#

luxiaotao1123

2026-04-02 4a379d71d8ee008036ff723fe8867b1498c73fd7

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 zy-acs-common/src/main/java/com/zy/acs/common/utils/Utils.java

@@ -140,12 +140,13 @@
        return sb.toString();
    }

    // 001000XY001000
    public static String zeroFill(String msg, Integer len) {
        len = Optional.ofNullable(len).orElse(16);
        if (msg.length() == len){
            return msg;
        } else if (msg.length() > len){
            return msg.substring(0, 16);
            return msg;
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for (int i = 0; i<len-msg.length(); i++){

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

@@ -37,7 +37,7 @@

    private static final boolean PRINT_LOG = false;

    private static final double DEFAULT_POSITION_MATCH_TOLERANCE = 0.2D;
    private static final double DEFAULT_POSITION_MATCH_TOLERANCE = 0.05D;

    @Autowired
    private AgvService agvService;
@@ -407,7 +407,8 @@
    }

    private double resolvePositionTolerance() {
        return Math.max(DEFAULT_POSITION_MATCH_TOLERANCE, hikOrderProperties.getDefaultAllowedDeviationXY());
        double scale = hikOrderProperties.getCoordinateScale();
        return Math.max(DEFAULT_POSITION_MATCH_TOLERANCE, hikOrderProperties.getDefaultAllowedDeviationXY()) / scale;
    }

    private Collection<Code> getAllCodes() {

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/RouteController.java

@@ -144,6 +144,9 @@
        if (route.getEndCode() != null) {
            affectedCodeIds.add(route.getEndCode());
        }
        Code startCode = codeService.getCacheById(route.getStartCode());
        Code endCode = codeService.getCacheById(route.getEndCode());
        codeGapService.createCodeGapByCode(startCode, endCode, getLoginUserId());
        codeService.refreshCornerByCodeIds(affectedCodeIds);
        return R.ok("Update Success").add(route);
    }

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java

@@ -260,7 +260,7 @@
        AgvModel model = agvModelService.getByAgvId(agvId);
        // hik robot
        if (hikOrderPublishService.support(model)) {
            return redis.getObject(RedisConstant.HK_AGV_DATA_FLAG, agv.getUuid()) != null;
            return redis.getObject(RedisConstant.HK_AGV_ONLINE_FLAG, agv.getUuid()) != null;
        // zoneyung robot
        } else {
            return redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid()) != null;

 zy-acs-manager/src/main/resources/application.yml

@@ -7,7 +7,7 @@
    static-path-pattern: /**
  datasource:
    driver-class-name: com.mysql.jdbc.Driver
    url: jdbc:mysql://localhost:3306/rcs_ctu_stable?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    url: jdbc:mysql://localhost:3306/rcs_ctu_stable_hik?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    username: root
    password: xltys1995
    type: com.alibaba.druid.pool.DruidDataSource
@@ -108,7 +108,7 @@
  zone-set-id: default
  map-id: default
  map-description: RCS Map
  coordinate-scale: 1.0
  coordinate-scale: 0.001
  metric-scale: 0.001
  default-allowed-deviation-xy: 0.05
  default-allowed-deviation-theta: 0.08726646259971647