1

zhangc

28 分钟以前 fa1d5f09f583d49e888d15066d74d47920663113

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

@@ -945,10 +945,13 @@
                        String next = pathListPart.get(i);

                        Code nextCode = codeService.getCacheByData(next);
                        // 车头朝前的下一个行走方向
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        // 反向角
                        final double oppLastDir = (lastDirection + 180) % 360;
                        // 是否倒退行走
                        boolean reverse = false;

                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
@@ -957,21 +960,16 @@
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        LaneDto nextLaneDto = laneBuilder.search(nextCode.getData());
                        // 进入巷道角度
                        Double laneDir = laneService.getLaneDirection(nextLaneDto);
                        // 第一次进入此巷道
                        boolean firstEnteringLane = null != laneDir && (
                                            lastLaneDto == null
                                        || !Objects.equals(lastLaneDto.getHashCode(), nextLaneDto.getHashCode())
                        );

                        boolean reverse = false;
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        Double nextLaneDir = laneService.getLaneDirection(nextLaneDto);

                        // 巷道强制转弯，优先级 > workDirection
                        if (firstEnteringLane) {
//                            final double oppLaneDir = (laneDir + 180) % 360;
                            if (!lastDirection.equals(laneDir)) {
                        if (null != nextLaneDir) {
                            final double oppNextLaneDir = (nextLaneDir + 180) % 360;

                            if (!lastDirection.equals(nextLaneDir)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + laneDir + "°，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(
@@ -983,13 +981,36 @@
                                        ActionTypeType.TurnCorner.desc,    // 名称
                                        (double) mapService.spinDirection(lastCode).val,     // 属性值
                                        lastCode.getData(),    // 地面码
                                        String.valueOf(laneDir),   // 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 = laneDir;
                                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)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车离开巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                            }
                        } else {

@@ -1095,6 +1116,25 @@
                // 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
@@ -1105,14 +1145,14 @@
                                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;
@@ -1865,8 +1905,8 @@
            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));
        }