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luxiaotao1123

18 小时以前 f9ebacd189cf3800616e33d8ee24a0be1fc58a39

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

@@ -1155,7 +1155,7 @@
                }

                // 作业点动作
                AgvDirectionType agvDirectionType;
                ActuatorDirectionType actuatorDirectionType;
                Double staWorkDirection;
                AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
                switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
@@ -1168,7 +1168,8 @@
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(oriLoc.getCompDirect());
//                        actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1176,7 +1177,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
@@ -1231,7 +1232,8 @@
                        // 货架放货
                        Loc destLoc = locService.getById(task.getDestLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(destLoc.getCompDirect());
//                        actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1239,7 +1241,7 @@
                                null,    // 动作号
                                 null,    // 优先级
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
@@ -1251,9 +1253,9 @@
                    case ORI_STA:
                        // 站点取货
                        Sta oriSta = staService.getById(task.getOriSta());
                        Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
                        Double angle = oriSta.getAngle() == null ? mapService.getStaAngle(oriSta, workDirection) : Double.valueOf(oriSta.getAngle());
                        // 检验方向
                        if (!lastDirection.equals(oriStaWorkDirection)) {
                        if (!lastDirection.equals(Double.valueOf(angle))) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
@@ -1265,18 +1267,19 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val,   // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, angle).val,   // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    String.valueOf(angle),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = oriStaWorkDirection;
                            lastDirection = angle;
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
//                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1284,7 +1287,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
@@ -1315,9 +1318,9 @@
                    case DEST_STA:
                        // 站点放货
                        Sta destSta = staService.getById(task.getDestSta());
                        Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
                        angle = destSta.getAngle() == null ? mapService.getStaAngle(destSta, workDirection) : Double.valueOf(destSta.getAngle());
                        // 检验方向
                        if (!lastDirection.equals(destStaWorkDirection)) {
                        if (!lastDirection.equals(angle)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
@@ -1329,15 +1332,15 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, angle).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    String.valueOf(angle),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = destStaWorkDirection;
                            lastDirection = angle;
                        }
                        // 背篓取货
                        if (backupAction) {
@@ -1359,7 +1362,8 @@
                            ));
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
//                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(destSta.getActDir());
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1367,7 +1371,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型