From 54c41bbbffd29c51762db3cc99e76f75617f2bda Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期一, 18 八月 2025 16:44:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 26 ++++++++++++++++++++++++++
1 files changed, 26 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 67269ed..65736ca 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -57,6 +57,8 @@
private boolean PakIn = true;
//鍑哄簱鏍囪
private boolean PakOut = true;
+ //鏍规嵁璺濈璺宠繃鍙栬揣
+ private boolean PakRgv = true;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -119,6 +121,30 @@
command2.setCommand(false);
write2(command2);
break;
+ case 7: //宸ヤ綅1鍙栬揣纭
+ RgvCommand command3 = (RgvCommand) task.getData();
+ if (null == command3) {
+ command3 = new RgvCommand();
+ }
+ command3.setRgvNo(slave.getId()); // RGV缂栧彿
+ command3.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
+ command3.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command3.setTargetPosition1( 0); // 婧愮珯
+ command3.setCommand(false);
+ write1(command3);
+ break;
+ case 8 :
+ RgvCommand command4 = (RgvCommand) task.getData();
+ if (null == command4) {
+ command4 = new RgvCommand();
+ }
+ command4.setRgvNo(slave.getId()); // RGV缂栧彿
+ command4.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
+ command4.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command4.setTargetPosition2( 0); // 灏忚溅鐩爣绔欐竻闆�
+ command4.setCommand(false);
+ write2(command4);
+ break;
// 鍥炲師鐐� 閬胯
case 9:
// RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
--
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