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

@@ -842,6 +842,12 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                180);
                                    } else {
                                        // turn
                                        actionList.add(new Action(
@@ -859,6 +865,12 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                nextDirection);
                                    }
                                    lastDirection = nextDirection;
                                }
@@ -883,6 +895,12 @@
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));
                                    log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                            Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                            lastCode.getData(),
                                            lastCode.getCornerBool(),
                                            nextDirection,
                                            180);
                                }
                            }
                        }
@@ -905,6 +923,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    nextDirection,
                                    nextDirection);

                            lastDirection = nextDirection;
                        }
@@ -940,7 +964,7 @@
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double turnDirection = workDirection;
                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                        List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054");
                        if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                                || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
@@ -963,6 +987,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    null,
                                    turnDirection);
                            lastDirection = workDirection;
                        }
                    }