#

luxiaotao1123

11 小时以前 f9ebacd189cf3800616e33d8ee24a0be1fc58a39

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

@@ -1253,9 +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");
                            }
@@ -1267,15 +1267,15 @@
                                    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
                        actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
@@ -1318,9 +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");
                            }
@@ -1332,15 +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) {