From e5a23b034b13d74b4583f2a7ff7c5d8fd28b89ef Mon Sep 17 00:00:00 2001
From: luoyifan <luoyifan@qq.com>
Date: Sat, 5 Jul 2025 19:16:45 +0800
Subject: [PATCH] =?UTF-8?q?=E8=AE=BE=E5=A4=87=E7=8A=B6=E6=80=81=E7=9B=91?=
 =?UTF-8?q?=E6=8E=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java    |  2 +-
 servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java |  2 +-
 .../main/java/com/yvan/logisticsModel/LogisticsRuntime.java   |  2 +-
 .../main/java/com/yvan/pusher/FrontendMessagePushService.java |  8 +-------
 .../java/com/yvan/workbench/controller/RcsController.java     | 11 +++++++++++
 5 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java
index 3da0547..66aae6f 100644
--- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java
+++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrMqttClient.java
@@ -69,7 +69,7 @@ public class PtrMqttClient implements MqttCallback {
         } else {
             throw new RuntimeException("MQTT client is not connected, cannot publish message.");
         }
-        log.info("Message published to topic {}: finish", topic);
+        log.info("Message published to topic {}", topic);
     }
 
     @SneakyThrows
diff --git a/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java
index f9e3914..20d1f00 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java
@@ -17,7 +17,7 @@ public abstract class ExecutorItem extends BaseItem {
      */
     @Getter
     @Setter
-    public Boolean isOnline = true;
+    public Boolean isOnline = false;
 
     /**
      * 是否阻挡
diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
index 78780ce..53b41ee 100644
--- a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
+++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
@@ -356,7 +356,7 @@ public class LogisticsRuntime {
 
         // 启动 MQTT 监听
         this.amrMessageHandler.start(this.env.getEnvConfig().getMqtt(), this.serverId);
-        this.frontendMessagePushService.start(this.env.getEnvConfig().getMqtt(), this.serverId + "_lcc_send");
+        this.frontendMessagePushService.start(this.env.getEnvConfig().getFrontendMqtt(), this.serverId + "_lcc_send");
         this.lccRedisService.start(this.env.getEnvConfig().getRedis(), this.serverId);
 
         // 开启所有机器人的任务处理
diff --git a/servo/src/main/java/com/yvan/pusher/FrontendMessagePushService.java b/servo/src/main/java/com/yvan/pusher/FrontendMessagePushService.java
index 7cbcbe6..00e4294 100644
--- a/servo/src/main/java/com/yvan/pusher/FrontendMessagePushService.java
+++ b/servo/src/main/java/com/yvan/pusher/FrontendMessagePushService.java
@@ -264,17 +264,11 @@ public class FrontendMessagePushService implements MqttCallback {
      */
     private void publishJson(String topic, Object data) {
         String json = JacksonMapper.getInstance().toJson(data);
+        log.info("Publishing to topic: {}, data: {}", topic, json);
         publish(topic, json);
     }
 
     /**
-     * 发布字符串数据
-     */
-    private void publishString(String topic, String message) {
-        publish(topic, message);
-    }
-
-    /**
      * 通用发布方法
      */
     private void publish(String topic, String payload) {
diff --git a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
index f82aa07..5909344 100644
--- a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
+++ b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
@@ -58,6 +58,10 @@ public class RcsController {
             return R.fail("target wayPoint not found!");
         }
 
+        // ==================== 布置任务 ====================
+        ps.bizTask.setLpn("N/A");
+        ps.bizTask.setBizType(BizTaskType.CHARGE.toString());
+        ps.bizTask.setTaskFrom(ps.fromItem.getId());
         ps.bizTask.setTaskTo(chargerId);
 
         ChargerTask chargerTask = new ChargerTask(
@@ -96,6 +100,10 @@ public class RcsController {
             return R.fail("target wayPoint not found!");
         }
 
+        // ==================== 布置任务 ====================
+        ps.bizTask.setLpn("N/A");
+        ps.bizTask.setBizType(BizTaskType.MOVE.toString());
+        ps.bizTask.setTaskFrom(ps.fromItem.getId());
         ps.bizTask.setTaskTo(targetWayPointId);
 
         MoveTask moveTask = new MoveTask(
@@ -205,6 +213,7 @@ public class RcsController {
 
         // ==================== 布置任务 ====================
         ps.bizTask.setLpn(lpn);
+        ps.bizTask.setBizType(BizTaskType.CARRY.toString());
         ps.bizTask.setTaskFrom(loadBasLocation.getCatalogCode());
         ps.bizTask.setTaskTo(unloadBasLocation.getLocCode());
 
@@ -272,6 +281,7 @@ public class RcsController {
         // ==================== 布置任务 ====================
         ps.bizTask.setLpn(lpn);
         ps.bizTask.setTaskFrom(ps.fromItem.getId());
+        ps.bizTask.setBizType(BizTaskType.UNLOAD.toString());
         ps.bizTask.setTaskTo(unloadBasLocation.getLocCode());
 
         UnloadTask unloadTask = new UnloadTask(
@@ -336,6 +346,7 @@ public class RcsController {
         // ==================== 布置任务 ====================
         ps.bizTask.setLpn(lpn);
         ps.bizTask.setTaskFrom(ps.fromItem.getId());
+        ps.bizTask.setBizType(BizTaskType.LOAD.toString());
         ps.bizTask.setTaskTo(loadBasLocation.getLocCode());
 
         LoadTask loadTask = new LoadTask(