希日多任务出库问题优化

zc

2025-11-07 dc83f329db32e38a8cbca04d07f24c4a789c6f74

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

@@ -788,10 +788,13 @@
                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            if (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)) {
                            List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                            if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                            || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                    .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                                reverse = false;
                            } else {
                                nextDirection = workDirection;
                                reverse = true;
                            }
                        }
@@ -856,6 +859,29 @@

                                    lastDirection = nextDirection;
                                }
                            } else {
                                if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                    // turn
                                    reverse = false;

                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
                                            task.getId(),    // 任务
                                            null,    // 动作号
                                            null,    // 优先级
                                            ActionTypeType.TurnCorner.desc,    // 名称
                                            mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                            lastCode.getData(),    // 地面码
                                            String.valueOf(180),   // 动作参数
                                            ActionTypeType.TurnCorner.val(),    // 动作类型
                                            actionPrepareSts,    // 动作进度
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));
                                }
                            }
                        }