From 36cbb1a8020da5a660d0204a130b3e27c7cec0d6 Mon Sep 17 00:00:00 2001
From: xuzhiheng <2543137953@qq.com>
Date: Tue, 6 May 2025 10:34:46 +0800
Subject: [PATCH] update

---
 .../LoopbackCommunicationAdapter.java         | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
index fc8b46e..9e5e7dd 100644
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
@@ -151,6 +151,10 @@ public class LoopbackCommunicationAdapter
    * 用于判断是否切换执行订单
    */
   private static String uniqueOrderName;
+  /**
+   * AGV最后上报时间
+   */
+  private static long AFLastReportTime;
 
   /**
    * Creates a new instance.
@@ -360,6 +364,8 @@ public class LoopbackCommunicationAdapter
       if (body[21] == (byte) 0xAF) {
 
         //最后上报时间
+        Date now = new Date();
+        AFLastReportTime = now.getTime();
 
         System.out.println("0xAF sub success");
 
@@ -548,7 +554,7 @@ public class LoopbackCommunicationAdapter
     getProcessModel().setState(Vehicle.State.EXECUTING);
 
 
-    //阻塞当前线程至0xAF订阅结束
+    //阻塞当前线程至0xAF订阅结束 todo 为了避免并发可能要注释
     while (true) {
       Date now = new Date();
       if ((now.getTime() - sub0xafDeadline) >= 200) {
@@ -664,9 +670,16 @@ public class LoopbackCommunicationAdapter
     }
 
     //获取AGV最终经过点
-    QueryRobotStatusRsp qryRobotStatusRsp = QryRobotStatus.command();
-    String currentPoint = (qryRobotStatusRsp.locationStatusInfo.lastPassPointId).toString();
-    initVehiclePosition(currentPoint);
+    String currentPoint = null;
+    long specifyTheTime = SubRobotStatue.intervalTime * 2 + 200;
+    Date now = new Date();
+    if ((now.getTime() - AFLastReportTime) <= specifyTheTime) {
+      QueryRobotStatusRsp qryRobotStatusRsp = QryRobotStatus.command();
+      currentPoint = (qryRobotStatusRsp.locationStatusInfo.lastPassPointId).toString();
+      initVehiclePosition(currentPoint);
+    } else {
+      currentPoint = getProcessModel().getPosition();
+    }
 
     //判断当前AGV点位是否和最新点位相同
     if (currentPoint.equals(LAST_PASSED_POINT)) {