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luxiaotao1123

2026-04-13 d70298fbf4cf78ceaa9bcd22ce22532c5b0f03d5

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

@@ -454,19 +454,19 @@

        Agv agv = null;
        if (!Cools.isEmpty(param.getAgvNo())) {
            agv = agvService.selectByUuid(param.getAgvNo());
            List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
            if (!Cools.isEmpty(tasks)) {
                for (Task task : tasks) {
                    if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
                    ) {
                        return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
                    }
                }
            }
//            agv = agvService.selectByUuid(param.getAgvNo());
//            List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
//            if (!Cools.isEmpty(tasks)) {
//                for (Task task : tasks) {
//                    if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
//                            || TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
//                            || TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
//                            || TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
//                    ) {
//                        return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
//                    }
//                }
//            }
        }

        if (null != agv) {

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

@@ -280,6 +280,7 @@
            case ReadyTakeFromShelvesLoc:
            case ReadyTakeFromConveyorSta:
//                addParameter(parameters, "loadId", resolveLoadId(action, actionType)); // 货架码，为空不判断
                addParameter(parameters, "loadId", "");
//                addParameter(parameters, "loadType", resolveLoadType(actionType));  // 货架xml
                addParameter(parameters, "loadType", "0");  // 货架xml
//                HeightDepthParam heightDepthParam = parseHeightDepth(action.getParams());
@@ -291,6 +292,7 @@
            case ReadyReleaseToConveyorSta:
//                addParameter(parameters, "loadId", resolveLoadId(action, actionType));
//                addParameter(parameters, "loadType", resolveLoadType(actionType));
                addParameter(parameters, "loadId", "");
                addParameter(parameters, "loadType", "0");  // 货架xml
//                addParameter(parameters, "tabZero", true);  // true: 转盘归零， false：转盘不动，default： true
//                addParameter(parameters, "precision", 0.02);  // 举升精度
@@ -456,7 +458,11 @@
        if (node == null || node.getNodePosition() == null) {
            return;
        }
        node.getNodePosition().setTheta(toHikThetaRadians(rcsDirectionDegrees, agvModel));
        Double theta = toHikThetaRadians(rcsDirectionDegrees, agvModel);
        if (theta != null && theta > Math.PI) {
            theta -= 2D * Math.PI;
        }
        node.getNodePosition().setTheta(theta);
    }

    private Double calculateTravelDirection(String startCode, String endCode) {