嘉兴测试

servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java

@@ -748,8 +748,10 @@ public abstract class AmrAgvItem  extends ExecutorItem {
         deviceTask.isGroupEnd = true;
         // 最后一个规划任务为旋转时需要添加一个endDirection
         if (rotationPlanTaskIdSet.size() > 0) {
+            if (deviceTask.operationType <= AmrAgvItem.COperationType.move) {
                 deviceTask.operationType = AmrAgvItem.COperationType.move;
                 deviceTask.pickMode = AmrAgvItem.CPickMode.normal;
+            }
             deviceTask.endDirection = direction;
             deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
             if (deviceTask.movePlanTaskId == null) {
@@ -760,9 +762,19 @@ public abstract class AmrAgvItem  extends ExecutorItem {
 
         // 反向标记任务组
         int lastIndex = deviceTaskList.size() - 1;
+
+        for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
+            AmrDeviceTask d = deviceTaskList.get(i);
+            if (d.operationType > 0) {
+                lastIndex = i;
+                break;
+            }
+        }
+
+
         for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
             AmrDeviceTask d = deviceTaskList.get(i);
-            if (d.isGroupEnd) {
+            if (d.isGroupEnd && d.operationType > AmrAgvItem.COperationType.move) {
                 lastIndex = i;
             } else {
                 d.operationType = deviceTaskList.get(lastIndex).operationType;

servo/src/main/java/com/galaxis/rcs/amr/AmrConnectorThread.java

@@ -3,6 +3,7 @@ package com.galaxis.rcs.amr;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
 import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
+import com.querydsl.core.util.StringUtils;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.mqttv5.common.MqttException;
@@ -88,6 +89,7 @@ public class AmrConnectorThread extends Thread {
                     taskMessage.ChargeDirection = currentTask.chargeDirection;
                     taskMessage.ChargeLocation = currentTask.chargeLocation;
                     taskMessage.EndDirection = currentTask.endDirection;
+                    taskMessage.StorageRacksNo = currentTask.storageRacksNo;
                     try {
                         // 发送任务
                         this.__currentTaskSeqNo = taskMessage.SeqNo;

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java

@@ -43,6 +43,8 @@ public class Fm600Item extends AmrAgvItem {
                     d.operationType = COperationType.unload;
                 }
                 d.pickMode = CPickMode.normal;
+                // 临时处理方案
+                d.storageRacksNo = "any";
             }
         }
 

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -202,12 +202,12 @@ public class LogisticsRuntime {
                         FrontendMessagePushService.INSTANCE.pushDeviceAlive(this, sender.id, sender.getT(), true);
                     }
                     // 设备状态变化
-                    if (sender instanceof PtrAgvItem) {
-                        var ptr = (PtrAgvItem) sender;
+                    if (sender instanceof AmrAgvItem) {
+                        var ptr = (AmrAgvItem) sender;
                         FrontendMessagePushService.INSTANCE.pushDeviceStatus(this, sender.id, ptr.getState());
 
                     } else {
-                        log.error("AGV事件类型 {} 仅支持 PtrAgvItem 类型的执行器", type);
+                        log.error("AGV事件类型 {} 仅支持 AmrAgvItem 类型的执行器", type);
                     }
                     break;
             }