From 0ca395093d7d783197d8f848aea8bd5eae86b978 Mon Sep 17 00:00:00 2001
From: zc <zyzc>
Date: 星期一, 20 十月 2025 10:43:15 +0800
Subject: [PATCH] 希日出库修改确认
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 32 +++++++++++++++++++++++++++++++-
1 files changed, 31 insertions(+), 1 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index cb00614..b12556e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -12,6 +12,7 @@
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -153,8 +154,23 @@
return angle;
}
+ public static void main(String[] args) {
+ Double x0 = 2D;
+ Double y0 = 2D;
+
+ Double x1 = 2D;
+ Double y1 = 1D;
+
+ double deltaX = x1 - x0;
+ double deltaY = y1 - y0;
+ double angle = Math.atan2(deltaX, deltaY);
+ angle = Math.toDegrees(angle) + 0;
+ angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
+ System.out.println(angle);
+ }
+
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
+ public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
@@ -166,6 +182,20 @@
return agvDirectionType;
}
+ public Double getStaAngle(Sta sta, Double workDirection) {
+ if (null == sta) {
+ return null;
+ }
+ if (Cools.isEmpty(sta.getAngle())) {
+ return workDirection;
+ }
+ return Double.parseDouble(sta.getAngle());
+ }
+
+ public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
+ return Math.abs(staWorkDirection - lastDirection) ;
+ //return Math.abs(staWorkDirection - lastDirection) + 90.0D;
+ }
public double calculateDistance(double x1, double y1, double x2, double y2) {
double deltaX = x2 - x1;
--
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