From 13802790366140643f8ad502ff2476292529350a Mon Sep 17 00:00:00 2001
From: qiushui <wangyiming1031@aliyun.com>
Date: Mon, 14 Feb 2022 14:24:10 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=B7=E6=BE=9C=E4=B9=8B=E5=AE=B6=E7=9A=84?=
 =?UTF-8?q?=E7=89=B9=E6=AE=8Acode=E5=A4=84=E7=90=86?=
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---
 .../main/java/com/zhehekeji/web/service/PlcService.java   | 8 ++++----
 .../zhehekeji/web/service/robotic/ProtocolDecoder.java    | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
index 08b92c6..aefaf0d 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
@@ -202,7 +202,7 @@ public class PlcService {
         gyrateCameraByCode(cameraId,orderInfo.getCmdCode());
         if(needCapture){
             Boolean delay = false;
-            if(code.startsWith("C1") || code.startsWith("C3")){
+            if(code.startsWith("C1") || code.startsWith("C3") || code.startsWith("C4")){
                 delay = true;
             }
             path = cameraCapture(cameraId,delay,2000L);
@@ -214,10 +214,10 @@ public class PlcService {
         //转向原点位
         if(times == 2){
             if(street.getCamera2Id() != null){
-                gyrateCameraByCode(street.getCamera2Id(),"C5");
+                gyrateCameraByCode(street.getCamera2Id(),"C6");
             }
             if(street.getCamera1Id() != null){
-                gyrateCameraByCode(street.getCamera1Id(),"C5");
+                gyrateCameraByCode(street.getCamera1Id(),"C6");
             }
         }
     }
@@ -250,7 +250,7 @@ public class PlcService {
      */
     public Boolean doNeedCaptureByCode(String code) {
         String picCmd = code.substring(0, 2);
-        if (picCmd.equals("C2") || picCmd.equals("C4") || picCmd.equals("C1") || picCmd.equals("C3")) {
+        if (picCmd.equals("C2") || picCmd.equals("C4") || picCmd.equals("C1") || picCmd.equals("C3") || picCmd.equals("C5")) {
             return true;
         }
         return false;
diff --git a/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java b/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
index 9846488..4277ff0 100644
--- a/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
+++ b/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
@@ -120,7 +120,7 @@ public class ProtocolDecoder extends FixedLengthFrameDecoder {
             }
         } else if (type.equals(ACTION)) {
             log.info("action code,{} plcId:{},orderInfo:{}", code, plcId, plcCmdInfo.toString());
-            if(code.equals("C1") || code.equals("C2") || code.equals("C3") || code.equals("C4")){
+            if(code.equals("C1") || code.equals("C2") || code.equals("C3") || code.equals("C4") || code.equals("C5")){
                 // 只有取放货的命令 才能增加 times
                 Integer times = GoodsActionTimes.put(plcCmdInfo.getOrderNum());
                 //执行动作