From bd709f83c8c394dd67b5846656996c589403a26d Mon Sep 17 00:00:00 2001
From: yuliang <398780299@qq.com>
Date: Wed, 9 Jul 2025 12:47:49 +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?=
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---
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java | 4 ++--
 servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java            | 2 ++
 2 files changed, 4 insertions(+), 2 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 f6afee6..e6621b4 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java
@@ -76,8 +76,8 @@ public class PtrAgvConnectorThread extends Thread {
                 PtrAgvDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek();
                 if (currentTask.isGroupEnd
                     || (taskMessage.Link.size() > 0 && nextTask != null && ((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction)) // 下一个任务和开始任务方向不一致
-                    // 单向移动距离大于2m时并且点位数量大于1
-                    || (distance > 2 && taskCount > 1)) {
+                    // 单向移动距离大于2m时并且点位数量大于1 如果碰到当前点位与任务结束点位相同且当前任务还有后续，则继续添加步骤（link）错开，避免任务发生歧义
+                    || (distance > 2 && taskCount > 1 && nextTask != null && currentTask.endPoint != currentTask.groupEndPoint)) {
                     taskMessage.OperationType = currentTask.operationType;
                     taskMessage.PickMode = currentTask.pickMode;
                     taskMessage.EndX = currentTask.groupEndPoint.logicX;
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 5ff2c29..94d60be 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java
@@ -779,6 +779,8 @@ public abstract class PtrAgvItem extends ExecutorItem {
         }
 
         deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("deviceTaskList: {}", json);
     }
 
     public boolean isSamePosition(PosDirection startPos) {