From bcd6549f2eba2aee88bec1daf4875f1563551b73 Mon Sep 17 00:00:00 2001
From: yuliang <398780299@qq.com>
Date: Thu, 3 Jul 2025 19:33:59 +0800
Subject: [PATCH] clx

---
 .../main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java    | 13 +++++++++++--
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java     | 10 +++++-----
 2 files changed, 16 insertions(+), 7 deletions(-)

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 c9bd749..00d88a2 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
@@ -177,11 +177,13 @@ public class AmrMessageHandler {
                 amrMessage = JacksonUtils.parse(json, typeRef20149Message);
                 break;
             case AMR_ONLINE:
-//                amrMessage = JacksonUtils.parse(json, typeRef20150Message);
+                AmrMessage<AmrOnlineMessage> onlineMessage = JacksonUtils.parse(json, typeRef20150Message);
+                this.handleAmrOnlineMessage(agvItem, onlineMessage.content);
                 this.sendCmdConfig(agvId, agvItem.getConfig());
                 break;
             case AMR_OFFLINE:
-                amrMessage = JacksonUtils.parse(json, typeRef20200Message);
+                AmrMessage<AmrOfflineMessage> offlineMessage = JacksonUtils.parse(json, typeRef20200Message);
+                this.handleAmrOfflineMessage(agvItem, offlineMessage.content);
                 break;
             case AMR_EXCEPTION:
                 amrMessage = JacksonUtils.parse(json, typeRef20250Message);
@@ -423,6 +425,13 @@ public class AmrMessageHandler {
         updateRedisNetDelay(agvItem.getId(), netDelay);
     }
 
+    private void handleAmrOnlineMessage(PtrAgvItem agvItem, AmrOnlineMessage message) {
+        agvItem.handleOnlineEvent();
+    }
+
+    private void handleAmrOfflineMessage(PtrAgvItem agvItem, AmrOfflineMessage message) {
+        agvItem.handleOfflineEvent();
+    }
 
     private void handleTaskCompletedMessage(PtrAgvItem agvItem, AmrTaskCompletedMessage message) {
         agvItem.taskCompleted(message.CurX, message.CurY, message.CurDirection, 4);
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 9f17828..1d2b6ff 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
@@ -261,9 +261,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
         if (this.isPaused) {
             return false;
         }
-        if (this.taskMode != AmrTaskMode.AMR_FREE_MODE) {
-            return false;
-        }
+//        if (this.taskMode != AmrTaskMode.AMR_FREE_MODE) {
+//            return false;
+//        }
         return this.isOnline;
     }
 
@@ -435,13 +435,13 @@ public abstract class PtrAgvItem extends ExecutorItem {
         updateRedisStatus();
     }
 
-    private void handleOnlineEvent() {
+    public void handleOnlineEvent() {
         isOnline = true;
         fireEvent(AgvEventType.ONLINE, this);
         requestCurrentStatus();
     }
 
-    private void handleOfflineEvent() {
+    public void handleOfflineEvent() {
         isOnline = false;
         fireEvent(AgvEventType.OFFLINE, this);
     }