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luxiaotao1123

2 天以前 788c049b641607b4288f76b57dd73230bf882177

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -993,7 +993,7 @@
                                reverse = true;
                            }
                            nextDirection = nextLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else if (null != lastLaneDir) { // todo turn 环形直角
                        } else if (null != lastLaneDir) { // turn 环形直角不应该存在于lane中
                            final double oppLastLaneDir = (lastLaneDir + 180) % 360;

                            if (!lastDirection.equals(lastLaneDir)) {
@@ -1868,6 +1868,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("Agv [{}] 取放货成功", protocol.getAgvNo()); // todo
                                success = true;
                                break;
                            case DEST_STA:
@@ -1883,6 +1884,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("Agv [{}] 取放货成功", protocol.getAgvNo()); // todo
                                success = true;
                                break;
                            default:
@@ -1899,8 +1901,8 @@
            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            //agv_06_down.setResult(success ? 1 : 0);
            agv_06_down.setResult(1);
            agv_06_down.setResult(success ? 1 : 0);
            //agv_06_down.setResult(0);
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }