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luxiaotao1123

2024-11-12 906a10ce0722894f85281c8ed1d5cb2d8d05dcc9

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java

@@ -126,34 +126,36 @@
     * @param action     当前动作
     */
    private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
//        Double agvAngle = agvDetail.getAgvAngle();
//        double actionAngle = Double.parseDouble(action.getParams());

//        double totalAngle = Double.parseDouble(action.getParams());
//        double stepAngle = 90.0;
//        double actionProgress = 0.0;
//
//        while (actionProgress < totalAngle) {
//            double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
//            // 更新AGV的角度
//            double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
//            agvDetail.setAgvAngle(newAngle);
//
//            // 模拟电量消耗
////            agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量
//
//            agvDetailService.updateById(agvDetail);
//
//            Thread.sleep(1000);
//
//            actionProgress += angleToRotate;
//        }

        double actionAngle = Double.parseDouble(action.getParams());

        double totalAngle = Double.parseDouble(action.getParams()); // 假设Action有angle属性
        double stepAngle = 45.0; // 每秒旋转15度，具体值根据需求调整
        double actionProgress = 0.0;
        double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;

        while (actionProgress < totalAngle) {
            double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
            // 更新AGV的角度
            double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
            agvDetail.setAgvAngle(newAngle);
        agvDetail.setAgvAngle(newAngle);
        agvDetailService.updateById(agvDetail);

            // 模拟电量消耗
//            agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量
        Thread.sleep(1000);

            // 更新AGV详细信息
            agvDetailService.updateById(agvDetail);

            // 模拟实际执行时间
            Thread.sleep(1000); // 每秒执行一次

            actionProgress += angleToRotate;
        }

        // 动作完成，更新状态
        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }