#

vincentlu

2 天以前 e7e23e6260588292ff6325eab259f040c03ba726

 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(
@@ -979,24 +978,34 @@
                                        null,    // 动作号
                                        null,    // 优先级
                                        ActionTypeType.TurnCorner.desc,    // 名称
                                        (double) mapService.spinDirection(lastCode).val,     // 属性值
                                        (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).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;
                            }
                        } else if (null != lastLaneDir) {
                            nextDirection = lastLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                            if (nextDirection.equals(oppNextLaneDir)) {
                                reverse = true;
                            }
                            nextDirection = nextLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else if (null != lastLaneDir) { // todo turn 环形直角
                            final double oppLastLaneDir = (lastLaneDir + 180) % 360;

                            if (!lastDirection.equals(lastLaneDir)) {
                                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");
                                }
                            }

                            if (nextDirection.equals(oppLastLaneDir)) {
                                reverse = true;
                            }
                            nextDirection = lastLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else {

                            // 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
@@ -1036,7 +1045,7 @@
                                                null,    // 动作号
                                                null,    // 优先级
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                (double) mapService.spinDirection(lastCode).val,     // 属性值
                                                (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val,     // 属性值
                                                lastCode.getData(),    // 地面码
                                                String.valueOf(nextDirection),   // 动作参数
                                                ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1061,7 +1070,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(nextDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1128,7 +1137,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                (double) mapService.spinDirection(lastCode).val,    // 属性值
                                (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(firstTurnDir),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1254,7 +1263,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,   // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val,   // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1318,7 +1327,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1377,7 +1386,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(chargeDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型