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/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;

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);
     }
 
     /**

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();