From bb23fa5abc6d540cee227955f044ff8b0b989193 Mon Sep 17 00:00:00 2001
From: yuliang <398780299@qq.com>
Date: Fri, 27 Jun 2025 09:56:43 +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/connector/cl2/Cl2Item.java | 6 +++---
 servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java | 4 +++-
 servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java    | 2 +-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Item.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Item.java
index 28ceb84..e490862 100644
--- a/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Item.java
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Item.java
@@ -16,9 +16,9 @@ public class Cl2Item extends PtrAgvItem {
     public RcsConfigMessage getConfig() {
         var content = new RcsConfigMessage(this.runtime);
         content.SeqNo = this.amrMessageHandler.getNewSeqNo();
-        content.XLength = 100;
-        content.YLength = 100;
-        content.Gap = 100;
+        content.XLength = 1000;
+        content.YLength = 1000;
+        content.Gap = 1000;
         content.HeartBeat = 60;
         content.MqRetryTime = 3;
         return content;
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 042da16..5e24bee 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
@@ -175,7 +175,8 @@ public class AmrMessageHandler {
                 amrMessage = JacksonUtils.parse(json, typeRef20149Message);
                 break;
             case AMR_ONLINE:
-                amrMessage = JacksonUtils.parse(json, typeRef20150Message);
+//                amrMessage = JacksonUtils.parse(json, typeRef20150Message);
+                this.sendCmdConfig(agvId, agvItem.getConfig());
                 break;
             case AMR_OFFLINE:
                 amrMessage = JacksonUtils.parse(json, typeRef20200Message);
@@ -355,6 +356,7 @@ public class AmrMessageHandler {
         baseMessage.content = rcsQueryStatusMessage;
         String json = JacksonUtils.toJson(baseMessage);
         publish("/wcs_server/" + vehicleId, json, baseMessage.id);
+        log.info("发送查询设备状态消息: {}", json);
     }
 
     /**
diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
index e313d66..149c42f 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
@@ -107,7 +107,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
     @SneakyThrows
     public synchronized void initialize() {
         this.amrMessageHandler.registeHeartBeatSet(this);
-        amrMessageHandler.sendCmdConfig(this.getId(), this.getConfig());
+
 
         // 查询当前状态
         requestCurrentStatus();