From aa5d50f4090828384e021a68939459f217a7fc07 Mon Sep 17 00:00:00 2001
From: yuliang <398780299@qq.com>
Date: Fri, 4 Jul 2025 20:35:26 +0800
Subject: [PATCH] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?=
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---
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java | 1 +
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java      | 2 +-
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java            | 2 --
 3 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java
index 472c753..f6afee6 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java
@@ -87,6 +87,7 @@ public class PtrAgvConnectorThread extends Thread {
                     taskMessage.LinkCounts = (short) taskMessage.Link.size();
                     taskMessage.ChargeDirection = currentTask.chargeDirection;
                     taskMessage.ChargeLocation = currentTask.chargeLocation;
+                    taskMessage.EndDirection = currentTask.endDirection;
                     try {
                         // 发送任务
                         this.__currentTaskSeqNo = taskMessage.SeqNo;
diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java
index 313ad9d..3c83067 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvDeviceTask.java
@@ -40,7 +40,7 @@ public class PtrAgvDeviceTask {
     // 目标货架编号 String 仅做校验使用（仅接货用）
     public String storageRacksNo;
     // 结束朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
-    public Short endDirection;
+    public Short endDirection = null;
 
     /** 移动规划ID */
     public Long movePlanTaskId;
diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
index e575d0b..9db3b16 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
@@ -729,8 +729,6 @@ public abstract class PtrAgvItem extends ExecutorItem {
             deviceTask.pickMode = 0;
             deviceTask.startPoint = startPoint;
             deviceTask.endPoint = startPoint;
-            deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
-            rotationPlanTaskIdSet.clear();
             // 行走任务完成后，检查用的字段
             deviceTask.checkLogicX = startPoint.logicX;
             deviceTask.checkLogicY = startPoint.logicY;