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vincentlu

19 小时以前 98ddfb579a20bc9b753caf326e501ca882e6250d

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 zy-acs-common/src/main/java/com/zy/acs/common/enums/ActuatorDirectionType.java

New file
@@ -0,0 +1,30 @@
package com.zy.acs.common.enums;

import com.zy.acs.framework.exception.CoolException;

public enum ActuatorDirectionType {

    LEFT(1),
    RIGHT(2),
    FORWARD(3),
    ;

    public int val;

    ActuatorDirectionType(int val) {
        this.val = val;
    }

    public static ActuatorDirectionType fromVal(Integer val) {
        if (null == val) {
            throw new CoolException("actuator direction param val is null");
        }
        for (ActuatorDirectionType type : ActuatorDirectionType.values()) {
            if (type.val == val) {
                return type;
            }
        }
        throw new IllegalArgumentException("Invalid ActuatorDirectionType: " + val);
    }

}

 zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java

File was deleted

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

@@ -1155,7 +1155,7 @@
                }

                // 作业点动作
                AgvDirectionType agvDirectionType;
                ActuatorDirectionType actuatorDirectionType;
                Double staWorkDirection;
                AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
                switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
@@ -1168,7 +1168,8 @@
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(oriLoc.getCompDirect());
//                        actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1176,7 +1177,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
@@ -1231,7 +1232,8 @@
                        // 货架放货
                        Loc destLoc = locService.getById(task.getDestLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(destLoc.getCompDirect());
//                        actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1239,7 +1241,7 @@
                                null,    // 动作号
                                 null,    // 优先级
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
@@ -1276,7 +1278,8 @@
                            lastDirection = oriStaWorkDirection;
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
//                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1284,7 +1287,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
@@ -1359,7 +1362,8 @@
                            ));
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
//                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        actuatorDirectionType = ActuatorDirectionType.fromVal(destSta.getActDir());
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1367,7 +1371,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型

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

@@ -1,7 +1,7 @@
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;
@@ -159,9 +159,9 @@
    }

    // 坐标货架阈值
    public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
    public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
        Integer compDirect = loc.getCompDirect();
        return AgvDirectionType.fromVal(compDirect);
        return ActuatorDirectionType.fromVal(compDirect);
    }

    public Double getStaAngle(Sta sta, Double workDirection) {