#

luxiaotao1123

2026-04-03 bdd072164b38edc65d80d865cefc1c20a6c8b232

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/HikOrderProperties.java

@@ -15,9 +15,9 @@

    private String manufacturer = "HikRobot";

    private String zoneSetId = "default";
    private String zoneSetId = "XY";

    private String mapId = "default";
    private String mapId = "XY";

    private String mapDescription = "RCS Map";


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

@@ -203,9 +203,10 @@
    }

    private Integer resolveStatus(HkState state) {
        if (hasError(state)) {
            return AgvStatusType.ERROR.val;
        }
        // todo
//        if (hasError(state)) {
//            return AgvStatusType.ERROR.val;
//        }

        HkStateBatteryState batteryState = state.getBatteryState();
        if (batteryState != null && Boolean.TRUE.equals(batteryState.getCharging())) {

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

@@ -17,9 +17,11 @@
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.enums.ActionTypeType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.AllArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -43,6 +45,8 @@
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private CodeService codeService;
    @Autowired
    private AgvDetailService agvDetailService;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

@@ -117,8 +121,14 @@

            switch (actionType) {
                case TurnCorner:
                    currentTheta = parseThetaRadians(action.getParams());
                    currentNode.node.getNodePosition().setTheta(currentTheta);
                    if (i == 0) {
                        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
                        currentTheta = parseThetaRadians(String.valueOf(agvDetail.getAgvAngle()));
                        currentNode.node.getNodePosition().setTheta(currentTheta);
                    } else {
                        currentTheta = parseThetaRadians(action.getParams());
                        currentNode.node.getNodePosition().setTheta(currentTheta);
                    }
                    break;
                case StraightAheadTurnable:
                case StraightAheadUnturnable:
@@ -173,14 +183,15 @@
        }

        HkOrderNode node = new HkOrderNode();
        node.setNodeId(buildId(actionGroupId, "N", nodeIndex, code));
//        node.setNodeId(buildId(actionGroupId, "N", nodeIndex, code));
        node.setNodeId(code);
        node.setSequenceId(sequenceId);
        node.setNodeDescription(code);
//        node.setNodeDescription(code);
        node.setReleased(Boolean.TRUE);
        node.setAllowedDeviationXY(hikOrderProperties.getDefaultAllowedDeviationXY());
        node.setAllowedDeviationTheta(hikOrderProperties.getDefaultAllowedDeviationTheta());
        node.setMapId(hikOrderProperties.getMapId());
        node.setMapDescription(hikOrderProperties.getMapDescription());
//        node.setMapDescription(hikOrderProperties.getMapDescription());
        node.setActions(new ArrayList<>());
        node.setNodePosition(buildNodePosition(codeEntity));
        return new NodeCursor(code, node);
@@ -203,15 +214,20 @@
                                   Action action,
                                   AgvModel agvModel) {
        HkOrderEdge edge = new HkOrderEdge();
        edge.setEdgeId(buildId(actionGroupId, "E", edgeIndex, startNode.code + "_" + endCode));
//        edge.setEdgeId(buildId(actionGroupId, "E", edgeIndex, startNode.code + "_" + endCode));
        edge.setEdgeId(startNode.code + "_" + endCode);
        edge.setSequenceId(sequenceId);
        edge.setEdgeDescription(startNode.code + "->" + endCode);
//        edge.setEdgeDescription(startNode.code + "->" + endCode);
        edge.setReleased(Boolean.TRUE);
        edge.setStartNodeId(startNode.node.getNodeId());
        edge.setEndNodeId(buildId(actionGroupId, "N", edgeIndex + 1, endCode));
//        edge.setEndNodeId(buildId(actionGroupId, "N", edgeIndex + 1, endCode));
        edge.setEndNodeId(endCode);
        edge.setMaxSpeed(resolveMaxSpeed(action, agvModel));
        edge.setOrientation(edgeTheta);
        edge.setOrientationType("GLOBAL");
        // GLOBAL
        // TANGENTIAL
        edge.setOrientationType("TANGENTIAL");
        edge.setOrientation(0.0);
//        edge.setOrientation(edgeTheta);
        edge.setRotationAllowed(Boolean.FALSE);
        edge.setActions(new ArrayList<>());
        return edge;

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

@@ -105,8 +105,8 @@
  interface-name: VDA
  major-version: V2.0.0
  manufacturer: HikRobot
  zone-set-id: default
  map-id: default
  zone-set-id: XY
  map-id: XY
  map-description: RCS Map
  coordinate-scale: 0.001
  metric-scale: 0.001