#

luxiaotao1123

2025-01-07 e7cc0981a18fa322642dadddf7043623c83d676f

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

@@ -658,7 +658,6 @@
            assert agvSpeedType != null;

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;

            List<Action> actionList = new ArrayList<>();
            // start node
@@ -697,7 +696,7 @@
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -1026,7 +1025,8 @@

            if (!Cools.isEmpty(pathList)) {
                pathList.remove(0);
                mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
                List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
                mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
            }

            throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);