#

luxiaotao1123

2024-11-13 fc5fc7ca68282cce52c240ae5b3e69e81c27bfcb

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

@@ -684,13 +684,12 @@
            List<Action> actionList = new ArrayList<>();
            // start node
            Code lastCode = codeService.getById(agvDetail.getRecentCode());
            Double lastDirection = agvDetail.getAgvAngle();
            if (!lastCode.getData().equals(pathList.get(0))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]定位偏移...");
            }

            Double lastDirection = agvDetail.getAgvAngle();
            boolean first = true;

            for (Segment segment : segmentList) {

                // 分段所属的Task
@@ -922,7 +921,7 @@
                        break;
                    case TO_CHARGE:
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                            actionList.add(new Action(