From 044a95274077416256427cfe8aa372afbff718c3 Mon Sep 17 00:00:00 2001
From: yuliang <398780299@qq.com>
Date: Thu, 26 Jun 2025 15:40:00 +0800
Subject: [PATCH] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?=
 =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?=
 =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?=
 =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../amrCommunication/AmrMessageHandler.java           | 19 +++++++++++--------
 .../main/java/com/yvan/logisticsModel/PtrAgvItem.java |  2 +-
 2 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
index f1b741e..4494b70 100644
--- a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
+++ b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
@@ -115,7 +115,7 @@ public class AmrMessageHandler {
         JsonWrapper jw = new JsonWrapper(json);
         int id = jw.asInt("id");
         String agvId = jw.asInt("content", "VehicleId") + "";
-
+        int seqNo = jw.asInt("content", "SeqNo");
         PtrAgvItem agvItem = getPtrAgvItem(agvId);
         if(agvItem == null ){
             return;
@@ -137,7 +137,7 @@ public class AmrMessageHandler {
          * 小车离线 20200 AmrOfflineMessage
          * 异常上报 20250 AmrExceptionMessage
          */
-
+        log.info("3-Received message: " + json);
         AmrMessage<?> amrMessage = null;
         switch (id) {
             case AMR_TASK_COMPLETED:
@@ -145,7 +145,7 @@ public class AmrMessageHandler {
                 break;
             case AMR_TASK_STATUS: {
                 int EventId = jw.asInt("content", "EventId");
-                log.info("1-Received message: " + json);
+//                log.info("1-Received message: " + json);
                 switch (EventId) {
                     case 0:
                     case 2:
@@ -222,7 +222,7 @@ public class AmrMessageHandler {
 //                if (amrMessage.content instanceof AmrHeartbeatMessage) {
 //                    AmrHeartbeatMessage msg = (AmrHeartbeatMessage) amrMessage.content;
 //                    if (msg.VehicleId == 102) {
-                        log.info("Received message: " + json);
+//                        log.info("Received message: " + json);
 //                    }
 //                }
 
@@ -246,9 +246,12 @@ public class AmrMessageHandler {
                 amrMessage = JacksonUtils.parse(json, typeRef20250Message);
                 break;
             default:
-                log.error("未知消息：{}", json);
+//                log.error("未知消息：{}", json);
                 break;
         }
+        if (id != AMR_ACK && id !=AMR_HEARTBEAT) {
+            AmrMessageHandler.sendCmdAck(agvId, seqNo);
+        }
     }
 
     static {
@@ -263,7 +266,7 @@ public class AmrMessageHandler {
     public static void sendCmd10010(String vehicleId, RcsTaskMessage rcsTaskMessage) throws JsonProcessingException, MqttException {
         MqttClient mqttClient = MqttConfig.mqttClient;
         BaseMessage baseMessage = new BaseMessage();
-        baseMessage.id = 10010;
+        baseMessage.id = RCS_TASK;
         baseMessage.content = rcsTaskMessage;
         String json = JacksonUtils.toJson(baseMessage);
         log.info("sendCmd10010: {}", json);
@@ -280,10 +283,10 @@ public class AmrMessageHandler {
         BaseMessage baseMessage = new BaseMessage();
         RcsAckMessage rcsAckMsg = new RcsAckMessage();
         rcsAckMsg.SeqNo = seqNo;
-        baseMessage.id = 10010;
+        baseMessage.id = RCS_ACK;
         baseMessage.content = rcsAckMsg;
         String json = JacksonUtils.toJson(baseMessage);
-        log.info("sendCmd10010: {}", json);
+        log.info("sendCmd10050: {}", json);
         mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
     }
 
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index 62a1830..fd03122 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -327,7 +327,7 @@ public class PtrAgvItem extends ExecutorItem {
         deviceTaskEnd.isLastTask = true;
         deviceTaskList.add(deviceTaskEnd);
 
-        planQueue.addAll(sequence.taskList);
+//        planQueue.addAll(sequence.taskList);
         deviceTaskQueue.addAll(deviceTaskList);
 
         String json = JsonWrapper.toJson(deviceTaskList);