#

vincentlu

1 天以前 f7543a1cc6c89ea03c0d6a0591526baf10d7934b

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

@@ -1,13 +1,12 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.ActuatorDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.domain.type.CodeDirectionType;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -159,17 +158,10 @@
        return angle;
    }

    // 坐标货架阈值 todo:luxiaotao
    public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
    // 坐标货架阈值
    public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
        Integer compDirect = loc.getCompDirect();
        AgvDirectionType agvDirectionType = null;
        if (compDirect == 0) {
            agvDirectionType = AgvDirectionType.RIGHT;
        }
        if (compDirect == 1) {
            agvDirectionType = AgvDirectionType.LEFT;
        }
        return agvDirectionType;
        return ActuatorDirectionType.fromVal(compDirect);
    }

    public Double getStaAngle(Sta sta, Double workDirection) {
@@ -429,6 +421,7 @@
    public static void main(String[] args) {
        CodeSpinType codeSpinType = calcSpinDirection(null, 260.0, 10.0);
        List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
        System.out.println(JSON.toJSONString(directionDtoList));
        System.out.println(codeSpinType.toString());
    }

@@ -437,9 +430,11 @@
            return CodeSpinType.NA;
        }
        List<Double> disableAngleList = new ArrayList<>();
        List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
        if (code.getData().contains("57")) {
            directionDtoList = DirectionDto.initCodeDirections0();
        List<DirectionDto> directionDtoList;
        if (!Cools.isEmpty(code.getDirRule())) {
            directionDtoList = JSON.parseArray(code.getDirRule(), DirectionDto.class);
        } else {
            directionDtoList = DirectionDto.initCodeDirections();
        }
        for (DirectionDto dto : directionDtoList) {
            if (null != dto.getEnabled() && !dto.getEnabled()) {