From 4747e5dcb4066161b42a7a54cab542949ad5826c Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期一, 29 九月 2025 13:36:00 +0800
Subject: [PATCH] #和得服务器

---
 src/main/java/com/zy/core/model/protocol/RgvProtocol.java |   76 ++++++++++++++++++++++++++++++++++----
 1 files changed, 68 insertions(+), 8 deletions(-)

diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index eb177fa..ddfcc52 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -26,6 +26,21 @@
 
     public RgvModeType modeType;
 
+    private transient Long loadingStartTime;
+
+    /**
+     * 鎵ц浼樺厛绾�
+     * 0:涓嶅垽鏂�
+     * 1锛氬伐浣�1鍏堟墽琛�
+     * 2锛氬伐浣�2鍏堟墽琛�
+     */
+    public Short wrkTaskPri;
+
+    public Short wrkTaskMove1;
+
+    public Short wrkTaskMove2;
+
+
     /**
      * RGV褰撳墠鐘舵�佸伐浣�1
      * 0锛氱┖闂诧紝鏃犱换鍔�
@@ -44,6 +59,10 @@
      * 宸ヤ綅1浠诲姟鍙�
      */
     public Integer taskNo1 = 0;
+    /**
+     * 宸ヤ綅1鐩爣绔�
+     */
+    public Integer staNo1 = 0;
 
     /**
      * RGV宸ヤ綅1褰撳墠鐘舵��
@@ -83,12 +102,12 @@
     public Short walkPos;
 
     /**
-     * 鎬ュ仠
+     * 鎬ュ仠瑙﹀彂
      */
     public Boolean err1;
 
     /**
-     * 鏈夌墿鏃犺祫鏂�
+     *
      */
     public Boolean err2;
 
@@ -117,11 +136,21 @@
      */
     public Boolean err7;
 
+    public Boolean err8;
+    public Boolean err9;
+    public Boolean err10;
+    public Boolean err11;
+    public Boolean err12;
+
     //////////////////////     宸ヤ綅2瀹氫箟   //////////////////////////////////////////////////
     /**
      * 宸ヤ綅2浠诲姟鍙�
      */
     public Integer taskNo2 = 0;
+    /**
+     * 宸ヤ綅1鐩爣绔�
+     */
+    public Integer staNo2 = 0;
 
     /**
      * RGV宸ヤ綅2褰撳墠鐘舵��
@@ -296,17 +325,48 @@
     public Integer getRgvPosI(){
         //闇�瑕佹牴鎹幇鍦烘敼閫�  鏍规嵁璇诲埌鐨勫�艰幏鍙栧搴旂珯鐐逛綅缃�
         Map<Short,Integer> map = new HashMap<>();
-        map.put((short) 1,100);map.put((short) 2,101);
-        map.put((short) 3,106);map.put((short) 4,107);
-        map.put((short) 5,112);map.put((short) 6,113);
-       map.put((short) 7,124); map.put((short) 8,119);
-        map.put((short) 9,149);map.put((short) 10,153);
-        map.put((short) 11,157);map.put((short) 12,161);
+        map.put((short) 1,1004);map.put((short) 2,1007);
+        map.put((short) 3,1010);map.put((short) 4,1014);
+        map.put((short) 5,1018);map.put((short) 6,1021);
+       map.put((short) 7,1024); map.put((short) 8,1028);
+        map.put((short) 9,1031);map.put((short) 10,1035);
+        map.put((short) 11,2003);map.put((short) 12,2006);
+        map.put((short) 13,2009);map.put((short) 14,2012);
+        map.put((short) 15,2015);map.put((short) 16,2018);
+        map.put((short) 17,2021);map.put((short) 18,2024);
+        map.put((short) 19,2027);map.put((short) 20,2030);
         if (RgvPos==null) return 0;
 
         return map.get(RgvPos);
     }
 
+    public Integer getRgvPosI2() {
+        // key: 绔欑偣鍙�  value: 鍩哄噯鐗╃悊浣嶇疆
+        Map<Integer, Integer> posMap = new HashMap<>();
+        posMap.put(1004, 6534);
+        posMap.put(1007, 33634);
+        posMap.put(1010, 75174);
+        posMap.put(1014, 102124);
+        posMap.put(1018, 138224);
+        posMap.put(1021, 178034);
+        posMap.put(1024, 219684);
+        posMap.put(1028, 246724);
+        posMap.put(1031, 288194);
+        posMap.put(1035, 315204);
+        int tolerance = 200; // 鍏佽璇樊鑼冨洿
+
+        for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
+            int site = entry.getKey();
+            int basePos = entry.getValue();
+            if (Math.abs(RgvPos - basePos) <= tolerance) {
+                return site;
+            }
+        }
+
+        return 0; // 娌″尮閰嶅埌绔欑偣
+    }
+
+
     @Override
     public RgvProtocol clone() {
         try {

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