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vincentlu

7 小时以前 594ef7f4b4f28a9c1d8ca8d97138d16b9ff2f219

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

@@ -907,6 +907,7 @@

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
            final double oppWorkDir = (workDirection + 180) % 360;
            boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
            boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
            AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
@@ -947,7 +948,6 @@
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        // 反向角
                        final double oppWorkDir = (workDirection + 180) % 360;
                        final double oppLastDir = (lastDirection + 180) % 360;

                        // 如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true

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

@@ -75,12 +75,18 @@
        }

        if (null == codeGap) {
            codeGap = getOne(new LambdaQueryWrapper<CodeGap>().eq(CodeGap::getCode0, code0).eq(CodeGap::getCode1, code1));
            codeGap = this.getOne(new LambdaQueryWrapper<CodeGap>()
                    .eq(CodeGap::getCode0, code0).eq(CodeGap::getCode1, code1).last("limit 1"));
            if (codeGap == null) {
                codeGap = getOne(new LambdaQueryWrapper<CodeGap>().eq(CodeGap::getCode1, code0).eq(CodeGap::getCode0, code1));
                codeGap = this.getOne(new LambdaQueryWrapper<CodeGap>()
                        .eq(CodeGap::getCode1, code0).eq(CodeGap::getCode0, code1).last("limit 1"));
            }
        }

        if (null == codeGap) {
//            throw new CoolException("failed to find code of both " + code0 + " and " + code1);
        }

        return codeGap;
    }