocol.setTaskNo1((short)0);
+// rgvProtocol.setStatus1((short)-1);
+// rgvProtocol.setLoaded1((short)0);
+// rgvProtocol.setWalkPos((short)0);
+// rgvProtocol.setRgvPos(0L);
+// rgvProtocol.setTaskNo2((short)0);
+// rgvProtocol.setStatus2((short)-1);
+// rgvProtocol.setLoaded2((short)0);
+// rgvProtocol.setAlarm((short)0);
+// rgvProtocol.setxSpeed((short) 0);
+// rgvProtocol.setxDistance((short) 0);
+// rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setMode((short) 3);
+ rgvProtocol.setStatus((short)0);
rgvProtocol.setTaskNo1((short)0);
- rgvProtocol.setStatus1((short)-1);
+ rgvProtocol.setStatus1((short)0);
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
- rgvProtocol.setRgvPos(0L);
+ if (rgvProtocol.getRgvPos()==null || rgvProtocol.getRgvPos()==0){
+ rgvProtocol.setRgvPos(1L+rgvProtocol.getRgvNo()*10000);
+ }
+ rgvProtocol.setRgvPos(rgvProtocol.getRgvPos()+1000);
rgvProtocol.setTaskNo2((short)0);
rgvProtocol.setStatus2((short)-1);
rgvProtocol.setLoaded2((short)0);
@@ -228,7 +245,7 @@
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
rgvProtocol.setxDuration((short) 0);
- log.error("杩炴帴涓柇锛歊GV鍙凤細"+slave.getId());
+// log.error("杩炴帴涓柇锛歊GV鍙凤細"+slave.getId());
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
--
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