update

opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java

@@ -241,41 +241,66 @@ public class KCCommandDemo {
 //        }
 //      }
 
+//    {
+//
+//      System.out.println("00000");
+//      Thread.sleep(100);
+//      ActImmediately.reset();
+//
+//      //todo 读取动作执行状态
+//      int execStatus = 2;
+//      while (execStatus == 2) {
+//        Thread.sleep(200);
+//        byte[] value = ReadValue.command();
+//        execStatus = value[0];
+//      }
+//
+//      System.out.println("111111111");
+//      Thread.sleep(100);
+//      ActImmediately.reset();
+//
+//      //todo 读取动作执行状态
+//      int execStatus2 = 2;
+//      while (execStatus2 == 2) {
+//        Thread.sleep(200);
+//        byte[] value = ReadValue.command();
+//        execStatus2 = value[0];
+//      }
+//
+//      float height = 1.1f;
+//      byte modeOfMovement = 0x01;
+//
+//      Thread.sleep(100);
+//      //抬升叉齿指令
+//      ActImmediately.command(height, modeOfMovement);
+//
+//      Thread.sleep(100);
+//      ActImmediately.reset();
+//    }
     {
 
-      System.out.println("00000");
-      Thread.sleep(100);
-      ActImmediately.reset();
-
-      //todo 读取动作执行状态
-      int execStatus = 2;
-      while (execStatus == 2) {
-        Thread.sleep(200);
-        byte[] value = ReadValue.command();
-        execStatus = value[0];
-      }
-
-      System.out.println("111111111");
-      Thread.sleep(100);
-      ActImmediately.reset();
-
-      //todo 读取动作执行状态
-      int execStatus2 = 2;
-      while (execStatus2 == 2) {
-        Thread.sleep(200);
-        byte[] value = ReadValue.command();
-        execStatus2 = value[0];
-      }
-
-      float height = 1.1f;
+      float height = 1.3f;
       byte modeOfMovement = 0x01;
+      ActImmediately.allotsOperation(height, modeOfMovement);
 
-      Thread.sleep(100);
-      //抬升叉齿指令
-      ActImmediately.command(height, modeOfMovement);
-
-      Thread.sleep(100);
-      ActImmediately.reset();
+//      //读取动作执行状态
+//      ActImmediately.readActionState();
+//      //重置
+//      ActImmediately.reset();
+//      //读取动作执行状态
+//      ActImmediately.readActionState();
+//      float height = 0.1f;
+//      byte modeOfMovement = 0x02;
+//      //执行叉齿指令
+//      ActImmediately.command(height, modeOfMovement);
+//      //读取动作执行状态
+//      ActImmediately.readActionState();
+//      //重置
+//      ActImmediately.reset();
+//      //读取重置状态
+//      ActImmediately.readActionState();
+//
+//      ActImmediately.ACTION_EXECUTE_STATE = false;
     }
 
 //    {

opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ActImmediately.java

@@ -94,10 +94,10 @@ public class ActImmediately extends BaseCommand{
   /**
    * 读取动作状态
    */
-  private static void readActionState() {
+  public static void readActionState() {
 
     try {
-      Thread.sleep(200);
+      Thread.sleep(100);
 
       //todo 读取动作执行状态
       byte[] value = ReadValue.command();
@@ -107,7 +107,7 @@ public class ActImmediately extends BaseCommand{
       System.out.println("-execStatus:" + execStatus);
 
       while (execStatus == 2) {
-        Thread.sleep(200);
+        Thread.sleep(500);
         byte[] value1 = ReadValue.command();
         execStatus = value1[0];
       }
@@ -118,7 +118,7 @@ public class ActImmediately extends BaseCommand{
     }
   }
 
-  public static void allotsOperation(float height, byte modeOfMovement)  {
+  public static void allotsOperation(float height, byte modeOfMovement) {
 
     //读取动作执行状态
     readActionState();
@@ -135,6 +135,6 @@ public class ActImmediately extends BaseCommand{
     //读取重置状态
     readActionState();
 
-    ACTION_EXECUTE_STATE = false;
+//    ACTION_EXECUTE_STATE = false;
   }
 }

opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java

@@ -49,7 +49,7 @@ public class HybridNavigation
   /**
    * 订单映射最大订单ID.
    */
-  private static int currentMaxiOrderId = 1;
+  private static int currentMaxiOrderId = 50;
 
 
   /**

opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SubRobotStatue.java

@@ -17,11 +17,11 @@ public class SubRobotStatue
   /**
    * 上报时间间隔
    */
-  public static final int intervalTime = 1000;
+  public static final int intervalTime = 500;
   /**
    * 订阅时长
    */
-  public static int subDuration = intervalTime * 3;
+  public static int subDuration = intervalTime * 5;
 
   /**
    * decs: 下发订阅信息