希日多任务出库问题优化

zc

2025-11-08 82cb51c355dae174dc29361d2b0c11bc2665147a

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

@@ -770,7 +770,6 @@

                // 需要走行
                if (!lastCode.getData().equals(code.getData())) {

                    // 走行路径节点
//                    List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
                    List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
@@ -788,11 +787,12 @@
                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                            List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
                            if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                            || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                    || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                    .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                                reverse = false;
                                lastDirection = nextDirection;
                            } else {
                                nextDirection = workDirection;
                                reverse = true;
@@ -822,7 +822,6 @@
                                            .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                        // turn
                                        reverse = false;

                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
@@ -856,7 +855,6 @@
                                                now    // 工作时间
                                        ));
                                    }

                                    lastDirection = nextDirection;
                                }
                            } else {
@@ -865,7 +863,6 @@
                                        .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                    // turn
                                    reverse = false;

                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
@@ -886,7 +883,7 @@
                        }

                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                        if (actionList.isEmpty() && lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -932,31 +929,37 @@
                        lastCode = nextCode;

                    }

                }

                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        // turn
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));

                        lastDirection = workDirection;

                        Double turnDirection = workDirection;
                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                        if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                                || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                            turnDirection = workDirection + 180.0;
                        }
                        if (lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(turnDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = workDirection;
                        }
                    }
                    first = false;
                }
@@ -1202,7 +1205,7 @@
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)&&lastCode.getCornerBool()) {
                        if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    null,    // 总线
@@ -1437,7 +1440,7 @@
                            nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                            // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                            if (!nextDirection.equals((workDirection+180) % 360)) {
                            if (!nextDirection.equals((workDirection + 180) % 360)) {
                                nextDirection = workDirection;
                                reverse = true;
                            }