From 1027b845bde5f9419b49d8db49cd452ab5081976 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 07 四月 2026 13:53:18 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 4 ++--
1 files changed, 2 insertions(+), 2 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 2c0889a..24e02bf 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
@@ -23,7 +23,6 @@
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.hik.HikOrderPublishService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -902,6 +901,7 @@
if (Cools.isEmpty(agvId, segmentList)) { return pathTrace; }
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
+ int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
// Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
// defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
String agvNo = agvService.getAgvNo(agvId);
@@ -950,7 +950,7 @@
Code nextCode = codeService.getCacheByData(next);
// 杞﹀ご鏈濆墠鐨勪笅涓�涓璧版柟鍚�
- Double nextDirection = AgvAngleUtils.calculateDirection(lastCode, nextCode, agvModel);
+ Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
// 鍙嶅悜瑙�
final double oppLastDir = (lastDirection + 180) % 360;
--
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