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luxiaotao1123

2 天以前 c402e77c8a141b05d5ef62b73306ba7322585bb2

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

@@ -936,7 +936,6 @@
                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);

                    for (int i = 0; i < pathListPart.size(); i++) {
@@ -965,11 +964,11 @@

                        // 巷道强制转弯，优先级 > workDirection
                        if (null != nextLaneDir) {
                            nextDirection = nextLaneDir;
                            final double oppNextLaneDir = (nextLaneDir + 180) % 360;

                            if (!lastDirection.equals(nextDirection)) {
                            if (!lastDirection.equals(nextLaneDir)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextLaneDir + "°，请推至转弯点手动调整");
                                }
                                // turn
                                actionList.add(new Action(
@@ -981,15 +980,30 @@
                                        ActionTypeType.TurnCorner.desc,    // 名称
                                        (double) mapService.spinDirection(lastCode).val,     // 属性值
                                        lastCode.getData(),    // 地面码
                                        String.valueOf(nextDirection),   // 动作参数
                                        String.valueOf(nextLaneDir),   // 动作参数
                                        ActionTypeType.TurnCorner.val(),    // 动作类型
                                        actionPrepareSts,    // 动作进度
                                        agvId,    // AGV
                                        now    // 工作时间
                                ));
                                lastDirection = nextDirection;
                                lastDirection = nextLaneDir;

                                if (nextDirection.equals(oppNextLaneDir)) {
                                    reverse = true;
                                }
                            } else {
                                if (nextDirection.equals(oppNextLaneDir)) {
                                    nextDirection = nextLaneDir;
                                    reverse = true;
                                }
                            }

                            nextDirection = nextLaneDir;
                        } else if (null != lastLaneDir) {
                            final double oppLastLaneDir = (lastLaneDir + 180) % 360;
                            if (nextDirection.equals(oppLastLaneDir)) {
                                reverse = true;
                            }
                            nextDirection = lastLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
@@ -1101,6 +1115,25 @@
                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double firstTurnDir = workDirection;

                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
                            throw new CoolException("lanes are not initialized");
                        }
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        // 进入巷道角度
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        if (lastLaneDir != null) {
                            firstTurnDir = lastLaneDir;
                        }

                        if (!lastDirection.equals(firstTurnDir)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                        }

                        // turn
                        actionList.add(new Action(
                                null,    // 编号
@@ -1111,14 +1144,14 @@
                                ActionTypeType.TurnCorner.desc,    // 名称
                                (double) mapService.spinDirection(lastCode).val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                String.valueOf(firstTurnDir),   // 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;
                        lastDirection = firstTurnDir;

                    }
                    first = false;
@@ -1871,8 +1904,8 @@
            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(success ? 1 : 0);
            agv_06_down.setResult(1);
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }