From d6969a2d987d798aadd7be32c53492704c6c1d26 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期二, 27 五月 2025 12:44:54 +0800
Subject: [PATCH] #ZH

---
 src/main/java/com/zy/core/model/protocol/RgvProtocol.java |   84 +++++++++++++++++++++++++++++++++++++++---
 1 files changed, 78 insertions(+), 6 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 902050f..15c7135 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -38,17 +38,22 @@
     /**
      * 浠诲姟鍙�
      */
-    public Short taskNo = 0;
+    public Long taskNo = 0L;
 
     /**
      * 鏈夌墿
      */
-    public Short loaded;//0 鏃犵墿锛�1 鏈夌墿
+    public Short loaded = -1;//0 鏃犵墿锛�1 鏈夌墿
 
     /**
      * RGV褰撳墠浣嶇疆
      */
     public Long RgvPos = 0L;
+
+    /**
+     * RGV鐩殑浣嶇疆
+     */
+    public Long RgvPosDestination = 0L;
 
     /**
      * 璧拌鍦ㄥ畾浣�
@@ -78,19 +83,39 @@
     public Float xDuration;
 
     /**
-     * 鏄惁閬胯
+     * 杞﹁韩
      */
-    public Short Avoid;//0\1\2
+    public Long carBodyJiaoMing = 2000L;
 
     /**
-     * 閬胯鐩殑鍦�
+     * 杞﹁韩
      */
-    public Short AvoidingTheDestination;
+    public Long carBodyKunPeng = 15000L;
 
     /**
      * 鏄惁鍚敤
      */
     public boolean statusEnable;//0\1\2
+
+
+
+    // 鎬ュ仠
+    private boolean err1;
+
+    // 鏈夌墿鏃犺祫鏂�
+    private boolean err2;
+
+    // 鍛戒护閿欒璧拌閾炬潯鍐茬獊
+    private boolean err3;
+
+    // 鐩爣涓鸿秴杩囪蛋琛屾瀬闄�
+    private boolean err4;
+
+    // 鍙橀鍣ㄥ紓甯�
+    private boolean err5;
+
+    // 鍏夌數寮傚父
+    private boolean err6;
 
     public void setMode(Short mode) {
         this.mode = mode;
@@ -120,6 +145,14 @@
         return basRgv;
     }
 
+    public long getRgvPosDestinationOrPos(boolean sign){
+        if (!sign){
+            return RgvPosDestination>RgvPos? RgvPosDestination:RgvPos;
+        } else {
+            return RgvPosDestination<RgvPos? RgvPosDestination:RgvPos;
+        }
+    }
+
     public void setxSpeed(Short xSpeed) {
         this.xSpeed = Float.valueOf(xSpeed);
     }
@@ -132,4 +165,43 @@
         this.xDuration = Float.valueOf(xDuration);
     }
 
+    public int getAlarm$(){
+        if (err1){
+            return 1;
+        }
+        if (err2){
+            return 2;
+        }
+        if (err3){
+            return 3;
+        }
+        if (err4){
+            return 4;
+        }
+        if (err5){
+            return 5;
+        }
+        if (err6){
+            return 6;
+        }
+        return 0;
+    }
+    public String getAlarmM(){
+        switch (getAlarm$()){
+            case 1:
+                return "鎬ュ仠";
+            case 2:
+                return "鏈夌墿鏃犺祫鏂�";
+            case 3:
+                return "鍛戒护閿欒璧拌閾炬潯鍐茬獊";
+            case 4:
+                return "鐩爣涓鸿秴杩囪蛋琛屾瀬闄�";
+            case 5:
+                return "鍙橀鍣ㄥ紓甯�";
+            case 6:
+                return "鍏夌數寮傚父";
+        }
+        return "姝ｅ父";
+    }
+
 }

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