충돌 병합

Dev/OHV/VehicleControlSystem/ControlLayer/MQ/ZmqManager.cs

@@ -306,9 +306,17 @@ namespace VehicleControlSystem.ControlLayer.MQ
                         case "4012":
 
                             if ( v[1].Equals( "3" ) )
+                            
+                            {
                                 IsDriveMoving = true;
+                                this.SetRequest( "setm" , "0" );
+                            }
                             else
+                            {
                                 IsDriveMoving = false;
+                                this.SetRequest( "setm" , "1" );
+
+                            }
                             break;
 
                         case "3009":
@@ -327,7 +335,7 @@ namespace VehicleControlSystem.ControlLayer.MQ
 
                 }
 
-                if ( ret[0].Equals( "getm" ) )
+                else if ( ret[0].Equals( "getm" ) )
                 {
                     var v = ret[1].Split( '/' );
                     switch ( v[0] )
@@ -355,6 +363,8 @@ namespace VehicleControlSystem.ControlLayer.MQ
                             break;
                     }
                 }
+                else
+                    rep.SendMoreFrame( ret[0] ).SendFrame( $"ok/{ret[1]}" );
 
             }
             catch ( Exception exception )
@@ -499,13 +509,6 @@ namespace VehicleControlSystem.ControlLayer.MQ
                     //if ( this.req.HasOut )
                     this.req.SendMoreFrame( "setm" ).SendFrame( index + "/" + value );
 
-                    var LL = new Msg();
-                    this.req.TrySendFrameEmpty( TimeSpan.FromMilliseconds(1000) , true ).;
-                    if(this.req.TrySend(ref new Msg(), TimeSpan.FromMilliseconds(1000), true))
-                    {
-
-                    }
-
                     if ( !this.req.TryReceiveMultipartStrings( TimeSpan.FromSeconds( 5 ), ref repll ) )
                         return false;
                 }

Dev/OHV/VehicleControlSystem/ControlLayer/Motion/GSIDrive.cs

@@ -266,7 +266,7 @@ namespace VehicleControlSystem.ControlLayer.Drive
             //if ( result != ConstInt.EXECUTE_SUCCESS )
             //    return result;
 
-            int waitTime = 10000;
+            int waitTime = 60000;
             long st = SwUtils.CurrentTimeMillis;
             while ( true )
             {