From fb74f60f1d8397acf5251ae289e80ab8a056857f Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 09 十月 2025 09:08:05 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/core/model/protocol/RgvProtocol.java | 49 +++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 47 insertions(+), 2 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 a0bfe6d..ddfcc52 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -36,6 +36,10 @@
*/
public Short wrkTaskPri;
+ public Short wrkTaskMove1;
+
+ public Short wrkTaskMove2;
+
/**
* RGV褰撳墠鐘舵�佸伐浣�1
@@ -55,6 +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��
@@ -94,12 +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;
@@ -128,11 +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��
@@ -322,6 +340,33 @@
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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