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luxiaotao1123

2025-03-18 85ecc4d9a9af134cdf447a2c27e65f1a75f265db

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 zy-acs-flow/src/map/constants.js

@@ -1,8 +1,10 @@

export const ANIMATE_DURING_TIME = 300;

export const MAP_DEFAULT_ROTATION = 180;

export const AGV_ANGLE_OFFSET_VAL = 0;

export const ANIMATE_DURING_TIME = 300;

export const MAP_MODE = Object.freeze({
    OBSERVER_MODE: "1",
    MOVABLE_MODE: "2",

 zy-acs-flow/src/map/tool.js

@@ -11,6 +11,7 @@
    DEVICE_SELECTED_EFFECT_COLOR,
    POINT_ROUTE_DIRECTION,
    ANIMATE_DURING_TIME,
    AGV_ANGLE_OFFSET_VAL,
} from './constants';
import { getRouteList } from './http';
import PointRoute from "./PointRoute";
@@ -712,8 +713,7 @@
    }
}

const agvRotationOffsetDegrees = 90;
const agvRotationOffset = rotationParseNum(agvRotationOffsetDegrees);
const agvRotationOffset = rotationParseNum(AGV_ANGLE_OFFSET_VAL);

const showAgvSprite = (curZone, agvVo, setCurSprite) => {
    const { agvNo, code, direction, battery, jobType, backpack: backpackCount, slots, error } = agvVo;

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java

@@ -7,10 +7,7 @@
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.FuncSta;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
@@ -63,6 +60,8 @@
    private RouteGenerator routeGenerator;
    @Autowired
    private FuncStaService funcStaService;
    @Autowired
    private AgvModelService agvModelService;

    @RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
    public R systemInfo() {
@@ -149,11 +148,13 @@

            Agv agv = agvList.get(i);
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            Double workDirection = agvModel.getWorkDirection();

            agvDetail.setPos(1);
            agvDetail.setCode(code.getId());
            agvDetail.setStatus(AgvStatusType.IDLE.val);
            agvDetail.setAgvAngle(90D);
            agvDetail.setAgvAngle(workDirection);
            agvDetail.setVol(5000);

            agvDetailService.updateById(agvDetail);

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

@@ -696,27 +696,33 @@
                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        // 如果去下个节点的方向与当前方向差180度，则不需要旋转，改为反方向行走，nextDirection继续赋值是为了避免 ‘第一个动作一定是 turn’ 的判断
                        // 第一步：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
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }

                        // 第二步：判断当前节点是否可以旋转
                        if (!lastCode.getCornerBool()) {
                            // 如果是作业方向，但是小车在巷道内方向错误，则停止
                            if (reverse && !lastDirection.equals(nextDirection)) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走
                            if (nextDirection.equals((lastDirection + 180) % 360)) {
                                nextDirection = lastDirection;
                                reverse = true;
                            }
                        } else {
                            if (!lastDirection.equals(nextDirection)) {
                                if (lastDirection.equals((nextDirection + 180) % 360)) {
                                if (nextDirection.equals((lastDirection + 180) % 360)) {
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    // turn
                                    actionList.add(new Action(
                                            null,    // 编号
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
                                            task.getId(),    // 任务
                                            null,    // 动作号