cl2 基于设备状态和任务状态分步生成设备任务消息

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;

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;

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;