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luxiaotao1123

2024-11-14 9f19c2ea1a1d4e94460eb2d881b7cf8cc10e66df

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

@@ -27,6 +27,8 @@
@Slf4j
public class AgvSimulatorTask implements Runnable {

    public static final int ACTION_DURING_TIME = 500;

    private final Agv agv;
    private final AgvDetailService agvDetailService;
    private final ActionService actionService;
@@ -86,6 +88,7 @@

        switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
            case TurnCorner:
                simulateWalking(agv, agvDetail, action);
                simulateRotating(agv, agvDetail, action);
                break;
            case StraightBackUnturnable:
@@ -107,16 +110,13 @@


    private void simulateWalking(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
        Code currCode = codeService.getById(agvDetail.getRecentCode());
        Code code = codeService.selectByData(action.getCode());

        agvDetail.setPos(1);
        agvDetail.setCode(code.getId());

        // 模拟电量消耗
//        agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 根据距离消耗电量

        Thread.sleep(1000);
        Thread.sleep(ACTION_DURING_TIME);

        agvDetailService.updateById(agvDetail);

@@ -125,7 +125,6 @@

        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);

    }

    /**
@@ -136,37 +135,13 @@
     * @param action     当前动作
     */
    private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {

//        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());
        agvDetail.setAgvAngle(actionAngle);
        // 模拟电量消耗?
//        agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量

        double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;

        agvDetail.setAgvAngle(newAngle);

        Thread.sleep(1000);

        Thread.sleep(ACTION_DURING_TIME);
        agvDetailService.updateById(agvDetail);

        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }