#

vincentlu

2026-04-07 cc69250f7766581dbfd38f500021d03b29f0a4e0

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

@@ -13,12 +13,12 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
import com.zy.acs.manager.core.scheduler.MapDataWsScheduler;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
@@ -278,7 +278,7 @@

        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        if (agvDetail != null && agvDetail.getAgvAngle() != null) {
            position.setTheta(HikAngleConstant.toHikAngleRadians(Math.toRadians(agvDetail.getAgvAngle())));
            position.setTheta(AgvAngleUtils.toRadians(agvDetail.getAgvAngle()));
        }
        return position;
    }