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

@@ -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;

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) {