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vincentlu

1 天以前 388cf4c7cb8f942332eb0ad8d3c3e1d92714b747

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 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/PathDto.java

@@ -8,16 +8,24 @@
@Data
public class PathDto {

    private String codeData;
    private String code;

    private int[] coordinate;
    private Double direction;

    private boolean turn = false;

    public PathDto() {
    }

    public PathDto(String codeData, int[] coordinate) {
        this.codeData = codeData;
        this.coordinate = coordinate;
    public PathDto(String code, Double direction) {
        this.code = code;
        this.direction = direction;
    }

    public PathDto(String code, Double direction, boolean turn) {
        this.code = code;
        this.direction = direction;
        this.turn = turn;
    }

}

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

@@ -299,7 +299,7 @@
        if (null == dynamicMatrix) {
            dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        }
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
        if (null == agvDetail) {
            return;
        }

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

@@ -20,10 +20,11 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -893,7 +894,7 @@
     * 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 )
     */
    @Transactional
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
    public synchronized List<PathDto> generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            Date now = new Date();