From 03d71647b8ab3f394713a7d2fd37acf5a6b08c93 Mon Sep 17 00:00:00 2001
From: skyouc <creaycat@gmail.com>
Date: 星期三, 14 一月 2026 20:20:16 +0800
Subject: [PATCH] 防止方向走错
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 13 +++++++++++++
1 files changed, 13 insertions(+), 0 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index b717ce4..751e4b5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -934,6 +934,19 @@
lastDirection = nextDirection;
}
+ // 濡傛灉褰撳墠鍦扮爜鍜屼笅涓�涓湴鐮侀兘鍦ㄧ珯鐐瑰湴鐮侀泦鍚堝唴锛屽垯鏍规嵁鍦ㄩ泦鍚堜腑鐨勯『搴忓喅瀹氳杩涙柟鍚戝拰鏄惁鍊掗��
+ if (turnCodes.contains(lastCode.getData()) && turnCodes.contains(nextCode.getData())) {
+ int lastIndex = turnCodes.indexOf(lastCode.getData());
+ int nextIndex = turnCodes.indexOf(nextCode.getData());
+ if (nextIndex > lastIndex) {
+ nextDirection = 180D;
+ reverse = false;
+ } else if (nextIndex < lastIndex) {
+ nextDirection = 0D;
+ reverse = true;
+ }
+ }
+
// run
ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
if (reverse) {
--
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