From 735faee1151a2784088261c3316a95d3386a1c43 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Fri, 27 Jun 2025 16:10:59 +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 --- servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java | 1 + servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java | 6 +++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java index ac9f9e2..7d1611a 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java +++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java @@ -478,6 +478,7 @@ public class AmrMessageHandler { AmrMessage> taskModeChange = JacksonUtils.parse(json, typeRef20011_1Message); AmrTaskStatusMessage modeMessage = taskModeChange.content; agvItem.updateDeviceTaskStatus((int) modeMessage.SeqNo, 0, 0, modeMessage.EventId); + agvItem.updateTaskMode(modeMessage.Info.TaskMode); break; case 4: AmrMessage> taskCompleted = JacksonUtils.parse(json, typeRef20011_4Message); diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java b/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java index a740f5c..8ade272 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java +++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java @@ -44,7 +44,11 @@ public enum AmrTaskMode { /** * 自定义模式 */ - AMR_CUSTOMIZE_MODE(8, "自定义模式"); + AMR_CUSTOMIZE_MODE(8, "自定义模式"), + /** + * 主程序退出（关机或关服务）时会进入这个模式 + */ + AMR_SHUTDOWN_MODE(8, "主程序退出"); // 枚举值映射 private static final Map VALUE_MAP;